source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 10556

Last change on this file since 10556 was 10545, checked in by stuerze, 14 months ago

Helmert parameter encoding/decoding added + some re-organisation
File size: 35.5 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iostream>
43#include <iomanip>
44#include <sstream>
45
46#include <QComboBox>
47#include <QDialog>
48#include <QFile>
49#include <QTextStream>
50#include <QMutex>
51#include <QPushButton>
52#include <QTableWidget>
53#include <QTime>
54
55#include "bncgetthread.h"
56#include "bnctabledlg.h"
57#include "bnccore.h"
58#include "bncutils.h"
59#include "bnctime.h"
60#include "bnczerodecoder.h"
61#include "bncnetqueryv0.h"
62#include "bncnetqueryv1.h"
63#include "bncnetqueryv2.h"
64#include "bncnetqueryrtp.h"
65#include "bncnetqueryudp.h"
66#include "bncnetqueryudp0.h"
67#include "bncnetquerys.h"
68#include "bncsettings.h"
69#include "latencychecker.h"
70#include "upload/bncrtnetdecoder.h"
71#include "RTCM/RTCM2Decoder.h"
72#include "RTCM3/RTCM3Decoder.h"
73#include "serial/qextserialport.h"
74
75using namespace std;
76
77// Constructor 1
78////////////////////////////////////////////////////////////////////////////
79bncGetThread::bncGetThread(bncRawFile* rawFile) {
80
81 _rawFile = rawFile;
82 _format = rawFile->format();
83 _staID = rawFile->staID();
84 _rawOutput = false;
85 _ntripVersion = "N";
86
87 initialize();
88}
89
90// Constructor 2
91////////////////////////////////////////////////////////////////////////////
92bncGetThread::bncGetThread(const QUrl& mountPoint, const QByteArray& format,
93 const QByteArray& latitude, const QByteArray& longitude,
94 const QByteArray& nmea, const QByteArray& ntripVersion) {
95 _rawFile = 0;
96 _mountPoint = mountPoint;
97 _staID = mountPoint.path().mid(1).toLatin1();
98 _format = format;
99 _latitude = latitude;
100 _longitude = longitude;
101 _nmea = nmea;
102 _ntripVersion = ntripVersion;
103
104 bncSettings settings;
105 if (!settings.value("rawOutFile").toString().isEmpty()) {
106 _rawOutput = true;
107 }
108 else {
109 _rawOutput = false;
110 }
111
112 _latencycheck = true; // in order to allow at least to check for reconnect
113
114 _NMEASampl = settings.value("serialNMEASampling").toInt();
115
116 initialize();
117 initDecoder();
118}
119
120// Initialization (common part of the constructor)
121////////////////////////////////////////////////////////////////////////////
122void bncGetThread::initialize() {
123
124 bncSettings settings;
125
126 setTerminationEnabled(true);
127
128 connect(this, SIGNAL(newMessage(QByteArray,bool)),
129 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
130
131 _isToBeDeleted = false;
132 _query = 0;
133 _nextSleep = 0;
134 _miscMount = settings.value("miscMount").toString();
135 _decoder = 0;
136
137 // NMEA Port
138 // -----------
139 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
140 int nmeaPort = 0;
141 while (iSta.hasNext()) {
142 QStringList hlp = iSta.next().split(",");
143 if (hlp.size() < 10) {
144 continue;
145 }
146 QByteArray mp = hlp[0].toLatin1();
147 if (_staID == mp) {
148 nmeaPort = hlp[9].toInt();
149 }
150 }
151 if (nmeaPort != 0) {
152 _nmeaServer = new QTcpServer;
153 _nmeaServer->setProxy(QNetworkProxy::NoProxy);
154 if (!_nmeaServer->listen(QHostAddress::Any, nmeaPort)) {
155 QString message = "bncCaster: Cannot listen on port "
156 + QByteArray::number(nmeaPort) + ": "
157 + _nmeaServer->errorString();
158 emit newMessage(message.toLatin1(), true);
159 } else {
160 connect(_nmeaServer, SIGNAL(newConnection()), this,
161 SLOT(slotNewNMEAConnection()));
162 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this,
163 SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
164 _nmeaSockets = new QList<QTcpSocket*>;
165 _nmeaPortsMap[_staID] = nmeaPort;
166 }
167 } else {
168 _nmeaServer = 0;
169 _nmeaSockets = 0;
170 }
171
172 // Serial Port
173 // -----------
174 _serialNMEA = NO_NMEA;
175 _serialOutFile = 0;
176 _serialPort = 0;
177
178 if (!_staID.isEmpty()
179 && settings.value("serialMountPoint").toString() == _staID) {
