source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 7755

Last change on this file since 7755 was 7753, checked in by stuerze, 9 years ago

minor changes to prevent the loss of observation epochs
File size: 27.2 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 <QMutex>
48#include <QtNetwork>
49#include <QTime>
50
51#include "bncgetthread.h"
52#include "bnctabledlg.h"
53#include "bnccore.h"
54#include "bncutils.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "upload/bncrtnetdecoder.h"
66#include "RTCM/RTCM2Decoder.h"
67#include "RTCM3/RTCM3Decoder.h"
68#include "serial/qextserialport.h"
69
70using namespace std;
71
72// Constructor 1
73////////////////////////////////////////////////////////////////////////////
74bncGetThread::bncGetThread(bncRawFile* rawFile) {
75
76 _rawFile = rawFile;
77 _format = rawFile->format();
78 _staID = rawFile->staID();
79 _rawOutput = false;
80 _ntripVersion = "N";
81
82 initialize();
83}
84
85// Constructor 2
86////////////////////////////////////////////////////////////////////////////
87bncGetThread::bncGetThread(const QUrl& mountPoint,
88 const QByteArray& format,
89 const QByteArray& latitude,
90 const QByteArray& longitude,
91 const QByteArray& nmea,
92 const QByteArray& ntripVersion) {
93 _rawFile = 0;
94 _mountPoint = mountPoint;
95 _staID = mountPoint.path().mid(1).toAscii();
96 _format = format;
97 _latitude = latitude;
98 _longitude = longitude;
99 _nmea = nmea;
100 _ntripVersion = ntripVersion;
101
102 bncSettings settings;
103 if (!settings.value("rawOutFile").toString().isEmpty()) {
104 _rawOutput = true;
105 } else {
106 _rawOutput = false;
107 }
108
109 initialize();
110 initDecoder();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 bncSettings settings;
118
119 setTerminationEnabled(true);
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _query = 0;
126 _nextSleep = 0;
127 _miscMount = settings.value("miscMount").toString();
128 _decoder = 0;
129
130 // NMEA Port
131 // -----------
132 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
133 int nmeaPort = 0;
134 while (iSta.hasNext()) {
135 QStringList hlp = iSta.next().split(",");
136 if (hlp.size() < 10) {continue;}
137 QByteArray mp = hlp[0].toAscii();
138 if (_staID == mp) {
139 nmeaPort = hlp[9].toInt();
140 }
141 }
142 if (nmeaPort != 0) {
143 _nmeaServer = new QTcpServer;
144 if ( !_nmeaServer->listen(QHostAddress::Any, nmeaPort) ) {
145 emit newMessage("bncCaster: Cannot listen on port", true);
146 }
147 else {
148 connect(_nmeaServer, SIGNAL(newConnection()), this, SLOT(slotNewNMEAConnection()));
149 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
150 this, SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
151 _nmeaSockets = new QList<QTcpSocket*>;
152 _nmeaPortsMap[_staID] = nmeaPort;
153 }
154 } else {
155 _nmeaServer = 0;
156 _nmeaSockets = 0;
157 }
158
159 // Serial Port
160 // -----------
161 _serialNMEA = NO_NMEA;
162 _serialOutFile = 0;
163 _serialPort = 0;
164
165 if (!_staID.isEmpty() &&
166 settings.value("serialMountPoint").toString() == _staID) {
167 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
168 _serialPort->setTimeout(0,100);
169
170 // Baud Rate
171 // ---------
172 QString hlp = settings.value("serialBaudRate").toString();
173 if (hlp == "110") {
174 _serialPort->setBaudRate(BAUD110);
175 }
176 else if (hlp == "300") {
177 _serialPort->setBaudRate(BAUD300);
178 }
179 else if (hlp == "600") {
180 _serialPort->setBaudRate(BAUD600);
181 }
182 else if (hlp == "1200") {
183 _serialPort->setBaudRate(BAUD1200);
184 }
185 else if (hlp == "2400") {
186 _serialPort->setBaudRate(BAUD2400);
187 }
188 else if (hlp == "4800") {
189 _serialPort->setBaudRate(BAUD4800);
190 }
191 else if (hlp == "9600") {
192 _serialPort->setBaudRate(BAUD9600);
193 }
194 else if (hlp == "19200") {
195 _serialPort->setBaudRate(BAUD19200);
196 }
197 else if (hlp == "38400") {
198 _serialPort->setBaudRate(BAUD38400);
199 }
200 else if (hlp == "57600") {
