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gemho_rtk.cpp
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gemho_rtk.cpp
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#include <QCoreApplication>
#include <QXmlStreamReader>
#include <QFile>
#include <QList>
#include <QMultiMap>
#include <QStringList>
#include <QSet>
#include <QDebug>
#include <QtNetwork>
#include <QTime>
#include <QtSql>
#include "mylog.h"
#include "gemho_rtk.h"
#include "rtkprocess.h"
#include "bsp_thr.h"
#include <unistd.h>
#include <QtEndian>
#include <QSerialPort>
#pragma pack(1)
typedef struct tagupComDataHead
{
quint8 start[2];
qint16 type;
qint32 size;
}upComDataHead;
typedef struct tagGemhoGNSSData
{
quint8 isValid;
quint32 id[3];
qint32 lon;
qint32 lat;
qint32 height;
qint8 quality;
}GemhoGNSSData;
typedef struct tagGemhoGNSSprot
{
quint16 start;
quint16 size;
quint16 devId;
GemhoGNSSData gd[7];
quint16 checksum;
quint16 end;
}GemhoGNSSprot;
#pragma pack()
static int readDevice(QXmlStreamReader *reader, deviceInfo *device)
{
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "device")
{
return -1;
}
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "id")
return -1;
device->id = reader->readElementText().toUpper();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "ip")
return -1;
device->ip = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "port")
return -1;
device->port = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "type")
return -1;
device->type = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "mode")
return -1;
device->mode = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "lat")
return -1;
device->lat = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "lon")
return -1;
device->lon = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "height")
return -1;
device->height = reader->readElementText();
do
{
reader->readNext();
}
while(!reader->isStartElement() && !reader->atEnd() && !reader->hasError());
if(reader->name() != "save")
return -1;
device->save = reader->readElementText();
return 0;
}
static int readxml(QList<pairInfo> *list, RtkConfig *rtkcfg)
{
QString filename = QCoreApplication::applicationDirPath() + "//config.xml";
QString strlog;
QFile file(filename);
pairInfo pair;
list->clear();
if(file.open(QIODevice::ReadOnly | QIODevice::Text))
{
QXmlStreamReader reader(&file);
while(!reader.atEnd() && !reader.hasError())
{
QXmlStreamReader::TokenType token = reader.readNext();
if(token == QXmlStreamReader::StartDocument)
{
continue;
}
if (reader.isStartElement() && reader.name() == "savepath")
{
rtkcfg->savePath = reader.readElementText();
}
if (reader.isStartElement() && reader.name() == "resultpath")
{
rtkcfg->resultPath = reader.readElementText();
}
if (reader.isStartElement() && reader.name() == "sendInterval")
{
rtkcfg->sendInterval = reader.readElementText();
}
if (reader.isStartElement() && reader.name() == "isSaveDatabase")
{
rtkcfg->isSaveDatabase = reader.readElementText();
}
if (reader.isStartElement() && reader.name() == "serialName")
{
rtkcfg->serialName = reader.readElementText();
}
if (reader.isStartElement() && reader.name() == "pair")
{
int ret = -1;
ret = readDevice(&reader, &pair.device[0]);
if(ret < 0)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "readDevice 0 failed!");
mylog->error(strlog);
continue;
}
ret = readDevice(&reader, &pair.device[1]);