180 _serialPort = new QextSerialPort(
181 settings.value("serialPortName").toString());
182 _serialPort->setTimeout(0, 100);
183
184 // Baud Rate
185 // ---------
186 QString hlp = settings.value("serialBaudRate").toString();
187 if (hlp == "110") {
188 _serialPort->setBaudRate(BAUD110);
189 } else if (hlp == "300") {
190 _serialPort->setBaudRate(BAUD300);
191 } else if (hlp == "600") {
192 _serialPort->setBaudRate(BAUD600);
193 } else if (hlp == "1200") {
194 _serialPort->setBaudRate(BAUD1200);
195 } else if (hlp == "2400") {
196 _serialPort->setBaudRate(BAUD2400);
197 } else if (hlp == "4800") {
198 _serialPort->setBaudRate(BAUD4800);
199 } else if (hlp == "9600") {
200 _serialPort->setBaudRate(BAUD9600);
201 } else if (hlp == "19200") {
202 _serialPort->setBaudRate(BAUD19200);
203 } else if (hlp == "38400") {
204 _serialPort->setBaudRate(BAUD38400);
205 } else if (hlp == "57600") {
206 _serialPort->setBaudRate(BAUD57600);
207 } else if (hlp == "115200") {
208 _serialPort->setBaudRate(BAUD115200);
209 }
210
211 // Parity
212 // ------
213 hlp = settings.value("serialParity").toString();
214 if (hlp == "NONE") {
215 _serialPort->setParity(PAR_NONE);
216 } else if (hlp == "ODD") {
217 _serialPort->setParity(PAR_ODD);
218 } else if (hlp == "EVEN") {
219 _serialPort->setParity(PAR_EVEN);
220 } else if (hlp == "SPACE") {
221 _serialPort->setParity(PAR_SPACE);
222 }
223
224 // Data Bits
225 // ---------
226 hlp = settings.value("serialDataBits").toString();
227 if (hlp == "5") {
228 _serialPort->setDataBits(DATA_5);
229 } else if (hlp == "6") {
230 _serialPort->setDataBits(DATA_6);
231 } else if (hlp == "7") {
232 _serialPort->setDataBits(DATA_7);
233 } else if (hlp == "8") {
234 _serialPort->setDataBits(DATA_8);
235 }
236 hlp = settings.value("serialStopBits").toString();
237 if (hlp == "1") {
238 _serialPort->setStopBits(STOP_1);
239 } else if (hlp == "2") {
240 _serialPort->setStopBits(STOP_2);
241 }
242
243 // Flow Control
244 // ------------
245 hlp = settings.value("serialFlowControl").toString();
246 if (hlp == "XONXOFF") {
247 _serialPort->setFlowControl(FLOW_XONXOFF);
248 } else if (hlp == "HARDWARE") {
249 _serialPort->setFlowControl(FLOW_HARDWARE);
250 } else {
251 _serialPort->setFlowControl(FLOW_OFF);
252 }
253
254 // Open Serial Port
255 // ----------------
256 _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
257 if (!_serialPort->isOpen()) {
258 delete _serialPort;
259 _serialPort = 0;
260 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
261 }
262 connect(_serialPort, SIGNAL(readyRead()), this,
263 SLOT(slotSerialReadyRead()));
264
265 // Automatic NMEA
266 // --------------
267 QString nmeaMode = settings.value("serialAutoNMEA").toString();
268 if (nmeaMode == "Auto") {
269 _serialNMEA = AUTO_NMEA;
270 QString fName = settings.value("serialFileNMEA").toString();
271 if (!fName.isEmpty()) {
272 _serialOutFile = new QFile(fName);
273 if (Qt::CheckState(settings.value("rnxAppend").toInt())
274 == Qt::Checked) {
275 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
276 } else {
277 _serialOutFile->open(QIODevice::WriteOnly);
278 }
279 }
280 }
281 // Manual NMEA
282 // -----------
283 if ((nmeaMode == "Manual GPGGA") ||
284 (nmeaMode == "Manual GNGGA")) {
285 _serialNMEA = MANUAL_NMEA;
286 bncSettings settings;
287 QString hlp = settings.value("serialHeightNMEA").toString();
288 if (hlp.isEmpty()) {
289 hlp = "0.0";
290 }
291 QByteArray _serialHeightNMEA = hlp.toLatin1();
292 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA, nmeaMode);
293 }
294 }
295
296 if (!_staID.isEmpty() && _latencycheck) {
297 _latencyChecker = new latencyChecker(_staID);
298 _rtcmObs = false;
299 _rtcmSsrOrb = false;
300 _rtcmSsrClk = false;
301 _rtcmSsrOrbClk = false;
302 _rtcmSsrCbi = false;
303 _rtcmSsrPbi = false;
304 _rtcmSsrVtec = false;
305 _rtcmSsrUra = false;
306 _rtcmSsrHr = false;
307 _rtcmSsrIgs = false;
308 _ssrEpoch = 0;
309 } else {
310 _latencyChecker = 0;
311 }
312}
313
314// Instantiate the decoder
315//////////////////////////////////////////////////////////////////////////////
