source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 7859

Last change on this file since 7859 was 7859, checked in by stuerze, 6 years ago

minor changes to allow a complete end of program only in debug + command line mode

File size: 27.5 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QMutex>
48#include <QtNetwork>
49#include <QTime>
50
51#include "bncgetthread.h"
52#include "bnctabledlg.h"
53#include "bnccore.h"
54#include "bncutils.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "upload/bncrtnetdecoder.h"
66#include "RTCM/RTCM2Decoder.h"
67#include "RTCM3/RTCM3Decoder.h"
68#include "serial/qextserialport.h"
69
70using namespace std;
71
72// Constructor 1
73////////////////////////////////////////////////////////////////////////////
74bncGetThread::bncGetThread(bncRawFile* rawFile) {
75
76 _rawFile = rawFile;
77 _format = rawFile->format();
78 _staID = rawFile->staID();
79 _rawOutput = false;
80 _ntripVersion = "N";
81
82 initialize();
83}
84
85// Constructor 2
86////////////////////////////////////////////////////////////////////////////
87bncGetThread::bncGetThread(const QUrl& mountPoint,
88 const QByteArray& format,
89 const QByteArray& latitude,
90 const QByteArray& longitude,
91 const QByteArray& nmea,
92 const QByteArray& ntripVersion) {
93 _rawFile = 0;
94 _mountPoint = mountPoint;
95 _staID = mountPoint.path().mid(1).toAscii();
96 _format = format;
97 _latitude = latitude;
98 _longitude = longitude;
99 _nmea = nmea;
100 _ntripVersion = ntripVersion;
101
102 bncSettings settings;
103 if (!settings.value("rawOutFile").toString().isEmpty()) {
104 _rawOutput = true;
105 } else {
106 _rawOutput = false;
107 }
108
109 initialize();
110 initDecoder();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 bncSettings settings;
118
119 setTerminationEnabled(true);
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _query = 0;
126 _nextSleep = 0;
127 _miscMount = settings.value("miscMount").toString();
128 _decoder = 0;
129
130 // NMEA Port
131 // -----------
132 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
133 int nmeaPort = 0;
134 while (iSta.hasNext()) {
135 QStringList hlp = iSta.next().split(",");
136 if (hlp.size() < 10) {continue;}
137 QByteArray mp = hlp[0].toAscii();
138 if (_staID == mp) {
139 nmeaPort = hlp[9].toInt();
140 }
141 }
142 if (nmeaPort != 0) {
143 _nmeaServer = new QTcpServer;
144 if ( !_nmeaServer->listen(QHostAddress::Any, nmeaPort) ) {
145 emit newMessage("bncCaster: Cannot listen on port", true);
146 }
147 else {
148 connect(_nmeaServer, SIGNAL(newConnection()), this, SLOT(slotNewNMEAConnection()));
149 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
150 this, SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
151 _nmeaSockets = new QList<QTcpSocket*>;
152 _nmeaPortsMap[_staID] = nmeaPort;
153 }
154 } else {
155 _nmeaServer = 0;
156 _nmeaSockets = 0;
157 }
158
159 // Serial Port
160 // -----------
161 _serialNMEA = NO_NMEA;
162 _serialOutFile = 0;
163 _serialPort = 0;
164
165 if (!_staID.isEmpty() &&
166 settings.value("serialMountPoint").toString() == _staID) {
167 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
168 _serialPort->setTimeout(0,100);
169
170 // Baud Rate
171 // ---------
172 QString hlp = settings.value("serialBaudRate").toString();
173 if (hlp == "110") {
174 _serialPort->setBaudRate(BAUD110);
175 }
176 else if (hlp == "300") {
177 _serialPort->setBaudRate(BAUD300);
178 }
179 else if (hlp == "600") {
180 _serialPort->setBaudRate(BAUD600);
181 }
182 else if (hlp == "1200") {
183 _serialPort->setBaudRate(BAUD1200);
184 }
185 else if (hlp == "2400") {
186 _serialPort->setBaudRate(BAUD2400);
187 }
188 else if (hlp == "4800") {
189 _serialPort->setBaudRate(BAUD4800);
190 }
191 else if (hlp == "9600") {
192 _serialPort->setBaudRate(BAUD9600);
193 }
194 else if (hlp == "19200") {
195 _serialPort->setBaudRate(BAUD19200);
196 }
197 else if (hlp == "38400") {
198 _serialPort->setBaudRate(BAUD38400);
199 }
200 else if (hlp == "57600") {
201 _serialPort->setBaudRate(BAUD57600);
202 }
203 else if (hlp == "115200") {
