| 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncGetThread
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| 30 | *
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| 31 | * Purpose: Thread that retrieves data from NTRIP caster
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Dec-2005
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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| 41 | #include <stdlib.h>
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| 42 | #include <iostream>
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| 43 | #include <iomanip>
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| 44 | #include <sstream>
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| 45 |
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| 46 | #include <QComboBox>
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| 47 | #include <QDialog>
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| 48 | #include <QFile>
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| 49 | #include <QTextStream>
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| 50 | #include <QMutex>
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| 51 | #include <QPushButton>
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| 52 | #include <QTableWidget>
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| 53 | #include <QTime>
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| 54 |
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| 55 | #include "bncgetthread.h"
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| 56 | #include "bnctabledlg.h"
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| 57 | #include "bnccore.h"
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| 58 | #include "bncutils.h"
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| 59 | #include "bnctime.h"
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| 60 | #include "bnczerodecoder.h"
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| 61 | #include "bncnetqueryv0.h"
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| 62 | #include "bncnetqueryv1.h"
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| 63 | #include "bncnetqueryv2.h"
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| 64 | #include "bncnetqueryrtp.h"
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| 65 | #include "bncnetqueryudp.h"
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| 66 | #include "bncnetqueryudp0.h"
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| 67 | #include "bncnetquerys.h"
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| 68 | #include "bncsettings.h"
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| 69 | #include "latencychecker.h"
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| 70 | #include "upload/bncrtnetdecoder.h"
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| 71 | #include "RTCM/RTCM2Decoder.h"
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| 72 | #include "RTCM3/RTCM3Decoder.h"
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| 73 | #include "serial/qextserialport.h"
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| 74 |
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| 75 | using namespace std;
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| 76 |
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| 77 | // Constructor 1
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| 78 | ////////////////////////////////////////////////////////////////////////////
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| 79 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
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| 80 |
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| 81 | _rawFile = rawFile;
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| 82 | _format = rawFile->format();
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| 83 | _staID = rawFile->staID();
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| 84 | _rawOutput = false;
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| 85 | _ntripVersion = "N";
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| 86 |
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| 87 | initialize();
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| 88 | }
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| 89 |
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| 90 | // Constructor 2
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| 91 | ////////////////////////////////////////////////////////////////////////////
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| 92 | bncGetThread::bncGetThread(const QUrl& mountPoint, const QByteArray& format,
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| 93 | const QByteArray& latitude, const QByteArray& longitude,
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| 94 | const QByteArray& nmea, const QByteArray& ntripVersion) {
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| 95 | _rawFile = 0;
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| 96 | _mountPoint = mountPoint;
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| 97 | _staID = mountPoint.path().mid(1).toLatin1();
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| 98 | _format = format;
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| 99 | _latitude = latitude;
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| 100 | _longitude = longitude;
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| 101 | _nmea = nmea;
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| 102 | _ntripVersion = ntripVersion;
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| 103 |
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| 104 | bncSettings settings;
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| 105 | if (!settings.value("rawOutFile").toString().isEmpty()) {
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| 106 | _rawOutput = true;
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| 107 | }
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| 108 | else {
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| 109 | _rawOutput = false;
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| 110 | }
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| 111 |
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| 112 | _latencycheck = true; // in order to allow at least to check for reconnect
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| 113 |
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| 114 | _NMEASampl = settings.value("serialNMEASampling").toInt();
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| 115 |
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| 116 | initialize();
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| 117 | initDecoder();
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| 118 | }
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| 119 |
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| 120 | // Initialization (common part of the constructor)
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| 121 | ////////////////////////////////////////////////////////////////////////////
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| 122 | void bncGetThread::initialize() {
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| 123 |
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| 124 | bncSettings settings;
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| 125 |
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| 126 | setTerminationEnabled(true);
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| 127 |
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| 128 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 129 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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| 130 |
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| 131 | _isToBeDeleted = false;
