[280] | 1 | // Part of BNC, a utility for retrieving decoding and
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[464] | 2 | // converting GNSS data streams from NTRIP broadcasters.
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[280] | 3 | //
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[464] | 4 | // Copyright (C) 2007
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[280] | 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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[464] | 7 | // Czech Technical University Prague, Department of Geodesy
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[280] | 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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[35] | 24 |
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| 25 | /* -------------------------------------------------------------------------
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[93] | 26 | * BKG NTRIP Client
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[35] | 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncGetThread
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| 30 | *
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| 31 | * Purpose: Thread that retrieves data from NTRIP caster
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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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[277] | 41 | #include <stdlib.h>
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[1044] | 42 | #include <iomanip>
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[1218] | 43 | #include <sstream>
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[277] | 44 |
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[35] | 45 | #include <QFile>
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| 46 | #include <QTextStream>
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[5524] | 47 | #include <QMutex>
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[35] | 48 | #include <QtNetwork>
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[356] | 49 | #include <QTime>
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[35] | 50 |
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| 51 | #include "bncgetthread.h"
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[192] | 52 | #include "bnctabledlg.h"
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[5070] | 53 | #include "bnccore.h"
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[352] | 54 | #include "bncutils.h"
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[423] | 55 | #include "bnczerodecoder.h"
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[1621] | 56 | #include "bncnetqueryv0.h"
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[1387] | 57 | #include "bncnetqueryv1.h"
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| 58 | #include "bncnetqueryv2.h"
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[1410] | 59 | #include "bncnetqueryrtp.h"
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[1721] | 60 | #include "bncnetqueryudp.h"
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[1779] | 61 | #include "bncnetqueryudp0.h"
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[1753] | 62 | #include "bncnetquerys.h"
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[1535] | 63 | #include "bncsettings.h"
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[1558] | 64 | #include "latencychecker.h"
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[2035] | 65 | #include "bncpppclient.h"
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[3168] | 66 | #include "upload/bncrtnetdecoder.h"
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[243] | 67 | #include "RTCM/RTCM2Decoder.h"
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[297] | 68 | #include "RTCM3/RTCM3Decoder.h"
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[1310] | 69 | #include "GPSS/gpssDecoder.h"
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[3504] | 70 | #include "GPSS/hassDecoder.h"
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[1318] | 71 | #include "serial/qextserialport.h"
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[35] | 72 |
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| 73 | using namespace std;
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| 74 |
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[1143] | 75 | // Constructor 1
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[35] | 76 | ////////////////////////////////////////////////////////////////////////////
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[2519] | 77 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
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[1138] | 78 |
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[2519] | 79 | _rawFile = rawFile;
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| 80 | _format = rawFile->format();
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[3548] | 81 | _staID = rawFile->staID();
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[2519] | 82 | _rawOutput = false;
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[2390] | 83 | _ntripVersion = "N";
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| 84 |
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[1555] | 85 | initialize();
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[1138] | 86 | }
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| 87 |
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[1143] | 88 | // Constructor 2
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| 89 | ////////////////////////////////////////////////////////////////////////////
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[278] | 90 | bncGetThread::bncGetThread(const QUrl& mountPoint,
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[366] | 91 | const QByteArray& format,
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| 92 | const QByteArray& latitude,
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| 93 | const QByteArray& longitude,
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[1353] | 94 | const QByteArray& nmea,
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[3527] | 95 | const QByteArray& ntripVersion) {
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[2519] | 96 | _rawFile = 0;
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[1555] | 97 | _mountPoint = mountPoint;
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[3003] | 98 | _staID = mountPoint.path().mid(1).toAscii();
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[1555] | 99 | _format = format;
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| 100 | _latitude = latitude;
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| 101 | _longitude = longitude;
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| 102 | _nmea = nmea;
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[1353] | 103 | _ntripVersion = ntripVersion;
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[1139] | 104 |
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[2386] | 105 | bncSettings settings;
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[5646] | 106 |
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[2386] | 107 | if (!settings.value("rawOutFile").toString().isEmpty()) {
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| 108 | _rawOutput = true;
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[3734] | 109 | } else {
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| 110 | _rawOutput = false;
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[2386] | 111 | }
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| 112 |
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[1139] | 113 | initialize();
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[3523] | 114 | initDecoder();
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[1139] | 115 | }
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| 116 |
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[1555] | 117 | // Initialization (common part of the constructor)
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[1143] | 118 | ////////////////////////////////////////////////////////////////////////////
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[1139] | 119 | void bncGetThread::initialize() {
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| 120 |
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[3528] | 121 | bncSettings settings;
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| 122 |
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[1555] | 123 | setTerminationEnabled(true);
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| 124 |
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| 125 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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[5068] | 126 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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[1555] | 127 |
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[1525] | 128 | _isToBeDeleted = false;
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[1555] | 129 | _query = 0;