204 _serialPort->setBaudRate(BAUD115200);
205 }
206
207 // Parity
208 // ------
209 hlp = settings.value("serialParity").toString();
210 if (hlp == "NONE") {
211 _serialPort->setParity(PAR_NONE);
212 }
213 else if (hlp == "ODD") {
214 _serialPort->setParity(PAR_ODD);
215 }
216 else if (hlp == "EVEN") {
217 _serialPort->setParity(PAR_EVEN);
218 }
219 else if (hlp == "SPACE") {
220 _serialPort->setParity(PAR_SPACE);
221 }
222
223 // Data Bits
224 // ---------
225 hlp = settings.value("serialDataBits").toString();
226 if (hlp == "5") {
227 _serialPort->setDataBits(DATA_5);
228 }
229 else if (hlp == "6") {
230 _serialPort->setDataBits(DATA_6);
231 }
232 else if (hlp == "7") {
233 _serialPort->setDataBits(DATA_7);
234 }
235 else if (hlp == "8") {
236 _serialPort->setDataBits(DATA_8);
237 }
238 hlp = settings.value("serialStopBits").toString();
239 if (hlp == "1") {
240 _serialPort->setStopBits(STOP_1);
241 }
242 else if (hlp == "2") {
243 _serialPort->setStopBits(STOP_2);
244 }
245
246 // Flow Control
247 // ------------
248 hlp = settings.value("serialFlowControl").toString();
249 if (hlp == "XONXOFF") {
250 _serialPort->setFlowControl(FLOW_XONXOFF);
251 }
252 else if (hlp == "HARDWARE") {
253 _serialPort->setFlowControl(FLOW_HARDWARE);
254 }
255 else {
256 _serialPort->setFlowControl(FLOW_OFF);
257 }
258
259 // Open Serial Port
260 // ----------------
261 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
262 if (!_serialPort->isOpen()) {
263 delete _serialPort;
264 _serialPort = 0;
265 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
266 }
267 connect(_serialPort, SIGNAL(readyRead()),
268 this, SLOT(slotSerialReadyRead()));
269
270 // Automatic NMEA
271 // --------------
272 QString nmeaMode = settings.value("serialAutoNMEA").toString();
273 if (nmeaMode == "Auto") {
274 _serialNMEA = AUTO_NMEA;
275 QString fName = settings.value("serialFileNMEA").toString();
276 if (!fName.isEmpty()) {
277 _serialOutFile = new QFile(fName);
278 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
279 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
280 }
281 else {
282 _serialOutFile->open(QIODevice::WriteOnly);
283 }
284 }
285 }
286 // Manual NMEA
287 // -----------
288 if ((nmeaMode == "Manual GPGGA") ||(nmeaMode == "Manual GNGGA")) {
289 _serialNMEA = MANUAL_NMEA;
290 bncSettings settings;
291 _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
292 QString hlp = settings.value("serialHeightNMEA").toString();
293 if (hlp.isEmpty()) {
294 hlp = "0.0";
295 }
296 QByteArray _serialHeightNMEA = hlp.toAscii();
297 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA, nmeaMode);
298 }
299 }
300
301 if (!_staID.isEmpty()) {
302 _latencyChecker = new latencyChecker(_staID);
303 }
304 else {
305 _latencyChecker = 0;
306 }
307}
308
309// Instantiate the decoder
310//////////////////////////////////////////////////////////////////////////////
311t_irc bncGetThread::initDecoder() {
312
313 _decoder = 0;
314
315 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
316 _format.indexOf("RTCM 2") != -1 ) {
317 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
318 _decoder = new RTCM2Decoder(_staID.data());
319 }
320 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
321 _format.indexOf("RTCM 3") != -1 ) {
322 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
323 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
324 _decoder = newDecoder;
325 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
326 this, SIGNAL(newMessage(QByteArray,bool)));
327 }
328 else if (_format.indexOf("ZERO") != -1) {
329 emit(newMessage(_staID + ": Get data in original format", true));
330 _decoder = new bncZeroDecoder(_staID);
331 }
332 else if (_format.indexOf("RTNET") != -1) {
333 emit(newMessage(_staID + ": Get data in RTNet format", true));
334 _decoder = new bncRtnetDecoder();
335 }
336 else {
337 emit(newMessage(_staID + ": Unknown data format " + _format, true));
338 _isToBeDeleted = true;
339 return failure;
340 }
341
342 msleep(100); //sleep 0.1 sec
343
