source: ntrip/trunk/BNC/bncmodel.cpp@ 2178

Last change on this file since 2178 was 2178, checked in by mervart, 14 years ago

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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: bncParam, bncModel
30 *
31 * Purpose: Model for PPP
32 *
33 * Author: L. Mervart
34 *
35 * Created: 01-Dec-2009
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <iomanip>
42#include <cmath>
43#include <newmatio.h>
44#include <sstream>
45
46#include "bncmodel.h"
47#include "bncapp.h"
48#include "bncpppclient.h"
49#include "bancroft.h"
50#include "bncutils.h"
51#include "bncsettings.h"
52
53using namespace std;
54
55const unsigned MINOBS = 4;
56const double MINELE = 10.0 * M_PI / 180.0;
57const double MAXRES_CODE = 10.0;
58const double MAXRES_PHASE = 0.10;
59const double sig_crd_0 = 100.0;
60const double sig_crd_p = 100.0;
61const double sig_clk_0 = 1000.0;
62const double sig_trp_0 = 0.01;
63const double sig_trp_p = 1e-6;
64const double sig_amb_0 = 100.0;
65const double sig_P3 = 1.0;
66const double sig_L3 = 0.01;
67
68// Constructor
69////////////////////////////////////////////////////////////////////////////
70bncParam::bncParam(bncParam::parType typeIn, int indexIn,
71 const QString& prnIn) {
72 type = typeIn;
73 index = indexIn;
74 prn = prnIn;
75 index_old = 0;
76 xx = 0.0;
77}
78
79// Destructor
80////////////////////////////////////////////////////////////////////////////
81bncParam::~bncParam() {
82}
83
84// Partial
85////////////////////////////////////////////////////////////////////////////
86double bncParam::partial(t_satData* satData, const QString& prnIn) {
87 if (type == CRD_X) {
88 return (xx - satData->xx(1)) / satData->rho;
89 }
90 else if (type == CRD_Y) {
91 return (xx - satData->xx(2)) / satData->rho;
92 }
93 else if (type == CRD_Z) {
94 return (xx - satData->xx(3)) / satData->rho;
95 }
96 else if (type == RECCLK) {
97 return 1.0;
98 }
99 else if (type == TROPO) {
100 return 1.0 / sin(satData->eleSat);
101 }
102 else if (type == AMB_L3) {
103 if (prnIn == prn) {
104 return 1.0;
105 }
106 else {
107 return 0.0;
108 }
109 }
110 return 0.0;
111}
112
113// Constructor
114////////////////////////////////////////////////////////////////////////////
115bncModel::bncModel(QByteArray staID) {
116
117 _staID = staID;
118
119 connect(this, SIGNAL(newMessage(QByteArray,bool)),
120 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
121
122 bncSettings settings;
123
124 _static = false;
125 if ( Qt::CheckState(settings.value("pppStatic").toInt()) == Qt::Checked) {
126 _static = true;
127 }
128
129 _usePhase = false;
130 if ( Qt::CheckState(settings.value("pppUsePhase").toInt()) == Qt::Checked) {
131 _usePhase = true;
132 }
133
134 _estTropo = false;
135 if ( Qt::CheckState(settings.value("pppEstTropo").toInt()) == Qt::Checked) {
136 _estTropo = true;
137 }
138
139 _xcBanc.ReSize(4); _xcBanc = 0.0;
140 _ellBanc.ReSize(3); _ellBanc = 0.0;
141
142 _params.push_back(new bncParam(bncParam::CRD_X, 1, ""));
143 _params.push_back(new bncParam(bncParam::CRD_Y, 2, ""));
144 _params.push_back(new bncParam(bncParam::CRD_Z, 3, ""));
145 _params.push_back(new bncParam(bncParam::RECCLK, 4, ""));