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| 130 | _nextSleep = 0;
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[2035] | 131 | _PPPclient = 0;
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[3528] | 132 | _miscMount = settings.value("miscMount").toString();
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[3560] | 133 | _decoder = 0;
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[255] | 134 |
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[5646] | 135 | // Miscellaneous output port // Georg
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| 136 | // -------------------------
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| 137 | _miscPort = settings.value("miscPort").toInt();
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| 138 | if (_miscPort != 0) {
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| 139 | _miscServer = new QTcpServer;
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| 140 | if ( !_miscServer->listen(QHostAddress::Any, _miscPort) ) {
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| 141 | emit newMessage("bncgetthread: Cannot listen on Miscellaneous Output Port", true);
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| 142 | }
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| 143 | connect(_miscServer, SIGNAL(newConnection()), this, SLOT(slotNewMiscConnection()));
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| 144 | _miscSockets = new QList<QTcpSocket*>;
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| 145 | }
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| 146 | else {
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| 147 | _miscServer = 0;
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| 148 | _miscSockets = 0;
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| 149 | }
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| 150 |
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[1555] | 151 | // Serial Port
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| 152 | // -----------
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[1710] | 153 | _serialNMEA = NO_NMEA;
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| 154 | _serialOutFile = 0;
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| 155 | _serialPort = 0;
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| 156 |
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[3532] | 157 | if (!_staID.isEmpty() &&
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| 158 | settings.value("serialMountPoint").toString() == _staID) {
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[1710] | 159 | _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
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| 160 | _serialPort->setTimeout(0,100);
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| 161 |
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| 162 | // Baud Rate
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| 163 | // ---------
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[1330] | 164 | QString hlp = settings.value("serialBaudRate").toString();
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| 165 | if (hlp == "110") {
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| 166 | _serialPort->setBaudRate(BAUD110);
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| 167 | }
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| 168 | else if (hlp == "300") {
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| 169 | _serialPort->setBaudRate(BAUD300);
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| 170 | }
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| 171 | else if (hlp == "600") {
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| 172 | _serialPort->setBaudRate(BAUD600);
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| 173 | }
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| 174 | else if (hlp == "1200") {
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| 175 | _serialPort->setBaudRate(BAUD1200);
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| 176 | }
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| 177 | else if (hlp == "2400") {
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| 178 | _serialPort->setBaudRate(BAUD2400);
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| 179 | }
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| 180 | else if (hlp == "4800") {
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| 181 | _serialPort->setBaudRate(BAUD4800);
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| 182 | }
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| 183 | else if (hlp == "9600") {
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| 184 | _serialPort->setBaudRate(BAUD9600);
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| 185 | }
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| 186 | else if (hlp == "19200") {
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| 187 | _serialPort->setBaudRate(BAUD19200);
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| 188 | }
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| 189 | else if (hlp == "38400") {
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| 190 | _serialPort->setBaudRate(BAUD38400);
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| 191 | }
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| 192 | else if (hlp == "57600") {
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| 193 | _serialPort->setBaudRate(BAUD57600);
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| 194 | }
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| 195 | else if (hlp == "115200") {
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| 196 | _serialPort->setBaudRate(BAUD115200);
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| 197 | }
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[1710] | 198 |
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| 199 | // Parity
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| 200 | // ------
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[1330] | 201 | hlp = settings.value("serialParity").toString();
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| 202 | if (hlp == "NONE") {
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| 203 | _serialPort->setParity(PAR_NONE);
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| 204 | }
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| 205 | else if (hlp == "ODD") {
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| 206 | _serialPort->setParity(PAR_ODD);
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| 207 | }
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| 208 | else if (hlp == "EVEN") {
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| 209 | _serialPort->setParity(PAR_EVEN);
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| 210 | }
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| 211 | else if (hlp == "SPACE") {
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| 212 | _serialPort->setParity(PAR_SPACE);
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| 213 | }
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[1710] | 214 |
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| 215 | // Data Bits
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| 216 | // ---------
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[1330] | 217 | hlp = settings.value("serialDataBits").toString();
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| 218 | if (hlp == "5") {
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| 219 | _serialPort->setDataBits(DATA_5);
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| 220 | }
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| 221 | else if (hlp == "6") {
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| 222 | _serialPort->setDataBits(DATA_6);
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| 223 | }
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| 224 | else if (hlp == "7") {
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| 225 | _serialPort->setDataBits(DATA_7);
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| 226 | }
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| 227 | else if (hlp == "8") {
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| 228 | _serialPort->setDataBits(DATA_8);
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| 229 | }
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| 230 | hlp = settings.value("serialStopBits").toString();
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| 231 | if (hlp == "1") {
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| 232 | _serialPort->setStopBits(STOP_1);
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| 233 | }
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| 234 | else if (hlp == "2") {
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| 235 | _serialPort->setStopBits(STOP_2);
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| 236 | }
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[1710] | 237 |
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| 238 | // Flow Control
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| 239 | // ------------
