source: ntrip/trunk/BNC/src/bncgetthread.cpp@ 9544

Last change on this file since 9544 was 9544, checked in by stuerze, 8 months ago

minor changes

File size: 31.6 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 <QComboBox>
46#include <QDialog>
47#include <QFile>
48#include <QTextStream>
49#include <QMutex>
50#include <QPushButton>
51#include <QTableWidget>
52#include <QTime>
53
54#include "bncgetthread.h"
55#include "bnctabledlg.h"
56#include "bnccore.h"
57#include "bncutils.h"
58#include "bnctime.h"
59#include "bnczerodecoder.h"
60#include "bncnetqueryv0.h"
61#include "bncnetqueryv1.h"
62#include "bncnetqueryv2.h"
63#include "bncnetqueryrtp.h"
64#include "bncnetqueryudp.h"
65#include "bncnetqueryudp0.h"
66#include "bncnetquerys.h"
67#include "bncsettings.h"
68#include "latencychecker.h"
69#include "upload/bncrtnetdecoder.h"
70#include "RTCM/RTCM2Decoder.h"
71#include "RTCM3/RTCM3Decoder.h"
72#include "serial/qextserialport.h"
73
74using namespace std;
75
76// Constructor 1
77////////////////////////////////////////////////////////////////////////////
78bncGetThread::bncGetThread(bncRawFile* rawFile) {
79
80 _rawFile = rawFile;
81 _format = rawFile->format();
82 _staID = rawFile->staID();
83 _rawOutput = false;
84 _ntripVersion = "N";
85
86 initialize();
87}
88
89// Constructor 2
90////////////////////////////////////////////////////////////////////////////
91bncGetThread::bncGetThread(const QUrl& mountPoint, const QByteArray& format,
92 const QByteArray& latitude, const QByteArray& longitude,
93 const QByteArray& nmea, const QByteArray& ntripVersion) {
94 _rawFile = 0;
95 _mountPoint = mountPoint;
96 _staID = mountPoint.path().mid(1).toLatin1();
97 _format = format;
98 _latitude = latitude;
99 _longitude = longitude;
100 _nmea = nmea;
101 _ntripVersion = ntripVersion;
102
103 bncSettings settings;
104 if (!settings.value("rawOutFile").toString().isEmpty()) {
105 _rawOutput = true;
106 }
107 else {
108 _rawOutput = false;
109 }
110 if (!settings.value("miscMount").toString().isEmpty()) {
111 _latencycheck = true;
112 }
113 else {
114 _latencycheck = false;
115 }
116 initialize();
117 initDecoder();
118}
119
120// Initialization (common part of the constructor)
121////////////////////////////////////////////////////////////////////////////
122void bncGetThread::initialize() {
123
124 bncSettings settings;
125
126 setTerminationEnabled(true);
127
128 connect(this, SIGNAL(newMessage(QByteArray,bool)),
129 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
130
131 _isToBeDeleted = false;
132 _query = 0;
133 _nextSleep = 0;
134 _miscMount = settings.value("miscMount").toString();
135 _decoder = 0;
136
137 // NMEA Port
138 // -----------
139 QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
140 int nmeaPort = 0;
141 while (iSta.hasNext()) {
142 QStringList hlp = iSta.next().split(",");
143 if (hlp.size() < 10) {
144 continue;
145 }
146 QByteArray mp = hlp[0].toLatin1();
147 if (_staID == mp) {
148 nmeaPort = hlp[9].toInt();
149 }
150 }
151 if (nmeaPort != 0) {
152 _nmeaServer = new QTcpServer;
153 _nmeaServer->setProxy(QNetworkProxy::NoProxy);
154 if (!_nmeaServer->listen(QHostAddress::Any, nmeaPort)) {
155 QString message = "bncCaster: Cannot listen on port "
156 + QByteArray::number(nmeaPort) + ": "
157 + _nmeaServer->errorString();
158 emit newMessage(message.toLatin1(), true);
159 } else {
160 connect(_nmeaServer, SIGNAL(newConnection()), this,
161 SLOT(slotNewNMEAConnection()));
162 connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this,
163 SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
164 _nmeaSockets = new QList<QTcpSocket*>;