if(ret < 0)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "readDevice 1 failed!");
mylog->error(strlog);
continue;
}
list->append(pair);
}
}
file.close();
}
return 0;
}
typedef struct tagDataCollect{
QString ip;
QString port;
QSet<QString> ids;
QList<void *> listRtkProcess;
int runFlag;
int quitFlag;
BSP_ThrHndl netDevThread;
}DataCollect;
typedef struct tagGemhoRtk{
QList<void *> listRtkProcess;
QList<DataCollect *> listDataCollect;
QSqlDatabase dbDataSave;
QDateTime uptime;
RtkConfig rtkconfig;
QList<RtkOutSolution> listDataToSend;
int unFullCount;
QSerialPort *sendSerial;
}GemhoRtk;
static void *process_DataCollect(void *args)
{
DataCollect *handle = (DataCollect *)args;
QString strlog;
QTcpSocket client;
int nPrintflag1 = 0;
QTime timeRcvAlive, timeSendAlive;
strlog.sprintf("[%s][%s][%d]process_DataCollect create:ip(%s),port(%s),ids:", __FILE__, __func__, __LINE__,
handle->ip.toStdString().c_str(), handle->port.toStdString().c_str());
for(QSet<QString>::iterator iter=handle->ids.begin(); iter!=handle->ids.end(); iter++)
{
strlog += *iter + " ";
}
mylog->info(strlog);
while(handle->runFlag == 1)
{
QTime tmpTime;
int nWaitCT = 2000;
client.connectToHost(QHostAddress(handle->ip), handle->port.toUShort());
tmpTime.restart();
if(client.waitForConnected(nWaitCT) == false)
{
int tDiff = 0;
tDiff = nWaitCT-tmpTime.elapsed();
if(tDiff>0 && tDiff<nWaitCT)
usleep(tDiff*1000);
if(nPrintflag1 == 0)
{
strlog.sprintf("[%s][%s][%d]ip(%s),port(%s):%s", __FILE__, __func__, __LINE__,
handle->ip.toStdString().c_str(), handle->port.toStdString().c_str(),
client.errorString().toStdString().c_str());
mylog->info(strlog);
nPrintflag1 = 1;
}
continue;
}
nPrintflag1 = 0;
strlog.sprintf("[%s][%s][%d]connect to ip(%s),port(%s) success!", __FILE__, __func__, __LINE__,
handle->ip.toStdString().c_str(), handle->port.toStdString().c_str());
mylog->info(strlog);
timeRcvAlive.restart();
timeSendAlive.restart();
while(client.state() == QAbstractSocket::ConnectedState && handle->runFlag == 1)
{
upComDataHead head;
qint64 sentsize = 0;
qint64 retSize = 0;
qint64 size = 0;
if(timeRcvAlive.elapsed() > 10*1000)
{
client.disconnectFromHost();
if (client.state() == QAbstractSocket::UnconnectedState ||
client.waitForDisconnected(1000))
{
strlog.sprintf("[%s][%s][%d]ip(%s),port(%s):timeRcvAlive timeout,reconnect!!", __FILE__, __func__, __LINE__,
handle->ip.toStdString().c_str(), handle->port.toStdString().c_str());
mylog->error(strlog);
}
break;
}
if(timeSendAlive.elapsed() >= 2*1000)
{
head.start[0] = 0x55;
head.start[1] = 0xaa;
head.type = 2;
head.size = 0;
sentsize = 0;
size = sizeof(head);
while(size != sentsize)
{
retSize = client.write((char *)&head, size-sentsize);
if(retSize < 0)
{
strlog.sprintf("[%s][%s][%d]ip(%s),port(%s):send alive failed!!! error:%s", __FILE__, __func__, __LINE__,
handle->ip.toStdString().c_str(), handle->port.toStdString().c_str(),
client.errorString().toStdString().c_str());
mylog->error(strlog);
break;
}
sentsize += retSize;
}
timeSendAlive.restart();
}
// printf("%d\n", client.bytesAvailable());
if(client.bytesAvailable()>0 || client.waitForReadyRead(1000))
{
if(client.bytesAvailable() >= (qint64)sizeof(upComDataHead))
{
qint64 readSize = 0;
char buffer[1024] = "";
readSize = client.read(buffer, sizeof(upComDataHead));
if(readSize != sizeof(upComDataHead))
{
strlog.sprintf("[%s][%s][%d]read upComDataHead fail!", __FILE__, __func__, __LINE__);
mylog->error(strlog);
