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source: ntrip/trunk/BNC/bncgetthread.cpp@ 2637

Last change on this file since 2637 was 2527, checked in by mervart, 14 years ago

File size: 20.0 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: bncGetThread
30	*
31	* Purpose: Thread that retrieves data from NTRIP caster
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Dec-2005
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <stdlib.h>
42	#include <iomanip>
43	#include <sstream>
44
45	#include <QFile>
46	#include <QTextStream>
47	#include <QtNetwork>
48	#include <QTime>
49
50	#include "bncgetthread.h"
51	#include "bnctabledlg.h"
52	#include "bncapp.h"
53	#include "bncutils.h"
54	#include "bncrinex.h"
55	#include "bnczerodecoder.h"
56	#include "bncnetqueryv0.h"
57	#include "bncnetqueryv1.h"
58	#include "bncnetqueryv2.h"
59	#include "bncnetqueryrtp.h"
60	#include "bncnetqueryudp.h"
61	#include "bncnetqueryudp0.h"
62	#include "bncnetquerys.h"
63	#include "bncsettings.h"
64	#include "latencychecker.h"
65	#include "bncpppclient.h"
66
67	#include "RTCM/RTCM2Decoder.h"
68	#include "RTCM3/RTCM3Decoder.h"
69	#include "RTIGS/RTIGSDecoder.h"
70	#include "GPSS/gpssDecoder.h"
71	#include "serial/qextserialport.h"
72
73	using namespace std;
74
75	// Constructor 1
76	////////////////////////////////////////////////////////////////////////////
77	bncGetThread::bncGetThread(bncRawFile* rawFile) {
78
79	_rawFile = rawFile;
80	_format = rawFile->format();
81	_staID = rawFile->staID();
82	_rawOutput = false;
83	_ntripVersion = "N";
84
85	initialize();
86	}
87
88	// Constructor 2
89	////////////////////////////////////////////////////////////////////////////
90	bncGetThread::bncGetThread(const QUrl& mountPoint,
91	const QByteArray& format,
92	const QByteArray& latitude,
93	const QByteArray& longitude,
94	const QByteArray& nmea,
95	const QByteArray& ntripVersion, const QByteArray& extraStaID) {
96	_rawFile = 0;
97	_mountPoint = mountPoint;
98	_staID = (extraStaID.size() == 0 ? mountPoint.path().mid(1).toAscii() : extraStaID);
99	_format = format;
100	_latitude = latitude;
101	_longitude = longitude;
102	_nmea = nmea;
103	_ntripVersion = ntripVersion;
104
105	bncSettings settings;
106	if (!settings.value("rawOutFile").toString().isEmpty()) {
107	_rawOutput = true;
108	}
109
110	initialize();
111	}
112
113	// Initialization (common part of the constructor)
114	////////////////////////////////////////////////////////////////////////////
115	void bncGetThread::initialize() {
116
117	setTerminationEnabled(true);
118
119	bncApp* app = (bncApp*) qApp;
120
121	connect(this, SIGNAL(newMessage(QByteArray,bool)),
122	app, SLOT(slotMessage(const QByteArray,bool)));
123
124	_isToBeDeleted = false;
125	_decoder = 0;
126	_query = 0;
127	_nextSleep = 0;
128	_PPPclient = 0;
129
130	bncSettings settings;
131
132	_miscMount = settings.value("miscMount").toString();
133
134	// RINEX writer
135	// ------------
136	_samplingRate = settings.value("rnxSampl").toInt();
137	if ( settings.value("rnxPath").toString().isEmpty() ) {
138	_rnx = 0;
139	}
140	else {
141	_rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
142	_longitude, _nmea, _ntripVersion);
143	}
144
145	// Serial Port
146	// -----------
147	_serialNMEA = NO_NMEA;
148	_serialOutFile = 0;
149	_serialPort = 0;
150
