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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1360

Last change on this file since 1360 was 1353, checked in by mervart, 18 years ago
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File size: 32.6 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: bncGetThread
30	*
31	* Purpose: Thread that retrieves data from NTRIP caster
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Dec-2005
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <stdlib.h>
42	#include <iomanip>
43	#include <sstream>
44
45	#include <QFile>
46	#include <QTextStream>
47	#include <QtNetwork>
48	#include <QTime>
49
50	#include "bncgetthread.h"
51	#include "bnctabledlg.h"
52	#include "bncapp.h"
53	#include "bncutils.h"
54	#include "bncrinex.h"
55	#include "bnczerodecoder.h"
56	#include "bncsocket.h"
57
58	#include "RTCM/RTCM2Decoder.h"
59	#include "RTCM3/RTCM3Decoder.h"
60	#include "RTIGS/RTIGSDecoder.h"
61	#include "GPSS/gpssDecoder.h"
62	#include "serial/qextserialport.h"
63
64	using namespace std;
65
66	// Constructor 1
67	////////////////////////////////////////////////////////////////////////////
68	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
69	const QByteArray& format) {
70
71	_format = format;
72
73	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
74	_staID = rawInpFileName.mid(iSep+1,4);
75
76	initialize();
77
78	_inspSegm = 0;
79
80	_rawInpFile = new QFile(rawInpFileName);
81	_rawInpFile->open(QIODevice::ReadOnly);
82
83	if (!_rnx) {
84	cerr << "no RINEX path specified" << endl;
85	::exit(0);
86	}
87	}
88
89	// Constructor 2
90	////////////////////////////////////////////////////////////////////////////
91	bncGetThread::bncGetThread(const QUrl& mountPoint,
92	const QByteArray& format,
93	const QByteArray& latitude,
94	const QByteArray& longitude,
95	const QByteArray& nmea,
96	const QByteArray& ntripVersion, int iMount) {
97
98	setTerminationEnabled(true);
99
100	_mountPoint = mountPoint;
101	_staID = mountPoint.path().mid(1).toAscii();
102	_format = format;
103	_latitude = latitude;
104	_longitude = longitude;
105	_nmea = nmea;
106	_ntripVersion = ntripVersion;
107	_iMount = iMount; // index in mountpoints array
108
109	initialize();
110	}
111
112	// Initialization
113	////////////////////////////////////////////////////////////////////////////
114	void bncGetThread::initialize() {
115
116
117	bncApp* app = (bncApp*) qApp;
118	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
119	app, SLOT(slotMessage(const QByteArray,bool)));
120
121	_decoder = 0;
122	_socket = 0;
123	_timeOut = 20*1000; // 20 seconds
124	_nextSleep = 1; // 1 second
125	_rawInpFile = 0;
126	_rawOutFile = 0;
127	_staID_orig = _staID;
128
129	// Check name conflict
130	// -------------------
131	QSettings settings;
132	QListIterator<QString> it(settings.value("mountPoints").toStringList());
133	int num = 0;
134	int ind = -1;
135	while (it.hasNext()) {
136	++ind;
137	QStringList hlp = it.next().split(" ");
138	if (hlp.size() <= 1) continue;
139	QUrl url(hlp[0]);
140	if (_mountPoint.path() == url.path()) {
141	if (_iMount > ind \|\| _iMount < 0) {
142	++num;
143	}
144	}
145	}
146
147	if (num > 0) {
148	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
149	}
150
151	// Notice threshold
152	// ----------------
153	_inspSegm = 50;
154	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
155	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
156	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
157	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
158	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
159	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
160	_adviseFail = settings.value("adviseFail").toInt();
161	_adviseReco = settings.value("adviseReco").toInt();
162	_makePause = false;
163	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
164	_adviseScript = settings.value("adviseScript").toString();
165	expandEnvVar(_adviseScript);
166
167	// Latency interval/average
168	// ------------------------
169	_perfIntr = 86400;
170	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
171	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