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| 240 | hlp = settings.value("serialFlowControl").toString();
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[1711] | 241 | if (hlp == "XONXOFF") {
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[1710] | 242 | _serialPort->setFlowControl(FLOW_XONXOFF);
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| 243 | }
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| 244 | else if (hlp == "HARDWARE") {
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| 245 | _serialPort->setFlowControl(FLOW_HARDWARE);
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| 246 | }
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[1711] | 247 | else {
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| 248 | _serialPort->setFlowControl(FLOW_OFF);
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| 249 | }
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[1710] | 250 |
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| 251 | // Open Serial Port
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| 252 | // ----------------
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[1326] | 253 | _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
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[1331] | 254 | if (!_serialPort->isOpen()) {
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| 255 | delete _serialPort;
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| 256 | _serialPort = 0;
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[1451] | 257 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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[1331] | 258 | }
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[1606] | 259 | connect(_serialPort, SIGNAL(readyRead()),
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| 260 | this, SLOT(slotSerialReadyRead()));
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| 261 |
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[1710] | 262 | // Automatic NMEA
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| 263 | // --------------
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| 264 | if (settings.value("serialAutoNMEA").toString() == "Auto") {
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| 265 | _serialNMEA = AUTO_NMEA;
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| 266 |
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| 267 | QString fName = settings.value("serialFileNMEA").toString();
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| 268 | if (!fName.isEmpty()) {
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| 269 | _serialOutFile = new QFile(fName);
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| 270 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
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| 271 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 272 | }
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| 273 | else {
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| 274 | _serialOutFile->open(QIODevice::WriteOnly);
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| 275 | }
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[1634] | 276 | }
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[1606] | 277 | }
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[1710] | 278 |
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| 279 | // Manual NMEA
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| 280 | // -----------
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| 281 | else {
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| 282 | _serialNMEA = MANUAL_NMEA;
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[1636] | 283 | }
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[1318] | 284 | }
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| 285 |
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[3532] | 286 | if (!_staID.isEmpty()) {
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| 287 | _latencyChecker = new latencyChecker(_staID);
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[2004] | 288 | }
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[3532] | 289 | else {
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| 290 | _latencyChecker = 0;
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| 291 | }
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[3523] | 292 | }
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| 293 |
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| 294 | // Instantiate the decoder
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| 295 | //////////////////////////////////////////////////////////////////////////////
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| 296 | t_irc bncGetThread::initDecoder() {
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| 297 |
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[3560] | 298 | _decoder = 0;
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| 299 |
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[1744] | 300 | if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
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| 301 | _format.indexOf("RTCM 2") != -1 ) {
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[1555] | 302 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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[3560] | 303 | _decoder = new RTCM2Decoder(_staID.data());
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[1555] | 304 | }
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[1744] | 305 | else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
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| 306 | _format.indexOf("RTCM 3") != -1 ) {
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[1555] | 307 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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[3558] | 308 | RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
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[3560] | 309 | _decoder = newDecoder;
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[3558] | 310 | connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
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[1555] | 311 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 312 | }
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| 313 | else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
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| 314 | emit(newMessage(_staID + ": Get Data in GPSS format", true));
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[3560] | 315 | _decoder = new gpssDecoder();
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[1555] | 316 | }
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| 317 | else if (_format.indexOf("ZERO") != -1) {
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| 318 | emit(newMessage(_staID + ": Get data in original format", true));
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[3560] | 319 | _decoder = new bncZeroDecoder(_staID);
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[1555] | 320 | }
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[3168] | 321 | else if (_format.indexOf("RTNET") != -1) {
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| 322 | emit(newMessage(_staID + ": Get data in RTNet format", true));
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[3560] | 323 | _decoder = new bncRtnetDecoder();
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[3168] | 324 | }
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[3509] | 325 | else if (_format.indexOf("HASS2ASCII") != -1) {
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[3517] | 326 | emit(newMessage(_staID + ": Get data in HASS2ASCII format", true));
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[3560] | 327 | _decoder = new hassDecoder(_staID);
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[3504] | 328 | }
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[1555] | 329 | else {
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| 330 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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| 331 | _isToBeDeleted = true;
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[3523] | 332 | return failure;
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[1555] | 333 | }
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| 334 |
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[319] | 335 | msleep(100); //sleep 0.1 sec
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[3523] | 336 |
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[3560] | 337 | _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
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| 338 | _nmea, _ntripVersion);
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| 339 |
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| 340 | if (_rawFile) {
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| 341 | _decodersRaw[_staID] = _decoder;
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[3530] | 342 | }
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| 343 |
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[3532] | 344 | // Initialize PPP Client?
