source: ntrip/trunk/BNC/bncgetthread.cpp@ 2686

Last change on this file since 2686 was 2647, checked in by mervart, 14 years ago
File size: 20.0 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: 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
73using namespace std;
74
75// Constructor 1
76////////////////////////////////////////////////////////////////////////////
77bncGetThread::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////////////////////////////////////////////////////////////////////////////
90bncGetThread::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////////////////////////////////////////////////////////////////////////////
115void 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////////////////////////////////////////////////////////////////////////////
330bncGetThread::~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////////////////////////////////////////////////////////////////////////////
350void bncGetThread::terminate() {
351 _isToBeDeleted = true;
352 if (!isRunning()) {
353 delete this;
354 }
355}
356
357// Run
358////////////////////////////////////////////////////////////////////////////
359void 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 * 7*24*3600 + 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 if (!_isToBeDeleted) {
489 emit newObs(_staID, firstObs, obs);
490 }
491 }
492 _decoder->_obsList.clear();
493 }
494 catch (...) {
495 emit(newMessage(_staID + "bncGetThread exception", true));
496 _isToBeDeleted = true;
497 }
498 }
499}
500
501// Try Re-Connect
502////////////////////////////////////////////////////////////////////////////
503t_irc bncGetThread::tryReconnect() {
504
505 // Easy Return
506 // -----------
507 if (_query && _query->status() == bncNetQuery::running) {
508 _nextSleep = 0;
509 if (_rnx) {
510 _rnx->setReconnectFlag(false);
511 }
512 return success;
513 }
514
515 // Start a new query
516 // -----------------
517 if (!_rawFile) {
518
519 sleep(_nextSleep);
520 if (_nextSleep == 0) {
521 _nextSleep = 1;
522 }
523 else {
524 _nextSleep = 2 * _nextSleep;
525 if (_nextSleep > 256) {
526 _nextSleep = 256;
527 }
528#ifdef MLS_SOFTWARE
529 if (_nextSleep > 4) {
530 _nextSleep = 4;
531 }
532#endif
533 }
534
535 delete _query;
536 if (_ntripVersion == "U") {
537 _query = new bncNetQueryUdp();
538 }
539 else if (_ntripVersion == "R") {
540 _query = new bncNetQueryRtp();
541 }
542 else if (_ntripVersion == "S") {
543 _query = new bncNetQueryS();
544 }
545 else if (_ntripVersion == "N") {
546 _query = new bncNetQueryV0();
547 }
548 else if (_ntripVersion == "UN") {
549 _query = new bncNetQueryUdp0();
550 }
551 else if (_ntripVersion == "2") {
552 _query = new bncNetQueryV2();
553 }
554 else {
555 _query = new bncNetQueryV1();
556 }
557 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
558 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
559 _query->startRequest(_mountPoint, gga);
560 }
561 else {
562 _query->startRequest(_mountPoint, "");
563 }
564 if (_query->status() != bncNetQuery::running) {
565 return failure;
566 }
567 }
568
569 if (_rnx) {
570 _rnx->setReconnectFlag(true);
571 }
572
573 return success;
574}
575
576// RTCM scan output
577//////////////////////////////////////////////////////////////////////////////
578void bncGetThread::scanRTCM() {
579
580 bncSettings settings;
581 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
582
583 if ( _miscMount == _staID || _miscMount == "ALL" ) {
584
585 // RTCM message types
586 // ------------------
587 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
588 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
589 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
590 }
591
592 // RTCMv3 antenna descriptor
593 // -------------------------
594 for (int ii=0;ii<_decoder->_antType.size();ii++) {
595 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
596 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
597 }
598
599 // RTCM Antenna Coordinates
600 // ------------------------
601 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
602 QByteArray antT;
603 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
604 antT = "ARP";
605 }
606 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
607 antT = "APC";
608 }
609 QByteArray ant1, ant2, ant3;
610 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
611 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
612 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
613 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
614 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
615 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
616 if (_decoder->_antList[ii].height_f) {
617 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
618 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
619 }
620 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
621 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
622 antT));
623 }
624 }
625 }
626
627#ifdef MLS_SOFTWARE
628 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
629 QByteArray antT;
630 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
631 antT = "ARP";
632 }
633 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
634 antT = "APC";
635 }
636 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
637 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
638 antT));
639 }
640
641 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
642 emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
643 }
644#endif
645
646
647
648
649 _decoder->_typeList.clear();
650 _decoder->_antType.clear();
651 _decoder->_antList.clear();
652}
653
654// Handle Data from Serial Port
655////////////////////////////////////////////////////////////////////////////
656void bncGetThread::slotSerialReadyRead() {
657 if (_serialPort) {
658 int nb = _serialPort->bytesAvailable();
659 if (nb > 0) {
660 QByteArray data = _serialPort->read(nb);
661
662 if (_serialNMEA == AUTO_NMEA) {
663 int i1 = data.indexOf("$GPGGA");
664 if (i1 != -1) {
665 int i2 = data.indexOf("*", i1);
666 if (i2 != -1 && data.size() > i2 + 1) {
667 QByteArray gga = data.mid(i1,i2-i1+3);
668 _query->sendNMEA(gga);
669 }
670 }
671 }
672
673 if (_serialOutFile) {
674 _serialOutFile->write(data);
675 _serialOutFile->flush();
676 }
677 }
678 }
679}
680
681//
682//////////////////////////////////////////////////////////////////////////////
683void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
684 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
685 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
686
687 if ( decoder2 ) {
688 QMutexLocker locker(&_mutex);
689
690 string storedPRN;
691 vector<int> IODs;
692
693 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
694#ifdef DEBUG_RTCM2_2021
695 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
696
697 for (unsigned ii = 0; ii < IODs.size(); ii++) {
698 msg += QString(" %1").arg(IODs[ii],4);
699 }
700
701 emit(newMessage(msg.toAscii()));
702#endif
703 }
704 }
705
706 if ( decoder3 ) {
707 QMutexLocker locker(&_mutex);
708
709 if ( decoder3->storeEph(gpseph) ) {
710#ifdef DEBUG_RTCM3
711 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
712 emit(newMessage(msg.toAscii(),true));
713#endif
714 }
715 }
716}
717
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