165 _nmeaPortsMap[_staID] = nmeaPort;
166 }
167 } else {
168 _nmeaServer = 0;
169 _nmeaSockets = 0;
170 }
171
172 // Serial Port
173 // -----------
174 _serialNMEA = NO_NMEA;
175 _serialOutFile = 0;
176 _serialPort = 0;
177
178 if (!_staID.isEmpty()
179 && settings.value("serialMountPoint").toString() == _staID) {
180 _serialPort = new QextSerialPort(
181 settings.value("serialPortName").toString());
182 _serialPort->setTimeout(0, 100);
183
184 // Baud Rate
185 // ---------
186 QString hlp = settings.value("serialBaudRate").toString();
187 if (hlp == "110") {
188 _serialPort->setBaudRate(BAUD110);
189 } else if (hlp == "300") {
190 _serialPort->setBaudRate(BAUD300);
191 } else if (hlp == "600") {
192 _serialPort->setBaudRate(BAUD600);
193 } else if (hlp == "1200") {
194 _serialPort->setBaudRate(BAUD1200);
195 } else if (hlp == "2400") {
196 _serialPort->setBaudRate(BAUD2400);
197 } else if (hlp == "4800") {
198 _serialPort->setBaudRate(BAUD4800);
199 } else if (hlp == "9600") {
200 _serialPort->setBaudRate(BAUD9600);
201 } else if (hlp == "19200") {
202 _serialPort->setBaudRate(BAUD19200);
203 } else if (hlp == "38400") {
204 _serialPort->setBaudRate(BAUD38400);
205 } else if (hlp == "57600") {
206 _serialPort->setBaudRate(BAUD57600);
207 } else if (hlp == "115200") {
208 _serialPort->setBaudRate(BAUD115200);
209 }
210
211 // Parity
212 // ------
213 hlp = settings.value("serialParity").toString();
214 if (hlp == "NONE") {
215 _serialPort->setParity(PAR_NONE);
216 } else if (hlp == "ODD") {
217 _serialPort->setParity(PAR_ODD);
218 } else if (hlp == "EVEN") {
219 _serialPort->setParity(PAR_EVEN);
220 } else if (hlp == "SPACE") {
221 _serialPort->setParity(PAR_SPACE);
222 }
223
224 // Data Bits
225 // ---------
226 hlp = settings.value("serialDataBits").toString();
227 if (hlp == "5") {
228 _serialPort->setDataBits(DATA_5);
229 } else if (hlp == "6") {
230 _serialPort->setDataBits(DATA_6);
231 } else if (hlp == "7") {
232 _serialPort->setDataBits(DATA_7);
233 } else if (hlp == "8") {
234 _serialPort->setDataBits(DATA_8);
235 }
236 hlp = settings.value("serialStopBits").toString();
237 if (hlp == "1") {
238 _serialPort->setStopBits(STOP_1);
239 } else if (hlp == "2") {
240 _serialPort->setStopBits(STOP_2);
241 }
242
243 // Flow Control
244 // ------------
245 hlp = settings.value("serialFlowControl").toString();
246 if (hlp == "XONXOFF") {
247 _serialPort->setFlowControl(FLOW_XONXOFF);
248 } else if (hlp == "HARDWARE") {
249 _serialPort->setFlowControl(FLOW_HARDWARE);
250 } else {
251 _serialPort->setFlowControl(FLOW_OFF);
252 }
253
254 // Open Serial Port
255 // ----------------
256 _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
257 if (!_serialPort->isOpen()) {
258 delete _serialPort;
259 _serialPort = 0;
260 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
261 }
262 connect(_serialPort, SIGNAL(readyRead()), this,
263 SLOT(slotSerialReadyRead()));
264
265 // Automatic NMEA
266 // --------------
267 QString nmeaMode = settings.value("serialAutoNMEA").toString();
268 if (nmeaMode == "Auto") {
269 _serialNMEA = AUTO_NMEA;
270 QString fName = settings.value("serialFileNMEA").toString();
271 if (!fName.isEmpty()) {
272 _serialOutFile = new QFile(fName);
273 if (Qt::CheckState(settings.value("rnxAppend").toInt())
274 == Qt::Checked) {
275 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
276 } else {
277 _serialOutFile->open(QIODevice::WriteOnly);
278 }
279 }
280 }
281 // Manual NMEA
282 // -----------
283 if ((nmeaMode == "Manual GPGGA") || (nmeaMode == "Manual GNGGA")) {
284 _serialNMEA = MANUAL_NMEA;
285 bncSettings settings;