344 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude,
345 _nmea, _ntripVersion);
346
347 if (_rawFile) {
348 _decodersRaw[_staID] = _decoder;
349 }
350
351 return success;
352}
353
354// Current decoder in use
355////////////////////////////////////////////////////////////////////////////
356GPSDecoder* bncGetThread::decoder() {
357 if (!_rawFile) {
358 return _decoder;
359 }
360 else {
361 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
362 return _decodersRaw[_staID];
363 }
364 }
365 return 0;
366}
367
368// Destructor
369////////////////////////////////////////////////////////////////////////////
370bncGetThread::~bncGetThread() {
371 if (isRunning()) {
372 wait();
373 }
374 if (_query) {
375 _query->stop();
376 _query->deleteLater();
377 }
378 if (_rawFile) {
379 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
380 while (it.hasNext()) {
381 it.next();
382 delete it.value();
383 }
384 }
385 else {
386 delete _decoder;
387 }
388 delete _rawFile;
389 delete _serialOutFile;
390 delete _serialPort;
391 delete _latencyChecker;
392 emit getThreadFinished(_staID);
393}
394
395//
396////////////////////////////////////////////////////////////////////////////
397void bncGetThread::terminate() {
398 _isToBeDeleted = true;
399
400 if(_nmeaPortsMap.contains(_staID)) {
401 _nmeaPortsMap.remove(_staID);
402 }
403 if (_nmeaServer) {
404 delete _nmeaServer;
405 }
406 if (_nmeaSockets) {
407 delete _nmeaSockets;
408 }
409
410#ifdef BNC_DEBUG
411 if (BNC_CORE->mode() != t_bncCore::interactive) {
412 while (!isFinished()) {wait();}
413 delete this;
414 }
415 else {
416 if (!isRunning()) {delete this;}
417 }
418#else
419 if (!isRunning()) {delete this;}
420#endif
421
422}
423
424// Run
425////////////////////////////////////////////////////////////////////////////
426void bncGetThread::run() {
427
428 while (true) {
429 try {
430 if (_isToBeDeleted) {
431 QThread::exit(0);
432 this->deleteLater();
433 return;
434 }
435
436 if (tryReconnect() != success) {
437 if (_latencyChecker) {
438 _latencyChecker->checkReconnect();
439 }
440 continue;
441 }
442
443 // Delete old observations
444 // -----------------------
445 if (_rawFile) {
446 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
447 while (itDec.hasNext()) {
448 itDec.next();
449 GPSDecoder* decoder = itDec.value();
450 decoder->_obsList.clear();
451 }
452 }
453 else {
454 _decoder->_obsList.clear();
455 }
456
457 // Read Data
458 // ---------
459 QByteArray data;
460 if (_query) {
461 _query->waitForReadyRead(data);
462 }
463 else if (_rawFile) {
464 data = _rawFile->readChunk();
465 _format = _rawFile->format();
466 _staID = _rawFile->staID();
467
468 QCoreApplication::processEvents();
469
470 if (data.isEmpty()) {
471 cout << "no more data" << endl;
472 BNC_CORE->stopCombination();
473 BNC_CORE->stopPPP();
474 ::exit(0);
475 }
476 }
477 qint64 nBytes = data.size();
478
479 // Timeout, reconnect
480 // ------------------
481 if (nBytes == 0) {
482 if (_latencyChecker) {
483 _latencyChecker->checkReconnect();
484 }
485 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
486 msleep(10000); //sleep 10 sec, G. Weber
487 continue;
488 }
489 else {
490 emit newBytes(_staID, nBytes);
491 emit newRawData(_staID, data);
492 }
493
494 // Output Data
495 // -----------
496 if (_rawOutput) {
497 BNC_CORE->writeRawData(data, _staID, _format);
498 }
499
500 if (_serialPort) {
501 slotSerialReadyRead();
502 _serialPort->write(data);
503 }
504
505 // Decode Data
506 // -----------
507 vector<string> errmsg;
508 if (!decoder()) {
509 _isToBeDeleted = true;
510 continue;
511 }
512
513 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
514
515 if (irc != success) {
516 continue;
517 }
518 // Perform various scans and checks
519 // --------------------------------
520 if (_latencyChecker) {
521 _latencyChecker->checkOutage(irc == success);
522 _latencyChecker->checkObsLatency(decoder()->_obsList);
523 _latencyChecker->checkCorrLatency(decoder()->corrGPSEpochTime());
524
525 emit newLatency(_staID, _latencyChecker->currentLatency());
526 }
527
528 miscScanRTCM();