201 _serialPort->setBaudRate(BAUD57600);
202 }
203 else if (hlp == "115200") {
204 _serialPort->setBaudRate(BAUD115200);
205 }
206
207 // Parity
208 // ------
209 hlp = settings.value("serialParity").toString();
210 if (hlp == "NONE") {
211 _serialPort->setParity(PAR_NONE);
212 }
213 else if (hlp == "ODD") {
214 _serialPort->setParity(PAR_ODD);
215 }
216 else if (hlp == "EVEN") {
217 _serialPort->setParity(PAR_EVEN);
218 }
219 else if (hlp == "SPACE") {
220 _serialPort->setParity(PAR_SPACE);
221 }
222
223 // Data Bits
224 // ---------
225 hlp = settings.value("serialDataBits").toString();
226 if (hlp == "5") {
227 _serialPort->setDataBits(DATA_5);
228 }
229 else if (hlp == "6") {
230 _serialPort->setDataBits(DATA_6);
231 }
232 else if (hlp == "7") {
233 _serialPort->setDataBits(DATA_7);
234 }
235 else if (hlp == "8") {
236 _serialPort->setDataBits(DATA_8);
237 }
238 hlp = settings.value("serialStopBits").toString();
239 if (hlp == "1") {
240 _serialPort->setStopBits(STOP_1);
241 }
242 else if (hlp == "2") {
243 _serialPort->setStopBits(STOP_2);
244 }
245
246 // Flow Control
247 // ------------
248 hlp = settings.value("serialFlowControl").toString();
249 if (hlp == "XONXOFF") {
250 _serialPort->setFlowControl(FLOW_XONXOFF);
251 }
252 else if (hlp == "HARDWARE") {
253 _serialPort->setFlowControl(FLOW_HARDWARE);
254 }
255 else {
256 _serialPort->setFlowControl(FLOW_OFF);
257 }
258
259 // Open Serial Port
260 // ----------------
261 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
262 if (!_serialPort->isOpen()) {
263 delete _serialPort;
264 _serialPort = 0;
265 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
266 }
267 connect(_serialPort, SIGNAL(readyRead()),
268 this, SLOT(slotSerialReadyRead()));
269
270 // Automatic NMEA
271 // --------------
272 QString nmeaMode = settings.value("serialAutoNMEA").toString();
273 if (nmeaMode == "Auto") {
274 _serialNMEA = AUTO_NMEA;
275 QString fName = settings.value("serialFileNMEA").toString();
276 if (!fName.isEmpty()) {
277 _serialOutFile = new QFile(fName);
278 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
279 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
280 }
281 else {
282 _serialOutFile->open(QIODevice::WriteOnly);
283 }
284 }
285 }
286 // Manual NMEA
287 // -----------
288 if ((nmeaMode == "Manual GPGGA") ||(nmeaMode == "Manual GNGGA")) {
289 _serialNMEA = MANUAL_NMEA;
290 bncSettings settings;
291 _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
292 QString hlp = settings.value("serialHeightNMEA").toString();
293 if (hlp.isEmpty()) {
294 hlp = "0.0";
295 }
296 QByteArray _serialHeightNMEA = hlp.toAscii();
297 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA, nmeaMode);
298 }
299 }
300
301 if (!_staID.isEmpty()) {
302 _latencyChecker = new latencyChecker(_staID);
303 }
304 else {
305 _latencyChecker = 0;
306 }
307}
308
309// Instantiate the decoder
310//////////////////////////////////////////////////////////////////////////////
311t_irc bncGetThread::initDecoder() {
312
313 _decoder = 0;
314
315 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
316 _format.indexOf("RTCM 2") != -1 ) {
317 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
318 _decoder = new RTCM2Decoder(_staID.data());
319 }
320 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
321 _format.indexOf("RTCM 3") != -1 ) {
322 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
323 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
324 _decoder = newDecoder;
325 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
326 this, SIGNAL(newMessage(QByteArray,bool)));
327 }
328 else if (_format.indexOf("ZERO") != -1) {
329 emit(newMessage(_staID + ": Get data in original format", true));
330 _decoder = new bncZeroDecoder(_staID);
331 }
332 else if (_format.indexOf("RTNET") != -1) {
333 emit(newMessage(_staID + ": Get data in RTNet format", true));
334 _decoder = new bncRtnetDecoder();
335 }
336 else {
337 emit(newMessage(_staID + ": Unknown data format " + _format, true));
