1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: bncGetThread
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30 | *
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31 | * Purpose: Thread that retrieves data from NTRIP caster
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 24-Dec-2005
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <stdlib.h>
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42 | #include <iomanip>
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43 | #include <sstream>
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44 |
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45 | #include <QComboBox>
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46 | #include <QDialog>
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47 | #include <QFile>
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48 | #include <QTextStream>
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49 | #include <QMutex>
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50 | #include <QPushButton>
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51 | #include <QTableWidget>
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52 | #include <QTime>
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53 |
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54 | #include "bncgetthread.h"
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55 | #include "bnctabledlg.h"
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56 | #include "bnccore.h"
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57 | #include "bncutils.h"
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58 | #include "bnctime.h"
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59 | #include "bnczerodecoder.h"
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60 | #include "bncnetqueryv0.h"
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61 | #include "bncnetqueryv1.h"
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62 | #include "bncnetqueryv2.h"
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63 | #include "bncnetqueryrtp.h"
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64 | #include "bncnetqueryudp.h"
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65 | #include "bncnetqueryudp0.h"
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66 | #include "bncnetquerys.h"
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67 | #include "bncsettings.h"
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68 | #include "latencychecker.h"
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69 | #include "upload/bncrtnetdecoder.h"
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70 | #include "RTCM/RTCM2Decoder.h"
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71 | #include "RTCM3/RTCM3Decoder.h"
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72 | #include "serial/qextserialport.h"
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73 |
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74 | using namespace std;
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75 |
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76 | // Constructor 1
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77 | ////////////////////////////////////////////////////////////////////////////
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78 | bncGetThread::bncGetThread(bncRawFile* rawFile) {
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79 |
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80 | _rawFile = rawFile;
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81 | _format = rawFile->format();
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82 | _staID = rawFile->staID();
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83 | _rawOutput = false;
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84 | _ntripVersion = "N";
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85 |
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86 | initialize();
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87 | }
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88 |
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89 | // Constructor 2
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90 | ////////////////////////////////////////////////////////////////////////////
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91 | bncGetThread::bncGetThread(const QUrl& mountPoint, const QByteArray& format,
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92 | const QByteArray& latitude, const QByteArray& longitude,
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93 | const QByteArray& nmea, const QByteArray& ntripVersion) {
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94 | _rawFile = 0;
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95 | _mountPoint = mountPoint;
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96 | _staID = mountPoint.path().mid(1).toLatin1();
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97 | _format = format;
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98 | _latitude = latitude;
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99 | _longitude = longitude;
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100 | _nmea = nmea;
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101 | _ntripVersion = ntripVersion;
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102 |
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103 | bncSettings settings;
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104 | if (!settings.value("rawOutFile").toString().isEmpty()) {
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105 | _rawOutput = true;
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106 | }
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107 | else {
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108 | _rawOutput = false;
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109 | }
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110 | if (!settings.value("miscMount").toString().isEmpty()) {
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111 | _latencycheck = true;
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112 | }
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113 | else {
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114 | _latencycheck = false;
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115 | }
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116 | initialize();
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117 | initDecoder();
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118 | }
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119 |
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120 | // Initialization (common part of the constructor)
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121 | ////////////////////////////////////////////////////////////////////////////
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122 | void bncGetThread::initialize() {
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123 |
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124 | bncSettings settings;
