source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 4374

Last change on this file since 4374 was 4278, checked in by mervart, 12 years ago
File size: 22.1 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 <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QtNetwork>
48#include <QTime>
49
50#include "bncgetthread.h"
51#include "bnctabledlg.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bnczerodecoder.h"
55#include "bncnetqueryv0.h"
56#include "bncnetqueryv1.h"
57#include "bncnetqueryv2.h"
58#include "bncnetqueryrtp.h"
59#include "bncnetqueryudp.h"
60#include "bncnetqueryudp0.h"
61#include "bncnetquerys.h"
62#include "bncsettings.h"
63#include "latencychecker.h"
64#include "bncpppclient.h"
65#ifdef PPP_DLL_INTERFACE
66#include "dllinterface.h"
67#endif
68#include "upload/bncrtnetdecoder.h"
69#include "RTCM/RTCM2Decoder.h"
70#include "RTCM3/RTCM3Decoder.h"
71#include "GPSS/gpssDecoder.h"
72#include "GPSS/hassDecoder.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,
93 const QByteArray& format,
94 const QByteArray& latitude,
95 const QByteArray& longitude,
96 const QByteArray& nmea,
97 const QByteArray& ntripVersion) {
98 _rawFile = 0;
99 _mountPoint = mountPoint;
100 _staID = mountPoint.path().mid(1).toAscii();
101 _format = format;
102 _latitude = latitude;
103 _longitude = longitude;
104 _nmea = nmea;
105 _ntripVersion = ntripVersion;
106
107 bncSettings settings;
108 if (!settings.value("rawOutFile").toString().isEmpty()) {
109 _rawOutput = true;
110 } else {
111 _rawOutput = false;
112 }
113
114 initialize();
115 initDecoder();
116}
117
118// Initialization (common part of the constructor)
119////////////////////////////////////////////////////////////////////////////
120void bncGetThread::initialize() {
121
122 bncSettings settings;
123
124 setTerminationEnabled(true);
125
126 bncApp* app = (bncApp*) qApp;
127
128 connect(this, SIGNAL(newMessage(QByteArray,bool)),
129 app, SLOT(slotMessage(const QByteArray,bool)));
130
131 _isToBeDeleted = false;
132 _query = 0;
133 _nextSleep = 0;
134 _PPPclient = 0;
135#ifdef PPP_DLL_INTERFACE
136 _dllInterface = 0;
137#endif
138 _miscMount = settings.value("miscMount").toString();
139 _decoder = 0;
140
141 // Serial Port
142 // -----------
143 _serialNMEA = NO_NMEA;
144 _serialOutFile = 0;
145 _serialPort = 0;
146
147 if (!_staID.isEmpty() &&
148 settings.value("serialMountPoint").toString() == _staID) {
149 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
150 _serialPort->setTimeout(0,100);
151
152 // Baud Rate
153 // ---------
154 QString hlp = settings.value("serialBaudRate").toString();
155 if (hlp == "110") {
156 _serialPort->setBaudRate(BAUD110);
157 }
158 else if (hlp == "300") {
159 _serialPort->setBaudRate(BAUD300);
160 }
161 else if (hlp == "600") {
162 _serialPort->setBaudRate(BAUD600);
163 }
164 else if (hlp == "1200") {
165 _serialPort->setBaudRate(BAUD1200);
166 }
167 else if (hlp == "2400") {
168 _serialPort->setBaudRate(BAUD2400);
169 }
170 else if (hlp == "4800") {
171 _serialPort->setBaudRate(BAUD4800);
172 }
173 else if (hlp == "9600") {
174 _serialPort->setBaudRate(BAUD9600);
175 }
176 else if (hlp == "19200") {
177 _serialPort->setBaudRate(BAUD19200);
178 }
179 else if (hlp == "38400") {
180 _serialPort->setBaudRate(BAUD38400);
181 }
182 else if (hlp == "57600") {
183 _serialPort->setBaudRate(BAUD57600);
184 }
185 else if (hlp == "115200") {
186 _serialPort->setBaudRate(BAUD115200);
187 }
188
189 // Parity
190 // ------
191 hlp = settings.value("serialParity").toString();
192 if (hlp == "NONE") {
193 _serialPort->setParity(PAR_NONE);
194 }
195 else if (hlp == "ODD") {
196 _serialPort->setParity(PAR_ODD);
197 }
198 else if (hlp == "EVEN") {
199 _serialPort->setParity(PAR_EVEN);
200 }
201 else if (hlp == "SPACE") {