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| 132 | _query = 0;
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| 133 | _nextSleep = 0;
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| 134 | _miscMount = settings.value("miscMount").toString();
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| 135 | _decoder = 0;
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| 136 |
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| 137 | // NMEA Port
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| 138 | // -----------
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| 139 | QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
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| 140 | int nmeaPort = 0;
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| 141 | while (iSta.hasNext()) {
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| 142 | QStringList hlp = iSta.next().split(",");
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| 143 | if (hlp.size() < 10) {
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| 144 | continue;
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| 145 | }
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| 146 | QByteArray mp = hlp[0].toLatin1();
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| 147 | if (_staID == mp) {
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| 148 | nmeaPort = hlp[9].toInt();
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| 149 | }
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| 150 | }
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| 151 | if (nmeaPort != 0) {
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| 152 | _nmeaServer = new QTcpServer;
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| 153 | _nmeaServer->setProxy(QNetworkProxy::NoProxy);
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| 154 | if (!_nmeaServer->listen(QHostAddress::LocalHost, nmeaPort)) {
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| 155 | QString message = "bncCaster: Cannot listen on port "
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| 156 | + QByteArray::number(nmeaPort) + ": "
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| 157 | + _nmeaServer->errorString();
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| 158 | emit newMessage(message.toLatin1(), true);
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| 159 | }
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| 160 | else {
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| 161 | connect(_nmeaServer, SIGNAL(newConnection()), this, SLOT(slotNewNMEAConnection()));
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| 162 | connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this, SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
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| 163 | _nmeaSockets = new QList<QTcpSocket*>;
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| 164 | _nmeaPortsMap[_staID] = nmeaPort;
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| 165 | }
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| 166 | } else {
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| 167 | _nmeaServer = 0;
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| 168 | _nmeaSockets = 0;
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| 169 | }
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| 170 |
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| 171 | // Serial Port
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| 172 | // -----------
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| 173 | _serialNMEA = NO_NMEA;
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| 174 | _serialOutFile = 0;
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| 175 | _serialPort = 0;
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| 176 | QString portString = settings.value("serialPortName").toString();
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| 177 |
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| 178 | if (!_staID.isEmpty()
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| 179 | && settings.value("serialMountPoint").toString() == _staID) {
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| 180 | _serialPort = new QextSerialPort(portString);
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| 181 | _serialPort->setTimeout(0, 100);
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| 182 |
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| 183 | // Baud Rate
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| 184 | // ---------
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| 185 | QString hlp = settings.value("serialBaudRate").toString();
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| 186 | if (hlp == "110") {
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| 187 | _serialPort->setBaudRate(BAUD110);
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| 188 | } else if (hlp == "300") {
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| 189 | _serialPort->setBaudRate(BAUD300);
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| 190 | } else if (hlp == "600") {
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| 191 | _serialPort->setBaudRate(BAUD600);
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| 192 | } else if (hlp == "1200") {
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| 193 | _serialPort->setBaudRate(BAUD1200);
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| 194 | } else if (hlp == "2400") {
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| 195 | _serialPort->setBaudRate(BAUD2400);
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| 196 | } else if (hlp == "4800") {
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| 197 | _serialPort->setBaudRate(BAUD4800);
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| 198 | } else if (hlp == "9600") {
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| 199 | _serialPort->setBaudRate(BAUD9600);
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| 200 | } else if (hlp == "19200") {
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| 201 | _serialPort->setBaudRate(BAUD19200);
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| 202 | } else if (hlp == "38400") {
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| 203 | _serialPort->setBaudRate(BAUD38400);
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| 204 | } else if (hlp == "57600") {
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| 205 | _serialPort->setBaudRate(BAUD57600);
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| 206 | } else if (hlp == "115200") {
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| 207 | _serialPort->setBaudRate(BAUD115200);
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| 208 | }
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| 209 |
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| 210 | // Parity
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| 211 | // ------
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| 212 | hlp = settings.value("serialParity").toString();
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| 213 | if (hlp == "NONE") {
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| 214 | _serialPort->setParity(PAR_NONE);
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| 215 | } else if (hlp == "ODD") {
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| 216 | _serialPort->setParity(PAR_ODD);
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| 217 | } else if (hlp == "EVEN") {
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| 218 | _serialPort->setParity(PAR_EVEN);
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| 219 | } else if (hlp == "SPACE") {
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| 220 | _serialPort->setParity(PAR_SPACE);
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| 221 | }
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| 222 |
