[464] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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[379] | 24 |
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[464] | 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: test_bnc_qt
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| 30 | *
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| 31 | * Purpose: Example program to read BNC output from IP port.
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 24-Jan-2007
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[1223] | 41 | #include <stdlib.h>
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[379] | 42 | #include <iostream>
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| 43 | #include <iomanip>
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| 44 | #include <QTcpSocket>
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| 45 |
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| 46 | using namespace std;
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| 47 |
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[2713] | 48 | class t_obsOld {
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[2704] | 49 | public:
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| 50 | int flags;
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| 51 | char StatID[20+1]; // Station ID
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| 52 | char satSys; // Satellite System ('G' or 'R')
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| 53 | int satNum; // Satellite Number (PRN for GPS NAVSTAR)
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| 54 | int slot; // Slot (Channel) Number (for Glonass)
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| 55 | int GPSWeek; // Week of GPS-Time
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| 56 | double GPSWeeks; // Second of Week (GPS-Time)
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| 57 | double C1; // CA-code pseudorange (meters)
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| 58 | double C2; // CA-code pseudorange (meters)
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| 59 | double P1; // P1-code pseudorange (meters)
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| 60 | double P2; // P2-code pseudorange (meters)
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| 61 | double L1; // L1 carrier phase (cycles)
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| 62 | double L2; // L2 carrier phase (cycles)
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| 63 | int slip_cnt_L1; // L1 cumulative loss of continuity indicator (negative value = undefined)
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| 64 | int slip_cnt_L2; // L2 cumulative loss of continuity indicator (negative value = undefined)
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| 65 | int lock_timei_L1; // L1 last lock time indicator (negative value = undefined)
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| 66 | int lock_timei_L2; // L2 last lock time indicator (negative value = undefined)
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| 67 | double S1; // L1 signal-to noise ratio
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| 68 | double S2; // L2 signal-to noise ratio
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| 69 | int SNR1; // L1 signal-to noise ratio (mapped to integer)
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| 70 | int SNR2; // L2 signal-to noise ratio (mapped to integer)
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| 71 | };
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[379] | 72 |
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[2704] | 73 | int main(int argc, char** argv) {
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[1223] | 74 |
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[2704] | 75 | if (argc != 2) {
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| 76 | cerr << "Usage: test_bnc_qt port\n";
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| 77 | exit(1);
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| 78 | }
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[2259] | 79 |
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[2704] | 80 | int port = atoi(argv[1]);
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[1223] | 81 |
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[2704] | 82 | QTcpSocket socketObs;
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[2259] | 83 |
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[2704] | 84 | socketObs.connectToHost("127.0.0.1", port);
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| 85 | if (!socketObs.waitForConnected(10000)) {
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| 86 | cerr << "socketObs: not connected on port " << port << endl;
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| 87 | exit(1);
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| 88 | }
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[599] | 89 |
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[2704] | 90 | cout.setf(ios::fixed);
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[2254] | 91 |
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[2704] | 92 | // Receive Data
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| 93 | // ------------
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| 94 | const char begObs[] = "BEGOBS";
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| 95 | const char begEpoch[] = "BEGEPOCH";
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| 96 | const char endEpoch[] = "ENDEPOCH";
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| 97 | const unsigned begObsNBytes = sizeof(begObs) - 1;
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| 98 | const unsigned begEpochNBytes = sizeof(begEpoch) - 1;
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| 99 | const unsigned endEpochNBytes = sizeof(endEpoch) - 1;
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[2254] | 100 |
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[2704] | 101 | QByteArray buffer;
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[379] | 102 |
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[2704] | 103 | while (true) {
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| 104 | if (socketObs.state() != QAbstractSocket::ConnectedState) {
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| 105 | cerr << "socketObs: disconnected" << endl;
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| 106 | exit(1);
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| 107 | }
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| 108 |
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| 109 | if ( socketObs.bytesAvailable() ) {
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| 110 | buffer += socketObs.readAll();
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| 111 |
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| 112 | // Skip begEpoch and endEpoch Marks
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| 113 | // --------------------------------
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| 114 | for (;;) {
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| 115 | int i1 = buffer.indexOf(begEpoch);
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| 116 | if (i1 == -1) {
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| 117 | break;
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| 118 | }
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| 119 | else {
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| 120 | buffer.remove(i1, begEpochNBytes);
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| 121 | cout << endl;
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| 122 | }
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| 123 | }
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| 124 | for (;;) {
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| 125 | int i2 = buffer.indexOf(endEpoch);
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| 126 | if (i2 == -1) {
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| 127 | break;
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| 128 | }
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| 129 | else {
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| 130 | buffer.remove(i2, endEpochNBytes);
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| 131 | }
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| 132 | }
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| 133 | for (;;) {
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| 134 | int i3 = buffer.indexOf(begObs);
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| 135 | if (i3 == -1) {
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| 136 | break;
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| 137 | }
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| 138 | else {
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| 139 | buffer.remove(i3, begObsNBytes);
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| 140 | }
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| 141 | }
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| 142 |
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| 143 | // Interpret a portion of buffer as observation
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| 144 | // --------------------------------------------
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[2713] | 145 | t_obsOld* obs;
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| 146 | const int obsSize = sizeof(t_obsOld);
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[2704] | 147 |
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| 148 |
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| 149 | while (buffer.size() >= obsSize) {
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| 150 |
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[2713] | 151 | obs = (t_obsOld*) (buffer.left(obsSize).data());
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[2704] | 152 |
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| 153 | cout << obs->StatID << " "
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| 154 | << obs->satSys << obs->satNum << " "
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| 155 | << obs->GPSWeek << " "
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| 156 | << setprecision(2) << obs->GPSWeeks << " "
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| 157 | << setprecision(4) << obs->C1 << " "
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| 158 | << setprecision(4) << obs->C2 << " "
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| 159 | << setprecision(4) << obs->P1 << " "
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| 160 | << setprecision(4) << obs->P2 << " "
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| 161 | << setprecision(4) << obs->L1 << " "
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[2713] | 162 | << obs->slip_cnt_L1 << " "
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[2704] | 163 | << setprecision(4) << obs->L2 << " "
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| 164 | << obs->slip_cnt_L2 << " "
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| 165 | << setprecision(4) << obs->S1 << " "
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[2713] | 166 | << setprecision(4) << obs->S2 << endl;
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[2704] | 167 |
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| 168 | buffer.remove(0,obsSize);
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| 169 | }
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| 170 | }
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| 171 | else {
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| 172 | socketObs.waitForReadyRead(1);
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| 173 | }
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| 174 | }
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| 175 |
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[379] | 176 | return 0;
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| 177 | }
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