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source: ntrip/trunk/BNC/bncgetthread.cpp@ 1401

Last change on this file since 1401 was 1401, checked in by mervart, 15 years ago
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File size: 30.7 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 "bncnetqueryv1.h"
57	#include "bncnetqueryv2.h"
58
59	#include "RTCM/RTCM2Decoder.h"
60	#include "RTCM3/RTCM3Decoder.h"
61	#include "RTIGS/RTIGSDecoder.h"
62	#include "GPSS/gpssDecoder.h"
63	#include "serial/qextserialport.h"
64
65	using namespace std;
66
67	// Constructor 1
68	////////////////////////////////////////////////////////////////////////////
69	bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
70	const QByteArray& format) {
71
72	_format = format;
73
74	int iSep = rawInpFileName.lastIndexOf(QDir::separator());
75	_staID = rawInpFileName.mid(iSep+1,4);
76
77	initialize();
78
79	_inspSegm = 0;
80
81	_rawInpFile = new QFile(rawInpFileName);
82	_rawInpFile->open(QIODevice::ReadOnly);
83
84	if (!_rnx) {
85	cerr << "no RINEX path specified" << endl;
86	::exit(0);
87	}
88	}
89
90	// Constructor 2
91	////////////////////////////////////////////////////////////////////////////
92	bncGetThread::bncGetThread(const QUrl& mountPoint,
93	const QByteArray& format,
94	const QByteArray& latitude,
95	const QByteArray& longitude,
96	const QByteArray& nmea,
97	const QByteArray& ntripVersion, int iMount) {
98
99	setTerminationEnabled(true);
100
101	_mountPoint = mountPoint;
102	_staID = mountPoint.path().mid(1).toAscii();
103	_format = format;
104	_latitude = latitude;
105	_longitude = longitude;
106	_nmea = nmea;
107	_ntripVersion = ntripVersion;
108	_iMount = iMount; // index in mountpoints array
109
110	initialize();
111	}
112
113	// Initialization
114	////////////////////////////////////////////////////////////////////////////
115	void bncGetThread::initialize() {
116
117
118	bncApp* app = (bncApp*) qApp;
119	app->connect(this, SIGNAL(newMessage(QByteArray,bool)),
120	app, SLOT(slotMessage(const QByteArray,bool)));
121
122	_decoder = 0;
123	_query = 0;
124	_timeOut = 20*1000; // 20 seconds
125	_nextSleep = 1; // 1 second
126	_rawInpFile = 0;
127	_rawOutFile = 0;
128	_staID_orig = _staID;
129
130	// Check name conflict
131	// -------------------
132	QSettings settings;
133	QListIterator<QString> it(settings.value("mountPoints").toStringList());
134	int num = 0;
135	int ind = -1;
136	while (it.hasNext()) {
137	++ind;
138	QStringList hlp = it.next().split(" ");
139	if (hlp.size() <= 1) continue;
140	QUrl url(hlp[0]);
141	if (_mountPoint.path() == url.path()) {
142	if (_iMount > ind \|\| _iMount < 0) {
143	++num;
144	}
145	}
146	}
147
148	if (num > 0) {
149	_staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
150	}
151
152	// Notice threshold
153	// ----------------
154	_inspSegm = 50;
155	if ( settings.value("obsRate").toString().isEmpty() ) { _inspSegm = 0; }
156	if ( settings.value("obsRate").toString().indexOf("5 Hz") != -1 ) { _inspSegm = 2; }
157	if ( settings.value("obsRate").toString().indexOf("1 Hz") != -1 ) { _inspSegm = 10; }
158	if ( settings.value("obsRate").toString().indexOf("0.5 Hz") != -1 ) { _inspSegm = 20; }
159	if ( settings.value("obsRate").toString().indexOf("0.2 Hz") != -1 ) { _inspSegm = 40; }
160	if ( settings.value("obsRate").toString().indexOf("0.1 Hz") != -1 ) { _inspSegm = 50; }
161	_adviseFail = settings.value("adviseFail").toInt();
162	_adviseReco = settings.value("adviseReco").toInt();
163	_makePause = false;
164	if ( Qt::CheckState(settings.value("makePause").toInt()) == Qt::Checked) {_makePause = true; }
165	_adviseScript = settings.value("adviseScript").toString();
166	expandEnvVar(_adviseScript);
167
168	// Latency interval/average
169	// ------------------------
170	_perfIntr = 86400;
171	if ( settings.value("perfIntr").toString().isEmpty() ) { _perfIntr = 0; }