286 _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
287 QString hlp = settings.value("serialHeightNMEA").toString();
288 if (hlp.isEmpty()) {
289 hlp = "0.0";
290 }
291 QByteArray _serialHeightNMEA = hlp.toLatin1();
292 _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA,
293 nmeaMode);
294 }
295 }
296
297 if (!_staID.isEmpty() && _latencycheck) {
298 _latencyChecker = new latencyChecker(_staID);
299 _rtcmObs = false;
300 _rtcmSsrOrb = false;
301 _rtcmSsrClk = false;
302 _rtcmSsrOrbClk = false;
303 _rtcmSsrCbi = false;
304 _rtcmSsrPbi = false;
305 _rtcmSsrVtec = false;
306 _rtcmSsrUra = false;
307 _rtcmSsrHr = false;
308 _rtcmSsrIgs = false;
309 _ssrEpoch = 0;
310 } else {
311 _latencyChecker = 0;
312 }
313}
314
315// Instantiate the decoder
316//////////////////////////////////////////////////////////////////////////////
317t_irc bncGetThread::initDecoder() {
318
319
320
321 _decoder = 0;
322
323 if (_format.indexOf("RTCM_2") != -1 ||
324 _format.indexOf("RTCM2") != -1 ||
325 _format.indexOf("RTCM 2") != -1) {
326 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
327 _decoder = new RTCM2Decoder(_staID.data());
328 } else if (_format.indexOf("RTCM_3") != -1 ||
329 _format.indexOf("RTCM3") != -1 ||
330 _format.indexOf("RTCM 3") != -1) {
331 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
332 RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
333 _decoder = newDecoder;
334 connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
335 this, SIGNAL(newMessage(QByteArray,bool)));
336 } else if (_format.indexOf("ZERO") != -1) {
337 emit(newMessage(_staID + ": Get data in original format", true));
338 _decoder = new bncZeroDecoder(_staID);
339 } else if (_format.indexOf("RTNET") != -1) {
340 emit(newMessage(_staID + ": Get data in RTNet format", true));
341 _decoder = new bncRtnetDecoder();
342 } else {
343 emit(newMessage(_staID + ": Unknown data format " + _format, true));
344 _isToBeDeleted = true;
345 return failure;
346 }
347
348 msleep(100); //sleep 0.1 sec
349
350 _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
351 _ntripVersion);
352
353 if (_rawFile) {
354 _decodersRaw[_staID] = _decoder;
355 }
356
357 return success;
358}
359
360// Current decoder in use
361////////////////////////////////////////////////////////////////////////////
362GPSDecoder* bncGetThread::decoder() {
363 if (!_rawFile) {
364 return _decoder;
365 } else {
366 if (_decodersRaw.contains(_staID) || initDecoder() == success) {
367 return _decodersRaw[_staID];
368 }
369 }
370 return 0;
371}
372
373// Destructor
374////////////////////////////////////////////////////////////////////////////
375bncGetThread::~bncGetThread() {
376 if (isRunning()) {
377 wait();
378 }
379 if (_query) {
380 _query->stop();
381 _query->deleteLater();
382 }
383 if (_rawFile) {
384 QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
385 while (it.hasNext()) {
386 it.next();
387 delete it.value();
388 }
389 } else {
390 delete _decoder;
391 }
392 delete _rawFile;
393 delete _serialOutFile;
394 delete _serialPort;
395 delete _latencyChecker;
396 emit getThreadFinished(_staID);
397}
398
399//
400////////////////////////////////////////////////////////////////////////////
401void bncGetThread::terminate() {
402 _isToBeDeleted = true;
403
404 if (_nmeaPortsMap.contains(_staID)) {
405 _nmeaPortsMap.remove(_staID);
406 }
407 if (_nmeaServer) {
408 delete _nmeaServer;
409 }
410 if (_nmeaSockets) {
411 delete _nmeaSockets;
412 }
413
414//#ifdef BNC_DEBUG
415 if (BNC_CORE->mode() != t_bncCore::interactive) {
416 while (!isFinished()) {
417 wait();
418 }
419 delete this;
420 } else {
