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source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 5316

Last change on this file since 5316 was 5070, checked in by mervart, 12 years ago

File size: 22.7 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 "bnccore.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	#include "upload/bncrtnetdecoder.h"
66	#include "RTCM/RTCM2Decoder.h"
67	#include "RTCM3/RTCM3Decoder.h"
68	#include "GPSS/gpssDecoder.h"
69	#include "GPSS/hassDecoder.h"
70	#include "serial/qextserialport.h"
71
72	using namespace std;
73
74	// Constructor 1
75	////////////////////////////////////////////////////////////////////////////
76	bncGetThread::bncGetThread(bncRawFile* rawFile) {
77
78	_rawFile = rawFile;
79	_format = rawFile->format();
80	_staID = rawFile->staID();
81	_rawOutput = false;
82	_ntripVersion = "N";
83
84	initialize();
85	}
86
87	// Constructor 2
88	////////////////////////////////////////////////////////////////////////////
89	bncGetThread::bncGetThread(const QUrl& mountPoint,
90	const QByteArray& format,
91	const QByteArray& latitude,
92	const QByteArray& longitude,
93	const QByteArray& nmea,
94	const QByteArray& ntripVersion) {
95	_rawFile = 0;
96	_mountPoint = mountPoint;
97	_staID = mountPoint.path().mid(1).toAscii();
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	} else {
108	_rawOutput = false;
109	}
110
111	initialize();
112	initDecoder();
113	}
114
115	// Initialization (common part of the constructor)
116	////////////////////////////////////////////////////////////////////////////
117	void bncGetThread::initialize() {
118
119	bncSettings settings;
120
121	setTerminationEnabled(true);
122
123	connect(this, SIGNAL(newMessage(QByteArray,bool)),
124	BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
125
126	_isToBeDeleted = false;
127	_query = 0;
128	_nextSleep = 0;
129	_PPPclient = 0;
130	_miscMount = settings.value("miscMount").toString();
131	_decoder = 0;
132
133	// Serial Port
134	// -----------
135	_serialNMEA = NO_NMEA;
136	_serialOutFile = 0;
137	_serialPort = 0;
138
139	if (!_staID.isEmpty() &&
140	settings.value("serialMountPoint").toString() == _staID) {
141	_serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
142	_serialPort->setTimeout(0,100);
143
144	// Baud Rate
145	// ---------
146	QString hlp = settings.value("serialBaudRate").toString();
147	if (hlp == "110") {
148	_serialPort->setBaudRate(BAUD110);
149	}
150	else if (hlp == "300") {
151	_serialPort->setBaudRate(BAUD300);
152	}
153	else if (hlp == "600") {
154	_serialPort->setBaudRate(BAUD600);
155	}
156	else if (hlp == "1200") {
157	_serialPort->setBaudRate(BAUD1200);
158	}
159	else if (hlp == "2400") {
160	_serialPort->setBaudRate(BAUD2400);
161	}
162	else if (hlp == "4800") {
163	_serialPort->setBaudRate(BAUD4800);
164	}
165	else if (hlp == "9600") {
166	_serialPort->setBaudRate(BAUD9600);
167	}
168	else if (hlp == "19200") {
169	_serialPort->setBaudRate(BAUD19200);
170	}
171	else if (hlp == "38400") {
172	_serialPort->setBaudRate(BAUD38400);
173	}
174	else if (hlp == "57600") {
175	_serialPort->setBaudRate(BAUD57600);
176	}
177	else if (hlp == "115200") {
178	_serialPort->setBaudRate(BAUD115200);
179	}
180
181	// Parity
182	// ------
183	hlp = settings.value("serialParity").toString();
184	if (hlp == "NONE") {
185	_serialPort->setParity(PAR_NONE);
186	}
187	else if (hlp == "ODD") {
188	_serialPort->setParity(PAR_ODD);
189	}
190	else if (hlp == "EVEN") {
191	_serialPort->setParity(PAR_EVEN);
192	}
193	else if (hlp == "SPACE") {
194	_serialPort->setParity(PAR_SPACE);
195	}
196
197	// Data Bits
198	// ---------
199	hlp = settings.value("serialDataBits").toString();
200	if (hlp == "5") {