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| 345 | // ----------------------
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| 346 | #ifndef MLS_SOFTWARE
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| 347 | bncSettings settings;
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[4792] | 348 | if (!settings.value("pppSPP").toString().isEmpty() &&
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| 349 | settings.value("pppMount").toString() == _staID) {
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[3532] | 350 | _PPPclient = new bncPPPclient(_staID);
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[5068] | 351 | BNC_CORE->_bncPPPclient = _PPPclient;
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[3532] | 352 | qRegisterMetaType<bncTime>("bncTime");
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| 353 | connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
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| 354 | this, SIGNAL(newPosition(bncTime, double, double, double)));
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| 355 | connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
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| 356 | this, SIGNAL(newNMEAstr(QByteArray)));
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| 357 | }
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| 358 | #endif
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| 359 |
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[3523] | 360 | return success;
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[35] | 361 | }
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| 362 |
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[3523] | 363 | // Current decoder in use
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| 364 | ////////////////////////////////////////////////////////////////////////////
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| 365 | GPSDecoder* bncGetThread::decoder() {
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[3560] | 366 | if (!_rawFile) {
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| 367 | return _decoder;
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[3523] | 368 | }
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| 369 | else {
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[3560] | 370 | if (_decodersRaw.contains(_staID) || initDecoder() == success) {
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| 371 | return _decodersRaw[_staID];
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| 372 | }
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[3523] | 373 | }
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[3560] | 374 | return 0;
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[3523] | 375 | }
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| 376 |
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[35] | 377 | // Destructor
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| 378 | ////////////////////////////////////////////////////////////////////////////
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| 379 | bncGetThread::~bncGetThread() {
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[1928] | 380 | if (isRunning()) {
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| 381 | wait();
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| 382 | }
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[1527] | 383 | if (_query) {
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| 384 | _query->stop();
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[1708] | 385 | _query->deleteLater();
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[1527] | 386 | }
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[2035] | 387 | delete _PPPclient;
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[3560] | 388 | if (_rawFile) {
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| 389 | QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
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| 390 | while (it.hasNext()) {
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| 391 | it.next();
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| 392 | delete it.value();
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| 393 | }
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[3523] | 394 | }
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[3560] | 395 | else {
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| 396 | delete _decoder;
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| 397 | }
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[2519] | 398 | delete _rawFile;
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[1607] | 399 | delete _serialOutFile;