421 if (!isRunning()) {
422 delete this;
423 }
424 }
425//#else
426// if (!isRunning()) {delete this;}
427//#endif
428
429}
430
431// Run
432////////////////////////////////////////////////////////////////////////////
433void bncGetThread::run() {
434
435 while (true) {
436 try {
437 if (_isToBeDeleted) {
438 QThread::exit(0);
439 this->deleteLater();
440 return;
441 }
442
443 if (tryReconnect() != success) {
444 if (_latencyChecker) {
445 _latencyChecker->checkReconnect();
446 }
447 continue;
448 }
449
450 // Delete old observations
451 // -----------------------
452 if (_rawFile) {
453 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
454 while (itDec.hasNext()) {
455 itDec.next();
456 GPSDecoder* decoder = itDec.value();
457 decoder->_obsList.clear();
458 }
459 } else {
460 _decoder->_obsList.clear();
461 }
462
463 // Read Data
464 // ---------
465 QByteArray data;
466 if (_query) {
467 _query->waitForReadyRead(data);
468 } else if (_rawFile) {
469 data = _rawFile->readChunk();
470 _format = _rawFile->format();
471 _staID = _rawFile->staID();
472
473 QCoreApplication::processEvents();
474
475 if (data.isEmpty() || BNC_CORE->sigintReceived) {
476 cout << "no more data or Ctrl-C received" << endl;
477 BNC_CORE->stopCombination();
478 BNC_CORE->stopPPP();
479 sleep(2);
480 ::exit(0);
481 }
482 }
483
484 qint64 nBytes = data.size();
485
486 // Timeout, reconnect
487 // ------------------
488 if (nBytes == 0) {
489 if (_latencyChecker) {
490 _latencyChecker->checkReconnect();
491 }
492 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
493 msleep(10000); //sleep 10 sec, G. Weber
494 continue;
495 } else {
496 emit newBytes(_staID, nBytes);
497 emit newRawData(_staID, data);
498 }
499
500 // Output Data
501 // -----------
502 if (_rawOutput) {
503 BNC_CORE->writeRawData(data, _staID, _format);
504 }
505
506 if (_serialPort) {
507 slotSerialReadyRead();
508 _serialPort->write(data);
509 }
510
511 // Decode Data
512 // -----------
513 vector<string> errmsg;
514 if (!decoder()) {
515 _isToBeDeleted = true;
516 continue;
517 }
518
519 t_irc irc = decoder()->Decode(data.data(), data.size(), errmsg);
520
521 if (irc != success) {
522 continue;
523 }
524 // Perform various scans and checks
525 // --------------------------------
526 if (_latencyChecker) {
527 _latencyChecker->checkOutage(irc);
528 QListIterator<int> it(decoder()->_typeList);
529 _ssrEpoch = static_cast<int>(decoder()->corrGPSEpochTime());
530 if (_ssrEpoch != -1) {
531 if (_rtcmSsrOrb) {
532 _latencyChecker->checkCorrLatency(_ssrEpoch, 1057);
533 _rtcmSsrOrb = false;
534 }
535 if (_rtcmSsrClk) {
536 _latencyChecker->checkCorrLatency(_ssrEpoch, 1058);
537 _rtcmSsrClk = false;
538 }
539 if (_rtcmSsrOrbClk) {
540 _latencyChecker->checkCorrLatency(_ssrEpoch, 1060);
541 _rtcmSsrOrbClk = false;
542 }
543 if (_rtcmSsrCbi) {
544 _latencyChecker->checkCorrLatency(_ssrEpoch, 1059);
545 _rtcmSsrCbi = false;
546 }
547 if (_rtcmSsrPbi) {
548 _latencyChecker->checkCorrLatency(_ssrEpoch, 1265);
549 _rtcmSsrPbi = false;
550 }
551 if (_rtcmSsrVtec) {
552 _latencyChecker->checkCorrLatency(_ssrEpoch, 1264);
553 _rtcmSsrVtec = false;
554 }
555 if (_rtcmSsrUra) {
556 _latencyChecker->checkCorrLatency(_ssrEpoch, 1061);
557 _rtcmSsrUra = false;
558 }
559 if (_rtcmSsrHr) {
560 _latencyChecker->checkCorrLatency(_ssrEpoch, 1062);
561 _rtcmSsrHr = false;
562 }
563 if (_rtcmSsrIgs) {
564 _latencyChecker->checkCorrLatency(_ssrEpoch, 4076);
565 _rtcmSsrIgs = false;
566 }
567 }
568 while (it.hasNext()) {
569 int rtcmType = it.next();
570 if ((rtcmType >= 1001 && rtcmType <= 1004) || // legacy RTCM OBS
