1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: bncCaster
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30 | *
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31 | * Purpose: buffers and disseminates the data
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 24-Dec-2005
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <math.h>
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42 | #include <unistd.h>
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43 | #include <iostream>
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44 | #include <iomanip>
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45 | #include <sstream>
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46 |
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47 | #include "bnccaster.h"
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48 | #include "bncrinex.h"
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49 | #include "bnccore.h"
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50 | #include "bncgetthread.h"
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51 | #include "bncutils.h"
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52 | #include "bncsettings.h"
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53 |
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54 | using namespace std;
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55 |
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56 | // Constructor
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57 | ////////////////////////////////////////////////////////////////////////////
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58 | bncCaster::bncCaster() {
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59 |
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60 | bncSettings settings;
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61 |
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62 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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63 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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64 |
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65 | _outFile = 0;
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66 | _out = 0;
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67 | reopenOutFile();
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68 |
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69 | int port = settings.value("outPort").toInt();
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70 |
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71 | if (port != 0) {
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72 | _server = new QTcpServer;
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73 | _server->setProxy(QNetworkProxy::NoProxy);
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74 | if ( !_server->listen(QHostAddress::Any, port) ) {
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75 | QString message = "bncCaster: Cannot listen on sync port "
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76 | + QByteArray::number(port) + ": "
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77 | + _server->errorString();
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78 | emit newMessage(message.toLatin1(), true);
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79 | }
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80 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
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81 | _sockets = new QList<QTcpSocket*>;
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82 | }
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83 | else {
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84 | _server = 0;
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85 | _sockets = 0;
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86 | }
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87 |
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88 | int uPort = settings.value("outUPort").toInt();
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89 | if (uPort != 0) {
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90 | _uServer = new QTcpServer;
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91 | _uServer->setProxy(QNetworkProxy::NoProxy);
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92 | if ( !_uServer->listen(QHostAddress::Any, uPort) ) {
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93 | QString message = "bncCaster: Cannot listen on usync port "
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94 | + QByteArray::number(uPort) + ": "
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95 | + _uServer->errorString();
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96 | emit newMessage(message.toLatin1(), true);
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97 | }
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98 | connect(_uServer, SIGNAL(newConnection()), this, SLOT(slotNewUConnection()));
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99 | _uSockets = new QList<QTcpSocket*>;
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100 | }
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101 | else {
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102 | _uServer = 0;
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103 | _uSockets = 0;
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104 | }
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105 |
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106 | _outLockTime = settings.value("outLockTime",false).toBool();
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107 | _samplingRateMult10 = int(settings.value("outSampl").toString().split("sec").first().toDouble() * 10.0);
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108 | _outWait = settings.value("outWait").toDouble();
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109 | if (_outWait <= 0.0) {
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110 | _outWait = 0.01;
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111 | }
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112 | _confInterval = -1;
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113 |
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114 | // Miscellaneous output port
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115 | // -------------------------
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116 | _miscMount = settings.value("miscMount").toString();
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117 | _miscPort = settings.value("miscPort").toInt();
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118 | if (!_miscMount.isEmpty() && _miscPort != 0) {
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119 | _miscServer = new QTcpServer;
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120 | _miscServer->setProxy(QNetworkProxy::NoProxy);