338 _isToBeDeleted = true;
339 return failure;
340 }
341
342 msleep(100); //sleep 0.1 sec
343
344 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
345 _nmea, _ntripVersion);
346
347 if (_rawFile) {
348 _decodersRaw[_staID] = _decoder;
349 }
350
351 return success;
352}
353
354// Current decoder in use
355////////////////////////////////////////////////////////////////////////////
356GPSDecoder* bncGetThread::decoder() {
357 if (!_rawFile) {
358 return _decoder;
359 }
360 else {
361 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
362 return _decodersRaw[_staID];
363 }
364 }
365 return 0;
366}
367
368// Destructor
369////////////////////////////////////////////////////////////////////////////
370bncGetThread::~bncGetThread() {
371 if (isRunning()) {
372 wait();
373 }
374 if (_query) {
375 _query->stop();
376 _query->deleteLater();
377 }
378 if (_rawFile) {
379 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
380 while (it.hasNext()) {
381 it.next();
382 delete it.value();
383 }
384 }
385 else {
386 delete _decoder;
387 }
388 delete _rawFile;
389 delete _serialOutFile;
390 delete _serialPort;
391 delete _latencyChecker;
392 emit getThreadFinished(_staID);
393}
394
395//
396////////////////////////////////////////////////////////////////////////////
397void bncGetThread::terminate() {
398 _isToBeDeleted = true;
399 if (!isRunning()) {
400 delete this;
401 }
402 _nmeaPortsMap.remove(_staID);
403 delete _nmeaServer;
404 delete _nmeaSockets;
405}
406
407// Run
408////////////////////////////////////////////////////////////////////////////
409void bncGetThread::run() {
410
411 while (true) {
412 try {
413 if (_isToBeDeleted) {
414 QThread::exit(0);
415 this->deleteLater();
416 return;
417 }
418
419 if (tryReconnect() != success) {
420 if (_latencyChecker) {
421 _latencyChecker->checkReconnect();
422 }
423 continue;
424 }
425
426 // Delete old observations
427 // -----------------------
428 if (_rawFile) {
429 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
430 while (itDec.hasNext()) {
431 itDec.next();
432 GPSDecoder* decoder = itDec.value();
433 decoder->_obsList.clear();
434 }
435 }
436 else {
437 _decoder->_obsList.clear();
438 }
439
440 // Read Data
441 // ---------
442 QByteArray data;
443 if (_query) {
444 _query->waitForReadyRead(data);
445 }
446 else if (_rawFile) {
447 data = _rawFile->readChunk();
448 _format = _rawFile->format();
449 _staID = _rawFile->staID();
450
451 QCoreApplication::processEvents();
452
453 if (data.isEmpty()) {
454 cout << "no more data" << endl;
455 BNC_CORE->stopCombination();
456 BNC_CORE->stopPPP();
457 ::exit(0);
458 }
459 }
460 qint64 nBytes = data.size();
461
462 // Timeout, reconnect
463 // ------------------
464 if (nBytes == 0) {
465 if (_latencyChecker) {
466 _latencyChecker->checkReconnect();
467 }
468 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
469 msleep(10000); //sleep 10 sec, G. Weber
470 continue;
471 }
472 else {
473 emit newBytes(_staID, nBytes);
474 emit newRawData(_staID, data);
475 }
476
477 // Output Data
478 // -----------
479 if (_rawOutput) {
480 BNC_CORE->writeRawData(data, _staID, _format);
481 }
482
483 if (_serialPort) {
484 slotSerialReadyRead();
485 _serialPort->write(data);
486 }
487
488 // Decode Data
489 // -----------
490 vector<string> errmsg;
491 if (!decoder()) {
492 _isToBeDeleted = true;
493 continue;
494 }
495
496 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
497
498 if (irc != success) {
499 continue;
500 }
501 // Perform various scans and checks
502 // --------------------------------
503 if (_latencyChecker) {
504 _latencyChecker->checkOutage(irc == success);
505 _latencyChecker->checkObsLatency(decoder()->_obsList);
506 _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
507
508 emit newLatency(_staID, _latencyChecker->currentLatency());
509 }
510
511 miscScanRTCM();
512
513 // Loop over all observations (observations output)
514 // ------------------------------------------------