316t_irc bncGetThread::initDecoder() {
317
318 _decoder = 0;
319
320 if (_format.indexOf("RTCM_2") != -1 ||
321 _format.indexOf("RTCM2") != -1 ||
322 _format.indexOf("RTCM 2") != -1) {
323 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
324 _decoder = new RTCM2Decoder(_staID.data());
325 } else if (_format.indexOf("RTCM_3") != -1 ||
326 _format.indexOf("RTCM3") != -1 ||
327 _format.indexOf("RTCM 3") != -1) {
328 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
329 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
330 _decoder = newDecoder;
331 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
332 this, SIGNAL(newMessage(QByteArray,bool)));
333 } else if (_format == "ZERO") {
334 emit(newMessage(_staID + ": Forward data in original format", true));
335 _decoder = new bncZeroDecoder(_staID, false);
336 }
337 else if (_format == "ZERO2FILE") {
338 emit(newMessage(_staID + ": Get data in original format and store it", true));
339 _decoder = new bncZeroDecoder(_staID, true);
340 }
341 else if (_format.indexOf("RTNET") != -1) {
342 emit(newMessage(_staID + ": Get data in RTNet format", true));
343 _decoder = new bncRtnetDecoder();
344 } else {
345 emit(newMessage(_staID + ": Unknown data format " + _format, true));
346 _isToBeDeleted = true;
347 return failure;
348 }
349
350 msleep(100); //sleep 0.1 sec
351
352 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
353 _ntripVersion);
354
355 if (_rawFile) {
356 _decodersRaw[_staID] = _decoder;
357 }
358
359 return success;
360}
361
362// Current decoder in use
363////////////////////////////////////////////////////////////////////////////
364GPSDecoder* bncGetThread::decoder() {
365 if (!_rawFile) {
366 return _decoder;
367 } else {
368 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
369 return _decodersRaw[_staID];
370 }
371 }
372 return 0;
373}
374
375// Destructor
376////////////////////////////////////////////////////////////////////////////
377bncGetThread::~bncGetThread() {
378 if (isRunning()) {
379 wait();
380 }
381 if (_query) {
382 _query->stop();
383 _query->deleteLater();
384 }
385 if (_rawFile) {
386 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
387 while (it.hasNext()) {
388 it.next();
389 delete it.value();
390 }
391 _decodersRaw.clear();
392 } else {
393 delete _decoder;
394 }
395 delete _rawFile;
396 delete _serialOutFile;
397 delete _serialPort;
398 delete _latencyChecker;
399 emit getThreadFinished(_staID);
400}
401
402//
403////////////////////////////////////////////////////////////////////////////
404void bncGetThread::terminate() {
405 _isToBeDeleted = true;
406
407 if (_nmeaPortsMap.contains(_staID)) {
408 _nmeaPortsMap.remove(_staID);
409 }
410 if (_nmeaServer) {
411 delete _nmeaServer;
412 }
413 if (_nmeaSockets) {
414 delete _nmeaSockets;
415 }
416
417#ifdef BNC_DEBUG
418 if (BNC_CORE->mode() != t_bncCore::interactive) {
419 while (!isFinished()) {
420 wait();
421 }
422 delete this;
423 } else {
424 if (!isRunning()) {
425 delete this;
426 }
427 }
428#else
429 if (!isRunning()) {delete this;}
430#endif
431
432}
433
434// Run
435////////////////////////////////////////////////////////////////////////////
436void bncGetThread::run() {
437
438 while (true) {
439 try {
440 if (_isToBeDeleted) {
441 emit(newMessage(_staID + ": is to be deleted", true));
442 QThread::exit(4);
443 this->deleteLater();
444 return;
445 }
446
447 if (tryReconnect() != success) {
448 if (_latencyChecker) {
449 _latencyChecker->checkReconnect();
450 }
451 continue;
452 }
453
454 // Delete old observations
455 // -----------------------
456 if (_rawFile) {
457 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
458 while (itDec.hasNext()) {
459 itDec.next();
460 GPSDecoder* decoder = itDec.value();
461 decoder->_obsList.clear();
462 }
463 } else {
464 _decoder->_obsList.clear();
465 }
466
467 // Read Data
468 // ---------
469 QByteArray data;
470 if (_query) {
471 _query->waitForReadyRead(data);
472 } else if (_rawFile) {
473 data = _rawFile->readChunk();
474 _format = _rawFile->format();
475 _staID = _rawFile->staID();
476
477 QCoreApplication::processEvents();
