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