515 QListIterator<t_satObs> it(decoder()->_obsList);
516
517 QList<t_satObs> obsListHlp;
518
519 while (it.hasNext()) {
520 const t_satObs& obs = it.next();
521
522 QString prn(obs._prn.toString().c_str());
523 long iSec = long(floor(obs._time.gpssec()+0.5));
524 long obsTime = obs._time.gpsw()*7*24*3600 + iSec;
525
526 // Check observation epoch
527 // -----------------------
528 if (!_rawFile) {
529 int week;
530 double sec;
531 currentGPSWeeks(week, sec);
532 long currTime = week * 7*24*3600 + long(sec);
533 const double maxDt = 600.0;
534 if (fabs(currTime - obsTime) > maxDt) {
535 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
536 continue;
537 }
538 }
539
540 // Check observations coming twice (e.g. KOUR0 Problem)
541 // ----------------------------------------------------
542 if (!_rawFile) {
543 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
544 if (it != _prnLastEpo.end()) {
545 long oldTime = it.value();
546 if (obsTime < oldTime) {
547 emit( newMessage(_staID +
548 ": old observation " + prn.toAscii(), false));
549 continue;
550 }
551 else if (obsTime == oldTime) {
552 emit( newMessage(_staID +
553 ": observation coming more than once " + prn.toAscii(), false));
554 continue;
555 }
556 }
557 _prnLastEpo[prn] = obsTime;
558 }
559
560 decoder()->dumpRinexEpoch(obs, _format);
561
562 // Save observations
563 // -----------------
564 obsListHlp.append(obs);
565 }
566
567 // Emit signal
568 // -----------
569 if (!_isToBeDeleted && obsListHlp.size() > 0) {
570 emit newObs(_staID, obsListHlp);
571 }
572
573 }
574 catch (Exception& exc) {
575 emit(newMessage(_staID + " " + exc.what(), true));
576 _isToBeDeleted = true;
577 }
578 catch (...) {
579 emit(newMessage(_staID + " bncGetThread exception", true));
580 _isToBeDeleted = true;
581 }
582 }
583}
584
585// Try Re-Connect
586////////////////////////////////////////////////////////////////////////////
587t_irc bncGetThread::tryReconnect() {
588
589 // Easy Return
590 // -----------
591 if (_query && _query->status() == bncNetQuery::running) {
592 _nextSleep = 0;
593 if (_rawFile) {
594 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
595 while (itDec.hasNext()) {
596 itDec.next();
597 GPSDecoder* decoder = itDec.value();
598 decoder->setRinexReconnectFlag(false);
599 }
600 }
601 else {
602 _decoder->setRinexReconnectFlag(false);
603 }
604 return success;
605 }
606
607 // Start a new query
608 // -----------------
609 if (!_rawFile) {
610
611 sleep(_nextSleep);
612 if (_nextSleep == 0) {
613 _nextSleep = 1;
614 }
615 else {
616 _nextSleep = 2 * _nextSleep;
617 if (_nextSleep > 256) {
618 _nextSleep = 256;
619 }
620#ifdef MLS_SOFTWARE
621 if (_nextSleep > 4) {
622 _nextSleep = 4;
623 }
624#endif
625 }
626
627 delete _query;
628 if (_ntripVersion == "U") {
629 _query = new bncNetQueryUdp();
630 }
631 else if (_ntripVersion == "R") {
632 _query = new bncNetQueryRtp();
633 }
634 else if (_ntripVersion == "S") {
635 _query = new bncNetQueryS();
636 }
637 else if (_ntripVersion == "N") {
638 _query = new bncNetQueryV0();
639 }
640 else if (_ntripVersion == "UN") {
641 _query = new bncNetQueryUdp0();
642 }
643 else if (_ntripVersion == "2") {
644 _query = new bncNetQueryV2(false);
645 }
646 else if (_ntripVersion == "2s") {
647 _query = new bncNetQueryV2(true);
648 }
649 else {
650 _query = new bncNetQueryV1();
651 }
652 if (_nmea == "yes") {
653 if (_serialNMEA == MANUAL_NMEA) {
654 _query->startRequest(_mountPoint, _manualNMEAString);
655 _lastManualNMEA = QDateTime::currentDateTime();
656 }
657 else if (_serialNMEA == AUTO_NMEA) {
658 if (_serialPort) {
659 int nb = _serialPort->bytesAvailable();
660 if (nb > 0) {
661 QByteArray data = _serialPort->read(nb);
662 int i1 = data.indexOf("$GPGGA");
663 if (i1 == -1) {
664 i1 = data.indexOf("$GNGGA");
665 }
666 if (i1 != -1) {
667 int i2 = data.indexOf("*", i1);
668 if (i2 != -1 && data.size() > i2 + 1) {
669 QByteArray gga = data.mid(i1, i2 - i1 + 3);
670 _query->startRequest(_mountPoint, gga);