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| 223 | // Data Bits
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| 224 | // ---------
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| 225 | hlp = settings.value("serialDataBits").toString();
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| 226 | if (hlp == "5") {
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| 227 | _serialPort->setDataBits(DATA_5);
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| 228 | } else if (hlp == "6") {
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| 229 | _serialPort->setDataBits(DATA_6);
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| 230 | } else if (hlp == "7") {
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| 231 | _serialPort->setDataBits(DATA_7);
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| 232 | } else if (hlp == "8") {
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| 233 | _serialPort->setDataBits(DATA_8);
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| 234 | }
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| 235 | // Stop Bits
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| 236 | // ---------
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| 237 | hlp = settings.value("serialStopBits").toString();
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| 238 | if (hlp == "1") {
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| 239 | _serialPort->setStopBits(STOP_1);
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| 240 | } else if (hlp == "2") {
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| 241 | _serialPort->setStopBits(STOP_2);
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| 242 | }
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| 243 |
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| 244 | // Flow Control
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| 245 | // ------------
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| 246 | hlp = settings.value("serialFlowControl").toString();
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| 247 | if (hlp == "XONXOFF") {
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| 248 | _serialPort->setFlowControl(FLOW_XONXOFF);
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| 249 | } else if (hlp == "HARDWARE") {
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| 250 | _serialPort->setFlowControl(FLOW_HARDWARE);
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| 251 | } else {
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| 252 | _serialPort->setFlowControl(FLOW_OFF);
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| 253 | }
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| 254 |
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| 255 | // Open Serial Port
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| 256 | // ----------------
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| 257 | _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
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| 258 | msleep(100); //sleep 0.1 sec
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| 259 | if (!_serialPort->isOpen()) {
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| 260 | emit(newMessage(_staID + ": Cannot open serial port " + portString.toLatin1()
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| 261 | + ": " + _serialPort->errorString().toLatin1(), true));
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| 262 | delete _serialPort;
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| 263 | _serialPort = 0;
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| 264 | }
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| 265 | else {
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| 266 | emit(newMessage(_staID + ": Serial port " + portString.toLatin1()
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| 267 | + "is connected: " + _serialPort->errorString().toLatin1(), true));
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| 268 | connect(_serialPort, SIGNAL(readyRead()), this, SLOT(slotSerialReadyRead()));
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| 269 | }
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| 270 |
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| 271 | // Automatic NMEA
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| 272 | // --------------
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| 273 | QString nmeaMode = settings.value("serialAutoNMEA").toString();
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| 274 | if (nmeaMode == "Auto") {
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| 275 | _serialNMEA = AUTO_NMEA;
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| 276 | QString fName = settings.value("serialFileNMEA").toString();
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| 277 | if (!fName.isEmpty()) {
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| 278 | _serialOutFile = new QFile(fName);
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| 279 | if (Qt::CheckState(settings.value("rnxAppend").toInt())
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| 280 | == Qt::Checked) {
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| 281 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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| 282 | } else {
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| 283 | _serialOutFile->open(QIODevice::WriteOnly);
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| 284 | }
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| 285 | }
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| 286 | }
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| 287 | // Manual NMEA
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| 288 | // -----------
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| 289 | if ((nmeaMode == "Manual GPGGA") ||
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| 290 | (nmeaMode == "Manual GNGGA")) {
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| 291 | _serialNMEA = MANUAL_NMEA;
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| 292 | bncSettings settings;
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| 293 | QString hlp = settings.value("serialHeightNMEA").toString();
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| 294 | if (hlp.isEmpty()) {
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| 295 | hlp = "0.0";
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| 296 | }
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| 297 | QByteArray _serialHeightNMEA = hlp.toLatin1();
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| 298 | _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA, nmeaMode);
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| 299 | }
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| 300 | }
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| 301 |
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| 302 | if (!_staID.isEmpty() && _latencycheck) {
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| 303 | _latencyChecker = new latencyChecker(_staID);
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| 304 | _rtcmObs = false;
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| 305 | _rtcmSsrOrb = false;
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| 306 | _rtcmSsrClk = false;
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| 307 | _rtcmSsrOrbClk = false;
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| 308 | _rtcmSsrCbi = false;
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| 309 | _rtcmSsrPbi = false;
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| 310 | _rtcmSsrVtec = false;
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| 311 | _rtcmSsrUra = false;
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| 312 | _rtcmSsrHr = false;
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| 313 | _rtcmSsrIgs = false;
