source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 6751

Last change on this file since 6751 was 6751, checked in by stuerze, 7 years ago

possibility added to send a manual generated NMEA string with a given sampling rate - so far untested

File size: 24.3 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QMutex>
48#include <QtNetwork>
49#include <QTime>
50
51#include "bncgetthread.h"
52#include "bnctabledlg.h"
53#include "bnccore.h"
54#include "bncutils.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "upload/bncrtnetdecoder.h"
66#include "RTCM/RTCM2Decoder.h"
67#include "RTCM3/RTCM3Decoder.h"
68#include "serial/qextserialport.h"
69
70using namespace std;
71
72// Constructor 1
73////////////////////////////////////////////////////////////////////////////
74bncGetThread::bncGetThread(bncRawFile* rawFile) {
75
76 _rawFile = rawFile;
77 _format = rawFile->format();
78 _staID = rawFile->staID();
79 _rawOutput = false;
80 _ntripVersion = "N";
81
82 initialize();
83}
84
85// Constructor 2
86////////////////////////////////////////////////////////////////////////////
87bncGetThread::bncGetThread(const QUrl& mountPoint,
88 const QByteArray& format,
89 const QByteArray& latitude,
90 const QByteArray& longitude,
91 const QByteArray& nmea,
92 const QByteArray& ntripVersion) {
93 _rawFile = 0;
94 _mountPoint = mountPoint;
95 _staID = mountPoint.path().mid(1).toAscii();
96 _format = format;
97 _latitude = latitude;
98 _longitude = longitude;
99 _nmea = nmea;
100 _ntripVersion = ntripVersion;
101
102 bncSettings settings;
103 if (!settings.value("rawOutFile").toString().isEmpty()) {
104 _rawOutput = true;
105 } else {
106 _rawOutput = false;
107 }
108
109 initialize();
110 initDecoder();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 bncSettings settings;
118
119 setTerminationEnabled(true);
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _query = 0;
126 _nextSleep = 0;
127 _miscMount = settings.value("miscMount").toString();
128 _decoder = 0;
129
130 // 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//////////////////////////////////////////////////////////////////////////////
284t_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////////////////////////////////////////////////////////////////////////////
329GPSDecoder* 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////////////////////////////////////////////////////////////////////////////
343bncGetThread::~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////////////////////////////////////////////////////////////////////////////
370void bncGetThread::terminate() {
371 _isToBeDeleted = true;
372 if (!isRunning()) {
373 delete this;
374 }
375}
376
377// Run
378////////////////////////////////////////////////////////////////////////////
379void 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////////////////////////////////////////////////////////////////////////////
555t_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//////////////////////////////////////////////////////////////////////////////
649void 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////////////////////////////////////////////////////////////////////////////
805void 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}
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