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125 |
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126 | setTerminationEnabled(true);
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127 |
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128 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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129 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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130 |
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131 | _isToBeDeleted = false;
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132 | _query = 0;
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133 | _nextSleep = 0;
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134 | _miscMount = settings.value("miscMount").toString();
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135 | _decoder = 0;
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136 |
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137 | // NMEA Port
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138 | // -----------
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139 | QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
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140 | int nmeaPort = 0;
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141 | while (iSta.hasNext()) {
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142 | QStringList hlp = iSta.next().split(",");
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143 | if (hlp.size() < 10) {
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144 | continue;
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145 | }
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146 | QByteArray mp = hlp[0].toLatin1();
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147 | if (_staID == mp) {
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148 | nmeaPort = hlp[9].toInt();
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149 | }
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150 | }
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151 | if (nmeaPort != 0) {
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152 | _nmeaServer = new QTcpServer;
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153 | _nmeaServer->setProxy(QNetworkProxy::NoProxy);
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154 | if (!_nmeaServer->listen(QHostAddress::Any, nmeaPort)) {
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155 | QString message = "bncCaster: Cannot listen on port "
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156 | + QByteArray::number(nmeaPort) + ": "
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157 | + _nmeaServer->errorString();
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158 | emit newMessage(message.toLatin1(), true);
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159 | } else {
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160 | connect(_nmeaServer, SIGNAL(newConnection()), this,
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161 | SLOT(slotNewNMEAConnection()));
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162 | connect(BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)), this,
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163 | SLOT(slotNewNMEAstr(QByteArray, QByteArray)));
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164 | _nmeaSockets = new QList<QTcpSocket*>;
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165 | _nmeaPortsMap[_staID] = nmeaPort;
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166 | }
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167 | } else {
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168 | _nmeaServer = 0;
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169 | _nmeaSockets = 0;
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170 | }
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171 |
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172 | // Serial Port
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173 | // -----------
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174 | _serialNMEA = NO_NMEA;
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175 | _serialOutFile = 0;
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176 | _serialPort = 0;
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177 |
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178 | if (!_staID.isEmpty()
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179 | && settings.value("serialMountPoint").toString() == _staID) {
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180 | _serialPort = new QextSerialPort(
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181 | settings.value("serialPortName").toString());
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182 | _serialPort->setTimeout(0, 100);
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183 |
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184 | // Baud Rate
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185 | // ---------
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186 | QString hlp = settings.value("serialBaudRate").toString();
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187 | if (hlp == "110") {
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188 | _serialPort->setBaudRate(BAUD110);
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189 | } else if (hlp == "300") {
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190 | _serialPort->setBaudRate(BAUD300);
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191 | } else if (hlp == "600") {
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192 | _serialPort->setBaudRate(BAUD600);
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193 | } else if (hlp == "1200") {
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194 | _serialPort->setBaudRate(BAUD1200);
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195 | } else if (hlp == "2400") {
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196 | _serialPort->setBaudRate(BAUD2400);
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197 | } else if (hlp == "4800") {
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198 | _serialPort->setBaudRate(BAUD4800);
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199 | } else if (hlp == "9600") {
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200 | _serialPort->setBaudRate(BAUD9600);
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201 | } else if (hlp == "19200") {
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202 | _serialPort->setBaudRate(BAUD19200);
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203 | } else if (hlp == "38400") {
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204 | _serialPort->setBaudRate(BAUD38400);
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205 | } else if (hlp == "57600") {
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206 | _serialPort->setBaudRate(BAUD57600);
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207 | } else if (hlp == "115200") {
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208 | _serialPort->setBaudRate(BAUD115200);