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[1328] | 400 | delete _serialPort;
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[1557] | 401 | delete _latencyChecker;
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[5646] | 402 | delete _miscServer;
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| 403 | delete _miscSockets;
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[1556] | 404 | emit getThreadFinished(_staID);
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[35] | 405 | }
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| 406 |
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[1390] | 407 | //
|
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| 408 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 409 | void bncGetThread::terminate() {
|
---|
[1525] | 410 | _isToBeDeleted = true;
|
---|
[1559] | 411 | if (!isRunning()) {
|
---|
| 412 | delete this;
|
---|
| 413 | }
|
---|
[1390] | 414 | }
|
---|
| 415 |
|
---|
[136] | 416 | // Run
|
---|
| 417 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 418 | void bncGetThread::run() {
|
---|
| 419 |
|
---|
[35] | 420 | while (true) {
|
---|
[629] | 421 | try {
|
---|
[1555] | 422 | if (_isToBeDeleted) {
|
---|
| 423 | QThread::exit(0);
|
---|
| 424 | this->deleteLater();
|
---|
| 425 | return;
|
---|
[629] | 426 | }
|
---|
[621] | 427 |
|
---|
[1555] | 428 | if (tryReconnect() != success) {
|
---|
[3532] | 429 | if (_latencyChecker) {
|
---|
| 430 | _latencyChecker->checkReconnect();
|
---|
| 431 | }
|
---|
[1555] | 432 | continue;
|
---|
[621] | 433 | }
|
---|
[1555] | 434 |
|
---|
| 435 | // Delete old observations
|
---|
| 436 | // -----------------------
|
---|
[3560] | 437 | if (_rawFile) {
|
---|
| 438 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 439 | while (itDec.hasNext()) {
|
---|
| 440 | itDec.next();
|
---|
| 441 | GPSDecoder* decoder = itDec.value();
|
---|
| 442 | decoder->_obsList.clear();
|
---|
| 443 | }
|
---|
[3515] | 444 | }
|
---|
[3560] | 445 | else {
|
---|
| 446 | _decoder->_obsList.clear();
|
---|
| 447 | }
|
---|
[621] | 448 |
|
---|
[1555] | 449 | // Read Data
|
---|
| 450 | // ---------
|
---|
[1377] | 451 | QByteArray data;
|
---|
| 452 | if (_query) {
|
---|
| 453 | _query->waitForReadyRead(data);
|
---|
[1138] | 454 | }
|
---|
[2519] | 455 | else if (_rawFile) {
|
---|
[2527] | 456 | data = _rawFile->readChunk();
|
---|
[3523] | 457 | _format = _rawFile->format();
|
---|
| 458 | _staID = _rawFile->staID();
|
---|
[2388] | 459 |
|
---|
[1555] | 460 | if (data.isEmpty()) {
|
---|
| 461 | cout << "no more data" << endl;
|
---|
[5068] | 462 | BNC_CORE->stopCombination();
|
---|
[3541] | 463 | QThread::exit(0);
|
---|
| 464 | delete this;
|
---|
[3534] | 465 | ::exit(0);
|
---|
[1555] | 466 | }
|
---|
[1138] | 467 | }
|
---|
[1555] | 468 | qint64 nBytes = data.size();
|
---|
[1138] | 469 |
|
---|
[1555] | 470 | // Timeout, reconnect
|
---|
| 471 | // ------------------
|
---|
| 472 | if (nBytes == 0) {
|
---|
[3532] | 473 | if (_latencyChecker) {
|
---|
| 474 | _latencyChecker->checkReconnect();
|
---|
| 475 | }
|
---|
[1555] | 476 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
---|
[2355] | 477 | msleep(10000); //sleep 10 sec, G. Weber
|
---|
[1555] | 478 | continue;
|
---|
| 479 | }
|
---|
| 480 | else {
|
---|
[567] | 481 | emit newBytes(_staID, nBytes);
|
---|
[1555] | 482 | }
|
---|
[567] | 483 |
|
---|
[1555] | 484 | // Output Data
|
---|
| 485 | // -----------
|
---|
[2386] | 486 | if (_rawOutput) {
|
---|
[5068] | 487 | BNC_CORE->writeRawData(data, _staID, _format);
|
---|
[2386] | 488 | }
|
---|
[2385] | 489 |
|
---|
[1555] | 490 | if (_serialPort) {
|
---|
[1633] | 491 | slotSerialReadyRead();
|
---|
[1555] | 492 | _serialPort->write(data);
|
---|
| 493 | }
|
---|
[5646] | 494 |
|
---|
| 495 | // Output into the Miscellaneous socket // Georg
|
---|
| 496 | // ------------------------------------
|
---|
| 497 | if (_miscSockets && _miscMount != "ALL") {
|
---|
| 498 | QMutableListIterator<QTcpSocket*> is(*_miscSockets);
|
---|
| 499 | while (is.hasNext()) {
|
---|
| 500 | QTcpSocket* sock = is.next();
|
---|
| 501 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
| 502 | if (myMiscWrite(sock, data, nBytes) != nBytes) {
|
---|
| 503 | delete sock;
|
---|
| 504 | is.remove();
|
---|
| 505 | }
|
---|
| 506 | }
|
---|
| 507 | else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
| 508 | delete sock;
|
---|
| 509 | is.remove();
|
---|
| 510 | }
|
---|
| 511 | }
|
---|
| 512 | }
|
---|
| 513 |
|
---|
[1555] | 514 | // Decode Data
|
---|
| 515 | // -----------
|
---|
| 516 | vector<string> errmsg;
|
---|
[3526] | 517 | if (!decoder()) {
|
---|
| 518 | _isToBeDeleted = true;
|
---|
| 519 | continue;
|
---|
| 520 | }
|
---|
[3523] | 521 | decoder()->_obsList.clear();
|
---|