146 if (_estTropo) {
147 _params.push_back(new bncParam(bncParam::TROPO, 5, ""));
148 }
149
150 unsigned nPar = _params.size();
151
152 _QQ.ReSize(nPar);
153 _QQ = 0.0;
154
155 _QQ(1,1) = sig_crd_0 * sig_crd_0;
156 _QQ(2,2) = sig_crd_0 * sig_crd_0;
157 _QQ(3,3) = sig_crd_0 * sig_crd_0;
158 _QQ(4,4) = sig_clk_0 * sig_clk_0;
159 if (_estTropo) {
160 _QQ(5,5) = sig_trp_0 * sig_trp_0;
161 }
162
163 // NMEA Output
164 // -----------
165 QString nmeaFileName = settings.value("nmeaFile").toString();
166 if (nmeaFileName.isEmpty()) {
167 _nmeaFile = 0;
168 _nmeaStream = 0;
169 }
170 else {
171 expandEnvVar(nmeaFileName);
172 _nmeaFile = new QFile(nmeaFileName);
173 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
174 _nmeaFile->open(QIODevice::WriteOnly | QIODevice::Append);
175 }
176 else {
177 _nmeaFile->open(QIODevice::WriteOnly);
178 }
179 _nmeaStream = new QTextStream();
180 _nmeaStream->setDevice(_nmeaFile);
181 QDateTime dateTime = QDateTime::currentDateTime().toUTC();
182 QString nmStr = "GPRMC," + dateTime.time().toString("hhmmss")
183 + ",A,,,,,,,"
184 + dateTime.date().toString("ddMMyy")
185 + ",,";
186
187 writeNMEAstr(nmStr);
188 }
189
190 int port = 7777;
191
192 if (port != 0) {
193 _server = new QTcpServer;
194 if ( !_server->listen(QHostAddress::Any, port) ) {
195 emit newMessage("bncModel: Cannot listen on sync port", true);
196 }
197 connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
198 _sockets = new QList<QTcpSocket*>;
199 }
200 else {
201 _server = 0;
202 _sockets = 0;
203 }
204
205
206}
207
208// Destructor
209////////////////////////////////////////////////////////////////////////////
210bncModel::~bncModel() {
211 delete _nmeaStream;
212 delete _nmeaFile;
213 delete _server;
214 delete _sockets;
215}
216
217// New Connection
218////////////////////////////////////////////////////////////////////////////
219void bncModel::slotNewConnection() {
220 _sockets->push_back( _server->nextPendingConnection() );
221 emit( newMessage(QString("PPP: new connection on port: # %1")
222 .arg(_sockets->size()).toAscii(), true) );
223}
224
225// Bancroft Solution
226////////////////////////////////////////////////////////////////////////////
227t_irc bncModel::cmpBancroft(t_epoData* epoData) {
228
229 if (epoData->size() < MINOBS) {
230 _log += "\nNot enough data";
231 return failure;
232 }
233
234 Matrix BB(epoData->size(), 4);
235
236 QMapIterator<QString, t_satData*> it(epoData->satData);
237 int iObs = 0;
238 while (it.hasNext()) {
239 ++iObs;
240 it.next();
241 QString prn = it.key();
242 t_satData* satData = it.value();
243 BB(iObs, 1) = satData->xx(1);
244 BB(iObs, 2) = satData->xx(2);
245 BB(iObs, 3) = satData->xx(3);
246 BB(iObs, 4) = satData->P3 + satData->clk;
247 }
248
249 bancroft(BB, _xcBanc);
250
251 // Ellipsoidal Coordinates
252 // ------------------------
253 xyz2ell(_xcBanc.data(), _ellBanc.data());
254
255 // Compute Satellite Elevations
256 // ----------------------------
257 QMutableMapIterator<QString, t_satData*> it2(epoData->satData);
258 while (it2.hasNext()) {
259 it2.next();
260 QString prn = it2.key();
261 t_satData* satData = it2.value();
262
263 ColumnVector rr = satData->xx - _xcBanc.Rows(1,3);