671 }
672 }
673 }
674 }
675 }
676 }
677 else {
678 _query->startRequest(_mountPoint, "");
679 }
680
681 if (_query->status() != bncNetQuery::running) {
682 return failure;
683 }
684 }
685
686 if (_rawFile) {
687 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
688 while (itDec.hasNext()) {
689 itDec.next();
690 GPSDecoder* decoder = itDec.value();
691 decoder->setRinexReconnectFlag(false);
692 }
693 }
694 else {
695 _decoder->setRinexReconnectFlag(false);
696 }
697
698 return success;
699}
700
701// RTCM scan output
702//////////////////////////////////////////////////////////////////////////////
703void bncGetThread::miscScanRTCM() {
704
705 if ( !decoder() ) {
706 return;
707 }
708
709 bncSettings settings;
710 if ( Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked ) {
711
712 if ( _miscMount == _staID || _miscMount == "ALL" ) {
713 // RTCM message types
714 // ------------------
715 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
716 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
717 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
718 }
719
720 // Check Observation Types
721 // -----------------------
722 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
723 t_satObs& obs = decoder()->_obsList[ii];
724 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
725 bool allFound = true;
726 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
727 if (obs._obs[iFrq]->_codeValid) {
728 QString rnxStr('C');
729 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
730 if (_format.indexOf("RTCM_2") != -1 ||
731 _format.indexOf("RTCM2") != -1 ||
732 _format.indexOf("RTCM 2") != -1 ) {
733 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
734 }
735 if (rnxTypes.indexOf(rnxStr) == -1) {
736 rnxTypes.push_back(rnxStr);
737 allFound = false;
738 }
739 }
740 if (obs._obs[iFrq]->_phaseValid) {
741 QString rnxStr('L');
742 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
743 if (_format.indexOf("RTCM_2") != -1 ||
744 _format.indexOf("RTCM2") != -1 ||
745 _format.indexOf("RTCM 2") != -1 ) {
746 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
747 }
748 if (rnxTypes.indexOf(rnxStr) == -1) {
749 rnxTypes.push_back(rnxStr);
750 allFound = false;
751 }
752 }
753 if (obs._obs[iFrq]->_dopplerValid){
754 QString rnxStr('D');
755 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
756 if (_format.indexOf("RTCM_2") != -1 ||
757 _format.indexOf("RTCM2") != -1 ||
758 _format.indexOf("RTCM 2") != -1 ) {
759 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
760 }
761 if (rnxTypes.indexOf(rnxStr) == -1) {
762 rnxTypes.push_back(rnxStr);
763 allFound = false;
764 }
765 }
766 if (obs._obs[iFrq]->_snrValid){
767 QString rnxStr('S');
768 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
769 if (_format.indexOf("RTCM_2") != -1 ||
770 _format.indexOf("RTCM2") != -1 ||
771 _format.indexOf("RTCM 2") != -1 ) {
772 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
773 }
774 if (rnxTypes.indexOf(rnxStr) == -1) {
775 rnxTypes.push_back(rnxStr);
776 allFound = false;
777 }
778 }
779 }
780 if (!allFound) {
781 QString msg;
782 QTextStream str(&msg);
783 QString s;
784 str << obs._prn.system() << " " << s.sprintf("%2d", rnxTypes.size()) << " ";
785 for (int iType = 0; iType < rnxTypes.size(); iType++) {
786 str << " " << rnxTypes[iType];
787 }
788 emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
789 }
790 }
791
792 // RTCMv3 antenna descriptor
793 // -------------------------
794 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
795 QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
796 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
797 }
798
799 // RTCM Antenna Coordinates
800 // ------------------------
801 for (int ii=0; ii < decoder()->_antList.size(); ii++) {
802 QByteArray antT;
803 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
804 antT = "ARP";
805 }
806 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
807 antT = "APC";
808 }
809 QByteArray ant1, ant2, ant3;