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121 | if ( !_miscServer->listen(QHostAddress::Any, _miscPort) ) {
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122 | QString message = "bncCaster: Cannot listen on miscellaneous output port "
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123 | + QByteArray::number(_miscPort) + ": "
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124 | + _miscServer->errorString();
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125 | emit newMessage(message.toLatin1(), true);
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126 | }
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127 | connect(_miscServer, SIGNAL(newConnection()), this, SLOT(slotNewMiscConnection()));
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128 | _miscSockets = new QList<QTcpSocket*>;
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129 | }
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130 | else {
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131 | _miscServer = 0;
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132 | _miscSockets = 0;
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133 | }
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134 | }
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135 |
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136 | // Destructor
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137 | ////////////////////////////////////////////////////////////////////////////
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138 | bncCaster::~bncCaster() {
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139 |
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140 | QMutexLocker locker(&_mutex);
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141 |
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142 | QListIterator<bncGetThread*> it(_threads);
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143 | while(it.hasNext()){
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144 | bncGetThread* thread = it.next();
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145 | disconnect(thread, 0, 0, 0);
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146 | _staIDs.removeAll(thread->staID());
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147 | _threads.removeAll(thread);
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148 | thread->terminate();
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149 | }
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150 | delete _out;
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151 | delete _outFile;
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152 | delete _server;
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153 | delete _sockets;
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154 | delete _uServer;
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155 | delete _uSockets;
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156 | delete _miscServer;
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157 | delete _miscSockets;
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158 | }
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159 |
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160 | // New Observations
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161 | ////////////////////////////////////////////////////////////////////////////
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162 | void bncCaster::slotNewObs(const QByteArray staID, QList<t_satObs> obsList) {
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163 |
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164 | QMutexLocker locker(&_mutex);
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165 |
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166 | reopenOutFile();
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167 |
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168 | unsigned index = 0;
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169 | QMutableListIterator<t_satObs> it(obsList);
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170 | while (it.hasNext()) {
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171 | ++index;
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172 | t_satObs& obs = it.next();
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173 |
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174 | // Rename the Station
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175 | // ------------------
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176 | obs._staID = staID.data();
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177 |
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178 | // Update/Set Slip Counters
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179 | // ------------------------
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180 | setSlipCounters(obs);
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181 |
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182 | // Output into the socket
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183 | // ----------------------
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184 | if (_uSockets) {
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185 |
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186 | ostringstream oStr;
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187 | oStr.setf(ios::showpoint | ios::fixed);
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188 | oStr << obs._staID << " "
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189 | << setw(4) << obs._time.gpsw() << " "
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190 | << setw(14) << setprecision(7) << obs._time.gpssec() << " "
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191 | << bncRinex::asciiSatLine(obs,_outLockTime) << endl;
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192 |
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193 | string hlpStr = oStr.str();
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194 |
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195 | QMutableListIterator<QTcpSocket*> is(*_uSockets);
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196 | while (is.hasNext()) {
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197 | QTcpSocket* sock = is.next();
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198 | if (sock->state() == QAbstractSocket::ConnectedState) {
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199 | int numBytes = hlpStr.length();
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200 | if (myWrite(sock, hlpStr.c_str(), numBytes) != numBytes) {
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201 | delete sock;
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202 | is.remove();
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203 | }
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204 | }