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209 | }
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210 |
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211 | // Parity
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212 | // ------
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213 | hlp = settings.value("serialParity").toString();
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214 | if (hlp == "NONE") {
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215 | _serialPort->setParity(PAR_NONE);
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216 | } else if (hlp == "ODD") {
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217 | _serialPort->setParity(PAR_ODD);
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218 | } else if (hlp == "EVEN") {
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219 | _serialPort->setParity(PAR_EVEN);
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220 | } else if (hlp == "SPACE") {
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221 | _serialPort->setParity(PAR_SPACE);
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222 | }
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223 |
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224 | // Data Bits
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225 | // ---------
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226 | hlp = settings.value("serialDataBits").toString();
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227 | if (hlp == "5") {
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228 | _serialPort->setDataBits(DATA_5);
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229 | } else if (hlp == "6") {
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230 | _serialPort->setDataBits(DATA_6);
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231 | } else if (hlp == "7") {
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232 | _serialPort->setDataBits(DATA_7);
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233 | } else if (hlp == "8") {
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234 | _serialPort->setDataBits(DATA_8);
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235 | }
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236 | hlp = settings.value("serialStopBits").toString();
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237 | if (hlp == "1") {
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238 | _serialPort->setStopBits(STOP_1);
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239 | } else if (hlp == "2") {
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240 | _serialPort->setStopBits(STOP_2);
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241 | }
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242 |
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243 | // Flow Control
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244 | // ------------
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245 | hlp = settings.value("serialFlowControl").toString();
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246 | if (hlp == "XONXOFF") {
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247 | _serialPort->setFlowControl(FLOW_XONXOFF);
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248 | } else if (hlp == "HARDWARE") {
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249 | _serialPort->setFlowControl(FLOW_HARDWARE);
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250 | } else {
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251 | _serialPort->setFlowControl(FLOW_OFF);
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252 | }
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253 |
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254 | // Open Serial Port
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255 | // ----------------
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256 | _serialPort->open(QIODevice::ReadWrite | QIODevice::Unbuffered);
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257 | if (!_serialPort->isOpen()) {
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258 | delete _serialPort;
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259 | _serialPort = 0;
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260 | emit(newMessage((_staID + ": Cannot open serial port\n"), true));
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261 | }
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262 | connect(_serialPort, SIGNAL(readyRead()), this,
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263 | SLOT(slotSerialReadyRead()));
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264 |
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265 | // Automatic NMEA
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266 | // --------------
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267 | QString nmeaMode = settings.value("serialAutoNMEA").toString();
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268 | if (nmeaMode == "Auto") {
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269 | _serialNMEA = AUTO_NMEA;
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270 | QString fName = settings.value("serialFileNMEA").toString();
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271 | if (!fName.isEmpty()) {
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272 | _serialOutFile = new QFile(fName);
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273 | if (Qt::CheckState(settings.value("rnxAppend").toInt())
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274 | == Qt::Checked) {
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275 | _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
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276 | } else {
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277 | _serialOutFile->open(QIODevice::WriteOnly);
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278 | }
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279 | }
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280 | }
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281 | // Manual NMEA
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282 | // -----------
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283 | if ((nmeaMode == "Manual GPGGA") || (nmeaMode == "Manual GNGGA")) {
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284 | _serialNMEA = MANUAL_NMEA;
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285 | bncSettings settings;
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286 | _manualNMEASampl = settings.value("serialManualNMEASampling").toInt();
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287 | QString hlp = settings.value("serialHeightNMEA").toString();
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288 | if (hlp.isEmpty()) {
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289 | hlp = "0.0";
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290 | }
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291 | QByteArray _serialHeightNMEA = hlp.toLatin1();
