[5714] | 1 |
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| 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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| 30 | * Class: t_pppMain
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| 31 | *
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| 32 | * Purpose: Start of the PPP client(s)
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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[7278] | 38 | * Changes:
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[5714] | 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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[5717] | 42 | #include <iostream>
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| 43 |
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[5714] | 44 | #include "pppMain.h"
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[5911] | 45 | #include "pppCrdFile.h"
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[5714] | 46 | #include "bncsettings.h"
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| 47 |
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[5814] | 48 | using namespace BNC_PPP;
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[5714] | 49 | using namespace std;
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| 50 |
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| 51 | // Constructor
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| 52 | //////////////////////////////////////////////////////////////////////////////
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| 53 | t_pppMain::t_pppMain() {
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[5762] | 54 | _running = false;
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[5714] | 55 | }
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| 56 |
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| 57 | // Destructor
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| 58 | //////////////////////////////////////////////////////////////////////////////
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| 59 | t_pppMain::~t_pppMain() {
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[5900] | 60 | stop();
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[5975] | 61 | QListIterator<t_pppOptions*> iOpt(_options);
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| 62 | while (iOpt.hasNext()) {
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| 63 | delete iOpt.next();
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| 64 | }
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[5714] | 65 | }
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| 66 |
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[7278] | 67 | //
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[5714] | 68 | //////////////////////////////////////////////////////////////////////////////
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[5946] | 69 | void t_pppMain::start() {
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[5719] | 70 | if (_running) {
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| 71 | return;
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| 72 | }
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| 73 |
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[5764] | 74 | try {
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| 75 | readOptions();
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[5719] | 76 |
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[5810] | 77 | QListIterator<t_pppOptions*> iOpt(_options);
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[5764] | 78 | while (iOpt.hasNext()) {
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[5810] | 79 | const t_pppOptions* opt = iOpt.next();
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[5946] | 80 | t_pppThread* pppThread = new t_pppThread(opt);
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| 81 | pppThread->start();
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[5813] | 82 | _pppThreads << pppThread;
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[5764] | 83 | _running = true;
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| 84 | }
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[5719] | 85 | }
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[5825] | 86 | catch (t_except exc) {
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[5765] | 87 | _running = true;
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[5900] | 88 | stop();
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[5764] | 89 | }
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[5716] | 90 | }
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| 91 |
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[7278] | 92 | //
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[5716] | 93 | //////////////////////////////////////////////////////////////////////////////
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[5900] | 94 | void t_pppMain::stop() {
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[5871] | 95 |
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[5719] | 96 | if (!_running) {
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| 97 | return;
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| 98 | }
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[5730] | 99 |
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[5972] | 100 | if (_realTime) {
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| 101 | QListIterator<t_pppThread*> it(_pppThreads);
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| 102 | while (it.hasNext()) {
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| 103 | t_pppThread* pppThread = it.next();
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| 104 | pppThread->exit();
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[7858] | 105 | #ifdef BNC_DEBUG
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[7856] | 106 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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| 107 | while(!pppThread->isFinished()) {
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| 108 | pppThread->wait();
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| 109 | }
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| 110 | delete pppThread;
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[8905] | 111 | }
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[7858] | 112 | #endif
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[5972] | 113 | }
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[5975] | 114 | _pppThreads.clear();
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[8905] | 115 | }
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[5730] | 116 |
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[5719] | 117 | _running = false;
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[5716] | 118 | }
