source: ntrip/trunk/BNC/src/RTRover/bncrtrover.cpp@ 4768

Last change on this file since 4768 was 4768, checked in by mervart, 12 years ago
File size: 6.8 KB
Line 
1
2#include <iostream>
3#include <string.h>
4
5#include "bncrtrover.h"
6#include "bncapp.h"
7#include "bncsettings.h"
8#include "bnctime.h"
9
10#include "rtrover_interface.h"
11
12using namespace std;
13
14// Constructor
15////////////////////////////////////////////////////////////////////////////
16t_bncRtrover::t_bncRtrover() : QThread(0) {
17}
18
19// Destructor
20////////////////////////////////////////////////////////////////////////////
21t_bncRtrover::~t_bncRtrover() {
22 rtrover_destroy();
23}
24
25// Run (virtual)
26////////////////////////////////////////////////////////////////////////////
27void t_bncRtrover::run() {
28 bncSettings settings;
29
30 // User Options
31 // ------------
32 _mode = settings.value("rtroverMode").toByteArray();
33 _roverMount = settings.value("rtroverRoverMount").toByteArray();
34 _baseMount = settings.value("rtroverBaseMount").toByteArray();
35 _corrMount = settings.value("rtroverCorrMount").toByteArray();
36 _outputFile.setFileName(settings.value("rtroverOutput").toString());
37 _outputFile.open(QIODevice::WriteOnly | QIODevice::Text);
38
39 // Define Input Options
40 // --------------------
41 rtrover_opt opt;
42 opt._roverName = strdup(_roverMount.data());
43 opt._baseName = strdup(_baseMount.data());
44 opt._xyzAprRover[0] = settings.value("rtroverRoverRefCrdX").toDouble();
45 opt._xyzAprRover[1] = settings.value("rtroverRoverRefCrdY").toDouble();
46 opt._xyzAprRover[2] = settings.value("rtroverRoverRefCrdZ").toDouble();
47 opt._xyzAprBase[0] = settings.value("rtroverBaseRefCrdX").toDouble();
48 opt._xyzAprBase[1] = settings.value("rtroverBaseRefCrdY").toDouble();
49 opt._xyzAprBase[2] = settings.value("rtroverBaseRefCrdZ").toDouble();
50 opt._sigmaPhase = 0.002; // TODO
51 opt._sigmaCode = 2.0; // TODO
52 rtrover_setOptions(&opt);
53
54 // Connect to BNC Signals
55 // ----------------------
56 connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
57 this, SLOT(slotNewCorrections(QList<QString>)));
58
59 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
60 this, SLOT(slotNewEphGPS(gpsephemeris)));
61
62 connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
63 this, SLOT(slotNewEphGlonass(glonassephemeris)));
64
65 connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
66 this, SLOT(slotNewEphGalileo(galileoephemeris)));
67
68 // Start processing loop
69 // ---------------------
70 QThread::exec();
71}
72
73//
74////////////////////////////////////////////////////////////////////////////
75void t_bncRtrover::slotNewEphGPS(gpsephemeris gpseph) {
76 QMutexLocker locker(&_mutex);
77
78 bncTime toc(gpseph.GPSweek, gpseph.TOC);
79 bncTime toe(gpseph.GPSweek, gpseph.TOE);
80
81 rtrover_ephGPS eph;
82 eph._satellite._system = 'G';
83 eph._satellite._number = gpseph.satellite;
84 eph._TOC._mjd = toc.mjd();
85 eph._TOC._sec = toc.daysec();
86 eph._TOE._mjd = toe.mjd();
87 eph._TOE._sec = toe.daysec();
88 eph._IODE = gpseph.IODE;
89 eph._IODC = gpseph.IODC;
90 eph._clock_bias = gpseph.clock_bias;
91 eph._clock_drift = gpseph.clock_drift;
92 eph._clock_driftrate = gpseph.clock_driftrate;
93 eph._Crs = gpseph.Crs;
94 eph._Delta_n = gpseph.Delta_n;
95 eph._M0 = gpseph.M0;
96 eph._Cuc = gpseph.Cuc;
97 eph._e = gpseph.e;
98 eph._Cus = gpseph.Cus;
99 eph._sqrt_A = gpseph.sqrt_A;
100 eph._Cic = gpseph.Cic;
101 eph._OMEGA0 = gpseph.OMEGA0;