continue;
}
memcpy(&head, buffer, sizeof(upComDataHead));
if(head.start[0]==0x55&&head.start[1]==0xaa&&head.type==1)
{
if(client.bytesAvailable()==0 && client.waitForReadyRead(300) == false)
{
strlog.sprintf("[%s][%s][%d]head.type==1 reacv data fail!", __FILE__, __func__, __LINE__);
mylog->error(strlog);
continue;
}
int timeout = 300;
while(timeout--)
{
if(client.waitForReadyRead(10) && client.bytesAvailable() >= head.size)
{
quint32 id[3] = {};
QString strId;
QByteArray tmpData;
int saveFlag = 1;
tmpData = client.read(head.size);
if(tmpData.size() != head.size)
{
strlog.sprintf("[%s][%s][%d]read DATA fail!", __FILE__, __func__, __LINE__);
mylog->error(strlog);
break;
}
memcpy(id, tmpData.data(), sizeof(id));
strId.sprintf("%08X%08X%08X", id[2], id[1], id[0]);
for(QList<void *>::iterator iter = handle->listRtkProcess.begin(); iter != handle->listRtkProcess.end(); iter++)
{
//每个id只存一次
int isSave = rtkprocess_saveData(*iter, strId);
if(saveFlag == 0)
isSave = 0;
if(isSave == 1)
saveFlag = 0;
rtkprocess_pushData(*iter, strId, tmpData.data()+sizeof(id), tmpData.size()-sizeof(id), isSave);
}
break;
}
}
}
else if(head.start[0]==0x55&&head.start[1]==0xaa&&head.type==2)
{
timeRcvAlive.restart();
// printf("alive\n");
}
else
{
if(client.waitForReadyRead(10) == true || client.bytesAvailable() > 0)
{
client.readAll();
}
}
}
// data = client.read(1024);
// if(data.size() > 0)
// {
// qDebug()<<data;
// for(QList<void *>::iterator iter = handle->listRtkProcess.begin(); iter != handle->listRtkProcess.end(); iter++)
// {
// rtkprocess_pushData(*iter, *(handle->ids.begin()), data.data(), data.length());
// }
// client.write(data);
// client.disconnectFromHost();
// client.waitForDisconnected();
// }
}
}
}
strlog.sprintf("[%s][%s][%d]ip(%s),port(%s):%s", __FILE__, __func__, __LINE__,
handle->ip.toStdString().c_str(), handle->port.toStdString().c_str(),
"normally quit!");
mylog->info(strlog);
handle->quitFlag = 1;
BSP_thrExit(NULL);
return NULL;
}
static int gemhoRtkDataInsert(void *pGrtk, RtkOutSolution sol)
{
GemhoRtk *handle = (GemhoRtk *)pGrtk;
QString strlog;
if(handle == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "gemhoRtkDataInsert handle NULL!");
mylog->error(strlog);
return -1;
}
if(handle->dbDataSave.isOpen() == false)
{
strlog.sprintf("[%s][%s][%d]database err:%s", __FILE__, __func__, __LINE__, handle->dbDataSave.lastError().text().toStdString().c_str());
mylog->error(strlog);
if (!handle->dbDataSave.open()) /*测试数据库是否链接成功*/
{
strlog.sprintf("[%s][%s][%d]database err:%s", __FILE__, __func__, __LINE__, handle->dbDataSave.lastError().text().toStdString().c_str());
mylog->error(strlog);
}
return -1;
}
QSqlQuery query(handle->dbDataSave);
QString strSql;
strSql = "INSERT INTO `RTK`.`rtk_result_data`"
"(`id`,`localtime_res`,`localtime_real`,`runtime`,`baseline`,`latitude`,`longitude`,`height`,"
"`Q`,`ns`,`sdn`,`sde`,`sdu`,`sdne`,`sdeu`,`sdun`,`age`,`ratio`)"
"VALUES(:id,:localtime_res,:localtime_real,:runtime,:baseline,:latitude,:longitude,:height,"
":Q,:ns,:sdn,:sde,:sdu,:sdne,:sdeu,:sdun,:age,:ratio);";
query.prepare(strSql);
query.bindValue(":id", sol.id);
query.bindValue(":localtime_res", QDateTime::currentDateTime().toLocalTime().toString("yyyy-MM-dd hh:mm:ss"));
query.bindValue(":localtime_real", sol.GPST.toLocalTime().toString("yyyy-MM-dd hh:mm:ss"));
query.bindValue(":runtime", QString("%1").arg(handle->uptime.secsTo(QDateTime::currentDateTime())/3600.0, 0, 'f', 2).toDouble());