172	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
173	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
174	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
175	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
176	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
177
178	// RTCM message types
179	// ------------------
180	_checkMountPoint = settings.value("miscMount").toString();
181
182	// RINEX writer
183	// ------------
184	_samplingRate = settings.value("rnxSampl").toInt();
185	if ( settings.value("rnxPath").toString().isEmpty() ) {
186	_rnx = 0;
187	}
188	else {
189	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
190	_longitude, _nmea, _ntripVersion);
191	}
192	_rnx_set_position = false;
193
194	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
195	this, SLOT(slotNewEphGPS(gpsephemeris)));
196
197	if (settings.value("serialMountPoint").toString() == _staID) {
198	_serialPort = new QextSerialPort(
199	settings.value("serialPortName").toString() );
200	QString hlp = settings.value("serialBaudRate").toString();
201	if (hlp == "110") {
202	_serialPort->setBaudRate(BAUD110);
203	}
204	else if (hlp == "300") {
205	_serialPort->setBaudRate(BAUD300);
206	}
207	else if (hlp == "600") {
208	_serialPort->setBaudRate(BAUD600);
209	}
210	else if (hlp == "1200") {
211	_serialPort->setBaudRate(BAUD1200);
212	}
213	else if (hlp == "2400") {
214	_serialPort->setBaudRate(BAUD2400);
215	}
216	else if (hlp == "4800") {
217	_serialPort->setBaudRate(BAUD4800);
218	}
219	else if (hlp == "9600") {
220	_serialPort->setBaudRate(BAUD9600);
221	}
222	else if (hlp == "19200") {
223	_serialPort->setBaudRate(BAUD19200);
224	}
225	else if (hlp == "38400") {
226	_serialPort->setBaudRate(BAUD38400);
227	}
228	else if (hlp == "57600") {
229	_serialPort->setBaudRate(BAUD57600);
230	}
231	else if (hlp == "115200") {
232	_serialPort->setBaudRate(BAUD115200);
233	}
234	hlp = settings.value("serialParity").toString();
235	if (hlp == "NONE") {
236	_serialPort->setParity(PAR_NONE);
237	}
238	else if (hlp == "ODD") {
239	_serialPort->setParity(PAR_ODD);
240	}
241	else if (hlp == "EVEN") {
242	_serialPort->setParity(PAR_EVEN);
243	}
244	else if (hlp == "SPACE") {
245	_serialPort->setParity(PAR_SPACE);
246	}
247	hlp = settings.value("serialDataBits").toString();
248	if (hlp == "5") {
249	_serialPort->setDataBits(DATA_5);
250	}
251	else if (hlp == "6") {
252	_serialPort->setDataBits(DATA_6);
253	}
254	else if (hlp == "7") {
255	_serialPort->setDataBits(DATA_7);
256	}
257	else if (hlp == "8") {
258	_serialPort->setDataBits(DATA_8);
259	}
260	hlp = settings.value("serialStopBits").toString();
261	if (hlp == "1") {
262	_serialPort->setStopBits(STOP_1);
263	}
264	else if (hlp == "2") {
265	_serialPort->setStopBits(STOP_2);
266	}
267	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
268	if (!_serialPort->isOpen()) {
269	delete _serialPort;
270	_serialPort = 0;
271	emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
272	}
273	}
274	else {
275	_serialPort = 0;
276	}
277
278	// Raw Output
279	// ----------
280	// QByteArray rawOutFileName = "./" + _staID + ".raw";
281	// _rawOutFile = new QFile(rawOutFileName);
282	// _rawOutFile->open(QIODevice::WriteOnly);
283
284	msleep(100); //sleep 0.1 sec
285	}
286
287	// Destructor
288	////////////////////////////////////////////////////////////////////////////
289	bncGetThread::~bncGetThread() {
290	if (_socket) {
291	_socket->close();
292	#if QT_VERSION == 0x040203
293	delete _socket;
294	#else
295	_socket->deleteLater();
296	#endif
297	}
298	delete _decoder;
299	delete _rnx;
300	delete _rawInpFile;
301	delete _rawOutFile;
302	delete _serialPort;
303	}
304
305	// Init Run
306	////////////////////////////////////////////////////////////////////////////
307	t_irc bncGetThread::initRun() {
308
309	if (!_rawInpFile) {
310
311	// Initialize Socket
312	// -----------------
313	QString msg;
314	delete _socket;
315	_socket = new bncSocket;
316	if (_socket->request(_mountPoint, _latitude, _longitude,
317	_nmea, _ntripVersion, _timeOut, msg) != success) {
318	delete _socket;
319	_socket = 0;
320	return failure;
321	}
322
323	// Read Caster Response
324	// --------------------
325	_socket->waitForReadyRead(_timeOut);