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| 119 |
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[7278] | 120 | //
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[5716] | 121 | //////////////////////////////////////////////////////////////////////////////
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[5714] | 122 | void t_pppMain::readOptions() {
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| 123 |
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[5810] | 124 | QListIterator<t_pppOptions*> iOpt(_options);
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[5736] | 125 | while (iOpt.hasNext()) {
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| 126 | delete iOpt.next();
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| 127 | }
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[5714] | 128 | _options.clear();
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| 129 |
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| 130 | bncSettings settings;
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| 131 |
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[5971] | 132 | _realTime = false;
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[5714] | 133 | if (settings.value("PPP/dataSource").toString() == "Real-Time Streams") {
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[5971] | 134 | _realTime = true;
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[5714] | 135 | }
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| 136 | else if (settings.value("PPP/dataSource").toString() == "RINEX Files") {
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[5971] | 137 | _realTime = false;
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[5714] | 138 | }
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| 139 | else {
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[7278] | 140 | return;
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[5714] | 141 | }
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| 142 |
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[5736] | 143 | QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
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| 144 | while (iSta.hasNext()) {
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| 145 | QStringList hlp = iSta.next().split(",");
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[5714] | 146 |
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[6964] | 147 | if (hlp.size() < 10) {
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[5825] | 148 | throw t_except("pppMain: wrong option staTable");
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[5714] | 149 | }
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| 150 |
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[5810] | 151 | t_pppOptions* opt = new t_pppOptions();
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[5714] | 152 |
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[5971] | 153 | opt->_realTime = _realTime;
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[7278] | 154 | opt->_roverName = hlp[0].toStdString();
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[8098] | 155 | opt->_aprSigCrd[0] = hlp[1].toDouble()+1e-10;
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| 156 | opt->_aprSigCrd[1] = hlp[2].toDouble()+1e-10;
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| 157 | opt->_aprSigCrd[2] = hlp[3].toDouble()+1e-10;
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| 158 | opt->_noiseCrd[0] = hlp[4].toDouble()+1e-10;
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| 159 | opt->_noiseCrd[1] = hlp[5].toDouble()+1e-10;
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| 160 | opt->_noiseCrd[2] = hlp[6].toDouble()+1e-10;
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[5913] | 161 | opt->_aprSigTrp = hlp[7].toDouble();
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| 162 | opt->_noiseTrp = hlp[8].toDouble();
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[6964] | 163 | opt->_nmeaPort = hlp[9].toInt();
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[5714] | 164 |
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[5971] | 165 | if (_realTime) {
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[7850] | 166 | opt->_corrMount.assign(settings.value("PPP/corrMount").toString().toStdString());
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[5714] | 167 | }
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| 168 | else {
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[7850] | 169 | opt->_rinexObs.assign(settings.value("PPP/rinexObs").toString().toStdString());
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| 170 | opt->_rinexNav.assign(settings.value("PPP/rinexNav").toString().toStdString());
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| 171 | opt->_corrFile.assign(settings.value("PPP/corrFile").toString().toStdString());
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[5714] | 172 | }
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| 173 |
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[7850] | 174 | opt->_crdFile.assign(settings.value("PPP/crdFile").toString().toStdString());
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[7962] | 175 | opt->_antexFileName.assign(settings.value("PPP/antexFile").toString().toStdString());
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[7961] | 176 | #ifdef USE_PPP
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[7962] | 177 | opt->_blqFileName.assign(settings.value("PPP/blqFile").toString().toStdString());
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[7961] | 178 | #endif
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[5997] | 179 | opt->_sigmaC1 = settings.value("PPP/sigmaC1").toDouble(); if (opt->_sigmaC1 <= 0.0) opt->_sigmaC1 = 2.0;
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| 180 | opt->_sigmaL1 = settings.value("PPP/sigmaL1").toDouble(); if (opt->_sigmaL1 <= 0.0) opt->_sigmaL1 = 0.01;
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[5714] | 181 | opt->_corrWaitTime = settings.value("PPP/corrWaitTime").toDouble();
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[7943] | 182 | if (!_realTime || opt->_corrMount.empty()) {
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| 183 | opt->_corrWaitTime = 0;
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| 184 | }
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[8905] | 185 | opt->_obsModelType = t_pppOptions::IF;
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| 186 | opt->_pseudoObsIono = false;
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| 187 | opt->_refSatRequired = false;
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| 188 | #ifdef USE_PPP
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| 189 | // Pseudo Observations
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| 190 | if (settings.value("PPP/pseudoObs").toString() == "Ionosphere") {