151	if (settings.value("serialMountPoint").toString() == _staID) {
152	_serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
153	_serialPort->setTimeout(0,100);
154
155	// Baud Rate
156	// ---------
157	QString hlp = settings.value("serialBaudRate").toString();
158	if (hlp == "110") {
159	_serialPort->setBaudRate(BAUD110);
160	}
161	else if (hlp == "300") {
162	_serialPort->setBaudRate(BAUD300);
163	}
164	else if (hlp == "600") {
165	_serialPort->setBaudRate(BAUD600);
166	}
167	else if (hlp == "1200") {
168	_serialPort->setBaudRate(BAUD1200);
169	}
170	else if (hlp == "2400") {
171	_serialPort->setBaudRate(BAUD2400);
172	}
173	else if (hlp == "4800") {
174	_serialPort->setBaudRate(BAUD4800);
175	}
176	else if (hlp == "9600") {
177	_serialPort->setBaudRate(BAUD9600);
178	}
179	else if (hlp == "19200") {
180	_serialPort->setBaudRate(BAUD19200);
181	}
182	else if (hlp == "38400") {
183	_serialPort->setBaudRate(BAUD38400);
184	}
185	else if (hlp == "57600") {
186	_serialPort->setBaudRate(BAUD57600);
187	}
188	else if (hlp == "115200") {
189	_serialPort->setBaudRate(BAUD115200);
190	}
191
192	// Parity
193	// ------
194	hlp = settings.value("serialParity").toString();
195	if (hlp == "NONE") {
196	_serialPort->setParity(PAR_NONE);
197	}
198	else if (hlp == "ODD") {
199	_serialPort->setParity(PAR_ODD);
200	}
201	else if (hlp == "EVEN") {
202	_serialPort->setParity(PAR_EVEN);
203	}
204	else if (hlp == "SPACE") {
205	_serialPort->setParity(PAR_SPACE);
206	}
207
208	// Data Bits
209	// ---------
210	hlp = settings.value("serialDataBits").toString();
211	if (hlp == "5") {
212	_serialPort->setDataBits(DATA_5);
213	}
214	else if (hlp == "6") {
215	_serialPort->setDataBits(DATA_6);
216	}
217	else if (hlp == "7") {
218	_serialPort->setDataBits(DATA_7);
219	}
220	else if (hlp == "8") {
221	_serialPort->setDataBits(DATA_8);
222	}
223	hlp = settings.value("serialStopBits").toString();
224	if (hlp == "1") {
225	_serialPort->setStopBits(STOP_1);
226	}
227	else if (hlp == "2") {
228	_serialPort->setStopBits(STOP_2);
229	}
230
231	// Flow Control
232	// ------------
233	hlp = settings.value("serialFlowControl").toString();
234	if (hlp == "XONXOFF") {
235	_serialPort->setFlowControl(FLOW_XONXOFF);
236	}
237	else if (hlp == "HARDWARE") {
238	_serialPort->setFlowControl(FLOW_HARDWARE);
239	}
240	else {
241	_serialPort->setFlowControl(FLOW_OFF);
242	}
243
244	// Open Serial Port
245	// ----------------
246	_serialPort->open(QIODevice::ReadWrite\|QIODevice::Unbuffered);
247	if (!_serialPort->isOpen()) {
248	delete _serialPort;
249	_serialPort = 0;
250	emit(newMessage((_staID + ": Cannot open serial port\n"), true));
251	}
252	connect(_serialPort, SIGNAL(readyRead()),
253	this, SLOT(slotSerialReadyRead()));
254
255	// Automatic NMEA
256	// --------------
257	if (settings.value("serialAutoNMEA").toString() == "Auto") {
258	_serialNMEA = AUTO_NMEA;
259
260	QString fName = settings.value("serialFileNMEA").toString();
261	if (!fName.isEmpty()) {
262	_serialOutFile = new QFile(fName);
263	if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
264	_serialOutFile->open(QIODevice::WriteOnly \| QIODevice::Append);
265	}
266	else {
267	_serialOutFile->open(QIODevice::WriteOnly);
268	}
269	}
270	}
271
272	// Manual NMEA
273	// -----------
274	else {
275	_serialNMEA = MANUAL_NMEA;
276	}
277	}
278
279	// Initialize PPP Client?