172	if ( settings.value("perfIntr").toString().indexOf("1 min") != -1 ) { _perfIntr = 60; }
173	if ( settings.value("perfIntr").toString().indexOf("5 min") != -1 ) { _perfIntr = 300; }
174	if ( settings.value("perfIntr").toString().indexOf("15 min") != -1 ) { _perfIntr = 900; }
175	if ( settings.value("perfIntr").toString().indexOf("1 hour") != -1 ) { _perfIntr = 3600; }
176	if ( settings.value("perfIntr").toString().indexOf("6 hours") != -1 ) { _perfIntr = 21600; }
177	if ( settings.value("perfIntr").toString().indexOf("1 day") != -1 ) { _perfIntr = 86400; }
178
179	// RTCM message types
180	// ------------------
181	_checkMountPoint = settings.value("miscMount").toString();
182
183	// RINEX writer
184	// ------------
185	_samplingRate = settings.value("rnxSampl").toInt();
186	if ( settings.value("rnxPath").toString().isEmpty() ) {
187	_rnx = 0;
188	}
189	else {
190	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
191	_longitude, _nmea);
192	}
193	_rnx_set_position = false;
194
195	connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
196	this, SLOT(slotNewEphGPS(gpsephemeris)));
197
198	if (settings.value("serialMountPoint").toString() == _staID) {
199	_serialPort = new QextSerialPort(
200	settings.value("serialPortName").toString() );
201	QString hlp = settings.value("serialBaudRate").toString();
202	if (hlp == "110") {
203	_serialPort->setBaudRate(BAUD110);
204	}
205	else if (hlp == "300") {
206	_serialPort->setBaudRate(BAUD300);
207	}
208	else if (hlp == "600") {
209	_serialPort->setBaudRate(BAUD600);
210	}
211	else if (hlp == "1200") {
212	_serialPort->setBaudRate(BAUD1200);
213	}
214	else if (hlp == "2400") {
215	_serialPort->setBaudRate(BAUD2400);
216	}
217	else if (hlp == "4800") {
218	_serialPort->setBaudRate(BAUD4800);
219	}
220	else if (hlp == "9600") {
221	_serialPort->setBaudRate(BAUD9600);
222	}
223	else if (hlp == "19200") {
224	_serialPort->setBaudRate(BAUD19200);
225	}
226	else if (hlp == "38400") {
227	_serialPort->setBaudRate(BAUD38400);
228	}
229	else if (hlp == "57600") {
230	_serialPort->setBaudRate(BAUD57600);
231	}
232	else if (hlp == "115200") {
233	_serialPort->setBaudRate(BAUD115200);
234	}
235	hlp = settings.value("serialParity").toString();
236	if (hlp == "NONE") {
237	_serialPort->setParity(PAR_NONE);
238	}
239	else if (hlp == "ODD") {
240	_serialPort->setParity(PAR_ODD);
241	}
242	else if (hlp == "EVEN") {
243	_serialPort->setParity(PAR_EVEN);
244	}
245	else if (hlp == "SPACE") {
246	_serialPort->setParity(PAR_SPACE);
247	}
248	hlp = settings.value("serialDataBits").toString();
249	if (hlp == "5") {
250	_serialPort->setDataBits(DATA_5);
251	}
252	else if (hlp == "6") {
253	_serialPort->setDataBits(DATA_6);
254	}
255	else if (hlp == "7") {
256	_serialPort->setDataBits(DATA_7);
257	}
258	else if (hlp == "8") {
259	_serialPort->setDataBits(DATA_8);
260	}
261	hlp = settings.value("serialStopBits").toString();
262	if (hlp == "1") {
263	_serialPort->setStopBits(STOP_1);
264	}
265	else if (hlp == "2") {
266	_serialPort->setStopBits(STOP_2);
267	}
268	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
269	if (!_serialPort->isOpen()) {
270	delete _serialPort;
271	_serialPort = 0;
272	emit(newMessage((_staID + ": Cannot Open Serial Port\n"), true));
273	}
274	}
275	else {
276	_serialPort = 0;
277	}
278
279	// Raw Output
280	// ----------
281	// QByteArray rawOutFileName = "./" + _staID + ".raw";
282	// _rawOutFile = new QFile(rawOutFileName);
283	// _rawOutFile->open(QIODevice::WriteOnly);
284
285	msleep(100); //sleep 0.1 sec
286	}
287
288	// Destructor
289	////////////////////////////////////////////////////////////////////////////
290	bncGetThread::~bncGetThread() {
291	if (_query) {
292	_query->deleteLater();
293	}
294	delete _decoder;
295	delete _rnx;
296	delete _rawInpFile;
297	delete _rawOutFile;
298	delete _serialPort;
299	}
300
301	//