| 522 | t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
|
---|
[1137] | 523 |
|
---|
[1555] | 524 | // Perform various scans and checks
|
---|
| 525 | // --------------------------------
|
---|
[3532] | 526 | if (_latencyChecker) {
|
---|
| 527 | _latencyChecker->checkOutage(irc == success);
|
---|
| 528 | _latencyChecker->checkObsLatency(decoder()->_obsList);
|
---|
| 529 | _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
|
---|
| 530 |
|
---|
| 531 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
---|
| 532 | }
|
---|
[1567] | 533 |
|
---|
[1555] | 534 | scanRTCM();
|
---|
[1138] | 535 |
|
---|
[1555] | 536 | // Loop over all observations (observations output)
|
---|
| 537 | // ------------------------------------------------
|
---|
[3523] | 538 | QListIterator<t_obs> it(decoder()->_obsList);
|
---|
[5524] | 539 |
|
---|
| 540 | QList<t_obs> obsListHlp;
|
---|
| 541 |
|
---|
[1555] | 542 | while (it.hasNext()) {
|
---|
[2711] | 543 | const t_obs& obs = it.next();
|
---|
| 544 |
|
---|
[3303] | 545 | QString prn = QString("%1%2").arg(obs.satSys)
|
---|
| 546 | .arg(obs.satNum, 2, 10, QChar('0'));
|
---|
| 547 | long iSec = long(floor(obs.GPSWeeks+0.5));
|
---|
| 548 | long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
|
---|
| 549 |
|
---|
[1555] | 550 | // Check observation epoch
|
---|
| 551 | // -----------------------
|
---|
[3523] | 552 | if (!_rawFile && !dynamic_cast<gpssDecoder*>(decoder())) {
|
---|
[3303] | 553 | int week;
|
---|
[1555] | 554 | double sec;
|
---|
| 555 | currentGPSWeeks(week, sec);
|
---|
[3304] | 556 | long currTime = week * 7*24*3600 + long(sec);
|
---|
[1555] | 557 | const double maxDt = 600.0;
|
---|
[3303] | 558 | if (fabs(currTime - obsTime) > maxDt) {
|
---|
[2308] | 559 | emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
|
---|
[1555] | 560 | continue;
|
---|
[940] | 561 | }
|
---|
[686] | 562 | }
|
---|
[1555] | 563 |
|
---|
[3305] | 564 | // Check observations coming twice (e.g. KOUR0 Problem)
|
---|
| 565 | // ----------------------------------------------------
|
---|
[3535] | 566 | if (!_rawFile) {
|
---|
| 567 | QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
|
---|
| 568 | if (it != _prnLastEpo.end()) {
|
---|
| 569 | long oldTime = it.value();
|
---|
| 570 | if (obsTime < oldTime) {
|
---|
| 571 | emit( newMessage(_staID +
|
---|
| 572 | ": old observation " + prn.toAscii(), false));
|
---|
| 573 | continue;
|
---|
| 574 | }
|
---|
| 575 | else if (obsTime == oldTime) {
|
---|
| 576 | emit( newMessage(_staID +
|
---|
| 577 | ": observation coming more than once " + prn.toAscii(), false));
|
---|
| 578 | continue;
|
---|
| 579 | }
|
---|
[3302] | 580 | }
|
---|
[3535] | 581 | _prnLastEpo[prn] = obsTime;
|
---|
[3301] | 582 | }
|
---|
| 583 |
|
---|
[3528] | 584 | decoder()->dumpRinexEpoch(obs, _format);
|
---|
| 585 |
|
---|
[2030] | 586 | // PPP Client
|
---|
| 587 | // ----------
|
---|
[2290] | 588 | #ifndef MLS_SOFTWARE
|
---|
[3535] | 589 | if (_PPPclient && _staID == _PPPclient->staID()) {
|
---|
[2035] | 590 | _PPPclient->putNewObs(obs);
|
---|
[2030] | 591 | }
|
---|
[2290] | 592 | #endif
|
---|
[5524] | 593 | // Save observations
|
---|
| 594 | // -----------------
|
---|
| 595 | obsListHlp.append(obs);
|
---|
| 596 | }
|
---|
[2030] | 597 |
|
---|
[5524] | 598 | // Emit signal
|
---|
| 599 | // -----------
|
---|
| 600 | if (!_isToBeDeleted && obsListHlp.size() > 0) {
|
---|
| 601 | emit newObs(_staID, obsListHlp);
|
---|
[249] | 602 | }
|
---|
[5524] | 603 |
|
---|
[3523] | 604 | decoder()->_obsList.clear();
|
---|
[35] | 605 | }
|
---|
[3311] | 606 | catch (Exception& exc) {
|
---|
| 607 | emit(newMessage(_staID + " " + exc.what(), true));
|
---|
| 608 | _isToBeDeleted = true;
|
---|
| 609 | }
|
---|
[1555] | 610 | catch (...) {
|
---|
[3311] | 611 | emit(newMessage(_staID + " bncGetThread exception", true));
|
---|
[1559] | 612 | _isToBeDeleted = true;
|
---|
[1555] | 613 | }
|
---|
[35] | 614 | }
|
---|
| 615 | }
|
---|
| 616 |
|
---|
[136] | 617 | // Try Re-Connect
|
---|
| 618 | ////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 619 | t_irc bncGetThread::tryReconnect() {
|
---|
| 620 |
|
---|
| 621 | // Easy Return
|
---|
| 622 | // -----------
|
---|
| 623 | if (_query && _query->status() == bncNetQuery::running) {
|
---|
| 624 | _nextSleep = 0;
|
---|
[3560] | 625 | if (_rawFile) {
|
---|
| 626 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 627 | while (itDec.hasNext()) {
|
---|
| 628 | itDec.next();
|
---|
| 629 | GPSDecoder* decoder = itDec.value();
|
---|
| 630 | decoder->setRinexReconnectFlag(false);
|
---|
| 631 | }
|
---|
[1709] | 632 | }
|
---|
[3560] | 633 | else {
|
---|
| 634 | _decoder->setRinexReconnectFlag(false);
|
---|
| 635 | }
|
---|
[1555] | 636 | return success;
|
---|
[408] | 637 | }
|
---|
