source: ntrip/trunk/BNC/src/pppRun.cpp@ 6471

Last change on this file since 6471 was 6433, checked in by mervart, 10 years ago
File size: 14.3 KB
Line 
1
2// Part of BNC, a utility for retrieving decoding and
3// converting GNSS data streams from NTRIP broadcasters.
4//
5// Copyright (C) 2007
6// German Federal Agency for Cartography and Geodesy (BKG)
7// http://www.bkg.bund.de
8// Czech Technical University Prague, Department of Geodesy
9// http://www.fsv.cvut.cz
10//
11// Email: euref-ip@bkg.bund.de
12//
13// This program is free software; you can redistribute it and/or
14// modify it under the terms of the GNU General Public License
15// as published by the Free Software Foundation, version 2.
16//
17// This program is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU General Public License for more details.
21//
22// You should have received a copy of the GNU General Public License
23// along with this program; if not, write to the Free Software
24// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
25
26/* -------------------------------------------------------------------------
27 * BKG NTRIP Client
28 * -------------------------------------------------------------------------
29 *
30 * Class: t_pppRun
31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46#include <string.h>
47#include <map>
48
49#include "pppRun.h"
50#include "pppThread.h"
51#include "bnccore.h"
52#include "bncephuser.h"
53#include "bncsettings.h"
54#include "bncoutf.h"
55#include "rinex/rnxobsfile.h"
56#include "rinex/rnxnavfile.h"
57#include "rinex/corrfile.h"
58
59using namespace BNC_PPP;
60using namespace std;
61
62// Constructor
63////////////////////////////////////////////////////////////////////////////
64t_pppRun::t_pppRun(const t_pppOptions* opt) {
65
66 _opt = opt;
67
68 connect(this, SIGNAL(newMessage(QByteArray,bool)),
69 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
70
71 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
72 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
73
74 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
75 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
76
77 _pppClient = new t_pppClient(_opt);
78
79 bncSettings settings;
80
81 if (_opt->_realTime) {
82 Qt::ConnectionType conType = Qt::AutoConnection;
83 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
84 conType = Qt::BlockingQueuedConnection;
85 }
86
87 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
88 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
89
90 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
91 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
92
93 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
94 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
95
96 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
97 this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
98
99 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
100 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
101
102 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
103 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
104 }
105 else {
106 _rnxObsFile = 0;
107 _rnxNavFile = 0;
108 _corrFile = 0;
109 _speed = settings.value("PPP/mapSpeedSlider").toInt();
110 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
111 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
112 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
113 this, SLOT(slotSetSpeed(int)));
114 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
115 }
116
117 _stopFlag = false;
118
119 QString roverName(_opt->_roverName.c_str());
120
121 QString logFileSkl = settings.value("PPP/logFile").toString();
122 if (logFileSkl.isEmpty()) {
123 _logFile = 0;
124 }
125 else {
126 if (logFileSkl.indexOf("${STATION}") == -1) {
127 logFileSkl = roverName + "_" + logFileSkl;
128 }
129 else {
130 logFileSkl.replace("${STATION}", roverName);
131 }
132 _logFile = new bncoutf(logFileSkl, "1 day", 0);
133 }
134
135 QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
136 if (nmeaFileSkl.isEmpty()) {
137 _nmeaFile = 0;
138 }
139 else {
140 if (nmeaFileSkl.indexOf("${STATION}") == -1) {
141 nmeaFileSkl = roverName + "_" + nmeaFileSkl;
142 }
143 else {
144 nmeaFileSkl.replace("${STATION}", roverName);
145 }
146 _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
147 }
148}
149
150// Destructor
151////////////////////////////////////////////////////////////////////////////
152t_pppRun::~t_pppRun() {
153 delete _logFile;
154 delete _nmeaFile;
155}
156
157//
158////////////////////////////////////////////////////////////////////////////
159void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
160 QMutexLocker locker(&_mutex);
161 _pppClient->putEphemeris(&eph);
162}