302	////////////////////////////////////////////////////////////////////////////
303	void bncGetThread::terminate() {
304	if (_query) {
305	_query->stop();
306	}
307	QThread::terminate();
308	wait(2000);
309	}
310
311	// Init Run
312	////////////////////////////////////////////////////////////////////////////
313	t_irc bncGetThread::initRun() {
314
315	if (!_rawInpFile) {
316	delete _query;
317	if (_ntripVersion == "2") {
318	_query = new bncNetQueryV2();
319	}
320	else {
321	_query = new bncNetQueryV1();
322	}
323	if (_nmea == "yes") {
324	QByteArray gga = ggaString(_latitude, _longitude);
325	_query->startRequest(_mountPoint, gga);
326	}
327	else {
328	_query->startRequest(_mountPoint, "");
329	}
330	}
331
332	// Instantiate the filter
333	// ----------------------
334	if (!_decoder) {
335	if (_format.indexOf("RTCM_2") != -1) {
336	emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format", true));
337	_decoder = new RTCM2Decoder(_staID.data());
338	}
339	else if (_format.indexOf("RTCM_3") != -1) {
340	emit(newMessage("Get Data: " + _staID + " in RTCM 3.x format", true));
341	_decoder = new RTCM3Decoder(_staID);
342	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
343	this, SIGNAL(newMessage(QByteArray,bool)));
344	}
345	else if (_format.indexOf("RTIGS") != -1) {
346	emit(newMessage("Get Data: " + _staID + " in RTIGS format", true));
347	_decoder = new RTIGSDecoder();
348	}
349	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
350	emit(newMessage("Get Data: " + _staID + " in GPSS format", true));
351	_decoder = new gpssDecoder();
352	}
353	else if (_format.indexOf("ZERO") != -1) {
354	emit(newMessage("Get Data: " + _staID + " in original format", true));
355	_decoder = new bncZeroDecoder(_staID);
356	}
357	else {
358	emit(newMessage(_staID + ": Unknown data format " + _format, true));
359	if (_rawInpFile) {
360	cerr << "Uknown data format" << endl;
361	::exit(0);
362	}
363	else {
364	return fatal;
365	}
366	}
367	}
368	return success;
369	}
370
371	// Run
372	////////////////////////////////////////////////////////////////////////////
373	void bncGetThread::run() {
374
375	const double maxDt = 600.0; // Check observation epoch
376	bool wrongEpoch = false;
377	bool decode = true;
378	int numSucc = 0;
379	int secSucc = 0;
380	int secFail = 0;
381	int initPause = 30; // Initial pause for corrupted streams
382	int currPause = 0;
383	bool begCorrupt = false;
384	bool endCorrupt = false;
385	bool followSec = false;
386	int oldSecGPS= 0;
387	int newSecGPS = 0;
388	int numGaps = 0;
389	int diffSecGPS = 0;
390	int numLat = 0;
391	double sumLat = 0.;
392	double sumLatQ = 0.;
393	double meanDiff = 0.;
394	double minLat = maxDt;
395	double maxLat = -maxDt;
396	double curLat = 0.;
397
398	_decodeTime = QDateTime::currentDateTime();
399	_decodeSucc = QDateTime::currentDateTime();
400	t_irc irc = initRun();
401
402	if (irc == fatal) {
403	QThread::exit(1);
404	return;
405	}
406	else if (irc != success) {
407	emit(newMessage(_staID + ": initRun failed, reconnecting", true));
408	tryReconnect();
409	}
410
411	if (initPause < _inspSegm) {
412	initPause = _inspSegm;
413	}
414	if(!_makePause) {initPause = 0;}
415	currPause = initPause;
416
417	// Read Incoming Data
418	// ------------------
419	while (true) {
420	try {
421	if (_query && _query->status() != bncNetQuery::running) {
422	emit(newMessage(_staID + ": Internet query not running, reconnecting", true));
423	tryReconnect();
424	}
425
426	QListIterator<p_obs> it(_decoder->_obsList);
427	while (it.hasNext()) {
428	delete it.next();
429	}
430	_decoder->_obsList.clear();
431
432	qint64 nBytes = 0;
433
434	QByteArray data;
435
436	if (_query) {
437	_query->waitForReadyRead(data);
438	nBytes = data.size();
439	}
440	else if (_rawInpFile) {
441	const qint64 maxBytes = 1024;
442	nBytes = maxBytes;
443	}
444
445	if (nBytes > 0) {
446	emit newBytes(_staID, nBytes);
447