[1555] | 638 |
|
---|
| 639 | // Start a new query
|
---|
| 640 | // -----------------
|
---|
[2519] | 641 | if (!_rawFile) {
|
---|
[1555] | 642 |
|
---|
[138] | 643 | sleep(_nextSleep);
|
---|
[1555] | 644 | if (_nextSleep == 0) {
|
---|
| 645 | _nextSleep = 1;
|
---|
[138] | 646 | }
|
---|
| 647 | else {
|
---|
[1555] | 648 | _nextSleep = 2 * _nextSleep;
|
---|
[442] | 649 | if (_nextSleep > 256) {
|
---|
| 650 | _nextSleep = 256;
|
---|
[152] | 651 | }
|
---|
[1816] | 652 | #ifdef MLS_SOFTWARE
|
---|
[1817] | 653 | if (_nextSleep > 4) {
|
---|
| 654 | _nextSleep = 4;
|
---|
[1816] | 655 | }
|
---|
| 656 | #endif
|
---|
[138] | 657 | }
|
---|
[1555] | 658 |
|
---|
| 659 | delete _query;
|
---|
[1722] | 660 | if (_ntripVersion == "U") {
|
---|
[1721] | 661 | _query = new bncNetQueryUdp();
|
---|
| 662 | }
|
---|
[1722] | 663 | else if (_ntripVersion == "R") {
|
---|
[1555] | 664 | _query = new bncNetQueryRtp();
|
---|
| 665 | }
|
---|
[1744] | 666 | else if (_ntripVersion == "S") {
|
---|
[1753] | 667 | _query = new bncNetQueryS();
|
---|
[1744] | 668 | }
|
---|
[1621] | 669 | else if (_ntripVersion == "N") {
|
---|
| 670 | _query = new bncNetQueryV0();
|
---|
| 671 | }
|
---|
[1779] | 672 | else if (_ntripVersion == "UN") {
|
---|
| 673 | _query = new bncNetQueryUdp0();
|
---|
| 674 | }
|
---|
[1555] | 675 | else if (_ntripVersion == "2") {
|
---|
[3337] | 676 | _query = new bncNetQueryV2(false);
|
---|
[1555] | 677 | }
|
---|
[3334] | 678 | else if (_ntripVersion == "2s") {
|
---|
[3337] | 679 | _query = new bncNetQueryV2(true);
|
---|
[3334] | 680 | }
|
---|
[1555] | 681 | else {
|
---|
| 682 | _query = new bncNetQueryV1();
|
---|
| 683 | }
|
---|
[1710] | 684 | if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
|
---|
| 685 | QByteArray gga = ggaString(_latitude, _longitude, "100.0");
|
---|
[1555] | 686 | _query->startRequest(_mountPoint, gga);
|
---|
| 687 | }
|
---|
| 688 | else {
|
---|
| 689 | _query->startRequest(_mountPoint, "");
|
---|
| 690 | }
|
---|
| 691 | if (_query->status() != bncNetQuery::running) {
|
---|
| 692 | return failure;
|
---|
| 693 | }
|
---|
[138] | 694 | }
|
---|
[658] | 695 |
|
---|
[3560] | 696 | if (_rawFile) {
|
---|
| 697 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
---|
| 698 | while (itDec.hasNext()) {
|
---|
| 699 | itDec.next();
|
---|
| 700 | GPSDecoder* decoder = itDec.value();
|
---|
| 701 | decoder->setRinexReconnectFlag(false);
|
---|
| 702 | }
|
---|
[658] | 703 | }
|
---|
[3560] | 704 | else {
|
---|
| 705 | _decoder->setRinexReconnectFlag(false);
|
---|
| 706 | }
|
---|
[1555] | 707 |
|
---|
| 708 | return success;
|
---|
[658] | 709 | }
|
---|
[1044] | 710 |
|
---|
[5646] | 711 | // New Connection // Georg
|
---|
| 712 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 713 | void bncGetThread::slotNewMiscConnection() {
|
---|
| 714 | _miscSockets->push_back( _miscServer->nextPendingConnection() );
|
---|
| 715 | emit( newMessage(QString("New client connection on Miscellaneous Output Port: # %1")
|
---|
| 716 | .arg(_miscSockets->size()).toAscii(), true) );
|
---|
| 717 | }
|
---|
| 718 |
|
---|
| 719 | // Write buffer // Georg
|
---|
| 720 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 721 | int bncGetThread::myMiscWrite(QTcpSocket* sock, const char* buf, int bufLen) {
|
---|
| 722 | sock->write(buf, bufLen);
|
---|
| 723 | for (int ii = 1; ii <= 10; ii++) {
|
---|
| 724 | if (sock->waitForBytesWritten(10)) { // wait 10 ms
|
---|
| 725 | return bufLen;
|
---|
| 726 | }
|
---|
| 727 | }
|
---|
| 728 | return -1;
|
---|
| 729 | }
|
---|
| 730 |
|
---|
[1555] | 731 | // RTCM scan output
|
---|
[1044] | 732 | //////////////////////////////////////////////////////////////////////////////
|
---|
[1555] | 733 | void bncGetThread::scanRTCM() {
|
---|
[1044] | 734 |
|
---|
[4476] | 735 | if ( !decoder() ) {
|
---|
[3558] | 736 | return;
|
---|
| 737 | }
|
---|
| 738 |
|
---|
[1555] | 739 | bncSettings settings;
|
---|
[1574] | 740 | if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
|
---|
| 741 |
|
---|
| 742 | if ( _miscMount == _staID || _miscMount == "ALL" ) {
|
---|
| 743 |
|
---|
[1575] | 744 | // RTCM message types
|
---|
| 745 | // ------------------
|
---|
[4476] | 746 | for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
|
---|
[3523] | 747 | QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
|
---|
[1574] | 748 | emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
|
---|
| 749 | }
|
---|
[1044] | 750 |
|
---|
[4476] | 751 | // Check Observation Types
|
---|
| 752 | // -----------------------
|
---|
| 753 | for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
|
---|
| 754 | t_obs& obs = decoder()->_obsList[ii];
|
---|
| 755 | QVector<QString>& rnxTypes = _rnxTypes[obs.satSys];
|
---|
| 756 | bool allFound = true;
|