202 _serialPort->setParity(PAR_SPACE);
203 }
204
205 // Data Bits
206 // ---------
207 hlp = settings.value("serialDataBits").toString();
208 if (hlp == "5") {
209 _serialPort->setDataBits(DATA_5);
210 }
211 else if (hlp == "6") {
212 _serialPort->setDataBits(DATA_6);
213 }
214 else if (hlp == "7") {
215 _serialPort->setDataBits(DATA_7);
216 }
217 else if (hlp == "8") {
218 _serialPort->setDataBits(DATA_8);
219 }
220 hlp = settings.value("serialStopBits").toString();
221 if (hlp == "1") {
222 _serialPort->setStopBits(STOP_1);
223 }
224 else if (hlp == "2") {
225 _serialPort->setStopBits(STOP_2);
226 }
227
228 // Flow Control
229 // ------------
230 hlp = settings.value("serialFlowControl").toString();
231 if (hlp == "XONXOFF") {
232 _serialPort->setFlowControl(FLOW_XONXOFF);
233 }
234 else if (hlp == "HARDWARE") {
235 _serialPort->setFlowControl(FLOW_HARDWARE);
236 }
237 else {
238 _serialPort->setFlowControl(FLOW_OFF);
239 }
240
241 // Open Serial Port
242 // ----------------
243 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
244 if (!_serialPort->isOpen()) {
245 delete _serialPort;
246 _serialPort = 0;
247 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
248 }
249 connect(_serialPort, SIGNAL(readyRead()),
250 this, SLOT(slotSerialReadyRead()));
251
252 // Automatic NMEA
253 // --------------
254 if (settings.value("serialAutoNMEA").toString() == "Auto") {
255 _serialNMEA = AUTO_NMEA;
256
257 QString fName = settings.value("serialFileNMEA").toString();
258 if (!fName.isEmpty()) {
259 _serialOutFile = new QFile(fName);
260 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
261 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
262 }
263 else {
264 _serialOutFile->open(QIODevice::WriteOnly);
265 }
266 }
267 }
268
269 // Manual NMEA
270 // -----------
271 else {
272 _serialNMEA = MANUAL_NMEA;
273 }
274 }
275
276 if (!_staID.isEmpty()) {
277 _latencyChecker = new latencyChecker(_staID);
278 }
279 else {
280 _latencyChecker = 0;
281 }
282}
283
284// Instantiate the decoder
285//////////////////////////////////////////////////////////////////////////////
286t_irc bncGetThread::initDecoder() {
287
288 _decoder = 0;
289
290 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
291 _format.indexOf("RTCM 2") != -1 ) {
292 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
293 _decoder = new RTCM2Decoder(_staID.data());
294 }
295 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
296 _format.indexOf("RTCM 3") != -1 ) {
297 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
298 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
299 _decoder = newDecoder;
300 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
301 this, SIGNAL(newMessage(QByteArray,bool)));
302 }
303 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
304 emit(newMessage(_staID + ": Get Data in GPSS format", true));
305 _decoder = new gpssDecoder();
306 }
307 else if (_format.indexOf("ZERO") != -1) {
308 emit(newMessage(_staID + ": Get data in original format", true));
309 _decoder = new bncZeroDecoder(_staID);
310 }
311 else if (_format.indexOf("RTNET") != -1) {
312 emit(newMessage(_staID + ": Get data in RTNet format", true));
313 _decoder = new bncRtnetDecoder();
314 }
315 else if (_format.indexOf("HASS2ASCII") != -1) {
316 emit(newMessage(_staID + ": Get data in HASS2ASCII format", true));
317 _decoder = new hassDecoder(_staID);
318 }
319 else {
320 emit(newMessage(_staID + ": Unknown data format " + _format, true));
321 _isToBeDeleted = true;
322 return failure;
323 }
324
325 msleep(100); //sleep 0.1 sec
326
327 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
328 _nmea, _ntripVersion);
329
330 if (_rawFile) {
331 _decodersRaw[_staID] = _decoder;
332 }
333
334 // Initialize PPP Client?