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292 | _manualNMEAString = ggaString(_latitude, _longitude, _serialHeightNMEA,
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293 | nmeaMode);
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294 | }
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295 | }
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296 |
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297 | if (!_staID.isEmpty() && _latencycheck) {
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298 | _latencyChecker = new latencyChecker(_staID);
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299 | _rtcmObs = false;
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300 | _rtcmSsrOrb = false;
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301 | _rtcmSsrClk = false;
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302 | _rtcmSsrOrbClk = false;
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303 | _rtcmSsrCbi = false;
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304 | _rtcmSsrPbi = false;
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305 | _rtcmSsrVtec = false;
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306 | _rtcmSsrUra = false;
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307 | _rtcmSsrHr = false;
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308 | _rtcmSsrIgs = false;
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309 | _ssrEpoch = 0;
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310 | } else {
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311 | _latencyChecker = 0;
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312 | }
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313 | }
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314 |
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315 | // Instantiate the decoder
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316 | //////////////////////////////////////////////////////////////////////////////
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317 | t_irc bncGetThread::initDecoder() {
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318 |
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319 |
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320 |
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321 | _decoder = 0;
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322 |
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323 | if (_format.indexOf("RTCM_2") != -1 ||
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324 | _format.indexOf("RTCM2") != -1 ||
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325 | _format.indexOf("RTCM 2") != -1) {
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326 | emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
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327 | _decoder = new RTCM2Decoder(_staID.data());
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328 | } else if (_format.indexOf("RTCM_3") != -1 ||
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329 | _format.indexOf("RTCM3") != -1 ||
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330 | _format.indexOf("RTCM 3") != -1) {
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331 | emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
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332 | RTCM3Decoder* newDecoder = new RTCM3Decoder(_staID, _rawFile);
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333 | _decoder = newDecoder;
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334 | connect((RTCM3Decoder*) newDecoder, SIGNAL(newMessage(QByteArray,bool)),
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335 | this, SIGNAL(newMessage(QByteArray,bool)));
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336 | } else if (_format.indexOf("ZERO") != -1) {
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337 | emit(newMessage(_staID + ": Get data in original format", true));
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338 | _decoder = new bncZeroDecoder(_staID);
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339 | } else if (_format.indexOf("RTNET") != -1) {
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340 | emit(newMessage(_staID + ": Get data in RTNet format", true));
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341 | _decoder = new bncRtnetDecoder();
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342 | } else {
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343 | emit(newMessage(_staID + ": Unknown data format " + _format, true));
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344 | _isToBeDeleted = true;
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345 | return failure;
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346 | }
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347 |
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348 | msleep(100); //sleep 0.1 sec
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349 |
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350 | _decoder->initRinex(_staID, _mountPoint, _latitude, _longitude, _nmea,
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351 | _ntripVersion);
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352 |
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353 | if (_rawFile) {
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354 | _decodersRaw[_staID] = _decoder;
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355 | }
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356 |
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357 | return success;
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358 | }
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359 |
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360 | // Current decoder in use
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361 | ////////////////////////////////////////////////////////////////////////////
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362 | GPSDecoder* bncGetThread::decoder() {
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363 | if (!_rawFile) {
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364 | return _decoder;
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365 | } else {
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366 | if (_decodersRaw.contains(_staID) || initDecoder() == success) {
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367 | return _decodersRaw[_staID];
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368 | }
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369 | }
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370 | return 0;
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371 | }
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372 |
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373 | // Destructor
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374 | ////////////////////////////////////////////////////////////////////////////
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375 | bncGetThread::~bncGetThread() {
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376 | if (isRunning()) {
