source: ntrip/trunk/BNC/bncgetthread.cpp@ 513

Last change on this file since 513 was 513, checked in by mervart, 17 years ago

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File size: 13.5 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
43#include <QFile>
44#include <QTextStream>
45#include <QtNetwork>
46#include <QTime>
47
48#include "bncgetthread.h"
49#include "bnctabledlg.h"
50#include "bncapp.h"
51#include "bncutils.h"
52#include "bncrinex.h"
53#include "bnczerodecoder.h"
54
55#include "RTCM/RTCM2Decoder.h"
56#include "RTCM3/RTCM3Decoder.h"
57#include "RTIGS/RTIGSDecoder.h"
58
59using namespace std;
60
61// Constructor
62////////////////////////////////////////////////////////////////////////////
63bncGetThread::bncGetThread(const QUrl& mountPoint,
64 const QByteArray& format,
65 const QByteArray& latitude,
66 const QByteArray& longitude,
67 const QByteArray& nmea, int iMount) {
68 _decoder = 0;
69 _mountPoint = mountPoint;
70 _staID = mountPoint.path().mid(1).toAscii();
71 _staID_orig = _staID;
72 _format = format;
73 _latitude = latitude;
74 _longitude = longitude;
75 _nmea = nmea;
76 _socket = 0;
77 _timeOut = 20*1000; // 20 seconds
78 _nextSleep = 1; // 1 second
79 _iMount = iMount; // index in mountpoints array
80
81 // Check name conflict
82 // -------------------
83 QSettings settings;
84 QListIterator<QString> it(settings.value("mountPoints").toStringList());
85 int num = 0;
86 int ind = -1;
87 while (it.hasNext()) {
88 ++ind;
89 QStringList hlp = it.next().split(" ");
90 if (hlp.size() <= 1) continue;
91 QUrl url(hlp[0]);
92 if (_mountPoint.path() == url.path()) {
93 if (_iMount > ind) {
94 ++num;
95 }
96 }
97 }
98
99 if (num > 0) {
100 _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
101 }
102
103 // RINEX writer
104 // ------------
105 _samplingRate = settings.value("rnxSampl").toInt();
106 if ( settings.value("rnxPath").toString().isEmpty() ) {
107 _rnx = 0;
108 }
109 else {
110 _rnx = new bncRinex(_staID, mountPoint, format, latitude, longitude, nmea);
111 }
112
113 msleep(100); //sleep 0.1 sec
114}
115
116// Destructor
117////////////////////////////////////////////////////////////////////////////
118bncGetThread::~bncGetThread() {
119 if (_socket) {
120 _socket->close();
121 //// delete _socket; (a bug in Qt?)
122 }
123 delete _decoder;
124}
125
126// Connect to Caster, send the Request (static)
127////////////////////////////////////////////////////////////////////////////
128QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
129 QByteArray& latitude, QByteArray& longitude,
130 QByteArray& nmea, int timeOut,
131 QString& msg) {
132
133 // Connect the Socket
134 // ------------------
135 QSettings settings;
136 QString proxyHost = settings.value("proxyHost").toString();
137 int proxyPort = settings.value("proxyPort").toInt();
138
139 QTcpSocket* socket = new QTcpSocket();
140 if ( proxyHost.isEmpty() ) {
141 socket->connectToHost(mountPoint.host(), mountPoint.port());
142 }
143 else {
144 socket->connectToHost(proxyHost, proxyPort);
145 }
146 if (!socket->waitForConnected(timeOut)) {
147 msg += "Connect timeout\n";
148 delete socket;
149 return 0;
150 }
151
152 // Send Request
153 // ------------
154 QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
155 QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
156 QByteArray userAndPwd = uName.toAscii() + ":" + passW.toAscii();
157
158 QUrl hlp;
159 hlp.setScheme("http");
160 hlp.setHost(mountPoint.host());
161 hlp.setPort(mountPoint.port());
162 hlp.setPath(mountPoint.path());
163
164 QByteArray reqStr;
165 if ( proxyHost.isEmpty() ) {
166 if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
167 reqStr = "GET " + hlp.path().toAscii() +
168 " HTTP/1.0\r\n"
169 "User-Agent: NTRIP BNC 1.4\r\n"
170 "Authorization: Basic " +
171 userAndPwd.toBase64() + "\r\n";
172 } else {
173 reqStr = "GET " + hlp.toEncoded() +
174 " HTTP/1.0\r\n"
175 "User-Agent: NTRIP BNC 1.4\r\n"