335 // ----------------------
336#ifndef MLS_SOFTWARE
337 bncSettings settings;
338 if (settings.value("pppMount").toString() == _staID) {
339 _PPPclient = new bncPPPclient(_staID);
340 bncApp* app = (bncApp*) qApp;
341 app->_bncPPPclient = _PPPclient;
342 qRegisterMetaType<bncTime>("bncTime");
343 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
344 this, SIGNAL(newPosition(bncTime, double, double, double)));
345 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
346 this, SIGNAL(newNMEAstr(QByteArray)));
347#ifdef PPP_DLL_INTERFACE
348 _dllInterface = new t_dllInterface();
349#endif
350 }
351#endif
352
353 return success;
354}
355
356// Current decoder in use
357////////////////////////////////////////////////////////////////////////////
358GPSDecoder* bncGetThread::decoder() {
359 if (!_rawFile) {
360 return _decoder;
361 }
362 else {
363 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
364 return _decodersRaw[_staID];
365 }
366 }
367 return 0;
368}
369
370// Destructor
371////////////////////////////////////////////////////////////////////////////
372bncGetThread::~bncGetThread() {
373 if (isRunning()) {
374 wait();
375 }
376 if (_query) {
377 _query->stop();
378 _query->deleteLater();
379 }
380 delete _PPPclient;
381#ifdef PPP_DLL_INTERFACE
382 delete _dllInterface;
383#endif
384 if (_rawFile) {
385 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
386 while (it.hasNext()) {
387 it.next();
388 delete it.value();
389 }
390 }
391 else {
392 delete _decoder;
393 }
394 delete _rawFile;
395 delete _serialOutFile;
396 delete _serialPort;
397 delete _latencyChecker;
398 emit getThreadFinished(_staID);
399}
400
401//
402////////////////////////////////////////////////////////////////////////////
403void bncGetThread::terminate() {
404 _isToBeDeleted = true;
405 if (!isRunning()) {
406 delete this;
407 }
408}
409
410// Run
411////////////////////////////////////////////////////////////////////////////
412void bncGetThread::run() {
413
414 while (true) {
415 try {
416 if (_isToBeDeleted) {
417 QThread::exit(0);
418 this->deleteLater();
419 return;
420 }
421
422 if (tryReconnect() != success) {
423 if (_latencyChecker) {
424 _latencyChecker->checkReconnect();
425 }
426 continue;
427 }
428
429 // Delete old observations
430 // -----------------------
431 if (_rawFile) {
432 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
433 while (itDec.hasNext()) {
434 itDec.next();
435 GPSDecoder* decoder = itDec.value();
436 decoder->_obsList.clear();
437 }
438 }
439 else {
440 _decoder->_obsList.clear();
441 }
442
443 // Read Data
444 // ---------
445 QByteArray data;
446 if (_query) {
447 _query->waitForReadyRead(data);
448 }
449 else if (_rawFile) {
450 data = _rawFile->readChunk();
451 _format = _rawFile->format();
452 _staID = _rawFile->staID();
453
454 if (data.isEmpty()) {
455 cout << "no more data" << endl;
456 ((bncApp*) qApp)->stopCombination();
457 QThread::exit(0);
458 delete this;
459 ::exit(0);
460 }
461 }
462 qint64 nBytes = data.size();
463
464 // Timeout, reconnect
465 // ------------------
466 if (nBytes == 0) {
467 if (_latencyChecker) {
468 _latencyChecker->checkReconnect();
469 }
470 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
471 msleep(10000); //sleep 10 sec, G. Weber
472 continue;
473 }
474 else {
475 emit newBytes(_staID, nBytes);
476 }
477
478 // Output Data
479 // -----------
480 if (_rawOutput) {
481 bncApp* app = (bncApp*) qApp;
482 app->writeRawData(data, _staID, _format);
483 }
484
485 if (_serialPort) {
486 slotSerialReadyRead();
487 _serialPort->write(data);
488 }
489
490 // Decode Data
491 // -----------
492 vector<string> errmsg;
493 if (!decoder()) {
494 _isToBeDeleted = true;
495 continue;
496 }
497 decoder()->_obsList.clear();
498 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
499
500 // Perform various scans and checks
501 // --------------------------------
502 if (_latencyChecker) {
503 _latencyChecker->checkOutage(irc == success);