264 double rho = rr.norm_Frobenius();
265
266 double neu[3];
267 xyz2neu(_ellBanc.data(), rr.data(), neu);
268
269 satData->eleSat = acos( sqrt(neu[0]*neu[0] + neu[1]*neu[1]) / rho );
270 if (neu[2] < 0) {
271 satData->eleSat *= -1.0;
272 }
273 satData->azSat = atan2(neu[1], neu[0]);
274
275 if (satData->eleSat < MINELE) {
276 delete satData;
277 it2.remove();
278 }
279 }
280
281 return success;
282}
283
284// Computed Value
285////////////////////////////////////////////////////////////////////////////
286double bncModel::cmpValue(t_satData* satData) {
287
288 ColumnVector xRec(3);
289 xRec(1) = x();
290 xRec(2) = y();
291 xRec(3) = z();
292
293 double rho0 = (satData->xx - xRec).norm_Frobenius();
294 double dPhi = t_CST::omega * rho0 / t_CST::c;
295
296 xRec(1) = x() * cos(dPhi) - y() * sin(dPhi);
297 xRec(2) = y() * cos(dPhi) + x() * sin(dPhi);
298 xRec(3) = z();
299
300 satData->rho = (satData->xx - xRec).norm_Frobenius();
301
302 double tropDelay = delay_saast(satData->eleSat) +
303 trp() / sin(satData->eleSat);
304
305 return satData->rho + clk() - satData->clk + tropDelay;
306}
307
308// Tropospheric Model (Saastamoinen)
309////////////////////////////////////////////////////////////////////////////
310double bncModel::delay_saast(double Ele) {
311
312 double height = _ellBanc(3);
313
314 double pp = 1013.25 * pow(1.0 - 2.26e-5 * height, 5.225);
315 double TT = 18.0 - height * 0.0065 + 273.15;
316 double hh = 50.0 * exp(-6.396e-4 * height);
317 double ee = hh / 100.0 * exp(-37.2465 + 0.213166*TT - 0.000256908*TT*TT);
318
319 double h_km = height / 1000.0;
320
321 if (h_km < 0.0) h_km = 0.0;
322 if (h_km > 5.0) h_km = 5.0;
323 int ii = int(h_km + 1);
324 double href = ii - 1;
325
326 double bCor[6];
327 bCor[0] = 1.156;
328 bCor[1] = 1.006;
329 bCor[2] = 0.874;
330 bCor[3] = 0.757;
331 bCor[4] = 0.654;
332 bCor[5] = 0.563;
333
334 double BB = bCor[ii-1] + (bCor[ii]-bCor[ii-1]) * (h_km - href);
335
336 double zen = M_PI/2.0 - Ele;
337
338 return (0.002277/cos(zen)) * (pp + ((1255.0/TT)+0.05)*ee - BB*(tan(zen)*tan(zen)));
339}
340
341// Prediction Step of the Filter
342////////////////////////////////////////////////////////////////////////////
343void bncModel::predict(t_epoData* epoData) {
344
345 if (_usePhase) {
346
347 // Make a copy of QQ and xx, set parameter indices
348 // -----------------------------------------------
349 SymmetricMatrix QQ_old = _QQ;
350
351 for (int iPar = 1; iPar <= _params.size(); iPar++) {
352 _params[iPar-1]->index_old = _params[iPar-1]->index;
353 _params[iPar-1]->index = 0;
354 }
355
356 // Remove Ambiguity Parameters without observations
357 // ------------------------------------------------
358 int iPar = 0;
359 QMutableVectorIterator<bncParam*> it(_params);
360 while (it.hasNext()) {
361 bncParam* par = it.next();
362 bool removed = false;
363 if (par->type == bncParam::AMB_L3) {
364 if (epoData->satData.find(par->prn) == epoData->satData.end()) {
365 removed = true;
366 delete par;
367 it.remove();
368 }
369 }
370 if (! removed) {
371 ++iPar;
372 par->index = iPar;
373 }
374 }
375
376 // Add new ambiguity parameters
377 // ----------------------------