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| 314 | _ssrEpoch = 0;
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| 315 | } else {
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| 316 | _latencyChecker = 0;
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| 317 | }
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| 318 | }
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| 319 |
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| 320 | // Instantiate the decoder
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| 321 | //////////////////////////////////////////////////////////////////////////////
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| 322 | t_irc bncGetThread::initDecoder() {
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| 323 |
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| 324 | _decoder = 0;
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| 325 |
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| 326 | if (_format.indexOf("RTCM_2") != -1 ||
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| 327 | _format.indexOf("RTCM2") != -1 ||
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| 328 | _format.indexOf("RTCM 2") != -1) {
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| 329 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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| 330 | _decoder = new RTCM2Decoder(_staID.data());
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| 331 | } else if (_format.indexOf("RTCM_3") != -1 ||
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| 332 | _format.indexOf("RTCM3") != -1 ||
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| 333 | _format.indexOf("RTCM 3") != -1) {
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| 334 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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| 335 | RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
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| 336 | _decoder = newDecoder;
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| 337 | connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
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| 338 | this, SIGNAL(newMessage(QByteArray,bool)));
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| 339 | } else if (_format == "ZERO") {
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| 340 | emit(newMessage(_staID + ": Forward data in original format", true));
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| 341 | _decoder = new bncZeroDecoder(_staID, false);
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| 342 | }
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| 343 | else if (_format == "ZERO2FILE") {
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| 344 | emit(newMessage(_staID + ": Get data in original format and store it", true));
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| 345 | _decoder = new bncZeroDecoder(_staID, true);
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| 346 | }
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| 347 | else if (_format.indexOf("RTNET") != -1) {
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| 348 | emit(newMessage(_staID + ": Get data in RTNet format", true));
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| 349 | _decoder = new bncRtnetDecoder();
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| 350 | } else {
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| 351 | emit(newMessage(_staID + ": Unknown data format " + _format + ". Please change the format entry to ZERO or ZERO2FILE to forward unchanged data.", true));
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| 352 | _isToBeDeleted = true;
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| 353 | return failure;
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| 354 | }
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| 355 |
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| 356 | msleep(100); //sleep 0.1 sec
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| 357 |
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| 358 | _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
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| 359 | _ntripVersion);
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| 360 |
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| 361 | if (_rawFile) {
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| 362 | _decodersRaw[_staID] = _decoder;
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| 363 | }
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| 364 |
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| 365 | return success;
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| 366 | }
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| 367 |
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| 368 | // Current decoder in use
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| 369 | ////////////////////////////////////////////////////////////////////////////
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| 370 | GPSDecoder* bncGetThread::decoder() {
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| 371 | if (!_rawFile) {
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| 372 | return _decoder;
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| 373 | } else {
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| 374 | if (_decodersRaw.contains(_staID) || initDecoder() == success) {
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| 375 | return _decodersRaw[_staID];
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| 376 | }
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| 377 | }
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| 378 | return 0;
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| 379 | }
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| 380 |
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| 381 | // Destructor
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| 382 | ////////////////////////////////////////////////////////////////////////////
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| 383 | bncGetThread::~bncGetThread() {
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| 384 | if (isRunning()) {
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| 385 | wait();
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| 386 | }
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| 387 | if (_query) {
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| 388 | _query->stop();
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| 389 | _query->deleteLater();
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| 390 | }
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| 391 | if (_rawFile) {
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| 392 | QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
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| 393 | while (it.hasNext()) {
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| 394 | it.next();
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| 395 | delete it.value();
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| 396 | }
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| 397 | _decodersRaw.clear();
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| 398 | } else {
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| 399 | delete _decoder;
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| 400 | }
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| 401 | delete _rawFile;
|
|---|
| 402 | delete _serialOutFile;
|
|---|
| 403 | delete _serialPort;
|
|---|
| 404 | delete _latencyChecker;
|
|---|
| 405 | delete _nmeaServer;
|
|---|
| 406 | delete _nmeaSockets;
|
|---|
| 407 | emit getThreadFinished(_staID);
|
|---|
| 408 | }
|
|---|
| 409 |
|
|---|
| 410 | //
|
|---|