163
164//
165////////////////////////////////////////////////////////////////////////////
166void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
167 QMutexLocker locker(&_mutex);
168 _pppClient->putEphemeris(&eph);
169}
170
171//
172////////////////////////////////////////////////////////////////////////////
173void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
174 QMutexLocker locker(&_mutex);
175 _pppClient->putEphemeris(&eph);
176}
177
178//
179////////////////////////////////////////////////////////////////////////////
180void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
181 QMutexLocker locker(&_mutex);
182
183 if (string(staID.data()) != _opt->_roverName) {
184 return;
185 }
186
187 // Loop over all obsevations (possible different epochs)
188 // -----------------------------------------------------
189 QListIterator<t_satObs> it(obsList);
190 while (it.hasNext()) {
191 const t_satObs& oldObs = it.next();
192 t_satObs* newObs = new t_satObs(oldObs);
193
194 // Find the corresponding data epoch or create a new one
195 // -----------------------------------------------------
196 t_epoData* epoch = 0;
197 deque<t_epoData*>::const_iterator it;
198 for (it = _epoData.begin(); it != _epoData.end(); it++) {
199 if (newObs->_time == (*it)->_time) {
200 epoch = *it;
201 break;
202 }
203 }
204 if (epoch == 0) {
205 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
206 epoch = new t_epoData;
207 epoch->_time = newObs->_time;
208 _epoData.push_back(epoch);
209 }
210 }
211
212 // Put data into the epoch
213 // -----------------------
214 if (epoch != 0) {
215 epoch->_satObs.push_back(newObs);
216 }
217 else {
218 delete newObs;
219 }
220 }
221
222 // Process the oldest epochs
223 // ------------------------
224 while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
225
226 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
227
228 t_output output;
229 _pppClient->processEpoch(satObs, &output);
230
231 if (!output._error) {
232 QVector<double> xx(6);
233 xx.data()[0] = output._xyzRover[0];
234 xx.data()[1] = output._xyzRover[1];
235 xx.data()[2] = output._xyzRover[2];
236 xx.data()[3] = output._neu[0];
237 xx.data()[4] = output._neu[1];
238 xx.data()[5] = output._neu[2];
239 emit newPosition(staID, output._epoTime, xx);
240 }
241
242 delete _epoData.front(); _epoData.pop_front();
243
244 ostringstream log;
245 if (output._error) {
246 log << output._log;
247 }
248 else {
249 log.setf(ios::fixed);
250 log << string(output._epoTime) << ' ' << staID.data()
251 << " X = " << setprecision(4) << output._xyzRover[0]
252 << " Y = " << setprecision(4) << output._xyzRover[1]
253 << " Z = " << setprecision(4) << output._xyzRover[2]
254 << " NEU: " << setprecision(4) << output._neu[0]
255 << " " << setprecision(4) << output._neu[1]
256 << " " << setprecision(4) << output._neu[2];
257 }
258
259 if (_logFile && output._epoTime.valid()) {
260 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
261 QString(output._log.c_str()));
262 }
263
264 if (!output._error) {
265 QString rmcStr = nmeaString('R', output);
266 QString ggaStr = nmeaString('G', output);
267 if (_nmeaFile) {
268 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
269 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
270 }
271 emit newNMEAstr(staID, rmcStr.toAscii());
272 emit newNMEAstr(staID, ggaStr.toAscii());
273 }
274
275 emit newMessage(QByteArray(log.str().c_str()), true);
276 }
277}
278
279//
280////////////////////////////////////////////////////////////////////////////
281void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
282 if (orbCorr.size() == 0) {
283 return;
284 }
285
286 if (_opt->_realTime) {
287 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
288 return;
289 }
290 }
291 vector<t_orbCorr*> corrections;
292 for (int ii = 0; ii < orbCorr.size(); ii++) {
293 corrections.push_back(new t_orbCorr(orbCorr[ii]));
294 _lastClkCorrTime = orbCorr[ii]._time;
295 }
296
297 _pppClient->putOrbCorrections(corrections);
298}
299
300//
301////////////////////////////////////////////////////////////////////////////
302void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
303 if (clkCorr.size() == 0) {
304 return;
305 }
306
307 if (_opt->_realTime) {
308 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
309 return;
310 }
311 }
312 vector<t_clkCorr*> corrections;
313 for (int ii = 0; ii < clkCorr.size(); ii++) {
314 corrections.push_back(new t_clkCorr(clkCorr[ii]));
315 }
316
317 _pppClient->putClkCorrections(corrections);
318}
319
320//
321////////////////////////////////////////////////////////////////////////////
322void t_pppRun::processFiles() {
323
324 try {
325 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
326 }
327 catch (...) {