448	if (_rawInpFile) {
449	data = _rawInpFile->read(nBytes);
450	if (data.isEmpty()) {
451	cout << "no more data" << endl;
452	::exit(0);
453	}
454	}
455
456	if (_rawOutFile) {
457	_rawOutFile->write(data);
458	_rawOutFile->flush();
459	}
460
461	if (_serialPort) {
462	_serialPort->write(data);
463	}
464
465	if (_inspSegm<1) {
466	vector<string> errmsg;
467	_decoder->Decode(data.data(), data.size(), errmsg);
468	#ifdef DEBUG_RTCM2_2021
469	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
470	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
471	}
472	#endif
473	}
474	else {
475
476	// Decode data
477	// -----------
478	if (!_decodePause.isValid() \|\|
479	_decodePause.secsTo(QDateTime::currentDateTime()) >= currPause ) {
480
481	if (decode) {
482	vector<string> errmsg;
483	if ( _decoder->Decode(data.data(), data.size(), errmsg) == success ) {
484	numSucc += 1;
485	}
486	if ( _decodeTime.secsTo(QDateTime::currentDateTime()) > _inspSegm ) {
487	decode = false;
488	}
489	#ifdef DEBUG_RTCM2_2021
490	for (unsigned ii = 0; ii < errmsg.size(); ii++) {
491	emit newMessage(_staID + ": " + errmsg[ii].c_str(), false);
492	}
493	#endif
494	}
495
496	// Check - once per inspect segment
497	// --------------------------------
498	if (!decode) {
499	_decodeTime = QDateTime::currentDateTime();
500	if (numSucc>0) {
501	secSucc += _inspSegm;
502	_decodeSucc = QDateTime::currentDateTime();
503	if (secSucc > _adviseReco * 60) {
504	secSucc = _adviseReco * 60 + 1;
505	}
506	numSucc = 0;
507	currPause = initPause;
508	_decodePause.setDate(QDate());
509	_decodePause.setTime(QTime());
510	}
511	else {
512	secFail += _inspSegm;
513	secSucc = 0;
514	if (secFail > _adviseFail * 60) {
515	secFail = _adviseFail * 60 + 1;
516	}
517	if (!_decodePause.isValid() \|\| !_makePause) {
518	_decodePause = QDateTime::currentDateTime();
519	}
520	else {
521	_decodePause.setDate(QDate());
522	_decodePause.setTime(QTime());
523	secFail = secFail + currPause - _inspSegm;
524	currPause = currPause * 2;
525	if (currPause > 960) {
526	currPause = 960;
527	}
528	}
529	}
530
531	// End corrupt threshold
532	// ---------------------
533	if ( begCorrupt && !endCorrupt && secSucc > _adviseReco * 60 ) {
534	_endDateCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
535	_endTimeCor = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
536	emit(newMessage((_staID + ": Recovery threshold exceeded, corruption ended "
537	+ _endDateCor + " " + _endTimeCor).toAscii(), true));
538	callScript(("End_Corrupted " + _endDateCor + " " + _endTimeCor + " Begin was " + _begDateCor + " " + _begTimeCor).toAscii());
539	endCorrupt = true;
540	begCorrupt = false;
541	secFail = 0;
542	}
543	else {
544
545	// Begin corrupt threshold
546	// -----------------------
547	if ( !begCorrupt && secFail > _adviseFail * 60 ) {
548	_begDateCor = _decodeSucc.toUTC().date().toString("yy-MM-dd");
549	_begTimeCor = _decodeSucc.toUTC().time().toString("hh:mm:ss");
550	emit(newMessage((_staID + ": Failure threshold exceeded, corrupted since "
551	+ _begDateCor + " " + _begTimeCor).toAscii(), true));
552	callScript(("Begin_Corrupted " + _begDateCor + " " + _begTimeCor).toAscii());
553	begCorrupt = true;
554	endCorrupt = false;
555	secSucc = 0;
556	numSucc = 0;
557	}
558	}
559	decode = true;
560	}
561	}
562	}
563
564	// End outage threshold
565	// --------------------
566	if ( _decodeStart.isValid() && _decodeStart.secsTo(QDateTime::currentDateTime()) > _adviseReco * 60 ) {
567	_decodeStart.setDate(QDate());
568	_decodeStart.setTime(QTime());
569	if (_inspSegm>0) {
570	_endDateOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().date().toString("yy-MM-dd");
571	_endTimeOut = QDateTime::currentDateTime().addSecs(- _adviseReco * 60).toUTC().time().toString("hh:mm:ss");
572	emit(newMessage((_staID + ": Recovery threshold exceeded, outage ended "
573	+ _endDateOut + " " + _endTimeOut).toAscii(), true));