| 411 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 412 | void bncGetThread::terminate() {
|
|---|
| 413 | _isToBeDeleted = true;
|
|---|
| 414 |
|
|---|
| 415 | if (_nmeaPortsMap.contains(_staID)) {
|
|---|
| 416 | _nmeaPortsMap.remove(_staID);
|
|---|
| 417 | }
|
|---|
| 418 | delete _nmeaServer; _nmeaServer = nullptr;
|
|---|
| 419 | delete _nmeaSockets; _nmeaSockets = nullptr;
|
|---|
| 420 |
|
|---|
| 421 | #ifdef BNC_DEBUG
|
|---|
| 422 | if (BNC_CORE->mode() != t_bncCore::interactive) {
|
|---|
| 423 | while (!isFinished()) {
|
|---|
| 424 | wait();
|
|---|
| 425 | }
|
|---|
| 426 | delete this;
|
|---|
| 427 | } else {
|
|---|
| 428 | if (!isRunning()) {
|
|---|
| 429 | delete this;
|
|---|
| 430 | }
|
|---|
| 431 | }
|
|---|
| 432 | #else
|
|---|
| 433 | if (!isRunning()) {delete this;}
|
|---|
| 434 | #endif
|
|---|
| 435 |
|
|---|
| 436 | }
|
|---|
| 437 |
|
|---|
| 438 | // Run
|
|---|
| 439 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 440 | void bncGetThread::run() {
|
|---|
| 441 |
|
|---|
| 442 | while (true) {
|
|---|
| 443 | try {
|
|---|
| 444 | if (_isToBeDeleted) {
|
|---|
| 445 | emit(newMessage(_staID + ": is to be deleted", true));
|
|---|
| 446 | QThread::exit(4);
|
|---|
| 447 | this->deleteLater();
|
|---|
| 448 | return;
|
|---|
| 449 | }
|
|---|
| 450 |
|
|---|
| 451 | if (tryReconnect() != success) {
|
|---|
| 452 | if (_latencyChecker) {
|
|---|
| 453 | _latencyChecker->checkReconnect();
|
|---|
| 454 | }
|
|---|
| 455 | continue;
|
|---|
| 456 | }
|
|---|
| 457 |
|
|---|
| 458 | // Delete old observations
|
|---|
| 459 | // -----------------------
|
|---|
| 460 | if (_rawFile) {
|
|---|
| 461 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
|---|
| 462 | while (itDec.hasNext()) {
|
|---|
| 463 | itDec.next();
|
|---|
| 464 | GPSDecoder* decoder = itDec.value();
|
|---|
| 465 | decoder->_obsList.clear();
|
|---|
| 466 | }
|
|---|
| 467 | } else {
|
|---|
| 468 | _decoder->_obsList.clear();
|
|---|
| 469 | }
|
|---|
| 470 |
|
|---|
| 471 | // Read Data
|
|---|
| 472 | // ---------
|
|---|
| 473 | QByteArray data;
|
|---|
| 474 | if (_query) {
|
|---|
| 475 | _query->waitForReadyRead(data);
|
|---|
| 476 | } else if (_rawFile) {
|
|---|
| 477 | data = _rawFile->readChunk();
|
|---|
| 478 | _format = _rawFile->format();
|
|---|
| 479 | _staID = _rawFile->staID();
|
|---|
| 480 |
|
|---|
| 481 | QCoreApplication::processEvents();
|
|---|
| 482 |
|
|---|
| 483 | if (data.isEmpty() || BNC_CORE->sigintReceived) {
|
|---|
| 484 | emit(newMessage("No more data or SIGINT/SIGTERM received", true));
|
|---|
| 485 | // pass on data the decoders still hold back (last epoch)
|
|---|
| 486 | QMapIterator<QString, GPSDecoder*> itFlush(_decodersRaw);
|
|---|
| 487 | while (itFlush.hasNext()) {
|
|---|
| 488 | itFlush.next();
|
|---|
| 489 | itFlush.value()->flush();
|
|---|
| 490 | }
|
|---|
| 491 | BNC_CORE->stopPPP();
|
|---|
| 492 | BNC_CORE->stopCombination();
|
|---|
| 493 | sleep(2);
|
|---|
| 494 | ::exit(5);
|
|---|
| 495 | }
|
|---|
| 496 | }
|
|---|
| 497 |
|
|---|
| 498 | qint64 nBytes = data.size();
|
|---|
| 499 |
|
|---|
| 500 | // Timeout, reconnect
|
|---|
| 501 | // ------------------
|
|---|
| 502 | if (nBytes == 0) {
|
|---|
| 503 | if (_latencyChecker) {
|
|---|
| 504 | _latencyChecker->checkReconnect();
|
|---|
| 505 | }
|
|---|
| 506 | emit(newMessage(_staID + ": Data timeout, reconnecting", true));
|
|---|
| 507 | msleep(10000); //sleep 10 sec, G. Weber
|
|---|
| 508 | continue;
|
|---|
| 509 | } else {
|
|---|
| 510 | emit newBytes(_staID, nBytes);
|
|---|
| 511 | emit newRawData(_staID, data);
|
|---|
| 512 | }
|
|---|
| 513 |
|
|---|
| 514 | // Output Data
|
|---|
| 515 | // -----------
|
|---|
| 516 | if (_rawOutput) {
|
|---|
| 517 | BNC_CORE->writeRawData(data, _staID, _format);
|
|---|
| 518 | }
|
|---|
| 519 |
|
|---|
| 520 | if (_serialPort) {
|
|---|
| 521 | slotSerialReadyRead();
|
|---|
| 522 | _serialPort->write(data);
|
|---|
| 523 | }
|
|---|
| 524 |
|
|---|
| 525 | // Decode Data
|
|---|
| 526 | // -----------
|
|---|
| 527 | vector<string> errmsg;
|
|---|
| 528 | if (!decoder()) {
|
|---|
| 529 | _isToBeDeleted = true;
|
|---|
| 530 | continue;
|
|---|
| 531 | }
|
|---|
| 532 |
|
|---|
| 533 | t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
|
|---|
| 534 |
|
|---|
| 535 | if (irc != success) {
|
|---|
| 536 | continue;
|
|---|
| 537 | }
|
|---|
| 538 | // Perform various scans and checks
|
|---|
| 539 | // --------------------------------
|
|---|
| 540 | if (_latencyChecker) {
|
|---|
| 541 | _latencyChecker->checkOutage(irc);
|
|---|
| 542 | QListIterator<GPSDecoder::t_typeInfo> it(decoder()->_typeList);
|
|---|
| 543 | _ssrEpoch = static_cast<int>(decoder()->corrGPSEpochTime());
|
|---|
| 544 | if (_ssrEpoch != -1) {
|
|---|
| 545 | if (_rtcmSsrOrb) {
|
|---|
| 546 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1057);
|
|---|
| 547 | _rtcmSsrOrb = false;
|
|---|
| 548 | }
|
|---|
| 549 | if (_rtcmSsrClk) {
|
|---|
| 550 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1058);
|
|---|
| 551 | _rtcmSsrClk = false;
|
|---|
| 552 | }
|
|---|
| 553 | if (_rtcmSsrOrbClk) {
|
|---|
| 554 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1060);
|
|---|
| 555 | _rtcmSsrOrbClk = false;
|
|---|
| 556 | }
|
|---|
| 557 | if (_rtcmSsrCbi) {
|
|---|
| 558 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1059);
|
|---|
| 559 | _rtcmSsrCbi = false;
|
|---|
| 560 | }
|
|---|
| 561 | if (_rtcmSsrPbi) {
|
|---|
| 562 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1265);
|
|---|
| 563 | _rtcmSsrPbi = false;
|
|---|
| 564 | }
|
|---|
| 565 | if (_rtcmSsrVtec) {
|
|---|
| 566 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1264);
|
|---|
| 567 | _rtcmSsrVtec = false;
|
|---|
| 568 | }
|
|---|
| 569 | if (_rtcmSsrUra) {
|
|---|
| 570 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1061);
|
|---|
| 571 | _rtcmSsrUra = false;
|
|---|
| 572 | }
|
|---|
| 573 | if (_rtcmSsrHr) {
|
|---|
| 574 | _latencyChecker->checkCorrLatency(_ssrEpoch, 1062);
|
|---|
| 575 | _rtcmSsrHr = false;
|
|---|
| 576 | }
|
|---|
| 577 | if (_rtcmSsrIgs) {
|
|---|
| 578 | _latencyChecker->checkCorrLatency(_ssrEpoch, 4076);
|
|---|
| 579 | _rtcmSsrIgs = false;
|
|---|
| 580 | }
|
|---|
| 581 | }
|
|---|
| 582 | while (it.hasNext()) {
|
|---|
| 583 | int rtcmType = it.next()._type;
|
|---|
| 584 | if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS
|
|---|
| 585 | (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS
|
|---|
| 586 | (rtcmType >= 1070 && rtcmType <= 1137)) { // MSM RTCM OBS
|
|---|
| 587 | _rtcmObs = true;
|
|---|
| 588 | } else if ((rtcmType >= 1057 && rtcmType <= 1068) ||
|
|---|
| 589 | (rtcmType >= 1240 && rtcmType <= 1270) ||
|
|---|
| 590 | (rtcmType == 4076)) {
|
|---|
| 591 | switch (rtcmType) {
|
|---|
| 592 | case 1057: case 1063: case 1240: case 1246: case 1252: case 1258:
|
|---|
| 593 | _rtcmSsrOrb = true;
|
|---|
| 594 | break;
|
|---|
| 595 | case 1058: case 1064: case 1241: case 1247: case 1253: case 1259:
|
|---|
| 596 | _rtcmSsrClk = true;
|
|---|
| 597 | break;
|
|---|
| 598 | case 1060: case 1066: case 1243: case 1249: case 1255: case 1261:
|
|---|
| 599 | _rtcmSsrOrbClk = true;
|
|---|
| 600 | break;
|
|---|
| 601 | case 1059: case 1065: case 1242: case 1248: case 1254: case 1260:
|
|---|
| 602 | _rtcmSsrCbi = true;
|
|---|
| 603 | break;
|
|---|
| 604 | case 1265: case 1266: case 1267: case 1268: case 1269: case 1270:
|
|---|
| 605 | _rtcmSsrPbi = true;
|
|---|
| 606 | break;
|
|---|
| 607 | case 1264:
|
|---|
| 608 | _rtcmSsrVtec = true;
|
|---|
| 609 | break;
|
|---|
| 610 | case 1061: case 1067: case 1244: case 1250: case 1256: case 1262:
|
|---|
| 611 | _rtcmSsrUra = true;
|
|---|
| 612 | break;
|
|---|
| 613 | case 1062: case 1068: case 1245: case 1251: case 1257: case 1263:
|
|---|
| 614 | _rtcmSsrHr = true;
|
|---|
| 615 | break;
|
|---|
| 616 | case 4076:
|
|---|
| 617 | _rtcmSsrIgs = true;
|
|---|
| 618 | break;
|
|---|
| 619 | }
|
|---|
| 620 | }
|
|---|