328 delete _rnxObsFile; _rnxObsFile = 0;
329 emit finishedRnxPPP();
330 return;
331 }
332
333 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
334
335 if (!_opt->_corrFile.empty()) {
336 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
337 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
338 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
339 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
340 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
341 }
342
343 // Read/Process Observations
344 // -------------------------
345 int nEpo = 0;
346 const t_rnxObsFile::t_rnxEpo* epo = 0;
347 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
348 ++nEpo;
349
350 if (_speed < 100) {
351 double sleepTime = 2.0 / _speed;
352 t_pppThread::msleep(sleepTime*1.e3);
353 }
354
355 // Get Corrections
356 // ---------------
357 if (_corrFile) {
358 _corrFile->syncRead(epo->tt);
359 }
360
361 // Get Ephemerides
362 // ----------------
363 t_eph* eph = 0;
364 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
365 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
366 _pppClient->putEphemeris(eph);
367 delete eph; eph = 0;
368 }
369
370 // Create list of observations and start epoch processing
371 // ------------------------------------------------------
372 QList<t_satObs> obsList;
373 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
374 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
375
376 t_satObs obs;
377 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
378 obsList << obs;
379 }
380 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
381
382
383 if (nEpo % 10 == 0) {
384 emit progressRnxPPP(nEpo);
385 }
386
387 QCoreApplication::processEvents();
388 }
389
390 emit finishedRnxPPP();
391
392 if (BNC_CORE->mode() != t_bncCore::interactive) {
393 qApp->exit(0);
394 }
395 else {
396 BNC_CORE->stopPPP();
397 }
398}
399
400//
401////////////////////////////////////////////////////////////////////////////
402void t_pppRun::slotSetSpeed(int speed) {
403 QMutexLocker locker(&_mutex);
404 _speed = speed;
405}
406
407//
408////////////////////////////////////////////////////////////////////////////
409void t_pppRun::slotSetStopFlag() {
410 QMutexLocker locker(&_mutex);
411 _stopFlag = true;
412}
413
414//
415////////////////////////////////////////////////////////////////////////////
416QString t_pppRun::nmeaString(char strType, const t_output& output) {
417
418 double ell[3];
419 xyz2ell(output._xyzRover, ell);
420 double phiDeg = ell[0] * 180 / M_PI;
421 double lamDeg = ell[1] * 180 / M_PI;
422
423 char phiCh = 'N';
424 if (phiDeg < 0) {
425 phiDeg = -phiDeg;
426 phiCh = 'S';
427 }
428 char lamCh = 'E';
429 if (lamDeg < 0) {
430 lamDeg = -lamDeg;
431 lamCh = 'W';
432 }
433
434 ostringstream out;
435 out.setf(ios::fixed);
436
437 if (strType == 'R') {
438 string datestr = output._epoTime.datestr(0); // yyyymmdd
439 out << "GPRMC,"
440 << output._epoTime.timestr(0,0) << ",A,"
441 << setw(2) << setfill('0') << int(phiDeg)
442 << setw(6) << setprecision(3) << setfill('0')
443 << fmod(60*phiDeg,60) << ',' << phiCh << ','
444 << setw(3) << setfill('0') << int(lamDeg)
445 << setw(6) << setprecision(3) << setfill('0')
446 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
447 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
448 << datestr[2] << datestr[3] << ",,";
449 }
450 else if (strType == 'G') {
451 out << "GPGGA,"
452 << output._epoTime.timestr(0,0) << ','
453 << setw(2) << setfill('0') << int(phiDeg)
454 << setw(10) << setprecision(7) << setfill('0')
455 << fmod(60*phiDeg,60) << ',' << phiCh << ','
456 << setw(3) << setfill('0') << int(lamDeg)
457 << setw(10) << setprecision(7) << setfill('0')
458 << fmod(60*lamDeg,60) << ',' << lamCh
459 << ",1," << setw(2) << setfill('0') << output._numSat << ','
460 << setw(3) << setprecision(1) << output._pDop << ','
461 << setprecision(3) << ell[2] << ",M,0.0,M,,";
462 }
463 else {
464 return "";
465 }
466
467 QString nmStr(out.str().c_str());
468 unsigned char XOR = 0;
469 for (int ii = 0; ii < nmStr.length(); ii++) {
470 XOR ^= (unsigned char) nmStr[ii].toAscii();
471 }
472
473 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
474}
475
476//
477////////////////////////////////////////////////////////////////////////////
478bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
479
480 if (!_opt->_realTime || _opt->_corrMount.empty()) {
481 return false;
482 }
483 else if (!_lastClkCorrTime.valid()) {
484 return true;
485 }
486 else {
487 double dt = epoTime - _lastClkCorrTime;
488 if (dt > 1.0 && dt < _opt->_corrWaitTime) {
489 return true;
490 }
491 else {
492 return false;
493 }
494 }
495 return false;
496}
Note: See TracBrowser for help on using the repository browser.