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205 | else if (sock->state() != QAbstractSocket::ConnectingState) {
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206 | delete sock;
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207 | is.remove();
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208 | }
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209 | }
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210 | }
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211 |
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212 | // First time: set the _lastDumpTime
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213 | // ---------------------------------
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214 | if (!_lastDumpTime.valid()) {
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215 | _lastDumpTime = obs._time - 1.0;
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216 | }
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217 |
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218 | // An old observation - throw it away
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219 | // ----------------------------------
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220 | if (obs._time <= _lastDumpTime) {
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221 | if (index == 1) {
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222 | bncSettings settings;
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223 | if ( !settings.value("outFile").toString().isEmpty() ||
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224 | !settings.value("outPort").toString().isEmpty() ) {
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225 | emit( newMessage(QString("%1: Old or erroneous observation epoch %2 thrown away from %3")
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226 | .arg(staID.data())
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227 | .arg(string(obs._time).c_str())
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228 | .arg(obs._prn.toString().c_str())
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229 | .toLatin1(), true) );
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230 | }
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231 | }
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232 | continue;
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233 | }
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234 |
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235 | // Save the observation
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236 | // --------------------
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237 | _epochs[obs._time].append(obs);
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238 |
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239 | // Dump Epochs
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240 | // -----------
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241 | if ((obs._time - _outWait) > _lastDumpTime) {
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242 | dumpEpochs(obs._time - _outWait);
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243 | _lastDumpTime = obs._time - _outWait;
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244 | }
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245 | }
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246 | }
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247 |
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248 | // New Connection
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249 | ////////////////////////////////////////////////////////////////////////////
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250 | void bncCaster::slotNewConnection() {
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251 | _sockets->push_back( _server->nextPendingConnection() );
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252 | emit( newMessage(QString("New client connection on sync port: # %1")
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253 | .arg(_sockets->size()).toLatin1(), true) );
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254 | }
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255 |
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256 | void bncCaster::slotNewUConnection() {
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257 | _uSockets->push_back( _uServer->nextPendingConnection() );
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258 | emit( newMessage(QString("New client connection on usync port: # %1")
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259 | .arg(_uSockets->size()).toLatin1(), true) );
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260 | }
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261 |
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262 | // Add New Thread
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263 | ////////////////////////////////////////////////////////////////////////////
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264 | void bncCaster::addGetThread(bncGetThread* getThread, bool noNewThread) {
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265 |
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266 | qRegisterMetaType<t_satObs>("t_satObs");
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267 | qRegisterMetaType< QList<t_satObs> >("QList<t_satObs>");
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268 |
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269 | connect(getThread, SIGNAL(newObs(QByteArray, QList<t_satObs>)),
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270 | this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)));
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271 |
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272 | connect(getThread, SIGNAL(newObs(QByteArray, QList<t_satObs>)),
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273 | this, SIGNAL(newObs(QByteArray, QList<t_satObs>)));
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274 |
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275 | connect(getThread, SIGNAL(newRawData(QByteArray, QByteArray)),
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276 | this, SLOT(slotNewRawData(QByteArray, QByteArray)));
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277 |
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278 | connect(getThread, SIGNAL(getThreadFinished(QByteArray)),
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279 | this, SLOT(slotGetThreadFinished(QByteArray)));
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280 |
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281 | _staIDs.push_back(getThread->staID());
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282 | _threads.push_back(getThread);
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283 |
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284 | if (noNewThread) {
