source: ntrip/branches/BNC_2.12/src/bnccaster.cpp @ 8616

Last change on this file since 8616 was 8616, checked in by stuerze, 5 months ago

a computed lock time is added for RTCM3 phase observations as an optional feed engine output

File size: 16.3 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class:      bncCaster
30 *
31 * Purpose:    buffers and disseminates the data
32 *
33 * Author:     L. Mervart
34 *
35 * Created:    24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <math.h>
42#include <unistd.h>
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46
47#include "bnccaster.h"
48#include "bncrinex.h"
49#include "bnccore.h"
50#include "bncgetthread.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56// Constructor
57////////////////////////////////////////////////////////////////////////////
58bncCaster::bncCaster() {
59
60  bncSettings settings;
61
62  connect(this, SIGNAL(newMessage(QByteArray,bool)),
63          BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
64
65  _outFile = 0;
66  _out     = 0;
67  reopenOutFile();
68
69  int port = settings.value("outPort").toInt();
70
71  if (port != 0) {
72    _server = new QTcpServer;
73    if ( !_server->listen(QHostAddress::Any, port) ) {
74      emit newMessage("bncCaster: Cannot listen on sync port", true);
75    }
76    connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
77    _sockets = new QList<QTcpSocket*>;
78  }
79  else {
80    _server  = 0;
81    _sockets = 0;
82  }
83
84  int uPort = settings.value("outUPort").toInt();
85  if (uPort != 0) {
86    _uServer = new QTcpServer;
87    if ( !_uServer->listen(QHostAddress::Any, uPort) ) {
88      emit newMessage("bncCaster: Cannot listen on usync port", true);
89    }
90    connect(_uServer, SIGNAL(newConnection()), this, SLOT(slotNewUConnection()));
91    _uSockets = new QList<QTcpSocket*>;
92  }
93  else {
94    _uServer  = 0;
95    _uSockets = 0;
96  }
97 
98  _printLockTime = settings.value("printLockTime",false).toBool();
99  _samplingRateMult10 = int(settings.value("outSampl").toString().split("sec").first().toDouble() * 10.0);
100  _outWait      = settings.value("outWait").toDouble();
101  if (_outWait <= 0.0) {
102    _outWait = 0.01;
103  }
104  _confInterval = -1;
105
106  // Miscellaneous output port
107  // -------------------------
108  _miscMount = settings.value("miscMount").toString();
109  _miscPort  = settings.value("miscPort").toInt();
110  if (!_miscMount.isEmpty() && _miscPort != 0) {
111    _miscServer = new QTcpServer;
112    if ( !_miscServer->listen(QHostAddress::Any, _miscPort) ) {
113      emit newMessage("bncCaster: Cannot listen on Miscellaneous Output Port", true);
114    }
115    connect(_miscServer, SIGNAL(newConnection()), this, SLOT(slotNewMiscConnection()));
116    _miscSockets = new QList<QTcpSocket*>;
117  }
118  else {
119    _miscServer  = 0;
120    _miscSockets = 0;
121  }
122}
123
124// Destructor
125////////////////////////////////////////////////////////////////////////////
126bncCaster::~bncCaster() {
127
128  QMutexLocker locker(&_mutex);
129
130  QListIterator<bncGetThread*> it(_threads);
131  while(it.hasNext()){
132    bncGetThread* thread = it.next();
133    disconnect(thread, 0, 0, 0);
134    _staIDs.removeAll(thread->staID());
135    _threads.removeAll(thread);
136    thread->terminate();
137  }
138  delete _out;
139  delete _outFile;
140  delete _server;
141  delete _sockets;
142  delete _uServer;
143  delete _uSockets;
144  delete _miscServer;
145  delete _miscSockets;
146}
147
148// New Observations
149////////////////////////////////////////////////////////////////////////////
150void bncCaster::slotNewObs(const QByteArray staID, QList<t_satObs> obsList) {
151
152  QMutexLocker locker(&_mutex);
153
154  reopenOutFile();
155
156  unsigned index = 0;
157  QMutableListIterator<t_satObs> it(obsList);
158  while (it.hasNext()) {
159    ++index;
160    t_satObs& obs = it.next();
161
162    // Rename the Station