571 (rtcmType >= 1009 && rtcmType <= 1012) || // legacy RTCM OBS
572 (rtcmType >= 1070 && rtcmType <= 1137)) { // MSM RTCM OBS
573 _rtcmObs = true;
574 } else if ((rtcmType >= 1057 && rtcmType <= 1068) ||
575 (rtcmType >= 1240 && rtcmType <= 1270) ||
576 (rtcmType == 4076)) {
577 switch (rtcmType) {
578 case 1057: case 1063: case 1240: case 1246: case 1252: case 1258:
579 _rtcmSsrOrb = true;
580 break;
581 case 1058: case 1064: case 1241: case 1247: case 1253: case 1259:
582 _rtcmSsrClk = true;
583 break;
584 case 1060: case 1066: case 1243: case 1249: case 1255: case 1261:
585 _rtcmSsrOrbClk = true;
586 break;
587 case 1059: case 1065: case 1242: case 1248: case 1254: case 1260:
588 _rtcmSsrCbi = true;
589 break;
590 case 1265: case 1266: case 1267: case 1268: case 1269: case 1270:
591 _rtcmSsrPbi = true;
592 break;
593 case 1264:
594 _rtcmSsrVtec = true;
595 break;
596 case 1061: case 1067: case 1244: case 1250: case 1256: case 1262:
597 _rtcmSsrUra = true;
598 break;
599 case 1062: case 1068: case 1245: case 1251: case 1257: case 1263:
600 _rtcmSsrHr = true;
601 break;
602 case 4076:
603 _rtcmSsrIgs = true;
604 break;
605 }
606 }
607 }
608 if (_rtcmObs) {
609 _latencyChecker->checkObsLatency(decoder()->_obsList);
610 }
611 emit newLatency(_staID, _latencyChecker->currentLatency());
612 }
613 miscScanRTCM();
614
615 // Loop over all observations (observations output)
616 // ------------------------------------------------
617 QListIterator<t_satObs> it(decoder()->_obsList);
618
619 QList<t_satObs> obsListHlp;
620
621 while (it.hasNext()) {
622 const t_satObs& obs = it.next();
623
624 // Check observation epoch
625 // -----------------------
626 if (!_rawFile) {
627 bool wrongObservationEpoch = checkForWrongObsEpoch(obs._time);
628 if (wrongObservationEpoch) {
629 QString prn(obs._prn.toString().c_str());
630 QString type = QString("%1").arg(obs._type);
631 emit(newMessage(_staID + " (" + prn.toLatin1() + ")" + ": Wrong observation epoch(s)" + "( MT: " + type.toLatin1() + ")", false));
632 continue;
633 }
634 }
635
636 // Check observations coming twice (e.g. KOUR0 Problem)
637 // ----------------------------------------------------
638 if (!_rawFile) {
639 QString prn(obs._prn.toString().c_str());
640 bncTime obsTime = obs._time;
641 QMap<QString, bncTime>::const_iterator it = _prnLastEpo.find(prn);
642 if (it != _prnLastEpo.end()) {
643 bncTime oldTime = it.value();
644 if (obsTime < oldTime) {
645 emit(newMessage(_staID + ": old observation " + prn.toLatin1(), false));
646 continue;
647 } else if (obsTime == oldTime) {
648 emit(newMessage(_staID + ": observation coming more than once " + prn.toLatin1(), false));
649 continue;
650 }
651 }
652 _prnLastEpo[prn] = obsTime;
653 }
654
655 decoder()->dumpRinexEpoch(obs, _format);
656
657 // Save observations
658 // -----------------
659 obsListHlp.append(obs);
660 }
661
662 // Emit signal
663 // -----------
664 if (!_isToBeDeleted && obsListHlp.size() > 0) {
665 emit newObs(_staID, obsListHlp);
666 }
667
668 } catch (Exception& exc) {
669 emit(newMessage(_staID + " " + exc.what(), true));
670 _isToBeDeleted = true;
671 } catch (...) {
672 emit(newMessage(_staID + " bncGetThread exception", true));
673 _isToBeDeleted = true;
674 }
675 }
676}
677
678// Try Re-Connect
679////////////////////////////////////////////////////////////////////////////
680t_irc bncGetThread::tryReconnect() {
681
682 // Easy Return
683 // -----------
684 if (_query && _query->status() == bncNetQuery::running) {
685 _nextSleep = 0;
686 if (_rawFile) {
687 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
688 while (itDec.hasNext()) {