326	if (_socket->canReadLine()) {
327	QString line = _socket->readLine();
328
329	// Skip messages from proxy server
330	// -------------------------------
331	if (line.indexOf("ICY 200 OK") == -1 &&
332	line.indexOf("200 OK") != -1 ) {
333	bool proxyRespond = true;
334	while (true) {
335	if (_socket->canReadLine()) {
336	line = _socket->readLine();
337	if (!proxyRespond) {
338	break;
339	}
340	if (line.trimmed().isEmpty()) {
341	proxyRespond = false;
342	}
343	}
344	else {
345	_socket->waitForReadyRead(_timeOut);
346	if (_socket->bytesAvailable() <= 0) {
347	break;
348	}
349	}
350	}
351	}
352
353	if (line.indexOf("Unauthorized") != -1) {
354	QStringList table;
355	bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(),
356	_ntripVersion, table);
357	QString net;
358	QStringListIterator it(table);
359	while (it.hasNext()) {
360	QString line = it.next();
361	if (line.indexOf("STR") == 0) {
362	QStringList tags = line.split(";");
363	if (tags.at(1) == _staID_orig) {
364	net = tags.at(7);
365	break;
366	}
367	}
368	}
369
370	QString reg;
371	it.toFront();
372	while (it.hasNext()) {
373	QString line = it.next();
374	if (line.indexOf("NET") == 0) {
375	QStringList tags = line.split(";");
376	if (tags.at(1) == net) {
377	reg = tags.at(7);
378	break;
379	}
380	}
381	}
382	emit(newMessage((_staID + ": Caster Response: " + line +
383	" Adjust User-ID and Password Register, see"
384	"\n " + reg).toAscii(), true));
385	return fatal;
386	}
387	if (line.indexOf("ICY 200 OK") != 0) {
388	emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii(), true));
389	return failure;
390	}
391	}
392	else {
393	emit(newMessage(_staID + ": Response Timeout", true));
394	return failure;
395	}
396	}
397
398	// Instantiate the filter
399	// ----------------------
400	if (!_decoder) {
401	if (_format.indexOf("RTCM_2") != -1) {
402	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
403	_decoder = new RTCM2Decoder(_staID.data());
404	}
405	else if (_format.indexOf("RTCM_3") != -1) {
406	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
407	_decoder = new RTCM3Decoder(_staID);
408	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
409	this, SIGNAL(newMessage(QByteArray,bool)));
410	}
411	else if (_format.indexOf("RTIGS") != -1) {
412	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
413	_decoder = new RTIGSDecoder();
414	}
415	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
416	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
417	_decoder = new gpssDecoder();
418	}
419	else if (_format.indexOf("ZERO") != -1) {
420	emit(newMessage("Get Data: " + _staID + " in original format", true));
421	_decoder = new bncZeroDecoder(_staID);
422	}
423	else {
424	emit(newMessage(_staID + ": Unknown data format " + _format, true));
425	if (_rawInpFile) {
426	cerr << "Uknown data format" << endl;
427	::exit(0);
428	}
429	else {
430	return fatal;
431	}
432	}
433	}
434	return success;
435	}
436
437	// Run
438	////////////////////////////////////////////////////////////////////////////
439	void bncGetThread::run() {
440
441	const double maxDt = 600.0; // Check observation epoch
442	bool wrongEpoch = false;
443	bool decode = true;
444	int numSucc = 0;
445	int secSucc = 0;
446	int secFail = 0;
447	int initPause = 30; // Initial pause for corrupted streams
448	int currPause = 0;
449	bool begCorrupt = false;
450	bool endCorrupt = false;
451	bool followSec = false;
452	int oldSecGPS= 0;
453	int newSecGPS = 0;
454	int numGaps = 0;
455	int diffSecGPS = 0;
456	int numLat = 0;
457	double sumLat = 0.;
458	double sumLatQ = 0.;
459	double meanDiff = 0.;
460	double minLat = maxDt;
461	double maxLat = -maxDt;
462	double curLat = 0.;
463
464	_decodeTime = QDateTime::currentDateTime();
465	_decodeSucc = QDateTime::currentDateTime();
466	t_irc irc = initRun();
467
468	if (irc == fatal) {
469	QThread::exit(1);
470	return;
471	}
472	else if (irc != success) {
473	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
474	tryReconnect();
475	}
476
477	if (initPause < _inspSegm) {
478	initPause = _inspSegm;
479	}
480	if(!_makePause) {initPause = 0;}
481	currPause = initPause;
482
483	// Read Incoming Data
484	// ------------------
485	while (true) {
486	try {