201	_serialPort->setDataBits(DATA_5);
202	}
203	else if (hlp == "6") {
204	_serialPort->setDataBits(DATA_6);
205	}
206	else if (hlp == "7") {
207	_serialPort->setDataBits(DATA_7);
208	}
209	else if (hlp == "8") {
210	_serialPort->setDataBits(DATA_8);
211	}
212	hlp = settings.value("serialStopBits").toString();
213	if (hlp == "1") {
214	_serialPort->setStopBits(STOP_1);
215	}
216	else if (hlp == "2") {
217	_serialPort->setStopBits(STOP_2);
218	}
219
220	// Flow Control
221	// ------------
222	hlp = settings.value("serialFlowControl").toString();
223	if (hlp == "XONXOFF") {
224	_serialPort->setFlowControl(FLOW_XONXOFF);
225	}
226	else if (hlp == "HARDWARE") {
227	_serialPort->setFlowControl(FLOW_HARDWARE);
228	}
229	else {
230	_serialPort->setFlowControl(FLOW_OFF);
231	}
232
233	// Open Serial Port
234	// ----------------
235	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
236	if (!_serialPort->isOpen()) {
237	delete _serialPort;
238	_serialPort = 0;
239	emit(newMessage((_staID + ": Cannot open serial port\n"), true));
240	}
241	connect(_serialPort, SIGNAL(readyRead()),
242	this, SLOT(slotSerialReadyRead()));
243
244	// Automatic NMEA
245	// --------------
246	if (settings.value("serialAutoNMEA").toString() == "Auto") {
247	_serialNMEA = AUTO_NMEA;
248
249	QString fName = settings.value("serialFileNMEA").toString();
250	if (!fName.isEmpty()) {
251	_serialOutFile = new QFile(fName);
252	if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
253	_serialOutFile->open(QIODevice::WriteOnly \| QIODevice::Append);
254	}
255	else {
256	_serialOutFile->open(QIODevice::WriteOnly);
257	}
258	}
259	}
260
261	// Manual NMEA
262	// -----------
263	else {
264	_serialNMEA = MANUAL_NMEA;
265	}
266	}
267
268	if (!_staID.isEmpty()) {
269	_latencyChecker = new latencyChecker(_staID);
270	}
271	else {
272	_latencyChecker = 0;
273	}
274	}
275
276	// Instantiate the decoder
277	//////////////////////////////////////////////////////////////////////////////
278	t_irc bncGetThread::initDecoder() {
279
280	_decoder = 0;
281
282	if (_format.indexOf("RTCM_2") != -1 \|\| _format.indexOf("RTCM2") != -1 \|\|
283	_format.indexOf("RTCM 2") != -1 ) {
284	emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
285	_decoder = new RTCM2Decoder(_staID.data());
286	}
287	else if (_format.indexOf("RTCM_3") != -1 \|\| _format.indexOf("RTCM3") != -1 \|\|
288	_format.indexOf("RTCM 3") != -1 ) {
289	emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
290	RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
291	_decoder = newDecoder;
292	connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
293	this, SIGNAL(newMessage(QByteArray,bool)));
294	}
295	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
296	emit(newMessage(_staID + ": Get Data in GPSS format", true));
297	_decoder = new gpssDecoder();
298	}
299	else if (_format.indexOf("ZERO") != -1) {
300	emit(newMessage(_staID + ": Get data in original format", true));
301	_decoder = new bncZeroDecoder(_staID);
302	}
303	else if (_format.indexOf("RTNET") != -1) {
304	emit(newMessage(_staID + ": Get data in RTNet format", true));
305	_decoder = new bncRtnetDecoder();
306	}
307	else if (_format.indexOf("HASS2ASCII") != -1) {
308	emit(newMessage(_staID + ": Get data in HASS2ASCII format", true));
309	_decoder = new hassDecoder(_staID);
310	}
311	else {
312	emit(newMessage(_staID + ": Unknown data format " + _format, true));
313	_isToBeDeleted = true;
314	return failure;
315	}
316
317	msleep(100); //sleep 0.1 sec
318
319	_decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
320	_nmea, _ntripVersion);
321
322	if (_rawFile) {
323	_decodersRaw[_staID] = _decoder;
324	}
325
326	// Initialize PPP Client?