689 itDec.next();
690 GPSDecoder* decoder = itDec.value();
691 decoder->setRinexReconnectFlag(false);
692 }
693 } else {
694 _decoder->setRinexReconnectFlag(false);
695 }
696 return success;
697 }
698
699 // Start a new query
700 // -----------------
701 if (!_rawFile) {
702
703 sleep(_nextSleep);
704 if (_nextSleep == 0) {
705 _nextSleep = 1;
706 } else {
707 _nextSleep = 2 * _nextSleep;
708 if (_nextSleep > 256) {
709 _nextSleep = 256;
710 }
711#ifdef MLS_SOFTWARE
712 if (_nextSleep > 4) {
713 _nextSleep = 4;
714 }
715#endif
716 }
717 delete _query;
718 if (_ntripVersion == "U") {
719 _query = new bncNetQueryUdp();
720 } else if (_ntripVersion == "R") {
721 _query = new bncNetQueryRtp();
722 } else if (_ntripVersion == "S") {
723 _query = new bncNetQueryS();
724 } else if (_ntripVersion == "N") {
725 _query = new bncNetQueryV0();
726 } else if (_ntripVersion == "UN") {
727 _query = new bncNetQueryUdp0();
728 } else if (_ntripVersion == "2") {
729 _query = new bncNetQueryV2(false);
730 } else if (_ntripVersion == "2s") {
731 _query = new bncNetQueryV2(true);
732 } else {
733 _query = new bncNetQueryV1();
734 }
735 if (_nmea == "yes") {
736 if (_serialNMEA == MANUAL_NMEA) {
737 _query->startRequest(_mountPoint, _manualNMEAString);
738 _lastManualNMEA = QDateTime::currentDateTime();
739 } else if (_serialNMEA == AUTO_NMEA) {
740 if (_serialPort) {
741 int nb = _serialPort->bytesAvailable();
742 if (nb > 0) {
743 QByteArray data = _serialPort->read(nb);
744 int i1 = data.indexOf("$GPGGA");
745 if (i1 == -1) {
746 i1 = data.indexOf("$GNGGA");
747 }
748 if (i1 != -1) {
749 int i2 = data.indexOf("*", i1);
750 if (i2 != -1 && data.size() > i2 + 1) {
751 QByteArray gga = data.mid(i1, i2 - i1 + 3);
752 _query->startRequest(_mountPoint, gga);
753 }
754 }
755 }
756 }
757 }
758 } else {
759 _query->startRequest(_mountPoint, "");
760 }
761
762 if (_query->status() != bncNetQuery::running) {
763 return failure;
764 }
765 }
766
767 if (_rawFile) {
768 QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
769 while (itDec.hasNext()) {
770 itDec.next();
771 GPSDecoder* decoder = itDec.value();
772 decoder->setRinexReconnectFlag(false);
773 }
774 } else {
775 _decoder->setRinexReconnectFlag(false);
776 }
777
778 return success;
779}
780
781// RTCM scan output
782//////////////////////////////////////////////////////////////////////////////
783void bncGetThread::miscScanRTCM() {
784
785 if (!decoder()) {
786 return;
787 }
788
789 bncSettings settings;
790 if (Qt::CheckState(settings.value("miscScanRTCM").toInt()) == Qt::Checked) {
791
792 if (_miscMount == _staID || _miscMount == "ALL") {
793 // RTCM message types
794 // ------------------
795 for (int ii = 0; ii < decoder()->_typeList.size(); ii++) {
796 QString type = QString("%1 ").arg(decoder()->_typeList[ii]);
797 emit(newMessage(_staID + ": Received message type " + type.toLatin1(),
798 true));
799 }
800
801 // Check Observation Types
802 // -----------------------
803 for (int ii = 0; ii < decoder()->_obsList.size(); ii++) {
804 t_satObs& obs = decoder()->_obsList[ii];
805 QVector<QString>& rnxTypes = _rnxTypes[obs._prn.system()];
806 bool allFound = true;
807 for (unsigned iFrq = 0; iFrq < obs._obs.size(); iFrq++) {
808 if (obs._obs[iFrq]->_codeValid) {
809 QString rnxStr('C');
810 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
811 if (_format.indexOf("RTCM_2") != -1
812 || _format.indexOf("RTCM2") != -1
813 || _format.indexOf("RTCM 2") != -1) {
814 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
815 }
816 if (rnxTypes.indexOf(rnxStr) == -1) {
817 rnxTypes.push_back(rnxStr);
818 allFound = false;
819 }