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| 191 | opt->_pseudoObsIono = true;
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| 192 | }
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| 193 | else if (settings.value("PPP/pseudoObs").toString() == "no") {
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| 194 | opt->_pseudoObsIono = false;
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| 195 | }
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| 196 | // Observation Model
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| 197 | if (settings.value("PPP/modelObs").toString() == "Ionosphere-free PPP") {
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| 198 | opt->_obsModelType = t_pppOptions::IF;
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| 199 | opt->_pseudoObsIono = false;
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| 200 | }
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| 201 | else if (settings.value("PPP/modelObs").toString() == "PPP-RTK") {
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| 202 | opt->_obsModelType = t_pppOptions::PPPRTK;
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| 203 | opt->_pseudoObsIono = false;
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| 204 | }
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| 205 | else if (settings.value("PPP/modelObs").toString() == "Uncombined PPP") {
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| 206 | opt->_obsModelType = t_pppOptions::UncombPPP;
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| 207 | if (opt->_pseudoObsIono) {
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| 208 | opt->_refSatRequired = true;
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| 209 | }
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| 210 | }
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| 211 | else if (settings.value("PPP/modelObs").toString() == "DCM with Code Biases") {
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| 212 | opt->_obsModelType = t_pppOptions::DCMcodeBias;
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| 213 | opt->_refSatRequired = true;
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| 214 | }
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| 215 | else if (settings.value("PPP/modelObs").toString() == "DCM with Phase Biases") {
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| 216 | opt->_obsModelType = t_pppOptions::DCMphaseBias;
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| 217 | opt->_refSatRequired = true;
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| 218 | }
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| 219 | #endif
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[8773] | 220 | // GPS
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[8905] | 221 | if (settings.value("PPP/lcGPS").toString() == "Pi") {
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| 222 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 223 | opt->_LCsGPS.push_back(t_lc::cIF);
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| 224 | }
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| 225 | else {
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| 226 | opt->_LCsGPS.push_back(t_lc::c1);
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| 227 | opt->_LCsGPS.push_back(t_lc::c2);
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| 228 | if (opt->_pseudoObsIono) {
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| 229 | opt->_LCsGPS.push_back(t_lc::GIM);
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| 230 | }
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| 231 | }
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[7261] | 232 | }
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| 233 | else if (settings.value("PPP/lcGPS").toString() == "Li") {
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[8905] | 234 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 235 | opt->_LCsGPS.push_back(t_lc::lIF);
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| 236 | }
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| 237 | else {
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| 238 | opt->_LCsGPS.push_back(t_lc::l1);
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| 239 | opt->_LCsGPS.push_back(t_lc::l2);
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| 240 | if (opt->_pseudoObsIono) {
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| 241 | opt->_LCsGPS.push_back(t_lc::GIM);
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| 242 | }
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| 243 | }
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[7261] | 244 | }
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| 245 | else if (settings.value("PPP/lcGPS").toString() == "Pi&Li") {
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[8905] | 246 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 247 | opt->_LCsGPS.push_back(t_lc::cIF);
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| 248 | opt->_LCsGPS.push_back(t_lc::lIF);
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| 249 | }
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| 250 | else {
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| 251 | opt->_LCsGPS.push_back(t_lc::c1);
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| 252 | opt->_LCsGPS.push_back(t_lc::c2);
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| 253 | opt->_LCsGPS.push_back(t_lc::l1);
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| 254 | opt->_LCsGPS.push_back(t_lc::l2);
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| 255 | if (opt->_pseudoObsIono) {
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| 256 | opt->_LCsGPS.push_back(t_lc::GIM);
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| 257 | }
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| 258 | }
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[7261] | 259 | }
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[8773] | 260 | // GLONASS
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[8905] | 261 | if (settings.value("PPP/lcGLONASS").toString() == "Pi") {
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| 262 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 263 | opt->_LCsGLONASS.push_back(t_lc::cIF);
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| 264 | }
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| 265 | else {
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| 266 | opt->_LCsGLONASS.push_back(t_lc::c1);
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| 267 | opt->_LCsGLONASS.push_back(t_lc::c2);
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| 268 | if (opt->_pseudoObsIono) {
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| 269 | opt->_LCsGLONASS.push_back(t_lc::GIM);