| 621 | }
|
|---|
| 622 | if (_rtcmObs) {
|
|---|
| 623 | _latencyChecker->checkObsLatency(decoder()->_obsList);
|
|---|
| 624 | }
|
|---|
| 625 | emit newLatency(_staID, _latencyChecker->currentLatency());
|
|---|
| 626 | }
|
|---|
| 627 | miscScanRTCM();
|
|---|
| 628 |
|
|---|
| 629 | // Loop over all observations (observations output)
|
|---|
| 630 | // ------------------------------------------------
|
|---|
| 631 | QListIterator<t_satObs> it(decoder()->_obsList);
|
|---|
| 632 |
|
|---|
| 633 | QList<t_satObs> obsListHlp;
|
|---|
| 634 |
|
|---|
| 635 | while (it.hasNext()) {
|
|---|
| 636 | const t_satObs& obs = it.next();
|
|---|
| 637 |
|
|---|
| 638 | // Check observation epoch
|
|---|
| 639 | // -----------------------
|
|---|
| 640 | if (!_rawFile) {
|
|---|
| 641 | bool wrongObservationEpoch = checkForWrongObsEpoch(obs._time);
|
|---|
| 642 | if (wrongObservationEpoch) {
|
|---|
| 643 | QString prn(obs._prn.toString().c_str());
|
|---|
| 644 | QString type = QString("%1").arg(obs._type);
|
|---|
| 645 | emit(newMessage(_staID + " (" + prn.toLatin1() + ")" + ": Wrong observation epoch(s)" + "( MT: " + type.toLatin1() + ")", false));
|
|---|
| 646 | continue;
|
|---|
| 647 | }
|
|---|
| 648 | }
|
|---|
| 649 |
|
|---|
| 650 | // Check observations coming twice (e.g. KOUR0 Problem)
|
|---|
| 651 | // ----------------------------------------------------
|
|---|
| 652 | if (!_rawFile) {
|
|---|
| 653 | QString prn(obs._prn.toString().c_str());
|
|---|
| 654 | bncTime obsTime = obs._time;
|
|---|
| 655 | QMap<QString, bncTime>::const_iterator it = _prnLastEpo.find(prn);
|
|---|
| 656 | if (it != _prnLastEpo.end()) {
|
|---|
| 657 | bncTime oldTime = it.value();
|
|---|
| 658 | if (obsTime < oldTime) {
|
|---|
| 659 | emit(newMessage(_staID + ": old observation " + prn.toLatin1(), false));
|
|---|
| 660 | continue;
|
|---|
| 661 | } else if (obsTime == oldTime) {
|
|---|
| 662 | emit(newMessage(_staID + ": observation coming more than once " + prn.toLatin1(), false));
|
|---|
| 663 | continue;
|
|---|
| 664 | }
|
|---|
| 665 | }
|
|---|
| 666 | _prnLastEpo[prn] = obsTime;
|
|---|
| 667 | }
|
|---|
| 668 |
|
|---|
| 669 | decoder()->dumpRinexEpoch(obs, _format);
|
|---|
| 670 |
|
|---|
| 671 | // Save observations
|
|---|
| 672 | // -----------------
|
|---|
| 673 | obsListHlp.append(obs);
|
|---|
| 674 | }
|
|---|
| 675 |
|
|---|
| 676 | // Emit signal
|
|---|
| 677 | // -----------
|
|---|
| 678 | if (!_isToBeDeleted && obsListHlp.size() > 0) {
|
|---|
| 679 | emit newObs(_staID, obsListHlp);
|
|---|
| 680 | }
|
|---|
| 681 |
|
|---|
| 682 | }
|
|---|
| 683 | catch (Exception& exc) {
|
|---|
| 684 | emit(newMessage(_staID + " " + exc.what(), true));
|
|---|
| 685 | _isToBeDeleted = true;
|
|---|
| 686 | }
|
|---|
| 687 | catch (std::exception& exc) {
|
|---|
| 688 | emit(newMessage(_staID + " " + exc.what(), true));
|
|---|
| 689 | _isToBeDeleted = true;
|
|---|
| 690 | }
|
|---|
| 691 | catch (const string& error) {
|
|---|
| 692 | emit(newMessage(_staID + " ERROR: " + error.c_str(), true));
|
|---|
| 693 | _isToBeDeleted = true;
|
|---|
| 694 | }
|
|---|
| 695 | catch (const char* error) {
|
|---|
| 696 | emit(newMessage(_staID + " ERROR: " + error, true));
|
|---|
| 697 | _isToBeDeleted = true;
|
|---|
| 698 | }
|
|---|
| 699 | catch (QString error) {
|
|---|
| 700 | emit(newMessage(_staID + " ERROR: " + error.toStdString().c_str(), true));
|
|---|
| 701 | _isToBeDeleted = true;
|
|---|
| 702 | }
|
|---|
| 703 | catch (...) {
|
|---|
| 704 | emit(newMessage(_staID + " bncGetThread: unknown exception", true));
|
|---|
| 705 | _isToBeDeleted = true;
|
|---|
| 706 | }
|
|---|
| 707 | }
|
|---|
| 708 | }
|
|---|
| 709 |
|
|---|
| 710 | // Try Re-Connect
|
|---|
| 711 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 712 | t_irc bncGetThread::tryReconnect() {
|
|---|
| 713 |
|
|---|
| 714 | // Easy Return
|
|---|
| 715 | // -----------
|
|---|
| 716 | if (_query && _query->status() == bncNetQuery::running) {
|
|---|
| 717 | _nextSleep = 0;
|
|---|
| 718 | if (_rawFile) {
|
|---|
| 719 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
|---|
| 720 | while (itDec.hasNext()) {
|
|---|
| 721 | itDec.next();
|
|---|
| 722 | GPSDecoder* decoder = itDec.value();
|
|---|
| 723 | decoder->setRinexReconnectFlag(false);
|
|---|
| 724 | }
|
|---|
| 725 | } else {
|
|---|
| 726 | _decoder->setRinexReconnectFlag(false);
|
|---|
| 727 | }
|
|---|
| 728 | return success;
|
|---|
| 729 | }
|
|---|
| 730 |
|
|---|
| 731 | // Start a new query
|
|---|
| 732 | // -----------------
|
|---|
| 733 | if (!_rawFile) {
|
|---|
| 734 |
|
|---|
| 735 | sleep(_nextSleep);
|
|---|
| 736 | if (_nextSleep == 0) {
|
|---|
| 737 | _nextSleep = 1;
|
|---|
| 738 | } else {
|
|---|
| 739 | _nextSleep = 2 * _nextSleep;
|
|---|
| 740 | if (_nextSleep > 256) {
|
|---|
| 741 | _nextSleep = 256;
|
|---|
| 742 | }
|
|---|
| 743 | #ifdef MLS_SOFTWARE
|
|---|
| 744 | if (_nextSleep > 4) {
|
|---|
| 745 | _nextSleep = 4;
|
|---|
| 746 | }
|
|---|
| 747 | #endif
|
|---|
| 748 | }
|
|---|
| 749 | delete _query;
|
|---|
| 750 | if (_ntripVersion == "U") {
|
|---|
| 751 | _query = new bncNetQueryUdp();
|
|---|
| 752 | } else if (_ntripVersion == "R") {
|
|---|
| 753 | _query = new bncNetQueryRtp();
|
|---|
| 754 | } else if (_ntripVersion == "S") {
|
|---|
| 755 | _query = new bncNetQueryS();
|
|---|
| 756 | } else if (_ntripVersion == "N") {
|
|---|
| 757 | _query = new bncNetQueryV0();
|
|---|
| 758 | } else if (_ntripVersion == "UN") {
|
|---|
| 759 | _query = new bncNetQueryUdp0();
|
|---|
| 760 | } else if (_ntripVersion == "2") {
|
|---|
| 761 | _query = new bncNetQueryV2(false);
|
|---|
| 762 | } else if (_ntripVersion == "2s") {
|
|---|
| 763 | _query = new bncNetQueryV2(true);
|
|---|
| 764 | } else {
|
|---|
| 765 | _query = new bncNetQueryV1();
|
|---|
| 766 | }
|
|---|
| 767 | if (_nmea == "yes") {
|
|---|
| 768 | if (_serialNMEA == MANUAL_NMEA) {
|
|---|
| 769 | _query->startRequest(_mountPoint, _manualNMEAString);
|
|---|
| 770 | _lastNMEA = QDateTime::currentDateTime();
|
|---|
| 771 | } else if (_serialNMEA == AUTO_NMEA) {
|
|---|
| 772 | if (_serialPort) {
|
|---|
| 773 | int nb = _serialPort->bytesAvailable();
|
|---|
| 774 | if (nb > 0) {
|
|---|
| 775 | QByteArray data = _serialPort->read(nb);
|
|---|
| 776 | int i1 = data.indexOf("$GPGGA");
|
|---|
| 777 | if (i1 == -1) {
|
|---|
| 778 | i1 = data.indexOf("$GNGGA");
|
|---|
| 779 | }
|
|---|
| 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->startRequest(_mountPoint, gga);
|
|---|
| 785 | _lastNMEA = QDateTime::currentDateTime();
|
|---|
| 786 | }
|
|---|
| 787 | }
|
|---|
| 788 | }
|
|---|
| 789 | }
|
|---|
| 790 | }
|
|---|
| 791 | } else {
|
|---|
| 792 | _query->startRequest(_mountPoint, "");
|
|---|
| 793 | }
|
|---|
| 794 |
|
|---|
| 795 | if (_query->status() != bncNetQuery::running) {
|
|---|
| 796 | return failure;
|
|---|
| 797 | }
|
|---|
| 798 | }
|
|---|
| 799 |
|
|---|
| 800 | if (_rawFile) {
|
|---|
| 801 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
|
|---|
| 802 | while (itDec.hasNext()) {
|
|---|
| 803 | itDec.next();
|
|---|
| 804 | GPSDecoder* decoder = itDec.value();
|
|---|
| 805 | decoder->setRinexReconnectFlag(false);
|
|---|
| 806 | }
|
|---|
| 807 | } else {
|
|---|
| 808 | _decoder->setRinexReconnectFlag(false);
|
|---|
| 809 | }
|
|---|
| 810 |
|
|---|
| 811 | return success;
|
|---|
| 812 | }
|
|---|
| 813 |
|
|---|
| 814 | // RTCM scan output
|
|---|
| 815 | //////////////////////////////////////////////////////////////////////////////
|
|---|
| 816 | void bncGetThread::miscScanRTCM() {
|
|---|
| 817 |
|
|---|
| 818 | if (!decoder()) {
|
|---|
| 819 | return;
|
|---|
| 820 | }
|
|---|
| 821 |
|
|---|
| 822 | bncSettings settings;
|
|---|
| 823 | if (Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked) {
|
|---|
| 824 |
|
|---|
| 825 | if (_miscMount == _staID || _miscMount == "ALL") {
|
|---|
| 826 | // RTCM message types
|
|---|
| 827 | // ------------------