478
479 if (data.isEmpty() || BNC_CORE->sigintReceived) {
480 emit(newMessage("No more data or SIGINT/SIGTERM received", true));
481 BNC_CORE->stopPPP();
482 BNC_CORE->stopCombination();
483 sleep(2);
484 ::exit(5);
485 }
486 }
487
488 qint64 nBytes = data.size();
489
490 // Timeout, reconnect
491 // ------------------
492 if (nBytes == 0) {
493 if (_latencyChecker) {
494 _latencyChecker->checkReconnect();
495 }
496 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
497 msleep(10000); //sleep 10 sec, G. Weber
498 continue;
499 } else {
500 emit newBytes(_staID, nBytes);
501 emit newRawData(_staID, data);
502 }
503
504 // Output Data
505 // -----------
506 if (_rawOutput) {
507 BNC_CORE->writeRawData(data, _staID, _format);
508 }
509
510 if (_serialPort) {
511 slotSerialReadyRead();
512 _serialPort->write(data);
513 }
514
515 // Decode Data
516 // -----------
517 vector<string> errmsg;
518 if (!decoder()) {
519 _isToBeDeleted = true;
520 continue;
521 }
522
523 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
524
525 if (irc != success) {
526 continue;
527 }
528 // Perform various scans and checks
529 // --------------------------------
530 if (_latencyChecker) {
531 _latencyChecker->checkOutage(irc);
532 QListIterator<int> it(decoder()->_typeList);
533 _ssrEpoch = static_cast<int>(decoder()->corrGPSEpochTime());
534 if (_ssrEpoch != -1) {
535 if (_rtcmSsrOrb) {
536 _latencyChecker->checkCorrLatency(_ssrEpoch, 1057);
537 _rtcmSsrOrb = false;
538 }
539 if (_rtcmSsrClk) {
540 _latencyChecker->checkCorrLatency(_ssrEpoch, 1058);
541 _rtcmSsrClk = false;
542 }
543 if (_rtcmSsrOrbClk) {
544 _latencyChecker->checkCorrLatency(_ssrEpoch, 1060);
545 _rtcmSsrOrbClk = false;
546 }
547 if (_rtcmSsrCbi) {
548 _latencyChecker->checkCorrLatency(_ssrEpoch, 1059);
549 _rtcmSsrCbi = false;
550 }
551 if (_rtcmSsrPbi) {
552 _latencyChecker->checkCorrLatency(_ssrEpoch, 1265);
553 _rtcmSsrPbi = false;
554 }
555 if (_rtcmSsrVtec) {
556 _latencyChecker->checkCorrLatency(_ssrEpoch, 1264);
557 _rtcmSsrVtec = false;
558 }
559 if (_rtcmSsrUra) {
560 _latencyChecker->checkCorrLatency(_ssrEpoch, 1061);
561 _rtcmSsrUra = false;
562 }
563 if (_rtcmSsrHr) {
564 _latencyChecker->checkCorrLatency(_ssrEpoch, 1062);
565 _rtcmSsrHr = false;
566 }
567 if (_rtcmSsrIgs) {
568 _latencyChecker->checkCorrLatency(_ssrEpoch, 4076);
569 _rtcmSsrIgs = false;
570 }
571 }
572 while (it.hasNext()) {
573 int rtcmType = it.next();
574 if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS
575 (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS
576 (rtcmType >= 1070 && rtcmType <= 1137)) { // MSM RTCM OBS
577 _rtcmObs = true;
578 } else if ((rtcmType >= 1057 && rtcmType <= 1068) ||
579 (rtcmType >= 1240 && rtcmType <= 1270) ||
580 (rtcmType == 4076)) {
581 switch (rtcmType) {
582 case 1057: case 1063: case 1240: case 1246: case 1252: case 1258:
583 _rtcmSsrOrb = true;
584 break;
585 case 1058: case 1064: case 1241: case 1247: case 1253: case 1259:
586 _rtcmSsrClk = true;
587 break;
588 case 1060: case 1066: case 1243: case 1249: case 1255: case 1261:
589 _rtcmSsrOrbClk = true;
590 break;
591 case 1059: case 1065: case 1242: case 1248: case 1254: case 1260:
592 _rtcmSsrCbi = true;
593 break;
594 case 1265: case 1266: case 1267: case 1268: case 1269: case 1270:
595 _rtcmSsrPbi = true;
596 break;
597 case 1264:
598 _rtcmSsrVtec = true;
599 break;
600 case 1061: case 1067: case 1244: case 1250: case 1256: case 1262:
601 _rtcmSsrUra = true;
602 break;
603 case 1062: case 1068: case 1245: case 1251: case 1257: case 1263:
604 _rtcmSsrHr = true;
605 break;
606 case 4076:
607 _rtcmSsrIgs = true;
608 break;
609 }
610 }
611 }
612 if (_rtcmObs) {
613 _latencyChecker->checkObsLatency(decoder()->_obsList);
614 }
615 emit newLatency(_staID, _latencyChecker->currentLatency());
616 }
617 miscScanRTCM();
618
619 // Loop over all observations (observations output)
620 // ------------------------------------------------
621 QListIterator<t_satObs> it(decoder()->_obsList);
622
623 QList<t_satObs> obsListHlp;
624
625 while (it.hasNext()) {
626 const t_satObs& obs = it.next();