102 eph._Cis = gpseph.Cis;
103 eph._i0 = gpseph.i0;
104 eph._Crc = gpseph.Crc;
105 eph._omega = gpseph.omega;
106 eph._OMEGADOT = gpseph.OMEGADOT;
107 eph._IDOT = gpseph.IDOT;
108 eph._TGD = gpseph.TGD;
109 eph._health = gpseph.SVhealth;
110
111 rtrover_putGPSEphemeris(&eph);
112}
113
114//
115////////////////////////////////////////////////////////////////////////////
116void t_bncRtrover::slotNewEphGlonass(glonassephemeris gloeph) {
117 QMutexLocker locker(&_mutex);
118
119 int wwUTC = gloeph.GPSWeek;
120 int towUTC = gloeph.GPSTOW;
121 updatetime(&wwUTC, &towUTC, gloeph.tb*1000, 1); // Moscow -> UTC
122 bncTime tUTC(wwUTC,towUTC);
123
124 int wwGPS = gloeph.GPSWeek;
125 int towGPS = gloeph.GPSTOW;
126 updatetime(&wwGPS, &towGPS, gloeph.tb*1000, 0); // Moscow -> GPS
127 bncTime tGPS(wwGPS,towGPS);
128
129 rtrover_ephGlo eph;
130 eph._satellite._system = 'R';
131 eph._satellite._number = gloeph.almanac_number;
132 eph._timeUTC._mjd = tUTC.mjd();
133 eph._timeUTC._sec = tUTC.daysec();
134 eph._gps_utc = int(tGPS-tUTC);
135 eph._E = gloeph.E;
136 eph._tau = gloeph.tau;
137 eph._gamma = gloeph.gamma;
138 eph._x_pos = gloeph.x_pos;
139 eph._x_velocity = gloeph.x_velocity;
140 eph._x_acceleration = gloeph.x_acceleration;
141 eph._y_pos = gloeph.y_pos;
142 eph._y_velocity = gloeph.y_velocity;
143 eph._y_acceleration = gloeph.y_acceleration;
144 eph._z_pos = gloeph.z_pos;
145 eph._z_velocity = gloeph.z_velocity;
146 eph._z_acceleration = gloeph.z_acceleration;
147 eph._health = 0; // TODO ?
148 eph._frequency_number = gloeph.frequency_number;
149
150 rtrover_putGloEphemeris(&eph);
151}
152
153//
154////////////////////////////////////////////////////////////////////////////
155void t_bncRtrover::slotNewEphGalileo(galileoephemeris /* galeph */) {
156 // not yet implemented
157}
158
159//
160////////////////////////////////////////////////////////////////////////////
161void t_bncRtrover::slotNewCorrections(QList<QString> corrList) {
162 QMutexLocker locker(&_mutex);
163
164 // Check the Mountpoint (source of corrections)
165 // --------------------------------------------
166 QMutableListIterator<QString> itm(corrList);
167 while (itm.hasNext()) {
168 QStringList hlp = itm.next().split(" ");
169 if (hlp.size() > 0) {
170 QString mountpoint = hlp[hlp.size()-1];
171 if (mountpoint != _corrMount) {
172 itm.remove();
173 }
174 }
175 }
176
177 if (corrList.size() == 0) {
178 return;
179 }
180
181 QListIterator<QString> it(corrList);
182 while (it.hasNext()) {
183 QString line = it.next();
184
185 QTextStream in(&line);
186 int messageType;
187 int updateInterval;
188 int GPSweek;
189 double GPSweeks;
190 QString prn;
191 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
192
193 if ( t_corr::relevantMessageType(messageType) ) {
194 }
195 }
196}
197
198//
199////////////////////////////////////////////////////////////////////////////
200void t_bncRtrover::slotNewObs(QByteArray staID, bool /* firstObs */, t_obs obsIn) {
201 QMutexLocker locker(&_mutex);
202
203 if (staID != _roverMount && staID != _baseMount) {
204 return;
205 }
206
207 bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks);
208 int numSatRover = 1;
209 rtrover_satObs satObsRover[numSatRover];
210 for (int ii = 0; ii < numSatRover; ii++) {
211
212 }
213 rtrover_output output;
214 rtrover_processEpoch(numSatRover, satObsRover, 0, 0, &output);
215
216 _outputFile.write(output._log);
217 _outputFile.flush();
218}
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