176 "Authorization: Basic " +
177 userAndPwd.toBase64() + "\r\n";
178 }
179 if (hlp.path().indexOf(".skl") > 0) { reqStr += "Host: " + hlp.host().toAscii() + "\r\n"; }
180 reqStr += "\r\n";
181
182// NMEA string to handle VRS stream
183// --------------------------------
184
185 double lat, lon;
186
187 lat = strtod(latitude,NULL);
188 lon = strtod(longitude,NULL);
189
190 if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
191 const char* flagN="N";
192 const char* flagE="E";
193 if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
194 if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
195 if (lon < -180.) {lon=(lon+360.); flagE="E";}
196 if (lat < 0.) {lat=lat*(-1.); flagN="S";}
197 QTime ttime(QTime::currentTime());
198 int lat_deg = (int)lat;
199 double lat_min=(lat-lat_deg)*60.;
200 int lon_deg = (int)lon;
201 double lon_min=(lon-lon_deg)*60.;
202 int hh = 0 , mm = 0;
203 double ss = 0.0;
204 hh=ttime.hour();
205 mm=ttime.minute();
206 ss=(double)ttime.second()+0.001*ttime.msec();
207 QString gga;
208 gga += "GPGGA,";
209 gga += QString("%1%2%3,").arg((int)hh, 2, 10, QLatin1Char('0')).arg((int)mm, 2, 10, QLatin1Char('0')).arg((int)ss, 2, 10, QLatin1Char('0'));
210 gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
211 gga += flagN;
212 gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
213 gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
214 int xori;
215 char XOR = 0;
216 char *Buff =gga.toAscii().data();
217 int iLen = strlen(Buff);
218 for (xori = 0; xori < iLen; xori++) {
219 XOR ^= (char)Buff[xori];
220 }
221 gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
222 reqStr += "$";
223 reqStr += gga;
224 reqStr += "\r\n";
225 }
226
227 msg += reqStr;
228
229 socket->write(reqStr, reqStr.length());
230
231 if (!socket->waitForBytesWritten(timeOut)) {
232 msg += "Write timeout\n";
233 delete socket;
234 return 0;
235 }
236
237 return socket;
238}
239
240// Init Run
241////////////////////////////////////////////////////////////////////////////
242t_irc bncGetThread::initRun() {
243
244 // Send the Request
245 // ----------------
246 QString msg;
247
248 _socket = bncGetThread::request(_mountPoint, _latitude, _longitude, _nmea, _timeOut, msg);
249
250 //// emit(newMessage(msg.toAscii()));
251
252 if (!_socket) {
253 return failure;
254 }
255
256 // Read Caster Response
257 // --------------------
258 _socket->waitForReadyRead(_timeOut);
259 if (_socket->canReadLine()) {
260 QString line = _socket->readLine();
261
262 // Skip messages from proxy server
263 // -------------------------------
264 if (line.indexOf("ICY 200 OK") == -1 &&
265 line.indexOf("200 OK") != -1 ) {
266 bool proxyRespond = true;
267 while (true) {
268 if (_socket->canReadLine()) {
269 line = _socket->readLine();
270 if (!proxyRespond) {
271 break;
272 }
273 if (line.trimmed().isEmpty()) {
274 proxyRespond = false;
275 }
276 }
277 else {
278 _socket->waitForReadyRead(_timeOut);
279 if (_socket->bytesAvailable() <= 0) {
280 break;
281 }
282 }
283 }
284 }
285
286 if (line.indexOf("Unauthorized") != -1) {
287 QStringList table;
288 bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
289 QString net;
290 QStringListIterator it(table);
291 while (it.hasNext()) {
292 QString line = it.next();
293 if (line.indexOf("STR") == 0) {
294 QStringList tags = line.split(";");
295 if (tags.at(1) == _staID_orig) {
296 net = tags.at(7);
297 break;
298 }
299 }
300 }
301
302 QString reg;
303 it.toFront();
304 while (it.hasNext()) {
305 QString line = it.next();
306 if (line.indexOf("NET") == 0) {
307 QStringList tags = line.split(";");
308 if (tags.at(1) == net) {
309 reg = tags.at(7);
310 break;
311 }
312 }
313 }
314 emit(newMessage((_staID + ": Caster Response: " + line +
315 " Adjust User-ID and Password Register, see"
316 "\n " + reg).toAscii()));
317 return fatal;
318 }
319 if (line.indexOf("ICY 200 OK") != 0) {
320 emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii()));
321 return failure;