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377 | wait();
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378 | }
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379 | if (_query) {
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380 | _query->stop();
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381 | _query->deleteLater();
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382 | }
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383 | if (_rawFile) {
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384 | QMapIterator<QString, GPSDecoder*> it(_decodersRaw);
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385 | while (it.hasNext()) {
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386 | it.next();
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387 | delete it.value();
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388 | }
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389 | } else {
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390 | delete _decoder;
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391 | }
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392 | delete _rawFile;
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393 | delete _serialOutFile;
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394 | delete _serialPort;
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395 | delete _latencyChecker;
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396 | emit getThreadFinished(_staID);
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397 | }
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398 |
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399 | //
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400 | ////////////////////////////////////////////////////////////////////////////
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401 | void bncGetThread::terminate() {
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402 | _isToBeDeleted = true;
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403 |
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404 | if (_nmeaPortsMap.contains(_staID)) {
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405 | _nmeaPortsMap.remove(_staID);
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406 | }
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407 | if (_nmeaServer) {
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408 | delete _nmeaServer;
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409 | }
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410 | if (_nmeaSockets) {
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411 | delete _nmeaSockets;
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412 | }
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413 |
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414 | #ifdef BNC_DEBUG
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415 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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416 | while (!isFinished()) {
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417 | wait();
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418 | }
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419 | delete this;
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420 | } else {
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421 | if (!isRunning()) {
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422 | delete this;
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423 | }
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424 | }
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425 | #else
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426 | if (!isRunning()) {delete this;}
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427 | #endif
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428 |
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429 | }
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430 |
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431 | // Run
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432 | ////////////////////////////////////////////////////////////////////////////
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433 | void bncGetThread::run() {
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434 |
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435 | while (true) {
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436 | try {
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437 | if (_isToBeDeleted) {
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438 | QThread::exit(0);
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439 | this->deleteLater();
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440 | return;
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441 | }
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442 |
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443 | if (tryReconnect() != success) {
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444 | if (_latencyChecker) {
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445 | _latencyChecker->checkReconnect();
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446 | }
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447 | continue;
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448 | }
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449 |
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450 | // Delete old observations
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451 | // -----------------------
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452 | if (_rawFile) {
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453 | QMapIterator<QString, GPSDecoder*> itDec(_decodersRaw);
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454 | while (itDec.hasNext()) {
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455 | itDec.next();
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456 | GPSDecoder* decoder = itDec.value();
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457 | decoder->_obsList.clear();
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458 | }
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459 | } else {
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460 | _decoder->_obsList.clear();
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461 | }
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462 |
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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 | ////////////////////////////////////////////////////////////////////////////
|
---|
680 | t_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 | //////////////////////////////////////////////////////////////////////////////
|
---|
783 | void 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 | str << obs._prn.system() << QString(" %1 ").arg(rnxTypes.size());
|
---|
865 | for (int iType = 0; iType < rnxTypes.size(); iType++) {
|
---|
866 | str << " " << rnxTypes[iType];
|
---|
867 | }
|
---|
868 | emit(newMessage(_staID + ": Observation Types: " + msg.toLatin1(),
|
---|
869 | true));
|