163    // ------------------
164    obs._staID = staID.data();
165
166    // Output into the socket
167    // ----------------------
168    if (_uSockets) {
169
170      ostringstream oStr;
171      oStr.setf(ios::showpoint | ios::fixed);
172      oStr << obs._staID                                        << " "
173           << setw(4)  << obs._time.gpsw()                      << " "
174           << setw(14) << setprecision(7) << obs._time.gpssec() << " "
175           << bncRinex::asciiSatLine(obs,_printLockTime) << endl;
176
177      string hlpStr = oStr.str();
178
179      QMutableListIterator<QTcpSocket*> is(*_uSockets);
180      while (is.hasNext()) {
181        QTcpSocket* sock = is.next();
182        if (sock->state() == QAbstractSocket::ConnectedState) {
183          int numBytes = hlpStr.length();
184          if (myWrite(sock, hlpStr.c_str(), numBytes) != numBytes) {
185            delete sock;
186            is.remove();
187          }
188        }
189        else if (sock->state() != QAbstractSocket::ConnectingState) {
190          delete sock;
191          is.remove();
192        }
193      }
194    }
195
196    // First time: set the _lastDumpTime
197    // ---------------------------------
198    if (!_lastDumpTime.valid()) {
199      _lastDumpTime = obs._time - 1.0;
200    }
201
202    // An old observation - throw it away
203    // ----------------------------------
204    if (obs._time <= _lastDumpTime) {
205      if (index == 1) {
206        bncSettings settings;
207        if ( !settings.value("outFile").toString().isEmpty() ||
208             !settings.value("outPort").toString().isEmpty() ) {
209          emit( newMessage(QString("%1: Old epoch %2 thrown away")
210                           .arg(staID.data()).arg(string(obs._time).c_str())
211                           .toAscii(), true) );
212        }
213      }
214      continue;
215    }
216
217    // Save the observation
218    // --------------------
219    _epochs[obs._time].append(obs);
220
221    // Dump Epochs
222    // -----------
223    if (obs._time - _outWait > _lastDumpTime) {
224      dumpEpochs(obs._time - _outWait);
225      _lastDumpTime = obs._time - _outWait;
226    }
227  }
228}
229
230// New Connection
231////////////////////////////////////////////////////////////////////////////
232void bncCaster::slotNewConnection() {
233  _sockets->push_back( _server->nextPendingConnection() );
234  emit( newMessage(QString("New client connection on sync port: # %1")
235                   .arg(_sockets->size()).toAscii(), true) );
236}
237
238void bncCaster::slotNewUConnection() {
239  _uSockets->push_back( _uServer->nextPendingConnection() );
240  emit( newMessage(QString("New client connection on usync port: # %1")
241                   .arg(_uSockets->size()).toAscii(), true) );
242}
243
244// Add New Thread
245////////////////////////////////////////////////////////////////////////////
246void bncCaster::addGetThread(bncGetThread* getThread, bool noNewThread) {
247
248  qRegisterMetaType<t_satObs>("t_satObs");
249  qRegisterMetaType< QList<t_satObs> >("QList<t_satObs>");
250
251  connect(getThread, SIGNAL(newObs(QByteArray, QList<t_satObs>)),
252          this,      SLOT(slotNewObs(QByteArray, QList<t_satObs>)));
253
254  connect(getThread, SIGNAL(newObs(QByteArray, QList<t_satObs>)),
255          this,      SIGNAL(newObs(QByteArray, QList<t_satObs>)));
256
257  connect(getThread, SIGNAL(newRawData(QByteArray, QByteArray)),
258          this,      SLOT(slotNewRawData(QByteArray, QByteArray)));
259
260  connect(getThread, SIGNAL(getThreadFinished(QByteArray)),
261          this, SLOT(slotGetThreadFinished(QByteArray)));
262
263  _staIDs.push_back(getThread->staID());
264  _threads.push_back(getThread);
265
266  if (noNewThread) {
267    getThread->run();
268  }
269  else {
270    getThread->start();
271  }
272}
273
274// Get Thread destroyed
275////////////////////////////////////////////////////////////////////////////