529
530 // Loop over all observations (observations output)
531 // ------------------------------------------------
532 QListIterator<t_satObs> it(decoder()->_obsList);
533
534 QList<t_satObs> obsListHlp;
535
536 while (it.hasNext()) {
537 const t_satObs& obs = it.next();
538
539 QString prn(obs._prn.toString().c_str());
540 long iSec = long(floor(obs._time.gpssec()+0.5));
541 long obsTime = obs._time.gpsw()*7*24*3600 + iSec;
542
543 // Check observation epoch
544 // -----------------------
545 if (!_rawFile) {
546 int week;
547 double sec;
548 currentGPSWeeks(week, sec);
549 long currTime = week * 7*24*3600 + long(sec);
550 const double maxDt = 600.0;
551 if (fabs(currTime - obsTime) > maxDt) {
552 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
553 continue;
554 }
555 }
556
557 // Check observations coming twice (e.g. KOUR0 Problem)
558 // ----------------------------------------------------
559 if (!_rawFile) {
560 QMap<QString, long>::const_iterator it = _prnLastEpo.find(prn);
561 if (it != _prnLastEpo.end()) {
562 long oldTime = it.value();
563 if (obsTime < oldTime) {
564 emit( newMessage(_staID +
565 ": old observation " + prn.toAscii(), false));
566 continue;
567 }
568 else if (obsTime == oldTime) {
569 emit( newMessage(_staID +
570 ": observation coming more than once " + prn.toAscii(), false));
571 continue;
572 }
573 }
574 _prnLastEpo[prn] = obsTime;
575 }
576
577 decoder()->dumpRinexEpoch(obs, _format);
578
579 // Save observations
580 // -----------------
581 obsListHlp.append(obs);
582 }
583
584 // Emit signal
585 // -----------
586 if (!_isToBeDeleted && obsListHlp.size() > 0) {
587 emit newObs(_staID, obsListHlp);
588 }
589
590 }
591 catch (Exception& exc) {
592 emit(newMessage(_staID + " " + exc.what(), true));
593 _isToBeDeleted = true;
594 }
595 catch (...) {
596 emit(newMessage(_staID + " bncGetThread exception", true));
597 _isToBeDeleted = true;
598 }
599 }
600}
601
602// Try Re-Connect
603////////////////////////////////////////////////////////////////////////////
604t_irc bncGetThread::tryReconnect() {
605
606 // Easy Return
607 // -----------
608 if (_query && _query->status() == bncNetQuery::running) {
609 _nextSleep = 0;
610 if (_rawFile) {
611 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
612 while (itDec.hasNext()) {
613 itDec.next();
614 GPSDecoder* decoder = itDec.value();
615 decoder->setRinexReconnectFlag(false);
616 }
617 }
618 else {
619 _decoder->setRinexReconnectFlag(false);
620 }
621 return success;
622 }
623
624 // Start a new query
625 // -----------------
626 if (!_rawFile) {
627
628 sleep(_nextSleep);
629 if (_nextSleep == 0) {
630 _nextSleep = 1;
631 }
632 else {
633 _nextSleep = 2 * _nextSleep;
634 if (_nextSleep > 256) {
635 _nextSleep = 256;
636 }
637#ifdef MLS_SOFTWARE
638 if (_nextSleep > 4) {
639 _nextSleep = 4;
640 }
641#endif
642 }
643
644 delete _query;
645 if (_ntripVersion == "U") {
646 _query = new bncNetQueryUdp();
647 }
648 else if (_ntripVersion == "R") {
649 _query = new bncNetQueryRtp();
650 }
651 else if (_ntripVersion == "S") {
652 _query = new bncNetQueryS();
653 }
654 else if (_ntripVersion == "N") {
655 _query = new bncNetQueryV0();
656 }
657 else if (_ntripVersion == "UN") {
658 _query = new bncNetQueryUdp0();
659 }
660 else if (_ntripVersion == "2") {
661 _query = new bncNetQueryV2(false);
662 }
663 else if (_ntripVersion == "2s") {
664 _query = new bncNetQueryV2(true);
665 }
666 else {
667 _query = new bncNetQueryV1();
668 }
669 if (_nmea == "yes") {
670 if (_serialNMEA == MANUAL_NMEA) {
671 _query->startRequest(_mountPoint, _manualNMEAString);
672 _lastManualNMEA = QDateTime::currentDateTime();
673 }
674 else if (_serialNMEA == AUTO_NMEA) {
675 if (_serialPort) {
676 int nb = _serialPort->bytesAvailable();
677 if (nb > 0) {
678 QByteArray data = _serialPort->read(nb);
679 int i1 = data.indexOf("$GPGGA");
680 if (i1 == -1) {
681 i1 = data.indexOf("$GNGGA");
682 }
683 if (i1 != -1) {
684 int i2 = data.indexOf("*", i1);
685 if (i2 != -1 && data.size() > i2 + 1) {
686 QByteArray gga = data.mid(i1, i2 - i1 + 3);