query.bindValue(":baseline", sol.baseline);
query.bindValue(":latitude", sol.latitude);
query.bindValue(":longitude", sol.longitude);
query.bindValue(":height", sol.height);
query.bindValue(":Q", sol.Q);
query.bindValue(":ns", sol.ns);
query.bindValue(":sdn", sol.sdn);
query.bindValue(":sde", sol.sde);
query.bindValue(":sdu", sol.sdu);
query.bindValue(":sdne", sol.sdne);
query.bindValue(":sdeu", sol.sdeu);
query.bindValue(":sdun", sol.sdun);
query.bindValue(":age", sol.age);
query.bindValue(":ratio", sol.ratio);
query.exec();
if(query.lastError().type() != QSqlError::NoError)
{
strlog.sprintf("[%s][%s][%d]database err(%d):", __FILE__, __func__, __LINE__, query.lastError().type());
strlog += query.lastError().text();
mylog->error(strlog);
if(query.lastError().type() == QSqlError::StatementError)
handle->dbDataSave.close();
}
return 0;
}
#if (QT_VERSION >= QT_VERSION_CHECK(5, 6, 0))
void *gemhoRtkStart()
{
QList<pairInfo> list;
QString strlog;
QMultiMap <QList<QString>, QString> mapID;
QSet<QString> set;
GemhoRtk *handle = new GemhoRtk;
RtkConfig rtkcfg;
if(handle == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "gemhoRtkStart new failed!");
mylog->error(strlog);
return handle;
}
readxml(&list, &rtkcfg);
handle->uptime = QDateTime::currentDateTime();
handle->rtkconfig = rtkcfg;
handle->listDataToSend.clear();
handle->sendSerial = NULL;
handle->unFullCount = 0;
handle->dbDataSave = QSqlDatabase::addDatabase("QMYSQL");
handle->dbDataSave.setHostName("127.0.0.1");
handle->dbDataSave.setDatabaseName("RTK");
handle->dbDataSave.setUserName("root");
handle->dbDataSave.setPassword("root");
if (!handle->dbDataSave.open()) /*测试数据库是否链接成功*/
{
strlog.sprintf("[%s][%s][%d]database err:%s", __FILE__, __func__, __LINE__, handle->dbDataSave.lastError().text().toStdString().c_str());
mylog->error(strlog);
}
else
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "connect database success!");
mylog->info(strlog);
}
if(handle->dbDataSave.isOpen())
{
QSqlQuery query(handle->dbDataSave);
QString strSql;
strSql = "CREATE TABLE If Not Exists `rtk_result_data` ( `id` varchar(45) NOT NULL, `localtime_res` datetime NOT NULL, "
"`localtime_real` datetime NOT NULL, `runtime` double NOT NULL, `baseline` varchar(45) NOT NULL, "
"`latitude` varchar(45) NOT NULL, `longitude`varchar(45) NOT NULL, `height` varchar(45) NOT NULL, `Q` varchar(45) NOT NULL, "
"`ns` varchar(45) NOT NULL, `sdn` varchar(45) NOT NULL, `sde` varchar(45) NOT NULL, `sdu` varchar(45) NOT NULL, "
"`sdne` varchar(45) NOT NULL, `sdeu` varchar(45) NOT NULL, `sdun` varchar(45) NOT NULL, `age` varchar(45) NOT NULL, "
"`ratio` varchar(45) NOT NULL, PRIMARY KEY (`id`,`localtime_res`)) ENGINE=InnoDB DEFAULT CHARSET=latin1;";
query.exec(strSql);
if(query.lastError().type() != QSqlError::NoError)
{
strlog.sprintf("[%s][%s][%d]database err:", __FILE__, __func__, __LINE__);
strlog += query.lastError().text();
mylog->error(strlog);
}
}
for(QList<pairInfo>::iterator iter = list.begin(); iter != list.end(); iter++)
{
double p[3]={0};
double pos[3]={0};
pairInfo pi = *iter;
prcopt_t prcopt = prcopt_default;
QList<QString> strlist;
void *prtkp = NULL;
if(pi.device[1].mode == "kinematic")
prcopt.mode = PMODE_KINEMA;
else if(pi.device[1].mode == "static")
prcopt.mode = PMODE_STATIC;
else
prcopt.mode = PMODE_STATIC;
prcopt.navsys = SYS_GPS|SYS_CMP|SYS_QZS;