280	// ----------------------
281	#ifndef MLS_SOFTWARE
282	if (settings.value("pppMount").toString() == _staID) {
283	_PPPclient = new bncPPPclient(_staID);
284	qRegisterMetaType<bncTime>("bncTime");
285	connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
286	this, SIGNAL(newPosition(bncTime, double, double, double)));
287	connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
288	this, SIGNAL(newNMEAstr(QByteArray)));
289	}
290	#endif
291
292	// Instantiate the decoder
293	// -----------------------
294	if (_format.indexOf("RTCM_2") != -1 \|\| _format.indexOf("RTCM2") != -1 \|\|
295	_format.indexOf("RTCM 2") != -1 ) {
296	emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
297	_decoder = new RTCM2Decoder(_staID.data());
298	}
299	else if (_format.indexOf("RTCM_3") != -1 \|\| _format.indexOf("RTCM3") != -1 \|\|
300	_format.indexOf("RTCM 3") != -1 ) {
301	emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
302	_decoder = new RTCM3Decoder(_staID, _rawFile);
303	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
304	this, SIGNAL(newMessage(QByteArray,bool)));
305	}
306	else if (_format.indexOf("RTIGS") != -1) {
307	emit(newMessage(_staID + ": Get data in RTIGS format", true));
308	_decoder = new RTIGSDecoder();
309	}
310	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
311	emit(newMessage(_staID + ": Get Data in GPSS format", true));
312	_decoder = new gpssDecoder();
313	}
314	else if (_format.indexOf("ZERO") != -1) {
315	emit(newMessage(_staID + ": Get data in original format", true));
316	_decoder = new bncZeroDecoder(_staID);
317	}
318	else {
319	emit(newMessage(_staID + ": Unknown data format " + _format, true));
320	_isToBeDeleted = true;
321	}
322
323	_latencyChecker = new latencyChecker(_staID);
324
325	msleep(100); //sleep 0.1 sec
326	}
327
328	// Destructor
329	////////////////////////////////////////////////////////////////////////////
330	bncGetThread::~bncGetThread() {
331	if (isRunning()) {
332	wait();
333	}
334	if (_query) {
335	_query->stop();
336	_query->deleteLater();
337	}
338	delete _PPPclient;
339	delete _decoder;
340	delete _rnx;
341	delete _rawFile;
342	delete _serialOutFile;
343	delete _serialPort;
344	delete _latencyChecker;
345	emit getThreadFinished(_staID);
346	}
347
348	//
349	////////////////////////////////////////////////////////////////////////////
350	void bncGetThread::terminate() {
351	_isToBeDeleted = true;
352	if (!isRunning()) {
353	delete this;
354	}
355	}
356
357	// Run
358	////////////////////////////////////////////////////////////////////////////
359	void bncGetThread::run() {
360
361	while (true) {
362	try {
363	if (_isToBeDeleted) {
364	QThread::exit(0);
365	this->deleteLater();
366	return;
367	}
368
369	if (tryReconnect() != success) {
370	_latencyChecker->checkReconnect();
371	continue;
372	}
373
374	// Delete old observations
375	// -----------------------
376	QListIterator<p_obs> itOld(_decoder->_obsList);
377	while (itOld.hasNext()) {
378	delete itOld.next();
379	}
380	_decoder->_obsList.clear();
381
382	// Read Data
383	// ---------
384	QByteArray data;
385	if (_query) {
386	_query->waitForReadyRead(data);
387	}
388	else if (_rawFile) {
389	data = _rawFile->readChunk();
390
391	if (data.isEmpty()) {
392	cout << "no more data" << endl;
393	QThread::exit(0);
394	this->deleteLater();
395	return;
396	}
397	}
398	qint64 nBytes = data.size();
399
400	// Timeout, reconnect
401	// ------------------
402	if (nBytes == 0) {
403	_latencyChecker->checkReconnect();
404	emit(newMessage(_staID + ": Data timeout, reconnecting", true));
405	msleep(10000); //sleep 10 sec, G. Weber
406	continue;
407	}
408	else {
409	emit newBytes(_staID, nBytes);
410	}
411
412	// Output Data
413	// -----------
414	if (_rawOutput) {
415	bncApp* app = (bncApp*) qApp;
416	app->writeRawData(data, _staID, _format);
417	}
418
419	if (_serialPort) {
420	slotSerialReadyRead();
421	_serialPort->write(data);
422	}
423