810 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
811 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
812 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
813 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
814 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
815 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
816 double hh = 0.0;
817 if (decoder()->_antList[ii].height_f) {
818 hh = decoder()->_antList[ii].height;
819 QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
820 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
821 }
822 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
823 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
824 hh, antT));
825 }
826
827 // RTCM GLONASS slots
828 // ------------------
829 if (decoder()->_gloFrq.size()) {
830 bool allFound = true;
831 QString slot = decoder()->_gloFrq;
832 slot.replace(" "," ").replace(" ",":");
833 if (_gloSlots.indexOf(slot) == -1) {
834 _gloSlots.append(slot);
835 allFound = false;
836 }
837 if (!allFound) {
838 _gloSlots.sort();
839 emit(newMessage(_staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toAscii(), true));
840 }
841 }
842 }
843 }
844
845#ifdef MLS_SOFTWARE
846 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
847 QByteArray antT;
848 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
849 antT = "ARP";
850 }
851 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
852 antT = "APC";
853 }
854 double hh = 0.0;
855 if (decoder()->_antList[ii].height_f) {
856 hh = decoder()->_antList[ii].height;
857 }
858 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
859 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
860 hh, antT));
861 }
862
863 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
864 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
865 }
866#endif
867
868 decoder()->_gloFrq.clear();
869 decoder()->_typeList.clear();
870 decoder()->_antType.clear();
871 decoder()->_antList.clear();
872}
873
874// Handle Data from Serial Port
875////////////////////////////////////////////////////////////////////////////
876void bncGetThread::slotSerialReadyRead() {
877
878 if (_serialPort) {
879
880 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
881 if (_manualNMEASampl) {
882 int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
883 if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
884 _query->sendNMEA(_manualNMEAString);
885 _lastManualNMEA = QDateTime::currentDateTime();
886 }
887 }
888 }
889
890 int nb = _serialPort->bytesAvailable();
891 if (nb > 0) {
892 QByteArray data = _serialPort->read(nb);
893
894 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
895 int i1 = data.indexOf("$GPGGA");
896 if (i1 == -1) {
897 i1 = data.indexOf("$GNGGA");
898 }
899 if (i1 != -1) {
900 int i2 = data.indexOf("*", i1);
901 if (i2 != -1 && data.size() > i2 + 1) {
902 QByteArray gga = data.mid(i1, i2 - i1 + 3);
903 _query->sendNMEA(gga);
904 }
905 }
906 }
907
908 if (_serialOutFile) {
909 _serialOutFile->write(data);
910 _serialOutFile->flush();
911 }
912 }
913 }
914}
915
916void bncGetThread::slotNewNMEAConnection() {
917 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
918 emit( newMessage(QString("New PPP client on port: # %1")
919 .arg(_nmeaSockets->size()).toAscii(), true) );
920}
921
922//
923////////////////////////////////////////////////////////////////////////////
924void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
925 if (_nmeaPortsMap.contains(staID)) {
926 int nmeaPort = _nmeaPortsMap.value(staID);
927 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
928 while (is.hasNext()) {
929 QTcpSocket* sock = is.next();
930 if (sock->localPort() == nmeaPort) {
931 if (sock->state() == QAbstractSocket::ConnectedState) {
932 sock->write(str);
933 }
934 else if (sock->state() != QAbstractSocket::ConnectingState) {
935 delete sock;
936 is.remove();
937 }
938 }
939 }
940 }
941}
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