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source: ntrip/trunk/BNC/bncgetthread.cpp@ 3090

Last change on this file since 3090 was 3027, checked in by mervart, 14 years ago

File size: 19.8 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) {
96	_rawFile = 0;
97	_mountPoint = mountPoint;
98	_staID = mountPoint.path().mid(1).toAscii();
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	app->_bncPPPclient = _PPPclient;
285	qRegisterMetaType<bncTime>("bncTime");
286	connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
287	this, SIGNAL(newPosition(bncTime, double, double, double)));
288	connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
289	this, SIGNAL(newNMEAstr(QByteArray)));
290	}
291	#endif
292
293	// Instantiate the decoder
294	// -----------------------
295	if (_format.indexOf("RTCM_2") != -1 \|\| _format.indexOf("RTCM2") != -1 \|\|
296	_format.indexOf("RTCM 2") != -1 ) {
297	emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
298	_decoder = new RTCM2Decoder(_staID.data());
299	}
300	else if (_format.indexOf("RTCM_3") != -1 \|\| _format.indexOf("RTCM3") != -1 \|\|
301	_format.indexOf("RTCM 3") != -1 ) {
302	emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
303	_decoder = new RTCM3Decoder(_staID, _rawFile);
304	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
305	this, SIGNAL(newMessage(QByteArray,bool)));
306	}
307	else if (_format.indexOf("RTIGS") != -1) {
308	emit(newMessage(_staID + ": Get data in RTIGS format", true));
309	_decoder = new RTIGSDecoder();
310	}
311	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
312	emit(newMessage(_staID + ": Get Data in GPSS format", true));
313	_decoder = new gpssDecoder();
314	}
315	else if (_format.indexOf("ZERO") != -1) {
316	emit(newMessage(_staID + ": Get data in original format", true));
317	_decoder = new bncZeroDecoder(_staID);
318	}
319	else {
320	emit(newMessage(_staID + ": Unknown data format " + _format, true));
321	_isToBeDeleted = true;
322	}
323
324	_latencyChecker = new latencyChecker(_staID);
325
326	msleep(100); //sleep 0.1 sec
327	}
328
329	// Destructor
330	////////////////////////////////////////////////////////////////////////////
331	bncGetThread::~bncGetThread() {
332	if (isRunning()) {
333	wait();
334	}
335	if (_query) {
336	_query->stop();
337	_query->deleteLater();
338	}
339	delete _PPPclient;
340	delete _decoder;
341	delete _rnx;
342	delete _rawFile;
343	delete _serialOutFile;
344	delete _serialPort;
345	delete _latencyChecker;
346	emit getThreadFinished(_staID);
347	}
348
349	//
350	////////////////////////////////////////////////////////////////////////////
351	void bncGetThread::terminate() {
352	_isToBeDeleted = true;
353	if (!isRunning()) {
354	delete this;
355	}
356	}
357
358	// Run
359	////////////////////////////////////////////////////////////////////////////
360	void bncGetThread::run() {
361
362	while (true) {
363	try {
364	if (_isToBeDeleted) {
365	QThread::exit(0);
366	this->deleteLater();
367	return;
368	}
369
370	if (tryReconnect() != success) {
371	_latencyChecker->checkReconnect();
372	continue;
373	}
374
375	// Delete old observations
376	// -----------------------
377	_decoder->_obsList.clear();
378
379	// Read Data
380	// ---------
381	QByteArray data;
382	if (_query) {
383	_query->waitForReadyRead(data);
384	}
385	else if (_rawFile) {
386	data = _rawFile->readChunk();
387
388	if (data.isEmpty()) {
389	cout << "no more data" << endl;
390	QThread::exit(0);
391	this->deleteLater();
392	return;
393	}
394	}
395	qint64 nBytes = data.size();
396
397	// Timeout, reconnect
398	// ------------------
399	if (nBytes == 0) {
400	_latencyChecker->checkReconnect();
401	emit(newMessage(_staID + ": Data timeout, reconnecting", true));
402	msleep(10000); //sleep 10 sec, G. Weber
403	continue;
404	}
405	else {
406	emit newBytes(_staID, nBytes);
407	}
408
409	// Output Data
410	// -----------
411	if (_rawOutput) {
412	bncApp* app = (bncApp*) qApp;