487	if (_socket && _socket->state() != QAbstractSocket::ConnectedState) {
488	emit(newMessage(_staID + ": Socket not connected, reconnecting", true));
489	tryReconnect();
490	}
491
492	QListIterator<p_obs> it(_decoder->_obsList);
493	while (it.hasNext()) {
494	delete it.next();
495	}
496	_decoder->_obsList.clear();
497
498	qint64 nBytes = 0;
499
500	if (_socket) {
501	_socket->waitForReadyRead(_timeOut);
502	nBytes = _socket->bytesAvailable();
503	}
504	else if (_rawInpFile) {
505	const qint64 maxBytes = 1024;
506	nBytes = maxBytes;
507	}
508
509	if (nBytes > 0) {
510	emit newBytes(_staID, nBytes);
511
512	char* data = new char[nBytes];
513
514	if (_socket) {
515	_socket->read(data, nBytes);
516	}
517	else if (_rawInpFile) {
518	nBytes = _rawInpFile->read(data, nBytes);
519	if (nBytes <= 0) {
520	cout << "no more data" << endl;
521	::exit(0);
522	}
523	}
524
525	if (_rawOutFile) {
526	_rawOutFile->write(data, nBytes);
527	_rawOutFile->flush();
528	}
529
530	if (_serialPort) {
531	_serialPort->write(data, nBytes);
532	//// _serialPort->flush();
533	}
534
535	if (_inspSegm<1) {
536	vector<string> errmsg;
537	_decoder->Decode(data, nBytes, errmsg);
538	#ifdef DEBUG_RTCM2_2021
539	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
540	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
541	}
542	#endif
543	}
544	else {
545
546	// Decode data
547	// -----------
548	if (!_decodePause.isValid() \|\|
549	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
550
551	if (decode) {
552	vector<string> errmsg;
553	if ( _decoder->Decode(data, nBytes, errmsg) == success ) {
554	numSucc += 1;
555	}
556	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
557	decode = false;
558	}
559	#ifdef DEBUG_RTCM2_2021
560	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
561	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
562	}
563	#endif
564	}
565
566	// Check - once per inspect segment
567	// --------------------------------
568	if (!decode) {
569	_decodeTime = QDateTime::currentDateTime();
570	if (numSucc>0) {
571	secSucc += _inspSegm;
572	_decodeSucc = QDateTime::currentDateTime();
573	if (secSucc > _adviseReco * 60) {
574	secSucc = _adviseReco * 60 + 1;
575	}
576	numSucc = 0;
577	currPause = initPause;
578	_decodePause.setDate(QDate());
579	_decodePause.setTime(QTime());
580	}
581	else {
582	secFail += _inspSegm;
583	secSucc = 0;
584	if (secFail > _adviseFail * 60) {
585	secFail = _adviseFail * 60 + 1;
586	}
587	if (!_decodePause.isValid() \|\| !_makePause) {
588	_decodePause = QDateTime::currentDateTime();
589	}
590	else {
591	_decodePause.setDate(QDate());
592	_decodePause.setTime(QTime());
593	secFail = secFail + currPause - _inspSegm;
594	currPause = currPause * 2;
595	if (currPause > 960) {
596	currPause = 960;
597	}
598	}
599	}
600
601	// End corrupt threshold
602	// ---------------------
603	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
604	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
605	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
606	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
607	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
608	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
609	endCorrupt = true;
610	begCorrupt = false;
611	secFail = 0;
612	}
613	else {
614
615	// Begin corrupt threshold
616	// -----------------------
617	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
618	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
619	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
620	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
621	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
622	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
623	begCorrupt = true;
624	endCorrupt = false;
625	secSucc = 0;
626	numSucc = 0;
627	}
628	}
629	decode = true;
630	}
631	}
632	}
633
634	// End outage threshold
635	// --------------------
636	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
637	_decodeStart.setDate(QDate());
638	_decodeStart.setTime(QTime());
639	if (_inspSegm>0) {
640	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
641	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
642	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