327	// ----------------------
328	#ifndef MLS_SOFTWARE
329	bncSettings settings;
330	if (!settings.value("pppSPP").toString().isEmpty() &&
331	settings.value("pppMount").toString() == _staID) {
332	_PPPclient = new bncPPPclient(_staID);
333	BNC_CORE->_bncPPPclient = _PPPclient;
334	qRegisterMetaType<bncTime>("bncTime");
335	connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
336	this, SIGNAL(newPosition(bncTime, double, double, double)));
337	connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
338	this, SIGNAL(newNMEAstr(QByteArray)));
339	}
340	#endif
341
342	return success;
343	}
344
345	// Current decoder in use
346	////////////////////////////////////////////////////////////////////////////
347	GPSDecoder* bncGetThread::decoder() {
348	if (!_rawFile) {
349	return _decoder;
350	}
351	else {
352	if (_decodersRaw.contains(_staID) \|\| initDecoder() == success) {
353	return _decodersRaw[_staID];
354	}
355	}
356	return 0;
357	}
358
359	// Destructor
360	////////////////////////////////////////////////////////////////////////////
361	bncGetThread::~bncGetThread() {
362	if (isRunning()) {
363	wait();
364	}
365	if (_query) {
366	_query->stop();
367	_query->deleteLater();
368	}
369	delete _PPPclient;
370	if (_rawFile) {
371	QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
372	while (it.hasNext()) {
373	it.next();
374	delete it.value();
375	}
376	}
377	else {
378	delete _decoder;
379	}
380	delete _rawFile;
381	delete _serialOutFile;
382	delete _serialPort;
383	delete _latencyChecker;
384	emit getThreadFinished(_staID);
385	}
386
387	//
388	////////////////////////////////////////////////////////////////////////////
389	void bncGetThread::terminate() {
390	_isToBeDeleted = true;
391	if (!isRunning()) {
392	delete this;
393	}
394	}
395
396	// Run
397	////////////////////////////////////////////////////////////////////////////
398	void bncGetThread::run() {
399
400	while (true) {
401	try {
402	if (_isToBeDeleted) {
403	QThread::exit(0);
404	this->deleteLater();
405	return;
406	}
407
408	if (tryReconnect() != success) {
409	if (_latencyChecker) {
410	_latencyChecker->checkReconnect();
411	}
412	continue;
413	}
414
415	// Delete old observations
416	// -----------------------
417	if (_rawFile) {
418	QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
419	while (itDec.hasNext()) {
420	itDec.next();
421	GPSDecoder* decoder = itDec.value();
422	decoder->_obsList.clear();
423	}
424	}
425	else {
426	_decoder->_obsList.clear();
427	}
428
429	// Read Data
430	// ---------
431	QByteArray data;
432	if (_query) {
433	_query->waitForReadyRead(data);
434	}
435	else if (_rawFile) {
436	data = _rawFile->readChunk();
437	_format = _rawFile->format();
438	_staID = _rawFile->staID();
439
440	if (data.isEmpty()) {
441	cout << "no more data" << endl;
442	BNC_CORE->stopCombination();
443	QThread::exit(0);
444	delete this;
445	::exit(0);
446	}
447	}
448	qint64 nBytes = data.size();
449
450	// Timeout, reconnect
451	// ------------------
452	if (nBytes == 0) {
453	if (_latencyChecker) {
454	_latencyChecker->checkReconnect();
455	}
456	emit(newMessage(_staID + ": Data timeout, reconnecting", true));
457	msleep(10000); //sleep 10 sec, G. Weber
458	continue;
459	}
460	else {
461	emit newBytes(_staID, nBytes);
462	}
463
464	// Output Data
465	// -----------
466	if (_rawOutput) {
467	BNC_CORE->writeRawData(data, _staID, _format);
468	}
469
470	if (_serialPort) {
471	slotSerialReadyRead();
472	_serialPort->write(data);
473	}
474
475	// Decode Data
476	// -----------
477	vector<string> errmsg;
478	if (!decoder()) {
479	_isToBeDeleted = true;
480	continue;
481	}
482	decoder()->_obsList.clear();
483	t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
484
485	// Perform various scans and checks
486	// --------------------------------
487	if (_latencyChecker) {
488	_latencyChecker->checkOutage(irc == success);
489	_latencyChecker->checkObsLatency(decoder()->_obsList);
490	_latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
491
492	emit newLatency(_staID, _latencyChecker->currentLatency());
493	}
494
495	scanRTCM();
496
497	// Loop over all observations (observations output)
498	// ------------------------------------------------