276void bncCaster::slotGetThreadFinished(QByteArray staID) {
277  QMutexLocker locker(&_mutex);
278
279  QListIterator<bncGetThread*> it(_threads);
280  while (it.hasNext()) {
281    bncGetThread* thread = it.next();
282    if (thread->staID() == staID) {
283      _threads.removeOne(thread);
284    }
285  }
286
287  _staIDs.removeAll(staID);
288  emit( newMessage(
289           QString("Decoding %1 stream(s)").arg(_staIDs.size()).toAscii(), true) );
290  if (_staIDs.size() == 0) {
291    emit(newMessage("bncCaster: Last get thread terminated", true));
292    emit getThreadsFinished();
293  }
294}
295
296// Dump Complete Epochs
297////////////////////////////////////////////////////////////////////////////
298void bncCaster::dumpEpochs(const bncTime& maxTime) {
299
300  QMutableMapIterator<bncTime, QList<t_satObs> > itEpo(_epochs);
301  while (itEpo.hasNext()) {
302    itEpo.next();
303    const bncTime& epoTime = itEpo.key();
304    if (epoTime <= maxTime) {
305      const QList<t_satObs>& allObs = itEpo.value();
306      int sec = int(nint(epoTime.gpssec()*10));
307      if ( (_out || _sockets) && (sec % (_samplingRateMult10) == 0) ) {
308        QListIterator<t_satObs> it(allObs);
309        bool firstObs = true;
310        while (it.hasNext()) {
311          const t_satObs& obs = it.next();
312
313          ostringstream oStr;
314          oStr.setf(ios::showpoint | ios::fixed);
315          if (firstObs) {
316            firstObs = false;
317            oStr << "> " << obs._time.gpsw() << ' '
318                 << setprecision(7) << obs._time.gpssec() << endl;
319          }
320          oStr << obs._staID << ' '
321               << bncRinex::asciiSatLine(obs,_printLockTime) << endl;
322          if (!it.hasNext()) {
323            oStr << endl;
324          }
325          string hlpStr = oStr.str();
326
327          // Output into the File
328          // --------------------
329          if (_out) {
330            *_out << hlpStr.c_str();
331            _out->flush();
332          }
333
334          // Output into the socket
335          // ----------------------
336          if (_sockets) {
337            QMutableListIterator<QTcpSocket*> is(*_sockets);
338            while (is.hasNext()) {
339              QTcpSocket* sock = is.next();
340              if (sock->state() == QAbstractSocket::ConnectedState) {
341                int numBytes = hlpStr.length();
342                if (myWrite(sock, hlpStr.c_str(), numBytes) != numBytes) {
343                  delete sock;
344                  is.remove();
345                }
346              }
347              else if (sock->state() != QAbstractSocket::ConnectingState) {
348                delete sock;
349                is.remove();
350              }
351            }
352          }
353        }
354      }
355      _epochs.remove(epoTime);
356    }
357  }
358}
359
360// Reread configuration (private slot)
361////////////////////////////////////////////////////////////////////////////
362void bncCaster::slotReadMountPoints() {
363
364  bncSettings settings;
365  settings.reRead();
366
367  readMountPoints();
368}
369
370// Read Mountpoints
371////////////////////////////////////////////////////////////////////////////
372void bncCaster::readMountPoints() {
373
374  bncSettings settings;
375
376  // Reread several options
377  // ----------------------
378  _samplingRateMult10 = int(settings.value("outSampl").toString().split("sec").first().toDouble() * 10.0);
379  _outWait      = settings.value("outWait").toInt();
380  if (_outWait < 1) {
381    _outWait = 1;
382  }
383
384  // Add new mountpoints
385  // -------------------
386  int iMount = -1;
387  QListIterator<QString> it(settings.value("mountPoints").toStringList());
388  while (it.hasNext()) {
389    ++iMount;
390    QStringList hlp = it.next().split(" ");
391    if (hlp.size() < 7) continue;
392    QUrl url(hlp[0]);
393
394    // Does it already exist?