prcopt.modear = 3;
prcopt.ionoopt = IONOOPT_BRDC;
prcopt.tropopt = TROPOPT_SAAS;
p[0]=pi.device[1].lat.toDouble()*D2R;
p[1]=pi.device[1].lon.toDouble()*D2R;
p[2]=pi.device[1].height.toDouble();
pos2ecef(p, pos);
prcopt.rb[0] = pos[0];
prcopt.rb[1] = pos[1];
prcopt.rb[2] = pos[2];
solopt_t solopt[2] = {solopt_default, solopt_default};
prtkp = rtkprocess_create(&pi, &prcopt, solopt, &rtkcfg);
if(prtkp == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "rtkprocess_create create failed!");
mylog->error(strlog);
continue;
}
handle->listRtkProcess.push_back(prtkp);
strlist.clear();
strlist.append(pi.device[0].ip);
strlist.append(pi.device[0].port);
mapID.insert(strlist, pi.device[0].id);
strlist.clear();
strlist.append(pi.device[1].ip);
strlist.append(pi.device[1].port);
mapID.insert(strlist, pi.device[1].id);
// {
// FILE *pf1 = fopen("/home/ltp/GNSS/20170727-67161949555780670670FF52.txt", "rb");
// FILE *pf2 = fopen("/home/ltp/GNSS/20170727-8719512552536752066EFF53.txt", "rb");
// char buf[1024] = "";
// int readlen = 0;
// while(1)
// {
// readlen = fread(buf, 1, sizeof(buf), pf1);
// rtkprocess_pushData(prtkp, "67161949555780670670FF52", buf, readlen);
// readlen = fread(buf, 1, sizeof(buf), pf2);
// rtkprocess_pushData(prtkp, "8719512552536752066EFF53", buf, readlen);
//// rtkprocess_process(prtkp);
//// RtkOutSolution now;
//// RtkOutSolution best;
//// rtkprocess_getSolAll(prtkp, &now, &best);
// RtkOutSolution bestSol;
// QDateTime lastPtime;
// QDateTime now;
// rtkprocess_process(prtkp);
// usleep(20*1000);
// rtkprocess_getLastProcTime(prtkp, &lastPtime);
// now = QDateTime::currentDateTime();
// if(handle->uptime.secsTo(now) >= 20 &&
// now.time().second() != lastPtime.time().second())
// {
// rtkprocess_getSolBest(prtkp, &bestSol);
// if(bestSol.status == 0)
// {
// QDateTime date;
// date.setMSecsSinceEpoch(0);
// bestSol.GPST = date;
// bestSol.latitude = "0";
// bestSol.longitude = "0";
// bestSol.height = "0";
// bestSol.Q = bestSol.Q;
// bestSol.ns = "0";
// bestSol.sdn = "0";
// bestSol.sde = "0";
// bestSol.sdu = "0";
// bestSol.sdne = "0";
// bestSol.sdeu = "0";
// bestSol.sdun = "0";
// bestSol.age = "0";
// bestSol.ratio = "0";
// bestSol.baseline = "0";
// }
// gemhoRtkDataInsert(handle, bestSol);
// rtkprocess_resetBestSol(prtkp);
// rtkprocess_setLastProcTime(prtkp, QDateTime::currentDateTime());
// }
// }
// }
}
QList<QList<QString>> keys = mapID.uniqueKeys();
keys > keys;
for(QList<QList<QString>>::iterator iter=keys.begin(); iter != keys.end(); iter++)
{
DataCollect *dc = new DataCollect;
int status = -1;
if(dc == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "gemhoRtkStart new DataCollect failed!");
mylog->error(strlog);
continue;
}
dc->ip = (*iter)[0];
dc->port = (*iter)[1];
dc->ids = mapID.values(*iter).toSet();
dc->runFlag = 1;
dc->quitFlag = 0;
dc->listRtkProcess = handle->listRtkProcess;
status = BSP_thrCreate(&dc->netDevThread, process_DataCollect, BSP_THR_PRI_DEFAULT, BSP_THR_STACK_SIZE_DEFAULT, dc);
if(status < 0)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "DataCollect thread create failed!");
mylog->error(strlog);
delete dc;
continue;
}
handle->listDataCollect.push_back(dc);
}
return handle;
}
#else
void *gemhoRtkStart()
{
QList<pairInfo> list;
QString strlog;
QMultiMap <QString, QString> mapID;
QSet<QString> set;
GemhoRtk *handle = new GemhoRtk;
RtkConfig rtkcfg;