627
628 // Check observation epoch
629 // -----------------------
630 if (!_rawFile) {
631 bool wrongObservationEpoch = checkForWrongObsEpoch(obs._time);
632 if (wrongObservationEpoch) {
633 QString prn(obs._prn.toString().c_str());
634 QString type = QString("%1").arg(obs._type);
635 emit(newMessage(_staID + " (" + prn.toLatin1() + ")" + ": Wrong observation epoch(s)" + "( MT: " + type.toLatin1() + ")", false));
636 continue;
637 }
638 }
639
640 // Check observations coming twice (e.g. KOUR0 Problem)
641 // ----------------------------------------------------
642 if (!_rawFile) {
643 QString prn(obs._prn.toString().c_str());
644 bncTime obsTime = obs._time;
645 QMap<QString, bncTime>::const_iterator it = _prnLastEpo.find(prn);
646 if (it != _prnLastEpo.end()) {
647 bncTime oldTime = it.value();
648 if (obsTime < oldTime) {
649 emit(newMessage(_staID + ": old observation " + prn.toLatin1(), false));
650 continue;
651 } else if (obsTime == oldTime) {
652 emit(newMessage(_staID + ": observation coming more than once " + prn.toLatin1(), false));
653 continue;
654 }
655 }
656 _prnLastEpo[prn] = obsTime;
657 }
658
659 decoder()->dumpRinexEpoch(obs, _format);
660
661 // Save observations
662 // -----------------
663 obsListHlp.append(obs);
664 }
665
666 // Emit signal
667 // -----------
668 if (!_isToBeDeleted && obsListHlp.size() > 0) {
669 emit newObs(_staID, obsListHlp);
670 }
671
672 } catch (Exception& exc) {
673 emit(newMessage(_staID + " " + exc.what(), true));
674 _isToBeDeleted = true;
675 } catch (...) {
676 emit(newMessage(_staID + " bncGetThread exception", true));
677 _isToBeDeleted = true;
678 }
679 }
680}
681
682// Try Re-Connect
683////////////////////////////////////////////////////////////////////////////
684t_irc bncGetThread::tryReconnect() {
685
686 // Easy Return
687 // -----------
688 if (_query && _query->status() == bncNetQuery::running) {
689 _nextSleep = 0;
690 if (_rawFile) {
691 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
692 while (itDec.hasNext()) {
693 itDec.next();
694 GPSDecoder* decoder = itDec.value();
695 decoder->setRinexReconnectFlag(false);
696 }
697 } else {
698 _decoder->setRinexReconnectFlag(false);
699 }
700 return success;
701 }
702
703 // Start a new query
704 // -----------------
705 if (!_rawFile) {
706
707 sleep(_nextSleep);
708 if (_nextSleep == 0) {
709 _nextSleep = 1;
710 } else {
711 _nextSleep = 2 * _nextSleep;
712 if (_nextSleep > 256) {
713 _nextSleep = 256;
714 }
715#ifdef MLS_SOFTWARE
716 if (_nextSleep > 4) {
717 _nextSleep = 4;
718 }
719#endif
720 }
721 delete _query;
722 if (_ntripVersion == "U") {
723 _query = new bncNetQueryUdp();
724 } else if (_ntripVersion == "R") {
725 _query = new bncNetQueryRtp();
726 } else if (_ntripVersion == "S") {
727 _query = new bncNetQueryS();
728 } else if (_ntripVersion == "N") {
729 _query = new bncNetQueryV0();
730 } else if (_ntripVersion == "UN") {
731 _query = new bncNetQueryUdp0();
732 } else if (_ntripVersion == "2") {
733 _query = new bncNetQueryV2(false);
734 } else if (_ntripVersion == "2s") {
735 _query = new bncNetQueryV2(true);
736 } else {
737 _query = new bncNetQueryV1();
738 }
739 if (_nmea == "yes") {
740 if (_serialNMEA == MANUAL_NMEA) {
741 _query->startRequest(_mountPoint, _manualNMEAString);
742 _lastNMEA = QDateTime::currentDateTime();
743 } else if (_serialNMEA == AUTO_NMEA) {
744 if (_serialPort) {
745 int nb = _serialPort->bytesAvailable();
746 if (nb > 0) {
747 QByteArray data = _serialPort->read(nb);
748 int i1 = data.indexOf("$GPGGA");
749 if (i1 == -1) {
750 i1 = data.indexOf("$GNGGA");
751 }
752 if (i1 != -1) {
753 int i2 = data.indexOf("*", i1);
754 if (i2 != -1 && data.size() > i2 + 1) {
755 QByteArray gga = data.mid(i1, i2 - i1 + 3);
756 _query->startRequest(_mountPoint, gga);
757 _lastNMEA = QDateTime::currentDateTime();
758 }
759 }
760 }
761 }
762 }
763 } else {
764 _query->startRequest(_mountPoint, "");
765 }
766
767 if (_query->status() != bncNetQuery::running) {
768 return failure;
769 }
770 }
771
772 if (_rawFile) {
773 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