395    // ----------------------
396    bool existFlg = false;
397    QListIterator<bncGetThread*> iTh(_threads);
398    while (iTh.hasNext()) {
399      bncGetThread* thread = iTh.next();
400      if (thread->mountPoint() == url) {
401        existFlg = true;
402        break;
403      }
404    }
405
406    // New bncGetThread
407    // ----------------
408    if (!existFlg) {
409      QByteArray format    = hlp[1].toAscii();
410      QByteArray latitude  = hlp[3].toAscii();
411      QByteArray longitude = hlp[4].toAscii();
412      QByteArray nmea      = hlp[5].toAscii();
413      QByteArray ntripVersion = hlp[6].toAscii();
414
415      bncGetThread* getThread = new bncGetThread(url, format, latitude,
416                                        longitude, nmea, ntripVersion);
417      addGetThread(getThread);
418
419    }
420  }
421
422  // Remove mountpoints
423  // ------------------
424  QListIterator<bncGetThread*> iTh(_threads);
425  while (iTh.hasNext()) {
426    bncGetThread* thread = iTh.next();
427
428    bool existFlg = false;
429    QListIterator<QString> it(settings.value("mountPoints").toStringList());
430    while (it.hasNext()) {
431      QStringList hlp = it.next().split(" ");
432      if (hlp.size() <= 1) continue;
433      QUrl url(hlp[0]);
434
435      if (thread->mountPoint() == url) {
436        existFlg = true;
437        break;
438      }
439    }
440
441    if (!existFlg) {
442      disconnect(thread, 0, 0, 0);
443      _staIDs.removeAll(thread->staID());
444      _threads.removeAll(thread);
445      thread->terminate();
446    }
447  }
448
449  emit mountPointsRead(_threads);
450  emit( newMessage(QString("Configuration read: "
451                           + BNC_CORE->confFileName()
452                           + ", %1 stream(s)")
453                            .arg(_threads.count()).toAscii(), true) );
454
455  // (Re-) Start the configuration timer
456  // -----------------------------------
457    if      (settings.value("onTheFlyInterval").toString() == "no") {
458    return;
459  }
460 
461  int ms = 0;
462
463  if (_confInterval != -1) {
464    ms = 1000 * _confInterval;
465  }
466  else {
467    QTime currTime = currentDateAndTimeGPS().time();
468    QTime nextShotTime;
469
470    if      (settings.value("onTheFlyInterval").toString() == "1 min") {
471      _confInterval = 60;
472      nextShotTime = QTime(currTime.hour(), currTime.minute()+1, 0);
473    }
474    else if (settings.value("onTheFlyInterval").toString() == "5 min") {
475      _confInterval = 300;
476      nextShotTime = QTime(currTime.hour(), currTime.minute()+5, 0);
477    }
478    else if (settings.value("onTheFlyInterval").toString() == "1 hour") {
479      _confInterval = 3600;
480      nextShotTime = QTime(currTime.hour()+1, 0, 0);
481    }
482    else {
483      _confInterval = 86400;
484      nextShotTime = QTime(23, 59, 59, 999);
485    }
486
487    ms = currTime.msecsTo(nextShotTime);
488    if (ms < 30000) {
489      ms = 30000;
490    }
491  }
492
493  QTimer::singleShot(ms, this, SLOT(slotReadMountPoints()));
494}
495
496//
497////////////////////////////////////////////////////////////////////////////
498int bncCaster::myWrite(QTcpSocket* sock, const char* buf, int bufLen) {
499  sock->write(buf, bufLen);
500  for (int ii = 1; ii <= 10; ii++) {
501    if (sock->waitForBytesWritten(10)) {  // wait 10 ms
502      return bufLen;
503    }
504  }
505  return -1;
506}
507
508//
509////////////////////////////////////////////////////////////////////////////
510void bncCaster::reopenOutFile() {
511
512  bncSettings settings;
513
514  QString outFileName = settings.value("outFile").toString();
515  if ( !outFileName.isEmpty() ) {
516    expandEnvVar(outFileName);
517    if (!_outFile || _outFile->fileName() != outFileName) {
518      delete _out;
519      delete _outFile;
520      _outFile = new QFile(outFileName);
521      if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
522        _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
523      }
524      else {
525        _outFile->open(QIODevice::WriteOnly);
526      }
527      _out = new QTextStream(_outFile);
528      _out->setRealNumberNotation(QTextStream::FixedNotation);
529    }
530  }
531  else {
532    delete _out;     _out     = 0;
533    delete _outFile; _outFile = 0;
534  }
535}
536
537// Output into the Miscellaneous socket
538////////////////////////////////////////////////////////////////////////////
539void bncCaster::slotNewRawData(QByteArray staID, QByteArray data) {
540  if (_miscSockets && (_miscMount == "ALL" || _miscMount == staID)) {
541    QMutableListIterator<QTcpSocket*> is(*_miscSockets);
542    while (is.hasNext()) {
543      QTcpSocket* sock = is.next();
544      if (sock->state() == QAbstractSocket::ConnectedState) {
545        sock->write(data);
546      }
547      else if (sock->state() != QAbstractSocket::ConnectingState) {
548        delete sock;
549        is.remove();
550      }
551    }
552  }
553}
554
555// New Connection
556////////////////////////////////////////////////////////////////////////////
557void bncCaster::slotNewMiscConnection() {
558  _miscSockets->push_back( _miscServer->nextPendingConnection() );
559  emit( newMessage(QString("New client connection on Miscellaneous Output Port: # %1")
560                   .arg(_miscSockets->size()).toAscii(), true) );
561}
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