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285 | getThread->run();
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286 | }
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287 | else {
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288 | getThread->start();
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289 | }
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290 | }
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291 |
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292 | // Get Thread destroyed
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293 | ////////////////////////////////////////////////////////////////////////////
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294 | void bncCaster::slotGetThreadFinished(QByteArray staID) {
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295 | QMutexLocker locker(&_mutex);
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296 |
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297 | QListIterator<bncGetThread*> it(_threads);
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298 | while (it.hasNext()) {
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299 | bncGetThread* thread = it.next();
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300 | if (thread->staID() == staID) {
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301 | _threads.removeOne(thread);
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302 | }
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303 | }
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304 |
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305 | _staIDs.removeAll(staID);
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306 | emit( newMessage(
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307 | QString("Decoding %1 stream(s)").arg(_staIDs.size()).toLatin1(), true) );
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308 | if (_staIDs.size() == 0) {
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309 | emit(newMessage("bncCaster: Last get thread terminated", true));
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310 | emit getThreadsFinished();
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311 | }
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312 | }
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313 |
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314 | // Dump Complete Epochs
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315 | ////////////////////////////////////////////////////////////////////////////
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316 | void bncCaster::dumpEpochs(const bncTime& maxTime) {
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317 |
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318 | QMutableMapIterator<bncTime, QList<t_satObs> > itEpo(_epochs);
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319 | while (itEpo.hasNext()) {
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320 | itEpo.next();
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321 | const bncTime& epoTime = itEpo.key();
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322 | if (epoTime <= maxTime) {
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323 | const QList<t_satObs>& allObs = itEpo.value();
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324 | int sec = int(nint(epoTime.gpssec()*10));
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325 | if ( (_out || _sockets) && (sec % (_samplingRateMult10) == 0) ) {
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326 | QListIterator<t_satObs> it(allObs);
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327 | bool firstObs = true;
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328 | while (it.hasNext()) {
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329 | const t_satObs& obs = it.next();
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330 |
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331 | ostringstream oStr;
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332 | oStr.setf(ios::showpoint | ios::fixed);
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333 | if (firstObs) {
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334 | firstObs = false;
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335 | oStr << "> " << obs._time.gpsw() << ' '
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336 | << setprecision(7) << obs._time.gpssec() << endl;
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337 | }
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338 | oStr << obs._staID << ' '
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339 | << bncRinex::asciiSatLine(obs,_outLockTime) << endl;
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340 | if (!it.hasNext()) {
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341 | oStr << endl;
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342 | }
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343 | string hlpStr = oStr.str();
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344 |
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345 | // Output into the File
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346 | // --------------------
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347 | if (_out) {
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348 | *_out << hlpStr.c_str();
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349 | _out->flush();
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350 | }
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351 |
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352 | // Output into the socket
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353 | // ----------------------
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354 | if (_sockets) {
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355 | QMutableListIterator<QTcpSocket*> is(*_sockets);
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356 | while (is.hasNext()) {
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357 | QTcpSocket* sock = is.next();
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358 | if (sock->state() == QAbstractSocket::ConnectedState) {
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359 | int numBytes = hlpStr.length();
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360 | if (myWrite(sock, hlpStr.c_str(), numBytes) != numBytes) {
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361 | delete sock;
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362 | is.remove();
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363 | }
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364 | }
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365 | else if (sock->state() != QAbstractSocket::ConnectingState) {
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366 | delete sock;
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367 | is.remove();