774 while (itDec.hasNext()) {
775 itDec.next();
776 GPSDecoder* decoder = itDec.value();
777 decoder->setRinexReconnectFlag(false);
778 }
779 } else {
780 _decoder->setRinexReconnectFlag(false);
781 }
782
783 return success;
784}
785
786// RTCM scan output
787//////////////////////////////////////////////////////////////////////////////
788void bncGetThread::miscScanRTCM() {
789
790 if (!decoder()) {
791 return;
792 }
793
794 bncSettings settings;
795 if (Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked) {
796
797 if (_miscMount == _staID || _miscMount == "ALL") {
798 // RTCM message types
799 // ------------------
800 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
801 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
802 emit(newMessage(_staID + ": Received message type " + type.toLatin1(), true));
803 }
804
805 // Check Observation Types
806 // -----------------------
807 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
808 t_satObs& obs = decoder()->_obsList[ii];
809 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
810 bool allFound = true;
811 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
812 if (obs._obs[iFrq]->_codeValid) {
813 QString rnxStr('C');
814 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
815 if (_format.indexOf("RTCM_2") != -1
816 || _format.indexOf("RTCM2") != -1
817 || _format.indexOf("RTCM 2") != -1) {
818 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
819 }
820 if (rnxTypes.indexOf(rnxStr) == -1) {
821 rnxTypes.push_back(rnxStr);
822 allFound = false;
823 }
824 }
825 if (obs._obs[iFrq]->_phaseValid) {
826 QString rnxStr('L');
827 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
828 if (_format.indexOf("RTCM_2") != -1
829 || _format.indexOf("RTCM2") != -1
830 || _format.indexOf("RTCM 2") != -1) {
831 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
832 }
833 if (rnxTypes.indexOf(rnxStr) == -1) {
834 rnxTypes.push_back(rnxStr);
835 allFound = false;
836 }
837 }
838 if (obs._obs[iFrq]->_dopplerValid) {
839 QString rnxStr('D');
840 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
841 if (_format.indexOf("RTCM_2") != -1
842 || _format.indexOf("RTCM2") != -1
843 || _format.indexOf("RTCM 2") != -1) {
844 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
845 }
846 if (rnxTypes.indexOf(rnxStr) == -1) {
847 rnxTypes.push_back(rnxStr);
848 allFound = false;
849 }
850 }
851 if (obs._obs[iFrq]->_snrValid) {
852 QString rnxStr('S');
853 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
854 if (_format.indexOf("RTCM_2") != -1
855 || _format.indexOf("RTCM2") != -1
856 || _format.indexOf("RTCM 2") != -1) {
857 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
858 }
859 if (rnxTypes.indexOf(rnxStr) == -1) {
860 rnxTypes.push_back(rnxStr);
861 allFound = false;
862 }
863 }
864 }
865 if (!allFound) {
866 QString msg;
867 QTextStream str(&msg);
868 str << obs._prn.system() << QString(" %1 ").arg(rnxTypes.size());
869 for (int iType = 0; iType < rnxTypes.size(); iType++) {
870 str << " " << rnxTypes[iType];
871 }
872 emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(),
873 true));
874 }
875 }
876
877 // RTCMv3 antenna descriptor
878 // -------------------------
879 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
880 QString ant1 = QString(": Antenna Descriptor: %1 ").arg(decoder()->_antType[ii].descriptor);
881 emit(newMessage(_staID + ant1.toLatin1(), true));
882 if (strlen(decoder()->_antType[ii].serialnumber)) {
883 QString ant2 = QString(": Antenna Serial Number: %1 ").arg(decoder()->_antType[ii].serialnumber);
884 emit(newMessage(_staID + ant2.toLatin1(), true));
885 }
886 }
887
888 // RTCM Antenna Coordinates
889 // ------------------------
890 for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
891 QByteArray antT;
892 if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::ARP) {
893 antT = "ARP";
894 } else if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::APC) {
895 antT = "APC";
896 }
897 QByteArray ant1, ant2, ant3;
898 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx, 0, 'f', 4).toLatin1();