687 _query->startRequest(_mountPoint, gga);
688 }
689 }
690 }
691 }
692 }
693 }
694 else {
695 _query->startRequest(_mountPoint, "");
696 }
697
698 if (_query->status() != bncNetQuery::running) {
699 return failure;
700 }
701 }
702
703 if (_rawFile) {
704 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
705 while (itDec.hasNext()) {
706 itDec.next();
707 GPSDecoder* decoder = itDec.value();
708 decoder->setRinexReconnectFlag(false);
709 }
710 }
711 else {
712 _decoder->setRinexReconnectFlag(false);
713 }
714
715 return success;
716}
717
718// RTCM scan output
719//////////////////////////////////////////////////////////////////////////////
720void bncGetThread::miscScanRTCM() {
721
722 if ( !decoder() ) {
723 return;
724 }
725
726 bncSettings settings;
727 if ( Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked ) {
728
729 if ( _miscMount == _staID || _miscMount == "ALL" ) {
730 // RTCM message types
731 // ------------------
732 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
733 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
734 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
735 }
736
737 // Check Observation Types
738 // -----------------------
739 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
740 t_satObs& obs = decoder()->_obsList[ii];
741 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
742 bool allFound = true;
743 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
744 if (obs._obs[iFrq]->_codeValid) {
745 QString rnxStr('C');
746 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
747 if (_format.indexOf("RTCM_2") != -1 ||
748 _format.indexOf("RTCM2") != -1 ||
749 _format.indexOf("RTCM 2") != -1 ) {
750 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
751 }
752 if (rnxTypes.indexOf(rnxStr) == -1) {
753 rnxTypes.push_back(rnxStr);
754 allFound = false;
755 }
756 }
757 if (obs._obs[iFrq]->_phaseValid) {
758 QString rnxStr('L');
759 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
760 if (_format.indexOf("RTCM_2") != -1 ||
761 _format.indexOf("RTCM2") != -1 ||
762 _format.indexOf("RTCM 2") != -1 ) {
763 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
764 }
765 if (rnxTypes.indexOf(rnxStr) == -1) {
766 rnxTypes.push_back(rnxStr);
767 allFound = false;
768 }
769 }
770 if (obs._obs[iFrq]->_dopplerValid){
771 QString rnxStr('D');
772 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
773 if (_format.indexOf("RTCM_2") != -1 ||
774 _format.indexOf("RTCM2") != -1 ||
775 _format.indexOf("RTCM 2") != -1 ) {
776 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
777 }
778 if (rnxTypes.indexOf(rnxStr) == -1) {
779 rnxTypes.push_back(rnxStr);
780 allFound = false;
781 }
782 }
783 if (obs._obs[iFrq]->_snrValid){
784 QString rnxStr('S');
785 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
786 if (_format.indexOf("RTCM_2") != -1 ||
787 _format.indexOf("RTCM2") != -1 ||
788 _format.indexOf("RTCM 2") != -1 ) {
789 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
790 }
791 if (rnxTypes.indexOf(rnxStr) == -1) {
792 rnxTypes.push_back(rnxStr);
793 allFound = false;
794 }
795 }
796 }
797 if (!allFound) {
798 QString msg;
799 QTextStream str(&msg);
800 QString s;
801 str << obs._prn.system() << " " << s.sprintf("%2d", rnxTypes.size()) << " ";
802 for (int iType = 0; iType < rnxTypes.size(); iType++) {
803 str << " " << rnxTypes[iType];
804 }
805 emit(newMessage(_staID + ": Observation Types: " + msg.toAscii(), true));
806 }
807 }
808
809 // RTCMv3 antenna descriptor
810 // -------------------------
811 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
812 QString ant1 = QString("%1 ").arg(decoder()->_antType[ii]);
813 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
814 }
815
816 // RTCM Antenna Coordinates
817 // ------------------------
818 for (int ii=0; ii < decoder()->_antList.size(); ii++) {
819 QByteArray antT;
820 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
821 antT = "ARP";
822 }
823 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
824 antT = "APC";
825 }