|
|---|
| 828 | for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
|
|---|
| 829 | QString type = QString("%1 ").arg(decoder()->_typeList[ii]._type);
|
|---|
| 830 | QString size = (decoder()->_typeList[ii]._size) ? QString("(size %1)").arg(decoder()->_typeList[ii]._size) : "";
|
|---|
| 831 | emit(newMessage(_staID + ": Received message type " + type.toLatin1() + size.toLatin1(), true));
|
|---|
| 832 | }
|
|---|
| 833 |
|
|---|
| 834 | // Check Observation Types
|
|---|
| 835 | // -----------------------
|
|---|
| 836 | for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
|
|---|
| 837 | t_satObs& obs = decoder()->_obsList[ii];
|
|---|
| 838 | QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
|
|---|
| 839 | bool allFound = true;
|
|---|
| 840 | for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
|
|---|
| 841 | if (obs._obs[iFrq]->_codeValid) {
|
|---|
| 842 | QString rnxStr('C');
|
|---|
| 843 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
|---|
| 844 | if (_format.indexOf("RTCM_2") != -1
|
|---|
| 845 | || _format.indexOf("RTCM2") != -1
|
|---|
| 846 | || _format.indexOf("RTCM 2") != -1) {
|
|---|
| 847 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
|---|
| 848 | }
|
|---|
| 849 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
|---|
| 850 | rnxTypes.push_back(rnxStr);
|
|---|
| 851 | allFound = false;
|
|---|
| 852 | }
|
|---|
| 853 | }
|
|---|
| 854 | if (obs._obs[iFrq]->_phaseValid) {
|
|---|
| 855 | QString rnxStr('L');
|
|---|
| 856 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
|---|
| 857 | if (_format.indexOf("RTCM_2") != -1
|
|---|
| 858 | || _format.indexOf("RTCM2") != -1
|
|---|
| 859 | || _format.indexOf("RTCM 2") != -1) {
|
|---|
| 860 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
|---|
| 861 | }
|
|---|
| 862 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
|---|
| 863 | rnxTypes.push_back(rnxStr);
|
|---|
| 864 | allFound = false;
|
|---|
| 865 | }
|
|---|
| 866 | }
|
|---|
| 867 | if (obs._obs[iFrq]->_dopplerValid) {
|
|---|
| 868 | QString rnxStr('D');
|
|---|
| 869 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
|---|
| 870 | if (_format.indexOf("RTCM_2") != -1
|
|---|
| 871 | || _format.indexOf("RTCM2") != -1
|
|---|
| 872 | || _format.indexOf("RTCM 2") != -1) {
|
|---|
| 873 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
|---|
| 874 | }
|
|---|
| 875 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
|---|
| 876 | rnxTypes.push_back(rnxStr);
|
|---|
| 877 | allFound = false;
|
|---|
| 878 | }
|
|---|
| 879 | }
|
|---|
| 880 | if (obs._obs[iFrq]->_snrValid) {
|
|---|
| 881 | QString rnxStr('S');
|
|---|
| 882 | rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
|
|---|
| 883 | if (_format.indexOf("RTCM_2") != -1
|
|---|
| 884 | || _format.indexOf("RTCM2") != -1
|
|---|
| 885 | || _format.indexOf("RTCM 2") != -1) {
|
|---|
| 886 | rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
|
|---|
| 887 | }
|
|---|
| 888 | if (rnxTypes.indexOf(rnxStr) == -1) {
|
|---|
| 889 | rnxTypes.push_back(rnxStr);
|
|---|
| 890 | allFound = false;
|
|---|
| 891 | }
|
|---|
| 892 | }
|
|---|
| 893 | }
|
|---|
| 894 | if (!allFound) {
|
|---|
| 895 | QString msg;
|
|---|
| 896 | QTextStream str(&msg);
|
|---|
| 897 | str << obs._prn.system() << QString(" %1 ").arg(rnxTypes.size());
|
|---|
| 898 | for (int iType = 0; iType < rnxTypes.size(); iType++) {
|
|---|
| 899 | str << " " << rnxTypes[iType];
|
|---|
| 900 | }
|
|---|
| 901 | emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(), true));
|
|---|
| 902 | }
|
|---|
| 903 | }
|
|---|
| 904 |
|
|---|
| 905 | // RTCMv3 antenna descriptor
|
|---|
| 906 | // -------------------------
|
|---|
| 907 | for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
|
|---|
| 908 | QString ant1 = QString(": Antenna Descriptor: %1 ").arg(decoder()->_antType[ii]._descriptor);
|
|---|
| 909 | emit(newMessage(_staID + ant1.toLatin1(), true));
|
|---|
| 910 | if (strlen(decoder()->_antType[ii]._serialnumber)) {
|
|---|
| 911 | QString ant2 = QString(": Antenna Serial Number: %1 ").arg(decoder()->_antType[ii]._serialnumber);
|
|---|
| 912 | emit(newMessage(_staID + ant2.toLatin1(), true));
|
|---|
| 913 | }
|
|---|
| 914 | }
|
|---|
| 915 |
|
|---|
| 916 | // RTCM Antenna Coordinates
|
|---|
| 917 | // ------------------------
|
|---|
| 918 | for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
|
|---|
| 919 | QByteArray antT;
|
|---|
| 920 | if (decoder()->_antList[ii]._type == GPSDecoder::t_antRefPoint::ARP) {
|
|---|
| 921 | antT = "ARP";
|
|---|
| 922 | } else if (decoder()->_antList[ii]._type == GPSDecoder::t_antRefPoint::APC) {
|
|---|
| 923 | antT = "APC";
|
|---|
| 924 | }
|
|---|
| 925 | QByteArray ant1, ant2, ant3;
|
|---|
| 926 | ant1 = QString("%1 ").arg(decoder()->_antList[ii]._xx, 0, 'f', 4).toLatin1();
|
|---|
| 927 | ant2 = QString("%1 ").arg(decoder()->_antList[ii]._yy, 0, 'f', 4).toLatin1();
|
|---|
| 928 | ant3 = QString("%1 ").arg(decoder()->_antList[ii]._zz, 0, 'f', 4).toLatin1();
|
|---|
| 929 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
|---|
| 930 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
|---|
| 931 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
|---|
| 932 | double hh = 0.0;
|
|---|
| 933 | if (decoder()->_antList[ii]._height_f) {
|
|---|
| 934 | hh = decoder()->_antList[ii]._height;
|
|---|
| 935 | QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
|
|---|
| 936 | emit(newMessage(
|
|---|
| 937 | _staID + ": Antenna height above marker " + ant4 + "m", true));
|
|---|
| 938 | }
|
|---|
| 939 | emit(newAntCrd(_staID, decoder()->_antList[ii]._xx,
|
|---|
| 940 | decoder()->_antList[ii]._yy, decoder()->_antList[ii]._zz, hh, antT));
|
|---|
| 941 | }
|
|---|
| 942 |
|
|---|
| 943 | // RTCMv3 receiver descriptor
|
|---|
| 944 | // --------------------------
|
|---|
| 945 | for (int ii = 0; ii < decoder()->_recType.size(); ii++) {
|
|---|
| 946 | QString rec1 = QString(": Receiver Descriptor: %1 ").arg(decoder()->_recType[ii]._descriptor);
|
|---|
| 947 | QString rec2 = QString(": Receiver Firmware Version: %1 ").arg(decoder()->_recType[ii]._firmware);
|
|---|
| 948 | QString rec3 = QString(": Receiver Serial Number: %1 ").arg(decoder()->_recType[ii]._serialnumber);
|
|---|
| 949 | emit(newMessage(_staID + rec1.toLatin1(), true));
|
|---|
| 950 | emit(newMessage(_staID + rec2.toLatin1(), true));
|
|---|
| 951 | emit(newMessage(_staID + rec3.toLatin1(), true));
|
|---|
| 952 | }
|
|---|
| 953 |
|
|---|
| 954 | // RTCM GLONASS slots
|
|---|
| 955 | // ------------------
|
|---|
| 956 | if (decoder()->_gloFrq.size()) {
|
|---|
| 957 | bool allFound = true;
|
|---|
| 958 | QString slot = decoder()->_gloFrq;
|
|---|
| 959 | slot.replace(" ", " ").replace(" ", ":");
|
|---|
| 960 | if (_gloSlots.indexOf(slot) == -1) {
|
|---|
| 961 | _gloSlots.append(slot);
|
|---|
| 962 | allFound = false;
|
|---|
| 963 | }
|
|---|
| 964 | if (!allFound) {
|
|---|
| 965 | _gloSlots.sort();
|
|---|
| 966 | emit(newMessage(
|
|---|
| 967 | _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
|
|---|
| 968 | true));
|
|---|
| 969 | }
|
|---|
| 970 | }
|
|---|
| 971 |
|
|---|
| 972 | // RTCM GLONASS Code-Phase biases (MT 1230)
|
|---|
| 973 | // ----------------------------------------
|
|---|
| 974 | if (decoder()->_gloBiasInfo.changed()) {
|
|---|
| 975 | QString gloCodePhaseBiases = decoder()->_gloBiasInfo.toString();
|
|---|
| 976 | emit(newMessage(_staID + gloCodePhaseBiases.toLatin1(), true));
|
|---|
| 977 | decoder()->_gloBiasInfo.setChanged(false);
|
|---|
| 978 | }
|
|---|
| 979 |
|
|---|
| 980 | // Service CRS / RTCM CRS
|
|---|
| 981 | // ------------------------
|
|---|
| 982 | if (fmod(decoder()->corrGPSEpochTime(), 60.0) == 0.0) {
|
|---|
| 983 | // Service CRS
|
|---|
| 984 | for (int ii = 0; ii < decoder()->_serviceCrs.size(); ii++) {
|
|---|
| 985 | QString servicecrsname = QString(": Service CRS Name: %1 ").arg(decoder()->_serviceCrs[ii]._name);
|
|---|