322 }
323 }
324 else {
325 emit(newMessage(_staID + ": Response Timeout"));
326 return failure;
327 }
328
329 // Instantiate the filter
330 // ----------------------
331 if (!_decoder) {
332 if (_format.indexOf("RTCM_2") != -1) {
333 emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format"));
334 _decoder = new RTCM2Decoder();
335 }
336 else if (_format.indexOf("RTCM_3") != -1) {
337 emit(newMessage("Get Data: " + _staID + " in RTCM 3.0 format"));
338 _decoder = new RTCM3Decoder();
339 }
340 else if (_format.indexOf("RTIGS") != -1) {
341 emit(newMessage("Get Data: " + _staID + " in RTIGS format"));
342 _decoder = new RTIGSDecoder();
343 }
344 else if (_format.indexOf("SP3") != -1 || _format.indexOf("ZERO") != -1) {
345 emit(newMessage("Get Data: " + _staID + " in original format"));
346 _decoder = new bncZeroDecoder(_staID);
347 }
348 else {
349 emit(newMessage(_staID + ": Unknown data format " + _format));
350 return fatal;
351 }
352 }
353 return success;
354}
355
356// Run
357////////////////////////////////////////////////////////////////////////////
358void bncGetThread::run() {
359
360 t_irc irc = initRun();
361
362 if (irc == fatal) {
363 QThread::exit(1);
364 return;
365 }
366 else if (irc != success) {
367 emit(newMessage(_staID + ": initRun failed, reconnecting"));
368 tryReconnect();
369 }
370
371 // Read Incoming Data
372 // ------------------
373 while (true) {
374 try {
375 if (_socket->state() != QAbstractSocket::ConnectedState) {
376 emit(newMessage(_staID + ": Socket not connected, reconnecting"));
377 tryReconnect();
378 }
379
380
381 _socket->waitForReadyRead(_timeOut);
382 qint64 nBytes = _socket->bytesAvailable();
383 if (nBytes > 0) {
384 char* data = new char[nBytes];
385 _socket->read(data, nBytes);
386
387 _decoder->Decode(data, nBytes);
388 delete [] data;
389
390 for (list<Observation*>::iterator it = _decoder->_obsList.begin();
391 it != _decoder->_obsList.end(); it++) {
392
393 // Check observation epoch
394 // -----------------------
395 int week;
396 double sec;
397 currentGPSWeeks(week, sec);
398
399 const double secPerWeek = 7.0 * 24.0 * 3600.0;
400 const double maxDt = 600.0;
401
402 if (week < (*it)->GPSWeek) {
403 week += 1;
404 sec -= secPerWeek;
405 }
406 if (week > (*it)->GPSWeek) {
407 week -= 1;
408 sec += secPerWeek;
409 }
410 double dt = fabs(sec - (*it)->GPSWeeks);
411 if (week != (*it)->GPSWeek || dt > maxDt) {
412 emit( newMessage("Wrong observation epoch") );
413 delete (*it);
414 continue;
415 }
416
417 // RINEX Output
418 // ------------
419 if (_rnx) {
420 long iSec = long(floor((*it)->GPSWeeks+0.5));
421 long newTime = (*it)->GPSWeek * 7*24*3600 + iSec;
422 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
423 _rnx->deepCopy(*it);
424 }
425 _rnx->dumpEpoch(newTime);
426 }
427
428 emit newBytes(_staID, sizeof(**it));
429 bool firstObs = (it == _decoder->_obsList.begin());
430 emit newObs(_staID, firstObs, *it);
431 }
432 _decoder->_obsList.clear();
433 }
434 else {
435 emit(newMessage(_staID + ": Data Timeout, reconnecting"));
436 tryReconnect();
437 }
438 }
439 catch (const char* msg) {
440 emit(newMessage(_staID + msg));
441 tryReconnect();
442 }
443 }
444}
445
446// Exit
447////////////////////////////////////////////////////////////////////////////
448void bncGetThread::exit(int exitCode) {
449 if (exitCode!= 0) {
450 emit error(_staID);
451 }
452 QThread::exit(exitCode);
453 terminate();
454}
455
456// Try Re-Connect
457////////////////////////////////////////////////////////////////////////////
458void bncGetThread::tryReconnect() {
459 if (_rnx) {
460 _rnx->setReconnectFlag(true);
461 }
462 while (1) {
463 delete _socket; _socket = 0;
464 sleep(_nextSleep);
465 if ( initRun() == success ) {
466 break;
467 }
468 else {
469 _nextSleep *= 2;
470 if (_nextSleep > 256) {
471 _nextSleep = 256;
472 }
473 _nextSleep += rand() % 6;
474 }
475 }
476 _nextSleep = 1;
477}
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