820 }
821 if (obs._obs[iFrq]->_phaseValid) {
822 QString rnxStr('L');
823 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
824 if (_format.indexOf("RTCM_2") != -1
825 || _format.indexOf("RTCM2") != -1
826 || _format.indexOf("RTCM 2") != -1) {
827 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
828 }
829 if (rnxTypes.indexOf(rnxStr) == -1) {
830 rnxTypes.push_back(rnxStr);
831 allFound = false;
832 }
833 }
834 if (obs._obs[iFrq]->_dopplerValid) {
835 QString rnxStr('D');
836 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
837 if (_format.indexOf("RTCM_2") != -1
838 || _format.indexOf("RTCM2") != -1
839 || _format.indexOf("RTCM 2") != -1) {
840 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
841 }
842 if (rnxTypes.indexOf(rnxStr) == -1) {
843 rnxTypes.push_back(rnxStr);
844 allFound = false;
845 }
846 }
847 if (obs._obs[iFrq]->_snrValid) {
848 QString rnxStr('S');
849 rnxStr.append(obs._obs[iFrq]->_rnxType2ch.c_str());
850 if (_format.indexOf("RTCM_2") != -1
851 || _format.indexOf("RTCM2") != -1
852 || _format.indexOf("RTCM 2") != -1) {
853 rnxStr = t_rnxObsFile::type3to2(obs._prn.system(), rnxStr);
854 }
855 if (rnxTypes.indexOf(rnxStr) == -1) {
856 rnxTypes.push_back(rnxStr);
857 allFound = false;
858 }
859 }
860 }
861 if (!allFound) {
862 QString msg;
863 QTextStream str(&msg);
864 QString s;
865 str << obs._prn.system() << " "
866 << s.sprintf("%2d", rnxTypes.size()) << " ";
867 for (int iType = 0; iType < rnxTypes.size(); iType++) {
868 str << " " << rnxTypes[iType];
869 }
870 emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(),
871 true));
872 }
873 }
874
875 // RTCMv3 antenna descriptor
876 // -------------------------
877 for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
878 QString ant1 = QString(": Antenna Descriptor: %1 ").arg(decoder()->_antType[ii].descriptor);
879 emit(newMessage(_staID + ant1.toLatin1(), true));
880 if (strlen(decoder()->_antType[ii].serialnumber)) {
881 QString ant2 = QString(": Antenna Serial Number: %1 ").arg(decoder()->_antType[ii].serialnumber);
882 emit(newMessage(_staID + ant2.toLatin1(), true));
883 }
884 }
885
886 // RTCM Antenna Coordinates
887 // ------------------------
888 for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
889 QByteArray antT;
890 if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::ARP) {
891 antT = "ARP";
892 } else if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::APC) {
893 antT = "APC";
894 }
895 QByteArray ant1, ant2, ant3;
896 ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx, 0, 'f', 4).toLatin1();
897 ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy, 0, 'f', 4).toLatin1();
898 ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz, 0, 'f', 4).toLatin1();
899 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
900 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
901 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
902 double hh = 0.0;
903 if (decoder()->_antList[ii].height_f) {
904 hh = decoder()->_antList[ii].height;
905 QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
906 emit(newMessage(
907 _staID + ": Antenna height above marker " + ant4 + "m", true));
908 }
909 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
910 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz, hh, antT));
911 }
912
913 // RTCMv3 receiver descriptor
914 // --------------------------
915 for (int ii = 0; ii < decoder()->_recType.size(); ii++) {
916 QString rec1 = QString(": Receiver Descriptor: %1 ").arg(decoder()->_recType[ii].descriptor);
917 QString rec2 = QString(": Receiver Firmware Version: %1 ").arg(decoder()->_recType[ii].firmware);