574	callScript(("End_Outage " + _endDateOut + " " + _endTimeOut + " Begin was " + _begDateOut + " " + _begTimeOut).toAscii());
575	}
576	}
577
578	// RTCM scan output
579	// ----------------
580	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
581	QSettings settings;
582	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked) {
583
584	// RTCMv3 message types
585	// --------------------
586	if (0<_decoder->_typeList.size()) {
587	QString type;
588	for (int ii=0;ii<_decoder->_typeList.size();ii++) {
589	type = QString("%1 ").arg(_decoder->_typeList[ii]);
590	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
591	}
592	}
593
594	// RTCMv3 antenna descriptor
595	// -------------------------
596	if (0<_decoder->_antType.size()) {
597	QString ant1;
598	for (int ii=0;ii<_decoder->_antType.size();ii++) {
599	ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
600	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
601	}
602	}
603
604	// Antenna XYZ
605	// ------------------
606	if (0<_decoder->_antList.size()) {
607	for (int ii=0;ii<_decoder->_antList.size();++ii) {
608	QByteArray ant1,ant2,ant3, antT;
609	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
610	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
611	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
612	switch (_decoder->_antList[ii].type) {
613	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
614	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
615	}
616	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
617	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
618	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
619	if (_decoder->_antList[ii].height_f) {
620	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
621	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
622	}
623	emit(newAntCrd(_staID,
624	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
625	antT));
626	}
627	}
628	}
629	if ( _checkMountPoint == "ANTCRD_ONLY" && _decoder->_antList.size() ) {
630	for (int ii=0;ii<_decoder->_antList.size();++ii) {
631	QByteArray antT;
632	switch (_decoder->_antList[ii].type) {
633	case GPSDecoder::t_antInfo::ARP: antT = "ARP"; break;
634	case GPSDecoder::t_antInfo::APC: antT = "APC"; break;
635	}
636	emit(newAntCrd(_staID,
637	_decoder->_antList[ii].xx, _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
638	antT));
639	}
640	}
641	}
642
643	_decoder->_typeList.clear();
644	_decoder->_antType.clear();
645	_decoder->_antList.clear();
646
647	// Loop over all observations (observations output)
648	// ------------------------------------------------
649	QListIterator<p_obs> it(_decoder->_obsList);
650	while (it.hasNext()) {
651	p_obs obs = it.next();
652
653	// Check observation epoch
654	// -----------------------
655	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
656	int week;
657	double sec;
658	currentGPSWeeks(week, sec);
659	const double secPerWeek = 7.0 * 24.0 * 3600.0;
660
661	if (week < obs->_o.GPSWeek) {
662	week += 1;
663	sec -= secPerWeek;
664	}
665	if (week > obs->_o.GPSWeek) {
666	week -= 1;
667	sec += secPerWeek;
668	}
669	double dt = fabs(sec - obs->_o.GPSWeeks);
670	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
671	if (!wrongEpoch) {
672	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
673	wrongEpoch = true;
674	}
675	delete obs;
676	continue;
677	}
678	else {
679	wrongEpoch = false;
680
681	// Latency and completeness
682	// ------------------------
683	if (_perfIntr>0) {
684	if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
685	newSecGPS = static_cast<int>(obs->_o.GPSWeeks);
686	if (newSecGPS != oldSecGPS) {
687	if (newSecGPS % _perfIntr < oldSecGPS % _perfIntr) {
688	if (numLat>0) {
689	if (meanDiff>0.) {
690	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs, %7 gaps")
691	.arg(_staID.data())
692	.arg(int(sumLat/numLat*100)/100.)