if(handle == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "gemhoRtkStart new failed!");
mylog->error(strlog);
return handle;
}
readxml(&list, &rtkcfg);
handle->uptime = QDateTime::currentDateTime();
handle->rtkconfig = rtkcfg;
handle->listDataToSend.clear();
handle->sendSerial = NULL;
handle->unFullCount = 0;
handle->dbDataSave = QSqlDatabase::addDatabase("QMYSQL");
handle->dbDataSave.setHostName("127.0.0.1");
handle->dbDataSave.setDatabaseName("RTK");
handle->dbDataSave.setUserName("root");
handle->dbDataSave.setPassword("root");
if (!handle->dbDataSave.open()) /*测试数据库是否链接成功*/
{
strlog.sprintf("[%s][%s][%d]database err:%s", __FILE__, __func__, __LINE__, handle->dbDataSave.lastError().text().toStdString().c_str());
mylog->error(strlog);
}
else
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "connect database success!");
mylog->info(strlog);
}
if(handle->dbDataSave.isOpen())
{
QSqlQuery query(handle->dbDataSave);
QString strSql;
strSql = "CREATE TABLE If Not Exists `rtk_result_data` ( `id` varchar(45) NOT NULL, `localtime_res` datetime NOT NULL, "
"`localtime_real` datetime NOT NULL, `runtime` double NOT NULL, `baseline` varchar(45) NOT NULL, "
"`latitude` varchar(45) NOT NULL, `longitude`varchar(45) NOT NULL, `height` varchar(45) NOT NULL, `Q` varchar(45) NOT NULL, "
"`ns` varchar(45) NOT NULL, `sdn` varchar(45) NOT NULL, `sde` varchar(45) NOT NULL, `sdu` varchar(45) NOT NULL, "
"`sdne` varchar(45) NOT NULL, `sdeu` varchar(45) NOT NULL, `sdun` varchar(45) NOT NULL, `age` varchar(45) NOT NULL, "
"`ratio` varchar(45) NOT NULL, PRIMARY KEY (`id`,`localtime_res`)) ENGINE=InnoDB DEFAULT CHARSET=latin1;";
query.exec(strSql);
if(query.lastError().type() != QSqlError::NoError)
{
strlog.sprintf("[%s][%s][%d]database err:", __FILE__, __func__, __LINE__);
strlog += query.lastError().text();
mylog->error(strlog);
}
}
for(QList<pairInfo>::iterator iter = list.begin(); iter != list.end(); iter++)
{
double p[3]={0};
double pos[3]={0};
pairInfo pi = *iter;
prcopt_t prcopt = prcopt_default;
QString strlist;
void *prtkp = NULL;
if(pi.device[1].mode == "kinematic")
prcopt.mode = PMODE_KINEMA;
else if(pi.device[1].mode == "static")
prcopt.mode = PMODE_STATIC;
else
prcopt.mode = PMODE_STATIC;
prcopt.navsys = SYS_GPS|SYS_CMP|SYS_QZS;
prcopt.modear = 3;
prcopt.ionoopt = IONOOPT_BRDC;
prcopt.tropopt = TROPOPT_SAAS;
p[0]=pi.device[1].lat.toDouble()*D2R;
p[1]=pi.device[1].lon.toDouble()*D2R;
p[2]=pi.device[1].height.toDouble();
pos2ecef(p, pos);
prcopt.rb[0] = pos[0];
prcopt.rb[1] = pos[1];
prcopt.rb[2] = pos[2];
solopt_t solopt[2] = {solopt_default, solopt_default};
prtkp = rtkprocess_create(&pi, &prcopt, solopt, &rtkcfg);
if(prtkp == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "rtkprocess_create create failed!");
mylog->error(strlog);
continue;
}
handle->listRtkProcess.push_back(prtkp);
// strlist.clear();
// strlist.append(pi.device[0].ip);
// strlist.append(pi.device[0].port);
strlist = pi.device[0].ip + ":" + pi.device[0].port;
mapID.insert(strlist, pi.device[0].id);
// strlist.clear();
// strlist.append(pi.device[1].ip);
// strlist.append(pi.device[1].port);
strlist = pi.device[1].ip + ":" + pi.device[1].port;
mapID.insert(strlist, pi.device[1].id);
// {
// FILE *pf1 = fopen("/home/ltp/GNSS/20170727-67161949555780670670FF52.txt", "rb");
// FILE *pf2 = fopen("/home/ltp/GNSS/20170727-8719512552536752066EFF53.txt", "rb");
// char buf[1024] = "";
// int readlen = 0;