899 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy, 0, 'f', 4).toLatin1();
900 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz, 0, 'f', 4).toLatin1();
901 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
902 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
903 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
904 double hh = 0.0;
905 if (decoder()->_antList[ii].height_f) {
906 hh = decoder()->_antList[ii].height;
907 QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
908 emit(newMessage(
909 _staID + ": Antenna height above marker " + ant4 + "m", true));
910 }
911 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
912 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz, hh, antT));
913 }
914
915 // RTCMv3 receiver descriptor
916 // --------------------------
917 for (int ii = 0; ii < decoder()->_recType.size(); ii++) {
918 QString rec1 = QString(": Receiver Descriptor: %1 ").arg(decoder()->_recType[ii].descriptor);
919 QString rec2 = QString(": Receiver Firmware Version: %1 ").arg(decoder()->_recType[ii].firmware);
920 QString rec3 = QString(": Receiver Serial Number: %1 ").arg(decoder()->_recType[ii].serialnumber);
921 emit(newMessage(_staID + rec1.toLatin1(), true));
922 emit(newMessage(_staID + rec2.toLatin1(), true));
923 emit(newMessage(_staID + rec3.toLatin1(), true));
924 }
925
926 // RTCM GLONASS slots
927 // ------------------
928 if (decoder()->_gloFrq.size()) {
929 bool allFound = true;
930 QString slot = decoder()->_gloFrq;
931 slot.replace(" ", " ").replace(" ", ":");
932 if (_gloSlots.indexOf(slot) == -1) {
933 _gloSlots.append(slot);
934 allFound = false;
935 }
936 if (!allFound) {
937 _gloSlots.sort();
938 emit(newMessage(
939 _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
940 true));
941 }
942 }
943 // Service CRS
944 // -----------
945 for (int ii = 0; ii < decoder()->_serviceCrs.size(); ii++) {
946 QString servicecrsname = QString(": Service CRS Name: %1 ").arg(decoder()->_serviceCrs[ii]._name);
947 QString coordinateEpoch = QString(": Service CRS Coordinate Epoch: %1 ").arg(decoder()->_serviceCrs[ii]._coordinateEpoch);
948 //QString ce = QString(": CE: %1 ").arg(decoder()->_serviceCrs[ii]._CE);
949 emit(newMessage(_staID + servicecrsname.toLatin1(), true));
950 emit(newMessage(_staID + coordinateEpoch.toLatin1(), true));
951 //emit(newMessage(_staID + ce.toLatin1(), true));
952 }
953
954 // RTCM CRS
955 // -----------
956 for (int ii = 0; ii < decoder()->_rtcmCrs.size(); ii++) {
957 QString rtcmcrsname = QString(": RTCM CRS Name: %1 ").arg(decoder()->_rtcmCrs[ii]._name);
958 QString anchor = QString(": RTCM CRS Anchor: %1 ").arg(decoder()->_rtcmCrs[ii]._anchor);
959 QString platenumber = QString(": RTCM CRS Plate Number: %1 ").arg(decoder()->_rtcmCrs[ii]._plateNumber);
960 emit(newMessage(_staID + rtcmcrsname.toLatin1(), true));
961 emit(newMessage(_staID + anchor.toLatin1(), true));
962 emit(newMessage(_staID + platenumber.toLatin1(), true));
963 for (int i = 0; i<decoder()->_rtcmCrs[ii]._databaseLinks.size(); i++) {
964 QString dblink = QString(": Database Link: %1 ").arg(decoder()->_rtcmCrs[ii]._databaseLinks[i]);
965 emit(newMessage(_staID + dblink.toLatin1(), true));
966 }
967 }
968
969 // Helmert Parameters
970 //-------------------
971 for (int ii = 0; ii < decoder()->_helmertPar.size(); ii++) {
972 t_helmertPar& helmertPar = decoder()->_helmertPar[ii];
973 bncTime t; t.setmjd(0, helmertPar._mjd); QString dateStr = QString::fromStdString(t.datestr());
974 QString sourcename = QString(": MT1301 Source Name: %1 ").arg(helmertPar._sourceName);
975 QString targetname = QString(": MT1301 Target Name: %1 ").arg(helmertPar._targetName);
976 QString sysidentnum = QString(": MT1301 Sys Ident Num: %1 ").arg(helmertPar._sysIdentNum);
977 QString trafomessageind = QString(": MT1301 Trafo Ident Num: %1 ").arg(helmertPar.IndtoString());
978 QString epoch = QString(": MT1301 t0: MJD %1 (%2) ").arg(helmertPar._mjd).arg(dateStr);
979 QString partrans = QString(": MT1301 Helmert Par Trans: dx = %1, dy = %2, dz = %3, dxr = %4, dyr = %5, dzr = %6")