413	app->writeRawData(data, _staID, _format);
414	}
415
416	if (_serialPort) {
417	slotSerialReadyRead();
418	_serialPort->write(data);
419	}
420
421	// Decode Data
422	// -----------
423	vector<string> errmsg;
424	t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
425
426	// Perform various scans and checks
427	// --------------------------------
428	_latencyChecker->checkOutage(irc == success);
429	_latencyChecker->checkObsLatency(_decoder->_obsList);
430	_latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
431
432	emit newLatency(_staID, _latencyChecker->currentLatency());
433
434	scanRTCM();
435
436	// Loop over all observations (observations output)
437	// ------------------------------------------------
438	QListIterator<t_obs> it(_decoder->_obsList);
439	bool firstObs = true;
440	while (it.hasNext()) {
441	const t_obs& obs = it.next();
442
443	// Check observation epoch
444	// -----------------------
445	if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
446	int week;
447	double sec;
448	currentGPSWeeks(week, sec);
449	const double secPerWeek = 7.0 * 24.0 * 3600.0;
450
451	double currSec = week * secPerWeek + sec;
452	double obsSec = obs.GPSWeek * secPerWeek + obs.GPSWeeks;
453
454	const double maxDt = 600.0;
455
456	if (fabs(currSec - obsSec) > maxDt) {
457	emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
458	continue;
459	}
460	}
461
462	// RINEX Output
463	// ------------
464	if (_rnx) {
465	long iSec = long(floor(obs.GPSWeeks+0.5));
466	long newTime = obs.GPSWeek * 7243600 + iSec;
467	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
468	_rnx->deepCopy(obs);
469	}
470	_rnx->dumpEpoch(newTime);
471	}
472
473	// PPP Client
474	// ----------
475	#ifndef MLS_SOFTWARE
476	if (_PPPclient) {
477	_PPPclient->putNewObs(obs);
478	}
479	#endif
480
481	// Emit new observation signal
482	// ---------------------------
483	if (!_isToBeDeleted) {
484	emit newObs(_staID, firstObs, obs);
485	}
486	firstObs = false;
487	}
488	_decoder->_obsList.clear();
489	}
490	catch (...) {
491	emit(newMessage(_staID + "bncGetThread exception", true));
492	_isToBeDeleted = true;
493	}
494	}
495	}
496
497	// Try Re-Connect
498	////////////////////////////////////////////////////////////////////////////
499	t_irc bncGetThread::tryReconnect() {
500
501	// Easy Return
502	// -----------
503	if (_query && _query->status() == bncNetQuery::running) {
504	_nextSleep = 0;
505	if (_rnx) {
506	_rnx->setReconnectFlag(false);
507	}
508	return success;
509	}
510
511	// Start a new query
512	// -----------------
513	if (!_rawFile) {
514
515	sleep(_nextSleep);
516	if (_nextSleep == 0) {
517	_nextSleep = 1;
518	}
519	else {
520	_nextSleep = 2 * _nextSleep;
521	if (_nextSleep > 256) {
522	_nextSleep = 256;
523	}
524	#ifdef MLS_SOFTWARE
525	if (_nextSleep > 4) {
526	_nextSleep = 4;
527	}
528	#endif
529	}
530
531	delete _query;
532	if (_ntripVersion == "U") {
533	_query = new bncNetQueryUdp();
534	}
535	else if (_ntripVersion == "R") {
536	_query = new bncNetQueryRtp();
537	}
538	else if (_ntripVersion == "S") {
539	_query = new bncNetQueryS();
540	}
541	else if (_ntripVersion == "N") {
542	_query = new bncNetQueryV0();
543	}
544	else if (_ntripVersion == "UN") {
545	_query = new bncNetQueryUdp0();
546	}
547	else if (_ntripVersion == "2") {
548	_query = new bncNetQueryV2();
549	}
550	else {
551	_query = new bncNetQueryV1();
552	}
553	if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
554	QByteArray gga = ggaString(_latitude, _longitude, "100.0");
555	_query->startRequest(_mountPoint, gga);
556	}
557	else {
558	_query->startRequest(_mountPoint, "");
559	}
560	if (_query->status() != bncNetQuery::running) {
561	return failure;
562	}
563	}
564
565	if (_rnx) {
566	_rnx->setReconnectFlag(true);
567	}
568
569	return success;
570	}
571
572	// RTCM scan output
573	//////////////////////////////////////////////////////////////////////////////
574	void bncGetThread::scanRTCM() {
575
576	bncSettings settings;