643	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
644	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
645	}
646	}
647
648	delete [] data;
649
650
651	// RTCM scan output
652	// ----------------
653	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
654	QSettings settings;
655	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
656
657	// RTCMv3 message types
658	// --------------------
659	if (0<_decoder->_typeList.size()) {
660	QString type;
661	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
662	type = QString("%1 ").arg(_decoder->_typeList[ii]);
663	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
664	}
665	}
666
667	// RTCMv3 antenna descriptor
668	// -------------------------
669	if (0<_decoder->_antType.size()) {
670	QString ant1;
671	for (int ii=0;ii<_decoder->_antType.size();ii++) {
672	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
673	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
674	}
675	}
676
677	// Antenna XYZ
678	// ------------------
679	if (0<_decoder->_antList.size()) {
680	for (int ii=0;ii<_decoder->_antList.size();++ii) {
681	QByteArray ant1,ant2,ant3, antT;
682	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
683	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
684	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
685	switch (_decoder->_antList[ii].type) {
686	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
687	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
688	}
689	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
690	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
691	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
692	if (_decoder->_antList[ii].height_f) {
693	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
694	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
695	}
696	emit(newAntCrd(_staID,
697	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
698	antT));
699	}
700	}
701	}
702	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
703	for (int ii=0;ii<_decoder->_antList.size();++ii) {
704	QByteArray antT;
705	switch (_decoder->_antList[ii].type) {
706	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
707	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
708	}
709	emit(newAntCrd(_staID,
710	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
711	antT));
712	}
713	}
714	}
715
716	_decoder->_typeList.clear();
717	_decoder->_antType.clear();
718	_decoder->_antList.clear();
719
720	// Loop over all observations (observations output)
721	// ------------------------------------------------
722	QListIterator<p_obs> it(_decoder->_obsList);
723	while (it.hasNext()) {
724	p_obs obs = it.next();
725
726	// Check observation epoch
727	// -----------------------
728	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
729	int week;
730	double sec;
731	currentGPSWeeks(week, sec);
732	const double secPerWeek = 7.0 * 24.0 * 3600.0;
733
734	if (week < obs->_o.GPSWeek) {
735	week += 1;
736	sec -= secPerWeek;
737	}
738	if (week > obs->_o.GPSWeek) {
739	week -= 1;
740	sec += secPerWeek;
741	}
742	double dt = fabs(sec - obs->_o.GPSWeeks);
743	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
744	if (!wrongEpoch) {
745	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
746	wrongEpoch = true;
747	}
748	delete obs;
749	continue;
750	}
751	else {
752	wrongEpoch = false;
753
754	// Latency and completeness
755	// ------------------------
756	if (_perfIntr>0) {
757	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
758	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
759	if (newSecGPS != oldSecGPS) {
760	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
761	if (numLat>0) {
762	if (meanDiff>0.) {
763	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
764	.arg(_staID.data())
765	.arg(int(sumLat/numLat*100)/100.)
766	.arg(int(minLat*100)/100.)
767	.arg(int(maxLat*100)/100.)
768	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
769	.arg(numLat)
770	.arg(numGaps)
771	.toAscii(), true) );
772	} else {
773	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
774	.arg(_staID.data())
775	.arg(int(sumLat/numLat*100)/100.)
776	.arg(int(minLat*100)/100.)
777	.arg(int(maxLat*100)/100.)