424	// Decode Data
425	// -----------
426	vector<string> errmsg;
427	t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
428
429	// Perform various scans and checks
430	// --------------------------------
431	_latencyChecker->checkOutage(irc == success);
432	_latencyChecker->checkObsLatency(_decoder->_obsList);
433	_latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
434
435	emit newLatency(_staID, _latencyChecker->currentLatency());
436
437	scanRTCM();
438
439	// Loop over all observations (observations output)
440	// ------------------------------------------------
441	QListIterator<p_obs> it(_decoder->_obsList);
442	while (it.hasNext()) {
443	p_obs obs = it.next();
444
445	// Check observation epoch
446	// -----------------------
447	if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
448	int week;
449	double sec;
450	currentGPSWeeks(week, sec);
451	const double secPerWeek = 7.0 * 24.0 * 3600.0;
452
453	double currSec = week * secPerWeek + sec;
454	double obsSec = obs->_o.GPSWeek * secPerWeek + obs->_o.GPSWeeks;
455
456	const double maxDt = 600.0;
457
458	if (fabs(currSec - obsSec) > maxDt) {
459	emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
460	delete obs;
461	continue;
462	}
463	}
464
465	// RINEX Output
466	// ------------
467	if (_rnx) {
468	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
469	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
470	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
471	_rnx->deepCopy(obs);
472	}
473	_rnx->dumpEpoch(newTime);
474	}
475
476	// PPP Client
477	// ----------
478	#ifndef MLS_SOFTWARE
479	if (_PPPclient) {
480	_PPPclient->putNewObs(obs);
481	}
482	#endif
483
484	// Emit new observation signal
485	// ---------------------------
486	bool firstObs = (obs == _decoder->_obsList.first());
487	obs->_status = t_obs::posted;
488	emit newObs(_staID, firstObs, obs);
489	}
490	_decoder->_obsList.clear();
491	}
492	catch (...) {
493	emit(newMessage(_staID + "bncGetThread exception", true));
494	_isToBeDeleted = true;
495	}
496	}
497	}
498
499	// Try Re-Connect
500	////////////////////////////////////////////////////////////////////////////
501	t_irc bncGetThread::tryReconnect() {
502
503	// Easy Return
504	// -----------
505	if (_query && _query->status() == bncNetQuery::running) {
506	_nextSleep = 0;
507	if (_rnx) {
508	_rnx->setReconnectFlag(false);
509	}
510	return success;
511	}
512
513	// Start a new query
514	// -----------------
515	if (!_rawFile) {
516
517	sleep(_nextSleep);
518	if (_nextSleep == 0) {
519	_nextSleep = 1;
520	}
521	else {
522	_nextSleep = 2 * _nextSleep;
523	if (_nextSleep > 256) {
524	_nextSleep = 256;
525	}
526	#ifdef MLS_SOFTWARE
527	if (_nextSleep > 4) {
528	_nextSleep = 4;
529	}
530	#endif
531	}
532
533	delete _query;
534	if (_ntripVersion == "U") {
535	_query = new bncNetQueryUdp();
536	}
537	else if (_ntripVersion == "R") {
538	_query = new bncNetQueryRtp();
539	}
540	else if (_ntripVersion == "S") {
541	_query = new bncNetQueryS();
542	}
543	else if (_ntripVersion == "N") {
544	_query = new bncNetQueryV0();
545	}
546	else if (_ntripVersion == "UN") {
547	_query = new bncNetQueryUdp0();
548	}
549	else if (_ntripVersion == "2") {
550	_query = new bncNetQueryV2();
551	}
552	else {
553	_query = new bncNetQueryV1();
554	}
555	if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
556	QByteArray gga = ggaString(_latitude, _longitude, "100.0");
557	_query->startRequest(_mountPoint, gga);
558	}
559	else {
560	_query->startRequest(_mountPoint, "");
561	}
562	if (_query->status() != bncNetQuery::running) {
563	return failure;
564	}
565	}
566
567	if (_rnx) {
568	_rnx->setReconnectFlag(true);
569	}
570
571	return success;
572	}
573
574	// RTCM scan output
575	//////////////////////////////////////////////////////////////////////////////
576	void bncGetThread::scanRTCM() {
577
578	bncSettings settings;
579	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