// while(1)
// {
// readlen = fread(buf, 1, sizeof(buf), pf1);
// rtkprocess_pushData(prtkp, "67161949555780670670FF52", buf, readlen);
// readlen = fread(buf, 1, sizeof(buf), pf2);
// rtkprocess_pushData(prtkp, "8719512552536752066EFF53", buf, readlen);
// // rtkprocess_process(prtkp);
// // RtkOutSolution now;
// // RtkOutSolution best;
// // rtkprocess_getSolAll(prtkp, &now, &best);
// RtkOutSolution bestSol;
// QDateTime lastPtime;
// QDateTime now;
// rtkprocess_process(prtkp);
// usleep(200*1000);
// rtkprocess_getLastProcTime(prtkp, &lastPtime);
// now = QDateTime::currentDateTime();
// if(handle->uptime.secsTo(now) >= 60 &&
// now.time().minute() != lastPtime.time().minute())
// {
// rtkprocess_getSolBest(prtkp, &bestSol);
// if(bestSol.status == 0)
// {
// QDateTime date;
// date.setMSecsSinceEpoch(0);
// bestSol.GPST = date;
// bestSol.latitude = "0";
// bestSol.longitude = "0";
// bestSol.height = "0";
// bestSol.Q = bestSol.Q;
// bestSol.ns = "0";
// bestSol.sdn = "0";
// bestSol.sde = "0";
// bestSol.sdu = "0";
// bestSol.sdne = "0";
// bestSol.sdeu = "0";
// bestSol.sdun = "0";
// bestSol.age = "0";
// bestSol.ratio = "0";
// bestSol.baseline = "0";
// }
// gemhoRtkDataInsert(handle, bestSol);
// rtkprocess_resetBestSol(prtkp);
// rtkprocess_setLastProcTime(prtkp, QDateTime::currentDateTime());
// }
// }
// }
}
QList<QString> keys = mapID.uniqueKeys();
for(QList<QString>::iterator iter=keys.begin(); iter != keys.end(); iter++)
{
DataCollect *dc = new DataCollect;
int status = -1;
QStringList slist;
if(dc == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "gemhoRtkStart new DataCollect failed!");
mylog->error(strlog);
continue;
}
slist = (*iter).split(":");
dc->ip = slist[0];
dc->port = slist[1];
dc->ids = mapID.values(*iter).toSet();
dc->runFlag = 1;
dc->quitFlag = 0;
dc->listRtkProcess = handle->listRtkProcess;
status = BSP_thrCreate(&dc->netDevThread, process_DataCollect, BSP_THR_PRI_DEFAULT, BSP_THR_STACK_SIZE_DEFAULT, dc);
if(status < 0)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "DataCollect thread create failed!");
mylog->error(strlog);
delete dc;
continue;
}
handle->listDataCollect.push_back(dc);
}
return handle;
}
#endif
int gemhoRtkSendInit(void *pGrtk)
{
GemhoRtk *handle = (GemhoRtk *)pGrtk;
QString strlog;
if(handle == NULL)
{
strlog.sprintf("[%s][%s][%d]%s", __FILE__, __func__, __LINE__, "gemhoRtkStop handle NULL!");
mylog->error(strlog);
return -1;
}
handle->sendSerial = new QSerialPort;
handle->sendSerial->close();
handle->sendSerial->setPortName(handle->rtkconfig.serialName);
if(handle->sendSerial->open(QIODevice::ReadWrite) == false)
{
strlog.sprintf("[%s][%s][%d]sendSerial err:%s can't open", __FILE__, __func__, __LINE__, handle->rtkconfig.serialName.toStdString().c_str());
mylog->error(strlog);
return -1;
}
else
{
handle->sendSerial->setBaudRate(QSerialPort::Baud115200);
handle->sendSerial->setDataBits(QSerialPort::Data8);
handle->sendSerial->setParity(QSerialPort::NoParity);
handle->sendSerial->setStopBits(QSerialPort::OneStop);
handle->sendSerial->setFlowControl(QSerialPort::NoFlowControl);
}
return 0;
}
static quint16 CheckSum(const char *data, int len)
{
int i;
quint16 checksum = 0;
for(i=0; i<len; i++)
{
checksum += data[i];
}
checksum = (~checksum) + 1;
return checksum;
}
int gemhoRtkProcess(void *pGrtk)
{
GemhoRtk *handle = (GemhoRtk *)pGrtk;
QString strlog;
if(handle == NULL)
{