499	QListIterator<t_obs> it(decoder()->_obsList);
500	bool firstObs = true;
501	while (it.hasNext()) {
502	const t_obs& obs = it.next();
503
504	QString prn = QString("%1%2").arg(obs.satSys)
505	.arg(obs.satNum, 2, 10, QChar('0'));
506	long iSec = long(floor(obs.GPSWeeks+0.5));
507	long obsTime = obs.GPSWeek * 7243600 + iSec;
508
509	// Check observation epoch
510	// -----------------------
511	if (!_rawFile && !dynamic_cast<gpssDecoder*>(decoder())) {
512	int week;
513	double sec;
514	currentGPSWeeks(week, sec);
515	long currTime = week * 7243600 + long(sec);
516	const double maxDt = 600.0;
517	if (fabs(currTime - obsTime) > maxDt) {
518	emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
519	continue;
520	}
521	}
522
523	// Check observations coming twice (e.g. KOUR0 Problem)
524	// ----------------------------------------------------
525	if (!_rawFile) {
526	QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
527	if (it != _prnLastEpo.end()) {
528	long oldTime = it.value();
529	if (obsTime < oldTime) {
530	emit( newMessage(_staID +
531	": old observation " + prn.toAscii(), false));
532	continue;
533	}
534	else if (obsTime == oldTime) {
535	emit( newMessage(_staID +
536	": observation coming more than once " + prn.toAscii(), false));
537	continue;
538	}
539	}
540	_prnLastEpo[prn] = obsTime;
541	}
542
543	decoder()->dumpRinexEpoch(obs, _format);
544
545	// PPP Client
546	// ----------
547	#ifndef MLS_SOFTWARE
548	if (_PPPclient && _staID == _PPPclient->staID()) {
549	_PPPclient->putNewObs(obs);
550	}
551	#endif
552
553	// Emit new observation signal
554	// ---------------------------
555	if (!_isToBeDeleted) {
556	emit newObs(_staID, firstObs, obs);
557	}
558	firstObs = false;
559	}
560	decoder()->_obsList.clear();
561	}
562	catch (Exception& exc) {
563	emit(newMessage(_staID + " " + exc.what(), true));
564	_isToBeDeleted = true;
565	}
566	catch (...) {
567	emit(newMessage(_staID + " bncGetThread exception", true));
568	_isToBeDeleted = true;
569	}
570	}
571	}
572
573	// Try Re-Connect
574	////////////////////////////////////////////////////////////////////////////
575	t_irc bncGetThread::tryReconnect() {
576
577	// Easy Return
578	// -----------
579	if (_query && _query->status() == bncNetQuery::running) {
580	_nextSleep = 0;
581	if (_rawFile) {
582	QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
583	while (itDec.hasNext()) {
584	itDec.next();
585	GPSDecoder* decoder = itDec.value();
586	decoder->setRinexReconnectFlag(false);
587	}
588	}
589	else {
590	_decoder->setRinexReconnectFlag(false);
591	}
592	return success;
593	}
594
595	// Start a new query
596	// -----------------
597	if (!_rawFile) {
598
599	sleep(_nextSleep);
600	if (_nextSleep == 0) {
601	_nextSleep = 1;
602	}
603	else {
604	_nextSleep = 2 * _nextSleep;
605	if (_nextSleep > 256) {
606	_nextSleep = 256;
607	}
608	#ifdef MLS_SOFTWARE
609	if (_nextSleep > 4) {
610	_nextSleep = 4;
611	}
612	#endif
613	}
614
615	delete _query;
616	if (_ntripVersion == "U") {
617	_query = new bncNetQueryUdp();
618	}
619	else if (_ntripVersion == "R") {
620	_query = new bncNetQueryRtp();
621	}
622	else if (_ntripVersion == "S") {
623	_query = new bncNetQueryS();
624	}
625	else if (_ntripVersion == "N") {
626	_query = new bncNetQueryV0();
627	}
628	else if (_ntripVersion == "UN") {
629	_query = new bncNetQueryUdp0();
630	}
631	else if (_ntripVersion == "2") {
632	_query = new bncNetQueryV2(false);
633	}
634	else if (_ntripVersion == "2s") {
635	_query = new bncNetQueryV2(true);
636	}
637	else {
638	_query = new bncNetQueryV1();
639	}
640	if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
641	QByteArray gga = ggaString(_latitude, _longitude, "100.0");
642	_query->startRequest(_mountPoint, gga);
643	}
644	else {
645	_query->startRequest(_mountPoint, "");
646	}
647	if (_query->status() != bncNetQuery::running) {
648	return failure;
649	}
650	}
651
652	if (_rawFile) {
653	QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
654	while (itDec.hasNext()) {
655	itDec.next();
656	GPSDecoder* decoder = itDec.value();
657	decoder->setRinexReconnectFlag(false);
658	}
659	}
660	else {
661	_decoder->setRinexReconnectFlag(false);
662	}
663
664	return success;
665	}
666
