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source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 4636

Last change on this file since 4636 was 4478, checked in by mervart, 12 years ago

File size: 23.0 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: 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
75	using namespace std;
76
77	// Constructor 1
78	////////////////////////////////////////////////////////////////////////////
79	bncGetThread::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	////////////////////////////////////////////////////////////////////////////
92	bncGetThread::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	////////////////////////////////////////////////////////////////////////////
120	void 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	//////////////////////////////////////////////////////////////////////////////
286	t_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	////////////////////////////////////////////////////////////////////////////
358	GPSDecoder* 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	////////////////////////////////////////////////////////////////////////////
372	bncGetThread::~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	////////////////////////////////////////////////////////////////////////////
403	void bncGetThread::terminate() {
404	_isToBeDeleted = true;
405	if (!isRunning()) {
406	delete this;
407	}
408	}
409
410	// Run
411	////////////////////////////////////////////////////////////////////////////
412	void 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 * 7243600 + 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 * 7243600 + 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	////////////////////////////////////////////////////////////////////////////
593	t_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	//////////////////////////////////////////////////////////////////////////////
687	void 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	// Check Observation Types
706	// -----------------------
707	for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
708	t_obs& obs = decoder()->_obsList[ii];
709	QVector<QString>& rnxTypes = _rnxTypes[obs.satSys];
710	bool allFound = true;
711	for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
712	if (obs._measdata[iEntry] != 0.0) {
713	if (rnxTypes.indexOf(obs.rnxStr(iEntry)) == -1) {
714	allFound = false;
715	rnxTypes << obs.rnxStr(iEntry);
716	}
717	}
718	}
719	if (!allFound) {
720	QString msg;
721	QTextStream str(&msg);
722	str << obs.satSys << " " << rnxTypes.size() << " ";
723	for (int iType = 0; iType < rnxTypes.size(); iType++) {
724	str << " " << rnxTypes[iType];
725	}
726	emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
727	}
728	}
729
730	// RTCMv3 antenna descriptor
731	// -------------------------
732	for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
733	QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
734	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
735	}
736
737	// RTCM Antenna Coordinates
738	// ------------------------
739	for (int ii=0; ii < decoder()->_antList.size(); ii++) {
740	QByteArray antT;
741	if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
742	antT = "ARP";
743	}
744	else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
745	antT = "APC";
746	}
747	QByteArray ant1, ant2, ant3;
748	ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
749	ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
750	ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
751	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
752	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
753	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
754	double hh = 0.0;
755	if (decoder()->_antList[ii].height_f) {
756	hh = decoder()->_antList[ii].height;
757	QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
758	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
759	}
760	emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
761	decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
762	hh, antT));
763	}
764	}
765	}
766
767	#ifdef MLS_SOFTWARE
768	for (int ii=0; ii <decoder()->_antList.size(); ii++) {
769	QByteArray antT;
770	if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
771	antT = "ARP";
772	}
773	else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
774	antT = "APC";
775	}
776	double hh = 0.0;
777	if (decoder()->_antList[ii].height_f) {
778	hh = decoder()->_antList[ii].height;
779	}
780	emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
781	decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
782	hh, antT));
783	}
784
785	for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
786	emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
787	}
788	#endif
789
790	decoder()->_typeList.clear();
791	decoder()->_antType.clear();
792	decoder()->_antList.clear();
793	}
794
795	// Handle Data from Serial Port
796	////////////////////////////////////////////////////////////////////////////
797	void bncGetThread::slotSerialReadyRead() {
798	if (_serialPort) {
799	int nb = _serialPort->bytesAvailable();
800	if (nb > 0) {
801	QByteArray data = _serialPort->read(nb);
802
803	if (_serialNMEA == AUTO_NMEA) {
804	int i1 = data.indexOf("$GPGGA");
805	if (i1 != -1) {
806	int i2 = data.indexOf("*", i1);
807	if (i2 != -1 && data.size() > i2 + 1) {
808	QByteArray gga = data.mid(i1,i2-i1+3);
809	_query->sendNMEA(gga);
810	}
811	}
812	}
813
814	if (_serialOutFile) {
815	_serialOutFile->write(data);
816	_serialOutFile->flush();
817	}
818	}
819	}
820	}

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