378 QMapIterator<QString, t_satData*> itObs(epoData->satData);
379 while (itObs.hasNext()) {
380 itObs.next();
381 QString prn = itObs.key();
382 bool found = false;
383 for (int iPar = 1; iPar <= _params.size(); iPar++) {
384 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
385 _params[iPar-1]->prn == prn) {
386 found = true;
387 break;
388 }
389 }
390 if (!found) {
391 bncParam* par = new bncParam(bncParam::AMB_L3, _params.size()+1, prn);
392 _params.push_back(par);
393 }
394 }
395
396 int nPar = _params.size();
397 _QQ.ReSize(nPar); _QQ = 0.0;
398 for (int i1 = 1; i1 <= nPar; i1++) {
399 bncParam* p1 = _params[i1-1];
400 if (p1->index_old != 0) {
401 _QQ(p1->index, p1->index) = QQ_old(p1->index_old, p1->index_old);
402 for (int i2 = 1; i2 <= nPar; i2++) {
403 bncParam* p2 = _params[i2-1];
404 if (p2->index_old != 0) {
405 _QQ(p1->index, p2->index) = QQ_old(p1->index_old, p2->index_old);
406 }
407 }
408 }
409 }
410
411 for (int ii = 1; ii <= nPar; ii++) {
412 bncParam* par = _params[ii-1];
413 if (par->index_old == 0) {
414 _QQ(par->index, par->index) = sig_amb_0 * sig_amb_0;
415 }
416 par->index_old = par->index;
417 }
418 }
419
420 // Coordinates
421 // -----------
422 if (_static) {
423 if (x() == 0.0 && y() == 0.0 && z() == 0.0) {
424 _params[0]->xx = _xcBanc(1);
425 _params[1]->xx = _xcBanc(2);
426 _params[2]->xx = _xcBanc(3);
427 }
428 }
429 else {
430 _params[0]->xx = _xcBanc(1);
431 _params[1]->xx = _xcBanc(2);
432 _params[2]->xx = _xcBanc(3);
433
434 _QQ(1,1) += sig_crd_p * sig_crd_p;
435 _QQ(2,2) += sig_crd_p * sig_crd_p;
436 _QQ(3,3) += sig_crd_p * sig_crd_p;
437 }
438
439 // Receiver Clocks
440 // ---------------
441 _params[3]->xx = _xcBanc(4);
442 for (int iPar = 1; iPar <= _params.size(); iPar++) {
443 _QQ(iPar, 4) = 0.0;
444 }
445 _QQ(4,4) = sig_clk_0 * sig_clk_0;
446
447 // Tropospheric Delay
448 // ------------------
449 if (_estTropo) {
450 _QQ(5,5) += sig_trp_p * sig_trp_p;
451 }
452}
453
454// Update Step of the Filter (currently just a single-epoch solution)
455////////////////////////////////////////////////////////////////////////////
456t_irc bncModel::update(t_epoData* epoData) {
457
458 _log = "Precise Point Positioning";
459
460 _time = epoData->tt;
461
462 SymmetricMatrix QQsav;
463 ColumnVector dx;
464 ColumnVector vv;
465
466 // Loop over all outliers
467 // ----------------------
468 do {
469
470 // Bancroft Solution
471 // -----------------
472 if (cmpBancroft(epoData) != success) {
473 _log += "\nBancroft failed";
474 emit newMessage(_log, false);
475 return failure;
476 }
477
478 if (epoData->size() < MINOBS) {
479 _log += "\nNot enough data";
480 emit newMessage(_log, false);
481 return failure;
482 }
483
484 // Status Prediction
485 // -----------------
486 predict(epoData);
487
488 // Create First-Design Matrix
489 // --------------------------
490 unsigned nPar = _params.size();
491 unsigned nObs = _usePhase ? 2 * epoData->size() : epoData->size();
492
493 Matrix AA(nObs, nPar); // first design matrix
494 ColumnVector ll(nObs); // tems observed-computed
495 SymmetricMatrix PP(nObs); PP = 0.0;
496
497 unsigned iObs = 0;
498 QMapIterator<QString, t_satData*> itObs(epoData->satData);