778	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
779	.arg(numLat)
780	.toAscii(), true) );
781	}
782	}
783	meanDiff = diffSecGPS/numLat;
784	diffSecGPS = 0;
785	numGaps = 0;
786	sumLat = 0.;
787	sumLatQ = 0.;
788	numLat = 0;
789	minLat = maxDt;
790	maxLat = -maxDt;
791	}
792	if (followSec) {
793	diffSecGPS += newSecGPS - oldSecGPS;
794	if (meanDiff>0.) {
795	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
796	numGaps += 1;
797	}
798	}
799	}
800	curLat = sec - obs->_o.GPSWeeks;
801	sumLat += curLat;
802	sumLatQ += curLat * curLat;
803	if (curLat < minLat) minLat = curLat;
804	if (curLat >= maxLat) maxLat = curLat;
805	numLat += 1;
806	oldSecGPS = newSecGPS;
807	followSec = true;
808	}
809	}
810	}
811	}
812	}
813
814	// RINEX Output
815	// ------------
816	if (_rnx) {
817	bool dump = true;
818
819	//// // RTCMv2 XYZ
820	//// // ----------
821	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
822	//// if ( decoder2 && !_rnx_set_position ) {
823	//// double stax, stay, staz;
824	//// double dL1[3], dL2[3];
825	//// if ( decoder2->getStaCrd(stax, stay, staz,
826	//// dL1[0], dL1[1], dL1[2],
827	//// dL2[0], dL2[1], dL2[2]) == success ) {
828	////
829	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
830	//// QString ant1;
831	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
832	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
833	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
834	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
835	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
836	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
837	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
838	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
839	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
840	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
841	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
842	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
843	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
844	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
845	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
846	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
847	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
848	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
849	//// }
850	//// _rnx_set_position = true;
851	//// }
852	//// }
853
854	if ( dump ) {
855	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
856	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
857	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
858	_rnx->deepCopy(obs);
859	}
860	_rnx->dumpEpoch(newTime);
861	}
862	}
863
864	// Emit new observation signal
865	// ---------------------------
866	bool firstObs = (obs == _decoder->_obsList.first());
867	obs->_status = t_obs::posted;
868	emit newObs(_staID, firstObs, obs);
869	}
870	_decoder->_obsList.clear();
871
872	}
873
874	// Timeout, reconnect
875	// ------------------
876	else {
877	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
878	tryReconnect();
879	}
880	}
881	catch (const char* msg) {
882	emit(newMessage(_staID + msg, true));
883	tryReconnect();
884	}
885	}
886	}
887
888	// Exit
889	////////////////////////////////////////////////////////////////////////////
890	void bncGetThread::exit(int exitCode) {
891	if (exitCode!= 0) {
892	emit error(_staID);
893	}
894	QThread::exit(exitCode);
895	terminate();
896	}
897
898	// Try Re-Connect
899	////////////////////////////////////////////////////////////////////////////
900	void bncGetThread::tryReconnect() {
901	if (_rnx) {
902	_rnx->setReconnectFlag(true);
903	}
904	if ( !_decodeStart.isValid()) {
905	_decodeStop = QDateTime::currentDateTime();
906	}
907	while (1) {
908	sleep(_nextSleep);
909	if ( initRun() == success ) {
910	if ( !_decodeStop.isValid()) {
911	_decodeStart = QDateTime::currentDateTime();
912	}
913	break;
914	}
915	else {
916
917	// Begin outage threshold
918	// ----------------------
919	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
920	_decodeStop.setDate(QDate());
921	_decodeStop.setTime(QTime());
922	if (_inspSegm>0) {
923	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
924	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
925	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
926	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
927	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
928	}
929	}
930	_nextSleep *= 2;
931	if (_nextSleep > 256) {
932	_nextSleep = 256;
933	}
934	_nextSleep += rand() % 6;
935	}
936	}
937	_nextSleep = 1;
938	}
939
940	// Call advisory notice script
941	////////////////////////////////////////////////////////////////////////////
942	void bncGetThread::callScript(const char* _comment) {
943	QMutexLocker locker(&_mutex);
944	if (!_adviseScript.isEmpty()) {
945	msleep(1);
946	#ifdef WIN32
947	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
948	#else
949	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
950	#endif
951	}
952	}
953
954	//
955	//////////////////////////////////////////////////////////////////////////////
956	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
957	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
958
959	if ( decoder ) {
960	QMutexLocker locker(&_mutex);
961
962	string storedPRN;
963	vector<int> IODs;
964
965	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
966	#ifdef DEBUG_RTCM2_2021
967	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
968
969	for (unsigned ii = 0; ii < IODs.size(); ii++) {
970	msg += QString(" %1").arg(IODs[ii],4);
971	}
972
973	emit(newMessage(msg.toAscii(), false));
974	#endif
975	}
976	}
977	}
978

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