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368 | }
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369 | }
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370 | }
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371 | }
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372 | }
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373 | _epochs.remove(epoTime);
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374 | }
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375 | }
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376 | }
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377 |
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378 | // Reread configuration (private slot)
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379 | ////////////////////////////////////////////////////////////////////////////
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380 | void bncCaster::slotReadMountPoints() {
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381 |
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382 | bncSettings settings;
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383 | settings.reRead();
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384 |
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385 | readMountPoints();
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386 | }
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387 |
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388 | // Read Mountpoints
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389 | ////////////////////////////////////////////////////////////////////////////
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390 | void bncCaster::readMountPoints() {
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391 |
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392 | bncSettings settings;
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393 |
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394 | // Reread several options
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395 | // ----------------------
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396 | _samplingRateMult10 = int(settings.value("outSampl").toString().split("sec").first().toDouble() * 10.0);
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397 | _outWait = settings.value("outWait").toInt();
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398 | if (_outWait < 1) {
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399 | _outWait = 1;
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400 | }
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401 |
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402 | // Add new mountpoints
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403 | // -------------------
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404 | int iMount = -1;
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405 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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406 | while (it.hasNext()) {
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407 | ++iMount;
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408 | QStringList hlp = it.next().split(" ");
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409 | if (hlp.size() < 7) continue;
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410 | QUrl url(hlp[0]);
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411 |
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412 | // Does it already exist?
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413 | // ----------------------
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414 | bool existFlg = false;
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415 | QListIterator<bncGetThread*> iTh(_threads);
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416 | while (iTh.hasNext()) {
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417 | bncGetThread* thread = iTh.next();
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418 | if (thread->mountPoint() == url) {
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419 | existFlg = true;
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420 | break;
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421 | }
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422 | }
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423 |
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424 | // New bncGetThread
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425 | // ----------------
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426 | if (!existFlg) {
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427 | QByteArray format = hlp[1].toLatin1();
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428 | QByteArray latitude = hlp[3].toLatin1();
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429 | QByteArray longitude = hlp[4].toLatin1();
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430 | QByteArray nmea = hlp[5].toLatin1();
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431 | QByteArray ntripVersion = hlp[6].toLatin1();
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432 |
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433 | bncGetThread* getThread = new bncGetThread(url, format, latitude,
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434 | longitude, nmea, ntripVersion);
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435 | addGetThread(getThread);
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436 |
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437 | }
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438 | }
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439 |
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440 | // Remove mountpoints
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441 | // ------------------
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442 | QListIterator<bncGetThread*> iTh(_threads);
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443 | while (iTh.hasNext()) {
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444 | bncGetThread* thread = iTh.next();
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445 |
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446 | bool existFlg = false;
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447 | QListIterator<QString> it(settings.value("mountPoints").toStringList());
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448 | while (it.hasNext()) {
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449 | QStringList hlp = it.next().split(" ");
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450 | if (hlp.size() <= 1) continue;
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451 | QUrl url(hlp[0]);
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452 |
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453 | if (thread->mountPoint() == url) {