580
581	if ( _miscMount == _staID \|\| _miscMount == "ALL" ) {
582
583	// RTCM message types
584	// ------------------
585	for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
586	QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
587	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
588	}
589
590	// RTCMv3 antenna descriptor
591	// -------------------------
592	for (int ii=0;ii<_decoder->_antType.size();ii++) {
593	QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
594	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
595	}
596
597	// RTCM Antenna Coordinates
598	// ------------------------
599	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
600	QByteArray antT;
601	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
602	antT = "ARP";
603	}
604	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
605	antT = "APC";
606	}
607	QByteArray ant1, ant2, ant3;
608	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
609	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
610	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
611	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
612	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
613	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
614	if (_decoder->_antList[ii].height_f) {
615	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
616	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
617	}
618	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
619	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
620	antT));
621	}
622	}
623	}
624
625	#ifdef MLS_SOFTWARE
626	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
627	QByteArray antT;
628	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
629	antT = "ARP";
630	}
631	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
632	antT = "APC";
633	}
634	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
635	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
636	antT));
637	}
638
639	for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
640	emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
641	}
642	#endif
643
644
645
646
647	_decoder->_typeList.clear();
648	_decoder->_antType.clear();
649	_decoder->_antList.clear();
650	}
651
652	// Handle Data from Serial Port
653	////////////////////////////////////////////////////////////////////////////
654	void bncGetThread::slotSerialReadyRead() {
655	if (_serialPort) {
656	int nb = _serialPort->bytesAvailable();
657	if (nb > 0) {
658	QByteArray data = _serialPort->read(nb);
659
660	if (_serialNMEA == AUTO_NMEA) {
661	int i1 = data.indexOf("$GPGGA");
662	if (i1 != -1) {
663	int i2 = data.indexOf("*", i1);
664	if (i2 != -1 && data.size() > i2 + 1) {
665	QByteArray gga = data.mid(i1,i2-i1+3);
666	_query->sendNMEA(gga);
667	}
668	}
669	}
670
671	if (_serialOutFile) {
672	_serialOutFile->write(data);
673	_serialOutFile->flush();
674	}
675	}
676	}
677	}
678
679	//
680	//////////////////////////////////////////////////////////////////////////////
681	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
682	RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
683	RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
684
685	if ( decoder2 ) {
686	QMutexLocker locker(&_mutex);
687
688	string storedPRN;
689	vector<int> IODs;
690
691	if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
692	#ifdef DEBUG_RTCM2_2021
693	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
694
695	for (unsigned ii = 0; ii < IODs.size(); ii++) {
696	msg += QString(" %1").arg(IODs[ii],4);
697	}
698
699	emit(newMessage(msg.toAscii()));
700	#endif
701	}
702	}
703
704	if ( decoder3 ) {
705	QMutexLocker locker(&_mutex);
706
707	if ( decoder3->storeEph(gpseph) ) {
708	#ifdef DEBUG_RTCM3
709	QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
710	emit(newMessage(msg.toAscii(),true));
711	#endif
712	}
713	}
714	}
715

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