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| 270 | }
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| 271 | }
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[7261] | 272 | }
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| 273 | else if (settings.value("PPP/lcGLONASS").toString() == "Li") {
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[8905] | 274 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 275 | opt->_LCsGLONASS.push_back(t_lc::lIF);
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| 276 | }
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| 277 | else {
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| 278 | opt->_LCsGLONASS.push_back(t_lc::l1);
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| 279 | opt->_LCsGLONASS.push_back(t_lc::l2);
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| 280 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 281 | opt->_LCsGLONASS.push_back(t_lc::GIM);
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| 282 | }
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| 283 | }
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[7261] | 284 | }
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| 285 | else if (settings.value("PPP/lcGLONASS").toString() == "Pi&Li") {
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[8905] | 286 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 287 | opt->_LCsGLONASS.push_back(t_lc::cIF);
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| 288 | opt->_LCsGLONASS.push_back(t_lc::lIF);
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| 289 | }
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| 290 | else {
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| 291 | opt->_LCsGLONASS.push_back(t_lc::c1);
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| 292 | opt->_LCsGLONASS.push_back(t_lc::c2);
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| 293 | opt->_LCsGLONASS.push_back(t_lc::l1);
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| 294 | opt->_LCsGLONASS.push_back(t_lc::l2);
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| 295 | if (opt->_pseudoObsIono) {
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| 296 | opt->_LCsGLONASS.push_back(t_lc::GIM);
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| 297 | }
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| 298 | }
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[7261] | 299 | }
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[8773] | 300 | // Galileo
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[8905] | 301 | if (settings.value("PPP/lcGalileo").toString() == "Pi") {
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| 302 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 303 | opt->_LCsGalileo.push_back(t_lc::cIF);
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| 304 | }
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| 305 | else {
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| 306 | opt->_LCsGalileo.push_back(t_lc::c1);
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| 307 | opt->_LCsGalileo.push_back(t_lc::c2);
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| 308 | if (opt->_pseudoObsIono) {
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| 309 | opt->_LCsGalileo.push_back(t_lc::GIM);
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| 310 | }
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| 311 | }
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[7261] | 312 | }
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| 313 | else if (settings.value("PPP/lcGalileo").toString() == "Li") {
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[8905] | 314 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 315 | opt->_LCsGalileo.push_back(t_lc::lIF);
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| 316 | }
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| 317 | else {
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| 318 | opt->_LCsGalileo.push_back(t_lc::l1);
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| 319 | opt->_LCsGalileo.push_back(t_lc::l2);
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| 320 | if (opt->_pseudoObsIono) {
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| 321 | opt->_LCsGalileo.push_back(t_lc::GIM);
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| 322 | }
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| 323 | }
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[7261] | 324 | }
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| 325 | else if (settings.value("PPP/lcGalileo").toString() == "Pi&Li") {
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[8905] | 326 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 327 | opt->_LCsGalileo.push_back(t_lc::cIF);
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| 328 | opt->_LCsGalileo.push_back(t_lc::lIF);
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| 329 | }
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| 330 | else {
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| 331 | opt->_LCsGalileo.push_back(t_lc::c1);
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| 332 | opt->_LCsGalileo.push_back(t_lc::c2);
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| 333 | opt->_LCsGalileo.push_back(t_lc::l1);
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| 334 | opt->_LCsGalileo.push_back(t_lc::l2);
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| 335 | if (opt->_pseudoObsIono) {
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| 336 | opt->_LCsGalileo.push_back(t_lc::GIM);
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| 337 | }
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| 338 | }
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[7261] | 339 | }
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[8773] | 340 | // BDS
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[8905] | 341 | if (settings.value("PPP/lcBDS").toString() == "Pi") {
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| 342 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 343 | opt->_LCsBDS.push_back(t_lc::cIF);
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| 344 | }
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| 345 | else {
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| 346 | opt->_LCsBDS.push_back(t_lc::c1);
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| 347 | opt->_LCsBDS.push_back(t_lc::c2);
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| 348 | if (opt->_pseudoObsIono) {
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| 349 | opt->_LCsBDS.push_back(t_lc::GIM);
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| 350 | }
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| 351 | }
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[7261] | 352 | }
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| 353 | else if (settings.value("PPP/lcBDS").toString() == "Li") {