667	// RTCM scan output
668	//////////////////////////////////////////////////////////////////////////////
669	void bncGetThread::scanRTCM() {
670
671	if ( !decoder() ) {
672	return;
673	}
674
675	bncSettings settings;
676	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
677
678	if ( _miscMount == _staID \|\| _miscMount == "ALL" ) {
679
680	// RTCM message types
681	// ------------------
682	for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
683	QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
684	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
685	}
686
687	// Check Observation Types
688	// -----------------------
689	for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
690	t_obs& obs = decoder()->_obsList[ii];
691	QVector<QString>& rnxTypes = _rnxTypes[obs.satSys];
692	bool allFound = true;
693	for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
694	if (obs._measdata[iEntry] != 0.0) {
695	if (rnxTypes.indexOf(obs.rnxStr(iEntry)) == -1) {
696	allFound = false;
697	rnxTypes << obs.rnxStr(iEntry);
698	}
699	}
700	}
701	if (!allFound) {
702	QString msg;
703	QTextStream str(&msg);
704	str << obs.satSys << " " << rnxTypes.size() << " ";
705	for (int iType = 0; iType < rnxTypes.size(); iType++) {
706	str << " " << rnxTypes[iType];
707	}
708	emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
709	}
710	}
711
712	// RTCMv3 antenna descriptor
713	// -------------------------
714	for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
715	QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
716	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
717	}
718
719	// RTCM Antenna Coordinates
720	// ------------------------
721	for (int ii=0; ii < decoder()->_antList.size(); ii++) {
722	QByteArray antT;
723	if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
724	antT = "ARP";
725	}
726	else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
727	antT = "APC";
728	}
729	QByteArray ant1, ant2, ant3;
730	ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
731	ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
732	ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
733	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
734	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
735	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
736	double hh = 0.0;
737	if (decoder()->_antList[ii].height_f) {
738	hh = decoder()->_antList[ii].height;
739	QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
740	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
741	}
742	emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
743	decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
744	hh, antT));
745	}
746	}
747	}
748
749	#ifdef MLS_SOFTWARE
750	for (int ii=0; ii <decoder()->_antList.size(); ii++) {
751	QByteArray antT;
752	if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
753	antT = "ARP";
754	}
755	else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
756	antT = "APC";
757	}
758	double hh = 0.0;
759	if (decoder()->_antList[ii].height_f) {
760	hh = decoder()->_antList[ii].height;
761	}
762	emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
763	decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
764	hh, antT));
765	}
766
767	for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
768	emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
769	}
770	#endif
771
772	decoder()->_typeList.clear();
773	decoder()->_antType.clear();
774	decoder()->_antList.clear();
775	}
776
777	// Handle Data from Serial Port
778	////////////////////////////////////////////////////////////////////////////
779	void bncGetThread::slotSerialReadyRead() {
780	if (_serialPort) {
781	int nb = _serialPort->bytesAvailable();
782	if (nb > 0) {
783	QByteArray data = _serialPort->read(nb);
784
785	if (_serialNMEA == AUTO_NMEA) {
786	int i1 = data.indexOf("$GPGGA");
787	if (i1 != -1) {
788	int i2 = data.indexOf("*", i1);
789	if (i2 != -1 && data.size() > i2 + 1) {
790	QByteArray gga = data.mid(i1,i2-i1+3);
791	_query->sendNMEA(gga);
792	}
793	}
794	}
795
796	if (_serialOutFile) {
797	_serialOutFile->write(data);
798	_serialOutFile->flush();
799	}
800	}
801	}
802	}

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