504 _latencyChecker->checkObsLatency(decoder()->_obsList);
505 _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
506
507 emit newLatency(_staID, _latencyChecker->currentLatency());
508 }
509
510 scanRTCM();
511
512 // Loop over all observations (observations output)
513 // ------------------------------------------------
514 QListIterator<t_obs> it(decoder()->_obsList);
515 bool firstObs = true;
516 while (it.hasNext()) {
517 const t_obs& obs = it.next();
518
519 QString prn = QString("%1%2").arg(obs.satSys)
520 .arg(obs.satNum, 2, 10, QChar('0'));
521 long iSec = long(floor(obs.GPSWeeks+0.5));
522 long obsTime = obs.GPSWeek * 7*24*3600 + iSec;
523
524 // Check observation epoch
525 // -----------------------
526 if (!_rawFile && !dynamic_cast<gpssDecoder*>(decoder())) {
527 int week;
528 double sec;
529 currentGPSWeeks(week, sec);
530 long currTime = week * 7*24*3600 + long(sec);
531 const double maxDt = 600.0;
532 if (fabs(currTime - obsTime) > maxDt) {
533 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
534 continue;
535 }
536 }
537
538 // Check observations coming twice (e.g. KOUR0 Problem)
539 // ----------------------------------------------------
540 if (!_rawFile) {
541 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
542 if (it != _prnLastEpo.end()) {
543 long oldTime = it.value();
544 if (obsTime < oldTime) {
545 emit( newMessage(_staID +
546 ": old observation " + prn.toAscii(), false));
547 continue;
548 }
549 else if (obsTime == oldTime) {
550 emit( newMessage(_staID +
551 ": observation coming more than once " + prn.toAscii(), false));
552 continue;
553 }
554 }
555 _prnLastEpo[prn] = obsTime;
556 }
557
558 decoder()->dumpRinexEpoch(obs, _format);
559
560 // PPP Client
561 // ----------
562#ifndef MLS_SOFTWARE
563 if (_PPPclient && _staID == _PPPclient->staID()) {
564 _PPPclient->putNewObs(obs);
565#ifdef PPP_DLL_INTERFACE
566 _dllInterface->putNewObs(obs);
567#endif
568 }
569#endif
570
571 // Emit new observation signal
572 // ---------------------------
573 if (!_isToBeDeleted) {
574 emit newObs(_staID, firstObs, obs);
575 }
576 firstObs = false;
577 }
578 decoder()->_obsList.clear();
579 }
580 catch (Exception& exc) {
581 emit(newMessage(_staID + " " + exc.what(), true));
582 _isToBeDeleted = true;
583 }
584 catch (...) {
585 emit(newMessage(_staID + " bncGetThread exception", true));
586 _isToBeDeleted = true;
587 }
588 }
589}
590
591// Try Re-Connect
592////////////////////////////////////////////////////////////////////////////
593t_irc bncGetThread::tryReconnect() {
594
595 // Easy Return
596 // -----------
597 if (_query && _query->status() == bncNetQuery::running) {
598 _nextSleep = 0;
599 if (_rawFile) {
600 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
601 while (itDec.hasNext()) {
602 itDec.next();
603 GPSDecoder* decoder = itDec.value();
604 decoder->setRinexReconnectFlag(false);
605 }
606 }
607 else {
608 _decoder->setRinexReconnectFlag(false);
609 }
610 return success;
611 }
612
613 // Start a new query
614 // -----------------
615 if (!_rawFile) {
616
617 sleep(_nextSleep);
618 if (_nextSleep == 0) {
619 _nextSleep = 1;
620 }
621 else {
622 _nextSleep = 2 * _nextSleep;
623 if (_nextSleep > 256) {
624 _nextSleep = 256;
625 }
626#ifdef MLS_SOFTWARE
627 if (_nextSleep > 4) {
628 _nextSleep = 4;
629 }
630#endif
631 }
632
633 delete _query;
634 if (_ntripVersion == "U") {
635 _query = new bncNetQueryUdp();
636 }
637 else if (_ntripVersion == "R") {
638 _query = new bncNetQueryRtp();
639 }
640 else if (_ntripVersion == "S") {
641 _query = new bncNetQueryS();
642 }
643 else if (_ntripVersion == "N") {
644 _query = new bncNetQueryV0();
645 }
646 else if (_ntripVersion == "UN") {
647 _query = new bncNetQueryUdp0();
648 }
649 else if (_ntripVersion == "2") {
650 _query = new bncNetQueryV2(false);
651 }
652 else if (_ntripVersion == "2s") {
653 _query = new bncNetQueryV2(true);
654 }
655 else {
656 _query = new bncNetQueryV1();
657 }
658 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