693	.arg(int(minLat*100)/100.)
694	.arg(int(maxLat*100)/100.)
695	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
696	.arg(numLat)
697	.arg(numGaps)
698	.toAscii(), true) );
699	} else {
700	emit( newMessage(QString("%1: Mean latency %2 sec, min %3, max %4, rms %5, %6 epochs")
701	.arg(_staID.data())
702	.arg(int(sumLat/numLat*100)/100.)
703	.arg(int(minLat*100)/100.)
704	.arg(int(maxLat*100)/100.)
705	.arg(int((sqrt((sumLatQ - sumLat * sumLat / numLat)/numLat))*100)/100.)
706	.arg(numLat)
707	.toAscii(), true) );
708	}
709	}
710	meanDiff = diffSecGPS/numLat;
711	diffSecGPS = 0;
712	numGaps = 0;
713	sumLat = 0.;
714	sumLatQ = 0.;
715	numLat = 0;
716	minLat = maxDt;
717	maxLat = -maxDt;
718	}
719	if (followSec) {
720	diffSecGPS += newSecGPS - oldSecGPS;
721	if (meanDiff>0.) {
722	if (newSecGPS - oldSecGPS > 1.5 * meanDiff) {
723	numGaps += 1;
724	}
725	}
726	}
727	curLat = sec - obs->_o.GPSWeeks;
728	sumLat += curLat;
729	sumLatQ += curLat * curLat;
730	if (curLat < minLat) minLat = curLat;
731	if (curLat >= maxLat) maxLat = curLat;
732	numLat += 1;
733	oldSecGPS = newSecGPS;
734	followSec = true;
735	}
736	}
737	}
738	}
739	}
740
741	// RINEX Output
742	// ------------
743	if (_rnx) {
744	bool dump = true;
745
746	//// // RTCMv2 XYZ
747	//// // ----------
748	//// RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
749	//// if ( decoder2 && !_rnx_set_position ) {
750	//// double stax, stay, staz;
751	//// double dL1[3], dL2[3];
752	//// if ( decoder2->getStaCrd(stax, stay, staz,
753	//// dL1[0], dL1[1], dL1[2],
754	//// dL2[0], dL2[1], dL2[2]) == success ) {
755	////
756	//// if ( _checkMountPoint == _staID \|\| _checkMountPoint == "ALL" ) {
757	//// QString ant1;
758	//// ant1 = QString("%1 ").arg(stax,0,'f',4);
759	//// emit(newMessage(_staID + ": ARP X " + ant1.toAscii() + "m" ));
760	//// ant1 = QString("%1 ").arg(stay,0,'f',4);
761	//// emit(newMessage(_staID + ": ARP Y " + ant1.toAscii() + "m" ));
762	//// ant1 = QString("%1 ").arg(staz,0,'f',4);
763	//// emit(newMessage(_staID + ": ARP Z " + ant1.toAscii() + "m" ));
764	//// ant1 = QString("%1 ").arg(dL1[0],0,'f',4);
765	//// emit(newMessage(_staID + ": L1 APC DX " + ant1.toAscii() + "m" ));
766	//// ant1 = QString("%1 ").arg(dL1[1],0,'f',4);
767	//// emit(newMessage(_staID + ": L1 APC DY " + ant1.toAscii() + "m" ));
768	//// ant1 = QString("%1 ").arg(dL1[2],0,'f',4);
769	//// emit(newMessage(_staID + ": L1 APC DZ " + ant1.toAscii() + "m" ));
770	//// ant1 = QString("%1 ").arg(dL2[0],0,'f',4);
771	//// emit(newMessage(_staID + ": L2 APC DX " + ant1.toAscii() + "m" ));
772	//// ant1 = QString("%1 ").arg(dL2[1],0,'f',4);
773	//// emit(newMessage(_staID + ": L2 APC DY " + ant1.toAscii() + "m" ));
774	//// ant1 = QString("%1 ").arg(dL2[2],0,'f',4);
775	//// emit(newMessage(_staID + ": L2 APC DZ " + ant1.toAscii() + "m" ));
776	//// }
777	//// _rnx_set_position = true;
778	//// }
779	//// }
780
781	if ( dump ) {
782	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
783	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
784	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
785	_rnx->deepCopy(obs);
786	}
787	_rnx->dumpEpoch(newTime);
788	}
789	}
790
791	// Emit new observation signal