918 QString rec3 = QString(": Receiver Serial Number: %1 ").arg(decoder()->_recType[ii].serialnumber);
919 emit(newMessage(_staID + rec1.toLatin1(), true));
920 emit(newMessage(_staID + rec2.toLatin1(), true));
921 emit(newMessage(_staID + rec3.toLatin1(), true));
922 }
923
924 // RTCM GLONASS slots
925 // ------------------
926 if (decoder()->_gloFrq.size()) {
927 bool allFound = true;
928 QString slot = decoder()->_gloFrq;
929 slot.replace(" ", " ").replace(" ", ":");
930 if (_gloSlots.indexOf(slot) == -1) {
931 _gloSlots.append(slot);
932 allFound = false;
933 }
934 if (!allFound) {
935 _gloSlots.sort();
936 emit(newMessage(
937 _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
938 true));
939 }
940 }
941 }
942 }
943
944#ifdef MLS_SOFTWARE
945 for (int ii=0; ii <decoder()->_antList.size(); ii++) {
946 QByteArray antT;
947 if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
948 antT = "ARP";
949 }
950 else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
951 antT = "APC";
952 }
953 double hh = 0.0;
954 if (decoder()->_antList[ii].height_f) {
955 hh = decoder()->_antList[ii].height;
956 }
957 emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
958 decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
959 hh, antT));
960 }
961
962 for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
963 emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
964 }
965#endif
966
967 decoder()->_gloFrq.clear();
968 decoder()->_typeList.clear();
969 decoder()->_antType.clear();
970 decoder()->_recType.clear();
971 decoder()->_antList.clear();
972}
973
974// Handle Data from Serial Port
975////////////////////////////////////////////////////////////////////////////
976void bncGetThread::slotSerialReadyRead() {
977
978 if (_serialPort) {
979
980 if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
981 if (_manualNMEASampl) {
982 int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
983 if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
984 _query->sendNMEA(_manualNMEAString);
985 _lastManualNMEA = QDateTime::currentDateTime();
986 }
987 }
988 }
989
990 int nb = _serialPort->bytesAvailable();
991 if (nb > 0) {
992 QByteArray data = _serialPort->read(nb);
993
994 if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
995 int i1 = data.indexOf("$GPGGA");
996 if (i1 == -1) {
997 i1 = data.indexOf("$GNGGA");
998 }
999 if (i1 != -1) {
1000 int i2 = data.indexOf("*", i1);
1001 if (i2 != -1 && data.size() > i2 + 1) {
1002 QByteArray gga = data.mid(i1, i2 - i1 + 3);
1003 _query->sendNMEA(gga);
1004 }
1005 }
1006 }
1007
1008 if (_serialOutFile) {
1009 _serialOutFile->write(data);
1010 _serialOutFile->flush();
1011 }
1012 }
1013 }
1014}
1015
1016void bncGetThread::slotNewNMEAConnection() {
1017 _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
1018 emit(newMessage(
1019 QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
1020 true));
1021}
1022
1023//
1024////////////////////////////////////////////////////////////////////////////
1025void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
1026 if (_nmeaPortsMap.contains(staID)) {
1027 int nmeaPort = _nmeaPortsMap.value(staID);
1028 QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
1029 while (is.hasNext()) {
1030 QTcpSocket* sock = is.next();
1031 if (sock->localPort() == nmeaPort) {
1032 if (sock->state() == QAbstractSocket::ConnectedState) {
1033 sock->write(str);
1034 } else if (sock->state() != QAbstractSocket::ConnectingState) {
1035 delete sock;
1036 is.remove();
1037 }
1038 }
1039 }
1040 }
1041}
Note: See TracBrowser for help on using the repository browser.