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454 | existFlg = true;
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455 | break;
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456 | }
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457 | }
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458 |
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459 | if (!existFlg) {
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460 | disconnect(thread, 0, 0, 0);
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461 | _staIDs.removeAll(thread->staID());
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462 | _threads.removeAll(thread);
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463 | thread->terminate();
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464 | }
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465 | }
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466 |
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467 | emit mountPointsRead(_threads);
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468 | emit( newMessage(QString("Configuration read: "
|
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469 | + BNC_CORE->confFileName()
|
---|
470 | + ", %1 stream(s)")
|
---|
471 | .arg(_threads.count()).toLatin1(), true) );
|
---|
472 |
|
---|
473 | // (Re-) Start the configuration timer
|
---|
474 | // -----------------------------------
|
---|
475 | if (settings.value("onTheFlyInterval").toString() == "no") {
|
---|
476 | return;
|
---|
477 | }
|
---|
478 |
|
---|
479 | int ms = 0;
|
---|
480 | if (_confInterval != -1) {
|
---|
481 | ms = 1000 * _confInterval;
|
---|
482 | }
|
---|
483 | else {
|
---|
484 | QTime currTime = currentDateAndTimeGPS().time();
|
---|
485 | QTime nextShotTime;
|
---|
486 | if (settings.value("onTheFlyInterval").toString() == "1 min") {
|
---|
487 | _confInterval = 60;
|
---|
488 | nextShotTime = QTime(currTime.hour(), currTime.minute()+1, 0);
|
---|
489 | }
|
---|
490 | else if (settings.value("onTheFlyInterval").toString() == "5 min") {
|
---|
491 | _confInterval = 300;
|
---|
492 | nextShotTime = QTime(currTime.hour(), currTime.minute()+5, 0);
|
---|
493 | }
|
---|
494 | else if (settings.value("onTheFlyInterval").toString() == "1 hour") {
|
---|
495 | _confInterval = 3600;
|
---|
496 | nextShotTime = QTime(currTime.hour()+1, 0, 0);
|
---|
497 | }
|
---|
498 | else {
|
---|
499 | _confInterval = 86400;
|
---|
500 | nextShotTime = QTime(23, 59, 59, 999);
|
---|
501 | }
|
---|
502 |
|
---|
503 | ms = currTime.msecsTo(nextShotTime);
|
---|
504 | if (ms < 30000) {
|
---|
505 | ms = 30000;
|
---|
506 | }
|
---|
507 | }
|
---|
508 |
|
---|
509 | QTimer::singleShot(ms, this, SLOT(slotReadMountPoints()));
|
---|
510 | }
|
---|
511 |
|
---|
512 | //
|
---|
513 | ////////////////////////////////////////////////////////////////////////////
|
---|
514 | int bncCaster::myWrite(QTcpSocket* sock, const char* buf, int bufLen) {
|
---|
515 | sock->write(buf, bufLen);
|
---|
516 | for (int ii = 1; ii <= 10; ii++) {
|
---|
517 | if (sock->waitForBytesWritten(10)) { // wait 10 ms
|
---|
518 | return bufLen;
|
---|
519 | }
|
---|
520 | }
|
---|
521 | return -1;
|
---|
522 | }
|
---|
523 |
|
---|
524 | //
|
---|
525 | ////////////////////////////////////////////////////////////////////////////
|
---|
526 | void bncCaster::reopenOutFile() {
|
---|
527 |
|
---|
528 | bncSettings settings;
|
---|
529 |
|
---|
530 | QString outFileName = settings.value("outFile").toString();
|
---|
531 | if ( !outFileName.isEmpty() ) {
|
---|
532 | expandEnvVar(outFileName);
|
---|
533 | if (!_outFile || _outFile->fileName() != outFileName) {
|
---|
534 | delete _out;
|
---|
535 | delete _outFile;
|
---|
536 | _outFile = new QFile(outFileName);
|
---|
537 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
|
---|
538 | _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
|
---|
539 | }
|
---|
540 | else {
|
---|
541 | _outFile->open(QIODevice::WriteOnly);
|
---|
542 | }
|
---|
543 | _out = new QTextStream(_outFile);
|
---|
544 | _out->setRealNumberNotation(QTextStream::FixedNotation);
|
---|
545 | }
|
---|
546 | }
|
---|
547 | else {
|
---|
548 | delete _out; _out = 0;
|
---|
549 | delete _outFile; _outFile = 0;
|
---|
550 | }
|
---|
551 | }
|
---|
552 |
|
---|
553 | // Output into the Miscellaneous socket
|
---|
554 | ////////////////////////////////////////////////////////////////////////////
|
---|
555 | void bncCaster::slotNewRawData(QByteArray staID, QByteArray data) {
|
---|
556 | if (_miscSockets && (_miscMount == "ALL" || _miscMount == staID)) {
|
---|
557 | QMutableListIterator<QTcpSocket*> is(*_miscSockets);
|
---|
558 | while (is.hasNext()) {
|
---|
559 | QTcpSocket* sock = is.next();
|
---|
560 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
561 | sock->write(data);
|
---|
562 | }
|
---|
563 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
564 | delete sock;
|
---|
565 | is.remove();
|
---|
566 | }
|
---|
567 | }
|
---|
568 | }
|
---|
569 | }
|
---|
570 |
|
---|
571 | // New Connection
|
---|
572 | ////////////////////////////////////////////////////////////////////////////
|
---|
573 | void bncCaster::slotNewMiscConnection() {
|
---|
574 | _miscSockets->push_back( _miscServer->nextPendingConnection() );
|
---|
575 | emit( newMessage(QString("New client connection on Miscellaneous Output Port: # %1")
|
---|
576 | .arg(_miscSockets->size()).toLatin1(), true) );
|
---|
577 | }
|
---|
578 |
|
---|
579 | // Set/Update Slip Counters
|
---|
580 | ////////////////////////////////////////////////////////////////////////////
|
---|
581 | void bncCaster::setSlipCounters(t_satObs& obs) {
|
---|
582 |
|
---|
583 | double minLockTime = -1.0;
|
---|
584 | for (unsigned ii = 0; ii < obs._obs.size(); ii++) {
|
---|
585 | const t_frqObs* frqObs = obs._obs[ii];
|
---|
586 | if (frqObs->_lockTimeValid) {
|
---|
587 | if (minLockTime == -1.0 || minLockTime < frqObs->_lockTime) {
|
---|
588 | minLockTime = frqObs->_lockTime;
|
---|
589 | }
|
---|
590 | }
|
---|
591 | }
|
---|
592 |
|
---|
593 | if (minLockTime == -1.0) {
|
---|
594 | return;
|
---|
595 | }
|
---|
596 |
|
---|
597 | QMap<t_prn, double>& ltMap = _lockTimeMap[obs._staID];
|
---|
598 | QMap<t_prn, int>& jcMap = _jumpCounterMap[obs._staID];
|
---|
599 | QMap<t_prn, double>::const_iterator it = ltMap.find(obs._prn);
|
---|
600 | if (it == ltMap.end()) { // init satellite
|
---|
601 | ltMap[obs._prn] = minLockTime;
|
---|
602 | jcMap[obs._prn] = 0;
|
---|
603 | }
|
---|
604 | else {
|
---|
605 | if (minLockTime < ltMap[obs._prn]) {
|
---|
606 | jcMap[obs._prn] += 1;
|
---|
607 | if (jcMap[obs._prn] > 9999) {
|
---|
608 | jcMap[obs._prn] = 0;
|
---|
609 | }
|
---|
610 | }
|
---|
611 | ltMap[obs._prn] = minLockTime;
|
---|
612 | }
|
---|
613 | for (unsigned ii = 0; ii < obs._obs.size(); ii++) {
|
---|
614 | t_frqObs* frqObs = obs._obs[ii];
|
---|
615 | frqObs->_slipCounter = jcMap[obs._prn];
|
---|
616 | }
|
---|
617 | }
|
---|