826 QByteArray ant1, ant2, ant3;
827 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx,0,'f',4).toAscii();
828 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy,0,'f',4).toAscii();
829 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz,0,'f',4).toAscii();
830 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
831 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
832 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
833 double hh = 0.0;
834 if (decoder()->_antList[ii].height_f) {
835 hh = decoder()->_antList[ii].height;
836 QByteArray ant4 = QString("%1 ").arg(hh,0,'f',4).toAscii();
837 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
838 }
839 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
840 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
841 hh, antT));
842 }
843
844 // RTCM GLONASS slots
845 // ------------------
846 if (decoder()->_gloFrq.size()) {
847 bool allFound = true;
848 QString slot = decoder()->_gloFrq;
849 slot.replace(" "," ").replace(" ",":");
850 if (_gloSlots.indexOf(slot) == -1) {
851 _gloSlots.append(slot);
852 allFound = false;
853 }
854 if (!allFound) {
855 _gloSlots.sort();
856 emit(newMessage(_staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toAscii(), true));
857 }
858 }
859 }
860 }
861
862#ifdef MLS_SOFTWARE
863 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
864 QByteArray antT;
865 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
866 antT = "ARP";
867 }
868 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
869 antT = "APC";
870 }
871 double hh = 0.0;
872 if (decoder()->_antList[ii].height_f) {
873 hh = decoder()->_antList[ii].height;
874 }
875 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
876 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
877 hh, antT));
878 }
879
880 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
881 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
882 }
883#endif
884
885 decoder()->_gloFrq.clear();
886 decoder()->_typeList.clear();
887 decoder()->_antType.clear();
888 decoder()->_antList.clear();
889}
890
891// Handle Data from Serial Port
892////////////////////////////////////////////////////////////////////////////
893void bncGetThread::slotSerialReadyRead() {
894
895 if (_serialPort) {
896
897 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
898 if (_manualNMEASampl) {
899 int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
900 if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
901 _query->sendNMEA(_manualNMEAString);
902 _lastManualNMEA = QDateTime::currentDateTime();
903 }
904 }
905 }
906
907 int nb = _serialPort->bytesAvailable();
908 if (nb > 0) {
909 QByteArray data = _serialPort->read(nb);
910
911 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
912 int i1 = data.indexOf("$GPGGA");
913 if (i1 == -1) {
914 i1 = data.indexOf("$GNGGA");
915 }
916 if (i1 != -1) {
917 int i2 = data.indexOf("*", i1);
918 if (i2 != -1 && data.size() > i2 + 1) {
919 QByteArray gga = data.mid(i1, i2 - i1 + 3);
920 _query->sendNMEA(gga);
921 }
922 }
923 }
924
925 if (_serialOutFile) {
926 _serialOutFile->write(data);
927 _serialOutFile->flush();
928 }
929 }
930 }
931}
932
933void bncGetThread::slotNewNMEAConnection() {
934 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
935 emit( newMessage(QString("New PPP client on port: # %1")
936 .arg(_nmeaSockets->size()).toAscii(), true) );
937}
938
939//
940////////////////////////////////////////////////////////////////////////////
941void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
942 if (_nmeaPortsMap.contains(staID)) {
943 int nmeaPort = _nmeaPortsMap.value(staID);
944 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
945 while (is.hasNext()) {
946 QTcpSocket* sock = is.next();
947 if (sock->localPort() == nmeaPort) {
948 if (sock->state() == QAbstractSocket::ConnectedState) {
949 sock->write(str);
950 }
951 else if (sock->state() != QAbstractSocket::ConnectingState) {
952 delete sock;
953 is.remove();
954 }
955 }
956 }
957 }
958}
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