499 while (itObs.hasNext()) {
500 ++iObs;
501 itObs.next();
502 QString prn = itObs.key();
503 t_satData* satData = itObs.value();
504
505 double rhoCmp = cmpValue(satData);
506
507 double ellWgtCoeff = 1.0;
508 //// double eleD = satData->eleSat * 180.0 / M_PI;
509 //// if (eleD < 25.0) {
510 //// ellWgtCoeff = 2.5 - (eleD - 10.0) * 0.1;
511 //// ellWgtCoeff *= ellWgtCoeff;
512 //// }
513
514 ll(iObs) = satData->P3 - rhoCmp;
515 PP(iObs,iObs) = 1.0 / (sig_P3 * sig_P3) / ellWgtCoeff;
516 for (int iPar = 1; iPar <= _params.size(); iPar++) {
517 AA(iObs, iPar) = _params[iPar-1]->partial(satData, "");
518 }
519
520 if (_usePhase) {
521 ++iObs;
522 ll(iObs) = satData->L3 - rhoCmp;
523 PP(iObs,iObs) = 1.0 / (sig_L3 * sig_L3) / ellWgtCoeff;
524 for (int iPar = 1; iPar <= _params.size(); iPar++) {
525 if (_params[iPar-1]->type == bncParam::AMB_L3 &&
526 _params[iPar-1]->prn == prn) {
527 ll(iObs) -= _params[iPar-1]->xx;
528 }
529 AA(iObs, iPar) = _params[iPar-1]->partial(satData, prn);
530 }
531 }
532 }
533
534 // Compute Filter Update
535 // ---------------------
536 QQsav = _QQ;
537
538 Matrix ATP = AA.t() * PP;
539 SymmetricMatrix NN = _QQ.i();
540 NN << NN + ATP * AA;
541 _QQ = NN.i();
542 dx = _QQ * ATP * ll;
543 vv = ll - AA * dx;
544
545 } while (outlierDetection(QQsav, vv, epoData->satData) != 0);
546
547 // Set Solution Vector
548 // -------------------
549 ostringstream str1;
550 str1.setf(ios::fixed);
551 QVectorIterator<bncParam*> itPar(_params);
552 while (itPar.hasNext()) {
553 bncParam* par = itPar.next();
554 par->xx += dx(par->index);
555 if (par->type == bncParam::RECCLK) {
556 str1 << "\n clk = " << setw(6) << setprecision(3) << par->xx
557 << " +- " << setw(6) << setprecision(3)
558 << sqrt(_QQ(par->index,par->index));
559 }
560 else if (par->type == bncParam::AMB_L3) {
561 str1 << "\n amb " << par->prn.toAscii().data() << " = "
562 << setw(6) << setprecision(3) << par->xx
563 << " +- " << setw(6) << setprecision(3)
564 << sqrt(_QQ(par->index,par->index));
565 }
566 }
567 _log += str1.str().c_str();
568
569 // Message (both log file and screen)
570 // ----------------------------------
571 ostringstream str2;
572 str2.setf(ios::fixed);
573 str2 << _staID.data() << ": PPP "
574 << epoData->tt.timestr(1) << " " << epoData->size() << " "
575 << setw(14) << setprecision(3) << x() << " +- "
576 << setw(6) << setprecision(3) << sqrt(_QQ(1,1)) << " "
577 << setw(14) << setprecision(3) << y() << " +- "
578 << setw(6) << setprecision(3) << sqrt(_QQ(2,2)) << " "
579 << setw(14) << setprecision(3) << z() << " +- "
580 << setw(6) << setprecision(3) << sqrt(_QQ(3,3));
581 if (_estTropo) {
582 str2 << " " << setw(6) << setprecision(3) << trp() << " +- "
583 << setw(6) << setprecision(3) << sqrt(_QQ(5,5));
584 }
585
586 emit newMessage(_log, false);
587 emit newMessage(QByteArray(str2.str().c_str()), true);
588
589 // NMEA Output
590 // -----------
591 if (_nmeaStream || _sockets) {
592 double xyz[3];
593 xyz[0] = x();
594 xyz[1] = y();
595 xyz[2] = z();
596 double ell[3];
597 xyz2ell(xyz, ell);
598 double phiDeg = ell[0] * 180 / M_PI;
599 double lamDeg = ell[1] * 180 / M_PI;
600
601 char phiCh = 'N';
602 if (phiDeg < 0) {