---|
870 | }
|
---|
871 | }
|
---|
872 |
|
---|
873 | // RTCMv3 antenna descriptor
|
---|
874 | // -------------------------
|
---|
875 | for (int ii = 0; ii < decoder()->_antType.size(); ii++) {
|
---|
876 | QString ant1 = QString(": Antenna Descriptor: %1 ").arg(decoder()->_antType[ii].descriptor);
|
---|
877 | emit(newMessage(_staID + ant1.toLatin1(), true));
|
---|
878 | if (strlen(decoder()->_antType[ii].serialnumber)) {
|
---|
879 | QString ant2 = QString(": Antenna Serial Number: %1 ").arg(decoder()->_antType[ii].serialnumber);
|
---|
880 | emit(newMessage(_staID + ant2.toLatin1(), true));
|
---|
881 | }
|
---|
882 | }
|
---|
883 |
|
---|
884 | // RTCM Antenna Coordinates
|
---|
885 | // ------------------------
|
---|
886 | for (int ii = 0; ii < decoder()->_antList.size(); ii++) {
|
---|
887 | QByteArray antT;
|
---|
888 | if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::ARP) {
|
---|
889 | antT = "ARP";
|
---|
890 | } else if (decoder()->_antList[ii].type == GPSDecoder::t_antRefPoint::APC) {
|
---|
891 | antT = "APC";
|
---|
892 | }
|
---|
893 | QByteArray ant1, ant2, ant3;
|
---|
894 | ant1 = QString("%1 ").arg(decoder()->_antList[ii].xx, 0, 'f', 4).toLatin1();
|
---|
895 | ant2 = QString("%1 ").arg(decoder()->_antList[ii].yy, 0, 'f', 4).toLatin1();
|
---|
896 | ant3 = QString("%1 ").arg(decoder()->_antList[ii].zz, 0, 'f', 4).toLatin1();
|
---|
897 | emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
|
---|
898 | emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
|
---|
899 | emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
|
---|
900 | double hh = 0.0;
|
---|
901 | if (decoder()->_antList[ii].height_f) {
|
---|
902 | hh = decoder()->_antList[ii].height;
|
---|
903 | QByteArray ant4 = QString("%1 ").arg(hh, 0, 'f', 4).toLatin1();
|
---|
904 | emit(newMessage(
|
---|
905 | _staID + ": Antenna height above marker " + ant4 + "m", true));
|
---|
906 | }
|
---|
907 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
908 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz, hh, antT));
|
---|
909 | }
|
---|
910 |
|
---|
911 | // RTCMv3 receiver descriptor
|
---|
912 | // --------------------------
|
---|
913 | for (int ii = 0; ii < decoder()->_recType.size(); ii++) {
|
---|
914 | QString rec1 = QString(": Receiver Descriptor: %1 ").arg(decoder()->_recType[ii].descriptor);
|
---|
915 | QString rec2 = QString(": Receiver Firmware Version: %1 ").arg(decoder()->_recType[ii].firmware);
|
---|
916 | QString rec3 = QString(": Receiver Serial Number: %1 ").arg(decoder()->_recType[ii].serialnumber);
|
---|
917 | emit(newMessage(_staID + rec1.toLatin1(), true));
|
---|
918 | emit(newMessage(_staID + rec2.toLatin1(), true));
|
---|
919 | emit(newMessage(_staID + rec3.toLatin1(), true));
|
---|
920 | }
|
---|
921 |
|
---|
922 | // RTCM GLONASS slots
|
---|
923 | // ------------------
|
---|
924 | if (decoder()->_gloFrq.size()) {
|
---|
925 | bool allFound = true;
|
---|
926 | QString slot = decoder()->_gloFrq;
|
---|
927 | slot.replace(" ", " ").replace(" ", ":");
|
---|
928 | if (_gloSlots.indexOf(slot) == -1) {
|
---|
929 | _gloSlots.append(slot);
|
---|
930 | allFound = false;
|
---|
931 | }
|
---|
932 | if (!allFound) {
|
---|
933 | _gloSlots.sort();
|
---|
934 | emit(newMessage(
|
---|
935 | _staID + ": GLONASS Slot:Freq " + _gloSlots.join(" ").toLatin1(),
|
---|
936 | true));
|
---|
937 | }
|
---|
938 | }
|
---|
939 | }
|
---|
940 | }
|
---|
941 |
|
---|
942 | #ifdef MLS_SOFTWARE
|
---|
943 | for (int ii=0; ii <decoder()->_antList.size(); ii++) {
|
---|
944 | QByteArray antT;
|
---|
945 | if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
|
---|
946 | antT = "ARP";
|
---|
947 | }
|
---|
948 | else if (decoder()->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
|
---|
949 | antT = "APC";
|
---|
950 | }
|
---|
951 | double hh = 0.0;
|
---|
952 | if (decoder()->_antList[ii].height_f) {
|
---|
953 | hh = decoder()->_antList[ii].height;
|
---|
954 | }
|
---|
955 | emit(newAntCrd(_staID, decoder()->_antList[ii].xx,
|
---|
956 | decoder()->_antList[ii].yy, decoder()->_antList[ii].zz,
|
---|
957 | hh, antT));
|
---|
958 | }
|
---|
959 |
|
---|
960 | for (int ii = 0; ii <decoder()->_typeList.size(); ii++) {
|
---|
961 | emit(newRTCMMessage(_staID, decoder()->_typeList[ii]));
|
---|
962 | }
|
---|
963 | #endif
|
---|
964 |
|
---|
965 | decoder()->_gloFrq.clear();
|
---|
966 | decoder()->_typeList.clear();
|
---|
967 | decoder()->_antType.clear();
|
---|
968 | decoder()->_recType.clear();
|
---|
969 | decoder()->_antList.clear();
|
---|
970 | }
|
---|
971 |
|
---|
972 | // Handle Data from Serial Port
|
---|
973 | ////////////////////////////////////////////////////////////////////////////
|
---|
974 | void bncGetThread::slotSerialReadyRead() {
|
---|
975 |
|
---|
976 | if (_serialPort) {
|
---|
977 |
|
---|
978 | if (_nmea == "yes" && _serialNMEA == MANUAL_NMEA) {
|
---|
979 | if (_manualNMEASampl) {
|
---|
980 | int dt = _lastManualNMEA.secsTo(QDateTime::currentDateTime());
|
---|
981 | if (dt && (fmod(double(dt), double(_manualNMEASampl)) == 0.0)) {
|
---|
982 | _query->sendNMEA(_manualNMEAString);
|
---|
983 | _lastManualNMEA = QDateTime::currentDateTime();
|
---|
984 | }
|
---|
985 | }
|
---|
986 | }
|
---|
987 |
|
---|
988 | int nb = _serialPort->bytesAvailable();
|
---|
989 | if (nb > 0) {
|
---|
990 | QByteArray data = _serialPort->read(nb);
|
---|
991 |
|
---|
992 | if (_nmea == "yes" && _serialNMEA == AUTO_NMEA) {
|
---|
993 | int i1 = data.indexOf("$GPGGA");
|
---|
994 | if (i1 == -1) {
|
---|
995 | i1 = data.indexOf("$GNGGA");
|
---|
996 | }
|
---|
997 | if (i1 != -1) {
|
---|
998 | int i2 = data.indexOf("*", i1);
|
---|
999 | if (i2 != -1 && data.size() > i2 + 1) {
|
---|
1000 | QByteArray gga = data.mid(i1, i2 - i1 + 3);
|
---|
1001 | _query->sendNMEA(gga);
|
---|
1002 | }
|
---|
1003 | }
|
---|
1004 | }
|
---|
1005 |
|
---|
1006 | if (_serialOutFile) {
|
---|
1007 | _serialOutFile->write(data);
|
---|
1008 | _serialOutFile->flush();
|
---|
1009 | }
|
---|
1010 | }
|
---|
1011 | }
|
---|
1012 | }
|
---|
1013 |
|
---|
1014 | void bncGetThread::slotNewNMEAConnection() {
|
---|
1015 | _nmeaSockets->push_back(_nmeaServer->nextPendingConnection());
|
---|
1016 | emit(newMessage(
|
---|
1017 | QString("New PPP client on port: # %1").arg(_nmeaSockets->size()).toLatin1(),
|
---|
1018 | true));
|
---|
1019 | }
|
---|
1020 |
|
---|
1021 | //
|
---|
1022 | ////////////////////////////////////////////////////////////////////////////
|
---|
1023 | void bncGetThread::slotNewNMEAstr(QByteArray staID, QByteArray str) {
|
---|
1024 | if (_nmeaPortsMap.contains(staID)) {
|
---|
1025 | int nmeaPort = _nmeaPortsMap.value(staID);
|
---|
1026 | QMutableListIterator<QTcpSocket*> is(*_nmeaSockets);
|
---|
1027 | while (is.hasNext()) {
|
---|
1028 | QTcpSocket* sock = is.next();
|
---|
1029 | if (sock->localPort() == nmeaPort) {
|
---|
1030 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
1031 | sock->write(str);
|
---|
1032 | } else if (sock->state() != QAbstractSocket::ConnectingState) {
|
---|
1033 | delete sock;
|
---|
1034 | is.remove();
|
---|
1035 | }
|
---|
1036 | }
|
---|
1037 | }
|
---|
1038 | }
|
---|
1039 | }
|
---|