577	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
578
579	if ( _miscMount == _staID \|\| _miscMount == "ALL" ) {
580
581	// RTCM message types
582	// ------------------
583	for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
584	QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
585	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
586	}
587
588	// RTCMv3 antenna descriptor
589	// -------------------------
590	for (int ii=0;ii<_decoder->_antType.size();ii++) {
591	QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
592	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
593	}
594
595	// RTCM Antenna Coordinates
596	// ------------------------
597	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
598	QByteArray antT;
599	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
600	antT = "ARP";
601	}
602	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
603	antT = "APC";
604	}
605	QByteArray ant1, ant2, ant3;
606	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
607	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
608	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
609	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
610	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
611	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
612	if (_decoder->_antList[ii].height_f) {
613	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
614	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
615	}
616	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
617	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
618	antT));
619	}
620	}
621	}
622
623	#ifdef MLS_SOFTWARE
624	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
625	QByteArray antT;
626	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
627	antT = "ARP";
628	}
629	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
630	antT = "APC";
631	}
632	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
633	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
634	antT));
635	}
636
637	for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
638	emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
639	}
640	#endif
641
642
643
644
645	_decoder->_typeList.clear();
646	_decoder->_antType.clear();
647	_decoder->_antList.clear();
648	}
649
650	// Handle Data from Serial Port
651	////////////////////////////////////////////////////////////////////////////
652	void bncGetThread::slotSerialReadyRead() {
653	if (_serialPort) {
654	int nb = _serialPort->bytesAvailable();
655	if (nb > 0) {
656	QByteArray data = _serialPort->read(nb);
657
658	if (_serialNMEA == AUTO_NMEA) {
659	int i1 = data.indexOf("$GPGGA");
660	if (i1 != -1) {
661	int i2 = data.indexOf("*", i1);
662	if (i2 != -1 && data.size() > i2 + 1) {
663	QByteArray gga = data.mid(i1,i2-i1+3);
664	_query->sendNMEA(gga);
665	}
666	}
667	}
668
669	if (_serialOutFile) {
670	_serialOutFile->write(data);
671	_serialOutFile->flush();
672	}
673	}
674	}
675	}
676
677	//
678	//////////////////////////////////////////////////////////////////////////////
679	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
680	RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
681	RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
682
683	if ( decoder2 ) {
684	QMutexLocker locker(&_mutex);
685
686	string storedPRN;
687	vector<int> IODs;
688
689	if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
690	#ifdef DEBUG_RTCM2_2021
691	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
692
693	for (unsigned ii = 0; ii < IODs.size(); ii++) {
694	msg += QString(" %1").arg(IODs[ii],4);
695	}
696
697	emit(newMessage(msg.toAscii()));
698	#endif
699	}
700	}
701
702	if ( decoder3 ) {
703	QMutexLocker locker(&_mutex);
704
705	if ( decoder3->storeEph(gpseph) ) {
706	#ifdef DEBUG_RTCM3
707	QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
708	emit(newMessage(msg.toAscii(),true));
709	#endif
710	}
711	}
712	}
713

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