| 986 | QString coordinateEpoch = QString(": Service CRS Coordinate Epoch: %1 ").arg(decoder()->_serviceCrs[ii]._coordinateEpoch);
|
|---|
| 987 | //QString ce = QString(": CE: %1 ").arg(decoder()->_serviceCrs[ii]._CE);
|
|---|
| 988 | emit(newMessage(_staID + servicecrsname.toLatin1(), true));
|
|---|
| 989 | emit(newMessage(_staID + coordinateEpoch.toLatin1(), true));
|
|---|
| 990 | //emit(newMessage(_staID + ce.toLatin1(), true));
|
|---|
| 991 | }
|
|---|
| 992 | // RTCM CRS
|
|---|
| 993 | for (int ii = 0; ii < decoder()->_rtcmCrs.size(); ii++) {
|
|---|
| 994 | QString rtcmcrsname = QString(": RTCM CRS Name: %1 ").arg(decoder()->_rtcmCrs[ii]._name);
|
|---|
| 995 | QString anchor = QString(": RTCM CRS Anchor: %1 ").arg(decoder()->_rtcmCrs[ii]._anchor);
|
|---|
| 996 | QString platenumber = QString(": RTCM CRS Plate Number: %1 ").arg(decoder()->_rtcmCrs[ii]._plateNumber);
|
|---|
| 997 | emit(newMessage(_staID + rtcmcrsname.toLatin1(), true));
|
|---|
| 998 | emit(newMessage(_staID + anchor.toLatin1(), true));
|
|---|
| 999 | emit(newMessage(_staID + platenumber.toLatin1(), true));
|
|---|
| 1000 | for (int i = 0; i<decoder()->_rtcmCrs[ii]._databaseLinks.size(); i++) {
|
|---|
| 1001 | QString dblink = QString(": Database Link: %1 ").arg(decoder()->_rtcmCrs[ii]._databaseLinks[i]);
|
|---|
| 1002 | emit(newMessage(_staID + dblink.toLatin1(), true));
|
|---|
| 1003 | }
|
|---|
| 1004 | }
|
|---|
| 1005 |
|
|---|
| 1006 | // Helmert Parameters
|
|---|
| 1007 | //-------------------
|
|---|
| 1008 | for (int ii = 0; ii < decoder()->_helmertPar.size(); ii++) {
|
|---|
| 1009 | t_helmertPar& helmertPar = decoder()->_helmertPar[ii];
|
|---|
| 1010 | bncTime t; t.setmjd(0, helmertPar._mjd); QString dateStr = QString::fromStdString(t.datestr());
|
|---|
| 1011 | QString sourcename = QString(": MT1301 Source Name: %1 ").arg(helmertPar._sourceName);
|
|---|
| 1012 | QString targetname = QString(": MT1301 Target Name: %1 ").arg(helmertPar._targetName);
|
|---|
| 1013 | QString sysidentnum = QString(": MT1301 Sys Ident Num: %1 ").arg(helmertPar._sysIdentNum);
|
|---|
| 1014 | QString trafomessageind = QString(": MT1301 Trafo Ident Num: %1 ").arg(helmertPar.IndtoString());
|
|---|
| 1015 | QString epoch = QString(": MT1301 t0: MJD %1 (%2) ").arg(helmertPar._mjd).arg(dateStr);
|
|---|
| 1016 | QString partrans = QString(": MT1301 Helmert Par Trans: dx = %1, dy = %2, dz = %3, dxr = %4, dyr = %5, dzr = %6")
|
|---|
| 1017 | .arg(helmertPar._dx).arg(helmertPar._dy).arg(helmertPar._dz)
|
|---|
| 1018 | .arg(helmertPar._dxr).arg(helmertPar._dyr).arg(helmertPar._dzr);
|
|---|
| 1019 | QString parrot = QString(": MT1301 Helmert Par Rot: ox = %1, oy = %2, oz = %3, oxr = %4, oyr = %5, ozr = %6")
|
|---|
| 1020 | .arg(helmertPar._ox).arg(helmertPar._oy).arg(helmertPar._oz)
|
|---|
| 1021 | .arg(helmertPar._oxr).arg(helmertPar._oyr).arg(helmertPar._ozr);
|
|---|
| 1022 | QString parscale = QString(": MT1301 Helmert Par Scale: sc = %1, scr = %2").arg(helmertPar._sc).arg(helmertPar._scr);
|
|---|
| 1023 | emit(newMessage(_staID + sourcename.toLatin1(), true));
|
|---|
| 1024 | emit(newMessage(_staID + targetname.toLatin1(), true));
|
|---|
| 1025 | emit(newMessage(_staID + sysidentnum.toLatin1(), true));
|
|---|
| 1026 | emit(newMessage(_staID + trafomessageind.toLatin1(), true));
|
|---|
| 1027 | emit(newMessage(_staID + epoch.toLatin1(), true));
|
|---|
| 1028 | emit(newMessage(_staID + partrans.toLatin1(), true));
|
|---|
| 1029 | emit(newMessage(_staID + parrot.toLatin1(), true));
|
|---|
| 1030 | emit(newMessage(_staID + parscale.toLatin1(), true));
|
|---|
| 1031 | }
|
|---|
| 1032 | }
|
|---|
| 1033 | }
|
|---|
| 1034 | }
|
|---|
| 1035 |
|
|---|
| 1036 | #ifdef MLS_SOFTWARE
|
|---|
| 1037 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
|
|---|
| 1038 | QByteArray antT;
|
|---|
| 1039 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
|---|
| 1040 | antT = "ARP";
|
|---|
| 1041 | }
|
|---|
| 1042 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
|---|
| 1043 | antT = "APC";
|
|---|
| 1044 | }
|
|---|
| 1045 | double hh = 0.0;
|
|---|
| 1046 | if (decoder()->_antList[ii].height_f) {
|
|---|
| 1047 | hh = decoder()->_antList[ii].height;
|
|---|
| 1048 | }
|
|---|
| 1049 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
|---|
| 1050 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
|---|
| 1051 | hh, antT));
|
|---|
| 1052 | }
|
|---|
| 1053 |
|
|---|
| 1054 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
|
|---|
| 1055 | emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
|
|---|
| 1056 | }
|
|---|
| 1057 | #endif
|
|---|
| 1058 |
|
|---|
| 1059 | decoder()->_gloFrq.clear();
|
|---|
| 1060 | // decoder()->_gloBiases.clear();
|
|---|
| 1061 | decoder()->_typeList.clear();
|
|---|
| 1062 | decoder()->_antType.clear();
|
|---|
| 1063 | decoder()->_recType.clear();
|
|---|
| 1064 | decoder()->_antList.clear();
|
|---|
| 1065 | }
|
|---|
| 1066 |
|
|---|
| 1067 | // Handle Data from Serial Port
|
|---|
| 1068 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1069 | void bncGetThread::slotSerialReadyRead() {
|
|---|
| 1070 |
|
|---|
| 1071 | if (_serialPort) {
|
|---|
| 1072 |
|
|---|
| 1073 | if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
|
|---|
| 1074 | if (_NMEASampl) {
|
|---|
| 1075 | int dt = _lastNMEA.secsTo(QDateTime::currentDateTime());
|
|---|
| 1076 | if (dt && (fmod(double(dt), double(_NMEASampl)) == 0.0)) {
|
|---|
| 1077 | _query->sendNMEA(_manualNMEAString);
|
|---|
| 1078 | _lastNMEA = QDateTime::currentDateTime();
|
|---|
| 1079 | }
|
|---|
| 1080 | }
|
|---|
| 1081 | }
|
|---|
| 1082 |
|
|---|
| 1083 | int nb = _serialPort->bytesAvailable();
|
|---|
| 1084 | if (nb > 0) {
|
|---|
| 1085 | QByteArray data = _serialPort->read(nb);
|
|---|
| 1086 |
|
|---|
| 1087 | if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
|
|---|
| 1088 | int i1 = data.indexOf("$GPGGA");
|
|---|
| 1089 | if (i1 == -1) {
|
|---|
| 1090 | i1 = data.indexOf("$GNGGA");
|
|---|
| 1091 | }
|
|---|
| 1092 | if (i1 != -1) {
|
|---|
| 1093 | int i2 = data.indexOf("*", i1);
|
|---|
| 1094 | if (i2 != -1 && data.size() > i2 + 1) {
|
|---|
| 1095 | QByteArray gga = data.mid(i1, i2 - i1 + 3);
|
|---|
| 1096 | if (_NMEASampl) {
|
|---|
| 1097 | int dt = _lastNMEA.secsTo(QDateTime::currentDateTime());
|
|---|
| 1098 | if (dt && (fmod(double(dt), double(_NMEASampl)) == 0.0)) {
|
|---|
| 1099 | _query->sendNMEA(gga);
|
|---|
| 1100 | _lastNMEA = QDateTime::currentDateTime();
|
|---|
| 1101 | }
|
|---|
| 1102 | }
|
|---|
| 1103 | }
|
|---|
| 1104 | }
|
|---|
| 1105 | }
|
|---|
| 1106 |
|
|---|
| 1107 | if (_serialOutFile) {
|
|---|
| 1108 | _serialOutFile->write(data);
|
|---|
| 1109 | _serialOutFile->flush();
|
|---|
| 1110 | }
|
|---|
| 1111 | }
|
|---|
| 1112 | }
|
|---|
| 1113 | }
|
|---|
| 1114 |
|
|---|
| 1115 | void bncGetThread::slotNewNMEAConnection() {
|
|---|
| 1116 | _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
|
|---|
| 1117 | emit(newMessage(
|
|---|
| 1118 | QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
|
|---|
| 1119 | true));
|
|---|
| 1120 | }
|
|---|
| 1121 |
|
|---|
| 1122 | //
|
|---|
| 1123 | ////////////////////////////////////////////////////////////////////////////
|
|---|
| 1124 | void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
|
|---|
| 1125 | if (_nmeaPortsMap.contains(staID)) {
|
|---|
| 1126 | int nmeaPort = _nmeaPortsMap.value(staID);
|
|---|
| 1127 | QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
|
|---|
| 1128 | while (is.hasNext()) {
|
|---|
| 1129 | QTcpSocket* sock = is.next();
|
|---|
| 1130 | if (sock->localPort() == nmeaPort) {
|
|---|
| 1131 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
|---|
| 1132 | sock->write(str);
|
|---|
| 1133 | } else if (sock->state() != QAbstractSocket::ConnectingState) {
|
|---|
| 1134 | delete sock;
|
|---|
| 1135 | is.remove();
|
|---|
| 1136 | }
|
|---|
| 1137 | }
|
|---|
| 1138 | }
|
|---|
| 1139 | }
|
|---|
| 1140 | }
|
|---|