659 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
660 _query->startRequest(_mountPoint, gga);
661 }
662 else {
663 _query->startRequest(_mountPoint, "");
664 }
665 if (_query->status() != bncNetQuery::running) {
666 return failure;
667 }
668 }
669
670 if (_rawFile) {
671 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
672 while (itDec.hasNext()) {
673 itDec.next();
674 GPSDecoder* decoder = itDec.value();
675 decoder->setRinexReconnectFlag(false);
676 }
677 }
678 else {
679 _decoder->setRinexReconnectFlag(false);
680 }
681
682 return success;
683}
684
685// RTCM scan output
686//////////////////////////////////////////////////////////////////////////////
687void bncGetThread::scanRTCM() {
688
689 if (!decoder()) {
690 return;
691 }
692
693 bncSettings settings;
694 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
695
696 if ( _miscMount == _staID || _miscMount == "ALL" ) {
697
698 // RTCM message types
699 // ------------------
700 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
701 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
702 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
703 }
704
705 // RTCMv3 antenna descriptor
706 // -------------------------
707 for (int ii=0;ii<decoder()->_antType.size();ii++) {
708 QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
709 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
710 }
711
712 // RTCM Antenna Coordinates
713 // ------------------------
714 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
715 QByteArray antT;
716 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
717 antT = "ARP";
718 }
719 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
720 antT = "APC";
721 }
722 QByteArray ant1, ant2, ant3;
723 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
724 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
725 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
726 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
727 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
728 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
729 double hh = 0.0;
730 if (decoder()->_antList[ii].height_f) {
731 hh = decoder()->_antList[ii].height;
732 QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
733 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
734 }
735 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
736 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
737 hh, antT));
738 }
739 }
740 }
741
742#ifdef MLS_SOFTWARE
743 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
744 QByteArray antT;
745 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
746 antT = "ARP";
747 }
748 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
749 antT = "APC";
750 }
751 double hh = 0.0;
752 if (decoder()->_antList[ii].height_f) {
753 hh = decoder()->_antList[ii].height;
754 }
755 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
756 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
757 hh, antT));
758 }
759
760 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
761 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
762 }
763#endif
764
765 decoder()->_typeList.clear();
766 decoder()->_antType.clear();
767 decoder()->_antList.clear();
768}
769
770// Handle Data from Serial Port
771////////////////////////////////////////////////////////////////////////////
772void bncGetThread::slotSerialReadyRead() {
773 if (_serialPort) {
774 int nb = _serialPort->bytesAvailable();
775 if (nb > 0) {
776 QByteArray data = _serialPort->read(nb);
777
778 if (_serialNMEA == AUTO_NMEA) {
779 int i1 = data.indexOf("$GPGGA");
780 if (i1 != -1) {
781 int i2 = data.indexOf("*", i1);
782 if (i2 != -1 && data.size() > i2 + 1) {
783 QByteArray gga = data.mid(i1,i2-i1+3);
784 _query->sendNMEA(gga);
785 }
786 }
787 }
788
789 if (_serialOutFile) {
790 _serialOutFile->write(data);
791 _serialOutFile->flush();
792 }
793 }
794 }
795}
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