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[8905] | 354 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 355 | opt->_LCsBDS.push_back(t_lc::lIF);
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| 356 | }
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| 357 | else {
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| 358 | opt->_LCsBDS.push_back(t_lc::l1);
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| 359 | opt->_LCsBDS.push_back(t_lc::l2);
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| 360 | if (opt->_pseudoObsIono) {
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| 361 | opt->_LCsBDS.push_back(t_lc::GIM);
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| 362 | }
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| 363 | }
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[7261] | 364 | }
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| 365 | else if (settings.value("PPP/lcBDS").toString() == "Pi&Li") {
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[8905] | 366 | if (opt->_obsModelType == t_pppOptions::IF) {
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| 367 | opt->_LCsBDS.push_back(t_lc::cIF);
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| 368 | opt->_LCsBDS.push_back(t_lc::lIF);
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| 369 | }
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| 370 | else {
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| 371 | opt->_LCsBDS.push_back(t_lc::c1);
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| 372 | opt->_LCsBDS.push_back(t_lc::c2);
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| 373 | opt->_LCsBDS.push_back(t_lc::l1);
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| 374 | opt->_LCsBDS.push_back(t_lc::l2);
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| 375 | if (opt->_pseudoObsIono) {
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| 376 | opt->_LCsBDS.push_back(t_lc::GIM);
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| 377 | }
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| 378 | }
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[7261] | 379 | }
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[6964] | 380 |
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[5911] | 381 | // Information from the coordinate file
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| 382 | // ------------------------------------
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[7850] | 383 | string crdFileName(settings.value("PPP/crdFile").toString().toStdString());
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[5911] | 384 | if (!crdFileName.empty()) {
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| 385 | vector<t_pppCrdFile::t_staInfo> staInfoVec;
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| 386 | t_pppCrdFile::readCrdFile(crdFileName, staInfoVec);
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| 387 | for (unsigned ii = 0; ii < staInfoVec.size(); ii++) {
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| 388 | const t_pppCrdFile::t_staInfo& staInfo = staInfoVec[ii];
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| 389 | if (staInfo._name == opt->_roverName) {
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| 390 | opt->_xyzAprRover[0] = staInfo._xyz[0];
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| 391 | opt->_xyzAprRover[1] = staInfo._xyz[1];
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| 392 | opt->_xyzAprRover[2] = staInfo._xyz[2];
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| 393 | opt->_neuEccRover[0] = staInfo._neuAnt[0];
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| 394 | opt->_neuEccRover[1] = staInfo._neuAnt[1];
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| 395 | opt->_neuEccRover[2] = staInfo._neuAnt[2];
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| 396 | opt->_antNameRover = staInfo._antenna;
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[7523] | 397 | opt->_recNameRover = staInfo._receiver;
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[5911] | 398 | break;
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| 399 | }
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| 400 | }
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| 401 | }
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| 402 |
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[5997] | 403 | opt->_minObs = settings.value("PPP/minObs").toInt(); if (opt->_minObs < 4) opt->_minObs = 4;
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[5959] | 404 | opt->_minEle = settings.value("PPP/minEle").toDouble() * M_PI / 180.0;
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[5997] | 405 | opt->_maxResC1 = settings.value("PPP/maxResC1").toDouble(); if (opt->_maxResC1 <= 0.0) opt->_maxResC1 = 3.0;
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| 406 | opt->_maxResL1 = settings.value("PPP/maxResL1").toDouble(); if (opt->_maxResL1 <= 0.0) opt->_maxResL1 = 0.03;
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[5959] | 407 | opt->_eleWgtCode = (settings.value("PPP/eleWgtCode").toInt() != 0);
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| 408 | opt->_eleWgtPhase = (settings.value("PPP/eleWgtPhase").toInt() != 0);
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| 409 | opt->_seedingTime = settings.value("PPP/seedingTime").toDouble();
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| 410 |
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[5793] | 411 | // Some default values
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| 412 | // -------------------
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[8905] | 413 | opt->_aprSigAmb = 1000.0;
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| 414 | opt->_aprSigIon = 1000.0;
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| 415 | opt->_noiseClk = 1000.0;
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| 416 | opt->_aprSigCodeBias = 1000.0;
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| 417 | opt->_aprSigPhaseBias = 1000.0;
|
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| 418 | opt->_noiseIon = 1.0;
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| 419 | opt->_noiseCodeBias = 1.0;
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| 420 | opt->_noisePhaseBias = 0.1;
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| 421 | opt->_sigmaGIMdiff = 0.05; // pseudo observation GIM: STEC(ref_sat) - STEC(sat)
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[5793] | 422 |
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[5714] | 423 | _options << opt;
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| 424 | }
|
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| 425 | }
|
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| 426 |
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