980 .arg(helmertPar._dx).arg(helmertPar._dy).arg(helmertPar._dz)
981 .arg(helmertPar._dxr).arg(helmertPar._dyr).arg(helmertPar._dzr);
982 QString parrot = QString(": MT1301 Helmert Par Rot: ox = %1, oy = %2, oz = %3, oxr = %4, oyr = %5, ozr = %6")
983 .arg(helmertPar._ox).arg(helmertPar._oy).arg(helmertPar._oz)
984 .arg(helmertPar._oxr).arg(helmertPar._oyr).arg(helmertPar._ozr);
985 QString parscale = QString(": MT1301 Helmert Par Scale: sc = %1, scr = %2").arg(helmertPar._sc).arg(helmertPar._scr);
986 emit(newMessage(_staID + sourcename.toLatin1(), true));
987 emit(newMessage(_staID + targetname.toLatin1(), true));
988 emit(newMessage(_staID + sysidentnum.toLatin1(), true));
989 emit(newMessage(_staID + trafomessageind.toLatin1(), true));
990 emit(newMessage(_staID + epoch.toLatin1(), true));
991 emit(newMessage(_staID + partrans.toLatin1(), true));
992 emit(newMessage(_staID + parrot.toLatin1(), true));
993 emit(newMessage(_staID + parscale.toLatin1(), true));
994 }
995 }
996 }
997
998#ifdef MLS_SOFTWARE
999 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
1000 QByteArray antT;
1001 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
1002 antT = "ARP";
1003 }
1004 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
1005 antT = "APC";
1006 }
1007 double hh = 0.0;
1008 if (decoder()->_antList[ii].height_f) {
1009 hh = decoder()->_antList[ii].height;
1010 }
1011 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
1012 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
1013 hh, antT));
1014 }
1015
1016 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
1017 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
1018 }
1019#endif
1020
1021 decoder()->_gloFrq.clear();
1022 decoder()->_typeList.clear();
1023 decoder()->_antType.clear();
1024 decoder()->_recType.clear();
1025 decoder()->_antList.clear();
1026}
1027
1028// Handle Data from Serial Port
1029////////////////////////////////////////////////////////////////////////////
1030void bncGetThread::slotSerialReadyRead() {
1031
1032 if (_serialPort) {
1033
1034 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
1035 if (_NMEASampl) {
1036 int dt = _lastNMEA.secsTo(QDateTime::currentDateTime());
1037 if (dt && (fmod(double(dt), double(_NMEASampl)) == 0.0)) {
1038 _query->sendNMEA(_manualNMEAString);
1039 _lastNMEA = QDateTime::currentDateTime();
1040 }
1041 }
1042 }
1043
1044 int nb = _serialPort->bytesAvailable();
1045 if (nb > 0) {
1046 QByteArray data = _serialPort->read(nb);
1047
1048 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
1049 int i1 = data.indexOf("$GPGGA");
1050 if (i1 == -1) {
1051 i1 = data.indexOf("$GNGGA");
1052 }
1053 if (i1 != -1) {
1054 int i2 = data.indexOf("*", i1);
1055 if (i2 != -1 && data.size() > i2 + 1) {
1056 QByteArray gga = data.mid(i1, i2 - i1 + 3);
1057 if (_NMEASampl) {
1058 int dt = _lastNMEA.secsTo(QDateTime::currentDateTime());
1059 if (dt && (fmod(double(dt), double(_NMEASampl)) == 0.0)) {
1060 _query->sendNMEA(gga);
1061 _lastNMEA = QDateTime::currentDateTime();
1062 }
1063 }
1064 }
1065 }
1066 }
1067
1068 if (_serialOutFile) {
1069 _serialOutFile->write(data);
1070 _serialOutFile->flush();
1071 }
1072 }
1073 }
1074}
1075
1076void bncGetThread::slotNewNMEAConnection() {
1077 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
1078 emit(newMessage(
1079 QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
1080 true));
1081}
1082
1083//
1084////////////////////////////////////////////////////////////////////////////
1085void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
1086 if (_nmeaPortsMap.contains(staID)) {
1087 int nmeaPort = _nmeaPortsMap.value(staID);
1088 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
1089 while (is.hasNext()) {
1090 QTcpSocket* sock = is.next();
1091 if (sock->localPort() == nmeaPort) {
1092 if (sock->state() == QAbstractSocket::ConnectedState) {
1093 sock->write(str);
1094 } else if (sock->state() != QAbstractSocket::ConnectingState) {
1095 delete sock;
1096 is.remove();
1097 }
1098 }
1099 }
1100 }
1101}
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