603 phiDeg = -phiDeg;
604 phiCh = 'S';
605 }
606 char lamCh = 'E';
607 if (lamDeg < 0) {
608 lamDeg = -lamDeg;
609 lamCh = 'W';
610 }
611
612 double dop = 2.0; // TODO
613
614 ostringstream str3;
615 str3.setf(ios::fixed);
616 str3 << "GPGGA,"
617 << epoData->tt.timestr(0,0) << ','
618 << setw(2) << setfill('0') << int(phiDeg)
619 << setw(10) << setprecision(7) << setfill('0')
620 << fmod(60*phiDeg,60) << ',' << phiCh << ','
621 << setw(2) << setfill('0') << int(lamDeg)
622 << setw(10) << setprecision(7) << setfill('0')
623 << fmod(60*lamDeg,60) << ',' << lamCh
624 << ",1," << setw(2) << setfill('0') << epoData->size() << ','
625 << setw(3) << setprecision(1) << dop << ','
626 << setprecision(3) << ell[2] << ",M,0.0,M,,,";
627
628 writeNMEAstr(QString(str3.str().c_str()));
629 }
630
631 return success;
632}
633
634// Outlier Detection
635////////////////////////////////////////////////////////////////////////////
636int bncModel::outlierDetection(const SymmetricMatrix& QQsav,
637 const ColumnVector& vv,
638 QMap<QString, t_satData*>& satData) {
639
640 double vvMaxCode = 0.0;
641 double vvMaxPhase = 0.0;
642 QMutableMapIterator<QString, t_satData*> itMaxCode(satData);
643 QMutableMapIterator<QString, t_satData*> itMaxPhase(satData);
644
645 int ii = 0;
646 QMutableMapIterator<QString, t_satData*> it(satData);
647 while (it.hasNext()) {
648 it.next();
649 ++ii;
650
651 if (vvMaxCode == 0.0 || fabs(vv(ii)) > vvMaxCode) {
652 vvMaxCode = fabs(vv(ii));
653 itMaxCode = it;
654 }
655
656 if (_usePhase) {
657 ++ii;
658 if (vvMaxPhase == 0.0 || fabs(vv(ii)) > vvMaxPhase) {
659 vvMaxPhase = fabs(vv(ii));
660 itMaxPhase = it;
661 }
662 }
663 }
664
665 if (vvMaxCode > MAXRES_CODE) {
666 QString prn = itMaxCode.key();
667 t_satData* satData = itMaxCode.value();
668 delete satData;
669 itMaxCode.remove();
670 _QQ = QQsav;
671
672 _log += "\nOutlier Code " + prn.toAscii() + " "
673 + QByteArray::number(vvMaxCode, 'f', 3);
674
675 return 1;
676 }
677 else if (vvMaxPhase > MAXRES_PHASE) {
678 QString prn = itMaxPhase.key();
679 t_satData* satData = itMaxPhase.value();
680 delete satData;
681 itMaxPhase.remove();
682 _QQ = QQsav;
683
684 _log += "\nOutlier Phase " + prn.toAscii() + " "
685 + QByteArray::number(vvMaxPhase, 'f', 3);
686
687 return 1;
688 }
689
690 return 0;
691}
692
693//
694////////////////////////////////////////////////////////////////////////////
695void bncModel::writeNMEAstr(const QString& nmStr) {
696
697 unsigned char XOR = 0;
698 for (int ii = 0; ii < nmStr.length(); ii++) {
699 XOR ^= (unsigned char) nmStr[ii].toAscii();
700 }
701
702 if (_nmeaStream) {
703 *_nmeaStream << '$' << nmStr << '*' << hex << (int) XOR << endl;
704 _nmeaStream->flush();
705 }
706
707 if (_sockets) {
708 QMutableListIterator<QTcpSocket*> is(*_sockets);
709 while (is.hasNext()) {
710 QTcpSocket* sock = is.next();
711 if (sock->state() == QAbstractSocket::ConnectedState) {
712// *sock << '$' << nmStr << '*' << hex << (int) XOR << endl;
713// sock->flush();
714 }
715 else if (sock->state() != QAbstractSocket::ConnectingState) {
716 delete sock;
717 is.remove();
718 }
719 }
720 }
721}
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