792	// ---------------------------
793	bool firstObs = (obs == _decoder->_obsList.first());
794	obs->_status = t_obs::posted;
795	emit newObs(_staID, firstObs, obs);
796	}
797	_decoder->_obsList.clear();
798
799	}
800
801	// Timeout, reconnect
802	// ------------------
803	else {
804	emit(newMessage(_staID + ": Data Timeout, reconnecting", true));
805	tryReconnect();
806	}
807	}
808	catch (const char* msg) {
809	emit(newMessage(_staID + msg, true));
810	tryReconnect();
811	}
812	}
813	}
814
815	// Exit
816	////////////////////////////////////////////////////////////////////////////
817	void bncGetThread::exit(int exitCode) {
818	if (exitCode!= 0) {
819	emit error(_staID);
820	}
821	QThread::exit(exitCode);
822	terminate();
823	}
824
825	// Try Re-Connect
826	////////////////////////////////////////////////////////////////////////////
827	void bncGetThread::tryReconnect() {
828	if (_rnx) {
829	_rnx->setReconnectFlag(true);
830	}
831	if ( !_decodeStart.isValid()) {
832	_decodeStop = QDateTime::currentDateTime();
833	}
834	while (1) {
835	sleep(_nextSleep);
836	if ( initRun() == success ) {
837	if ( !_decodeStop.isValid()) {
838	_decodeStart = QDateTime::currentDateTime();
839	}
840	break;
841	}
842	else {
843
844	// Begin outage threshold
845	// ----------------------
846	if ( _decodeStop.isValid() && _decodeStop.secsTo(QDateTime::currentDateTime()) > _adviseFail * 60 ) {
847	_decodeStop.setDate(QDate());
848	_decodeStop.setTime(QTime());
849	if (_inspSegm>0) {
850	_begDateOut = _decodeTime.toUTC().date().toString("yy-MM-dd");
851	_begTimeOut = _decodeTime.toUTC().time().toString("hh:mm:ss");
852	emit(newMessage((_staID + ": Failure threshold exceeded, outage since "
853	+ _begDateOut + " " + _begTimeOut).toAscii(), true));
854	callScript(("Begin_Outage " + _begDateOut + " " + _begTimeOut).toAscii());
855	}
856	}
857	_nextSleep *= 2;
858	if (_nextSleep > 256) {
859	_nextSleep = 256;
860	}
861	_nextSleep += rand() % 6;
862	}
863	}
864	_nextSleep = 1;
865	}
866
867	// Call advisory notice script
868	////////////////////////////////////////////////////////////////////////////
869	void bncGetThread::callScript(const char* _comment) {
870	QMutexLocker locker(&_mutex);
871	if (!_adviseScript.isEmpty()) {
872	msleep(1);
873	#ifdef WIN32
874	QProcess::startDetached(_adviseScript, QStringList() << _staID << _comment) ;
875	#else
876	QProcess::startDetached("nohup", QStringList() << _adviseScript << _staID << _comment) ;
877	#endif
878	}
879	}
880
881	//
882	//////////////////////////////////////////////////////////////////////////////
883	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
884	RTCM2Decoder* decoder = dynamic_cast<RTCM2Decoder*>(_decoder);
885
886	if ( decoder ) {
887	QMutexLocker locker(&_mutex);
888
889	string storedPRN;
890	vector<int> IODs;
891
892	if ( decoder->storeEph(gpseph, storedPRN, IODs) ) {
893	#ifdef DEBUG_RTCM2_2021
894	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
895
896	for (unsigned ii = 0; ii < IODs.size(); ii++) {
897	msg += QString(" %1").arg(IODs[ii],4);
898	}
899
900	emit(newMessage(msg.toAscii(), false));
901	#endif
902	}
903	}
904	}

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