---|
| 757 | for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
|
---|
| 758 | if (obs._measdata[iEntry] != 0.0) {
|
---|
| 759 | if (rnxTypes.indexOf(obs.rnxStr(iEntry)) == -1) {
|
---|
| 760 | allFound = false;
|
---|
| 761 | rnxTypes << obs.rnxStr(iEntry);
|
---|
| 762 | }
|
---|
| 763 | }
|
---|
| 764 | }
|
---|
| 765 | if (!allFound) {
|
---|
[4477] | 766 | QString msg;
|
---|
| 767 | QTextStream str(&msg);
|
---|
| 768 | str << obs.satSys << " " << rnxTypes.size() << " ";
|
---|
[4476] | 769 | for (int iType = 0; iType < rnxTypes.size(); iType++) {
|
---|
[4478] | 770 | str << " " << rnxTypes[iType];
|
---|
[4476] | 771 | }
|
---|
[4477] | 772 | emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
|
---|
[4476] | 773 | }
|
---|
| 774 | }
|
---|
| 775 |
|
---|
[1574] | 776 | // RTCMv3 antenna descriptor
|
---|
| 777 | // -------------------------
|
---|
[4476] | 778 | for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
|
---|
[3523] | 779 | QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
|
---|
[1574] | 780 | emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
|
---|
| 781 | }
|
---|
[1555] | 782 |
|
---|
[1575] | 783 | // RTCM Antenna Coordinates
|
---|
| 784 | // ------------------------
|
---|
[4476] | 785 | for (int ii=0; ii < decoder()->_antList.size(); ii++) {
|
---|
[1574] | 786 | QByteArray antT;
|
---|
[3523] | 787 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
[1574] | 788 | antT = "ARP";
|
---|
| 789 | }
|
---|
[3523] | 790 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
[1574] | 791 | antT = "APC";
|
---|
| 792 | }
|
---|
[1575] | 793 | QByteArray ant1, ant2, ant3;
|
---|
[3523] | 794 | ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
|
---|
| 795 | ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
|
---|
| 796 | ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
|
---|
[1575] | 797 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
| 798 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
| 799 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
[3595] | 800 | double hh = 0.0;
|
---|
[3523] | 801 | if (decoder()->_antList[ii].height_f) {
|
---|
[3595] | 802 | hh = decoder()->_antList[ii].height;
|
---|
| 803 | QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
|
---|
[1575] | 804 | emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
| 805 | }
|
---|
[3523] | 806 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
| 807 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
[3595] | 808 | hh, antT));
|
---|
[1218] | 809 | }
|
---|
| 810 | }
|
---|
[1044] | 811 | }
|
---|
[1575] | 812 |
|
---|
[1770] | 813 | #ifdef MLS_SOFTWARE
|
---|
[3523] | 814 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
|
---|
[1770] | 815 | QByteArray antT;
|
---|
[3523] | 816 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
[1770] | 817 | antT = "ARP";
|
---|
| 818 | }
|
---|
[3523] | 819 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
[1770] | 820 | antT = "APC";
|
---|
| 821 | }
|
---|
[3595] | 822 | double hh = 0.0;
|
---|
| 823 | if (decoder()->_antList[ii].height_f) {
|
---|
| 824 | hh = decoder()->_antList[ii].height;
|
---|
| 825 | }
|
---|
[3523] | 826 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
| 827 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
[3595] | 828 | hh, antT));
|
---|
[1770] | 829 | }
|
---|
[2356] | 830 |
|
---|
[3523] | 831 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
|
---|
| 832 | emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
|
---|
[2356] | 833 | }
|
---|
[1770] | 834 | #endif
|
---|
| 835 |
|
---|
[3523] | 836 | decoder()->_typeList.clear();
|
---|
| 837 | decoder()->_antType.clear();
|
---|
| 838 | decoder()->_antList.clear();
|
---|
[1044] | 839 | }
|
---|
[1555] | 840 |
|
---|
[1606] | 841 | // Handle Data from Serial Port
|
---|
| 842 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 843 | void bncGetThread::slotSerialReadyRead() {
|
---|
[1607] | 844 | if (_serialPort) {
|
---|
[1633] | 845 | int nb = _serialPort->bytesAvailable();
|
---|
| 846 | if (nb > 0) {
|
---|
| 847 | QByteArray data = _serialPort->read(nb);
|
---|
[1711] | 848 |
|
---|
| 849 | if (_serialNMEA == AUTO_NMEA) {
|
---|
[1725] | 850 | int i1 = data.indexOf("$GPGGA");
|
---|
| 851 | if (i1 != -1) {
|
---|
| 852 | int i2 = data.indexOf("*", i1);
|
---|
| 853 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
| 854 | QByteArray gga = data.mid(i1,i2-i1+3);
|
---|
| 855 | _query->sendNMEA(gga);
|
---|
| 856 | }
|
---|
| 857 | }
|
---|
[1711] | 858 | }
|
---|
| 859 |
|
---|
[1633] | 860 | if (_serialOutFile) {
|
---|
| 861 | _serialOutFile->write(data);
|
---|
| 862 | _serialOutFile->flush();
|
---|
| 863 | }
|
---|
[1607] | 864 | }
|
---|
| 865 | }
|
---|
[1606] | 866 | }
|
---|
[5646] | 867 |
|
---|