// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

/* -------------------------------------------------------------------------
 * BKG NTRIP Client
 * -------------------------------------------------------------------------
 *
 * Class:      test_bnc_qt
 *
 * Purpose:    Example program to read BNC output from IP port.
 *
 * Author:     L. Mervart
 *
 * Created:    24-Jan-2007
 *
 * Changes:    
 *
 * -----------------------------------------------------------------------*/

#include <stdlib.h>
#include <iostream>
#include <iomanip>
#include <QTcpSocket>

using namespace std;

class t_obs {
 public:
  double L1() const {return (L1P != 0.0 ? L1P : L1C);}
  double L2() const {return (L2P != 0.0 ? L2P : L2C);}
  double S1() const {return (L1P != 0.0 ? S1P : S1C);}
  double S2() const {return (L2P != 0.0 ? S2P : S2C);}

  char   StatID[20+1]; // Station ID
  char   satSys;       // Satellite System ('G' or 'R')
  int    satNum;       // Satellite Number (PRN for GPS NAVSTAR)
  int    slotNum;      // Slot Number (for Glonass)
  int    GPSWeek;      // Week of GPS-Time
  double GPSWeeks;     // Second of Week (GPS-Time)

  double C1;           // CA-code pseudorange (meters)
  double P1;           // P1-code pseudorange (meters)
  double L1C;          // L1 carrier phase (cycles)
  double D1C;          // Doppler L1
  double S1C;          // raw L1 signal strength
  double L1P;          // L1 carrier phase (cycles)
  double D1P;          // Doppler L1
  double S1P;          // raw L1 signal strength

  double C2;           // CA-code pseudorange (meters)
  double P2;           // P2-code pseudorange (meters)
  double L2C;          // L2 carrier phase (cycles)
  double D2C;          // Doppler L2
  double S2C;          // raw L2 signal strength
  double L2P;          // L2 carrier phase (cycles)
  double D2P;          // Doppler L2
  double S2P;          // raw L2 signal strength

  double C5;           // Pseudorange (meters)
  double L5;           // L5 carrier phase (cycles)
  double D5;           // Doppler L5
  double S5;           // raw L5 signal strength

  int    slip_cnt_L1;  // L1 cumulative loss of continuity indicator (negative value = undefined)
  int    slip_cnt_L2;  // L2 cumulative loss of continuity indicator (negative value = undefined)
  int    slip_cnt_L5;  // L5 cumulative loss of continuity indicator (negative value = undefined)
};

int main(int argc, char** argv) {

  if (argc != 2) {
    cerr << "Usage: test_bnc_qt port\n";
    exit(1);
  }

  int port = atoi(argv[1]);

  QTcpSocket socketObs;

  socketObs.connectToHost("127.0.0.1", port);
  if (!socketObs.waitForConnected(10000)) {
    cerr << "socketObs: not connected on port " << port << endl;
    exit(1);
  }

  cout.setf(ios::fixed);

  // Receive Data
  // ------------
  const char begObs[] = "BEGOBS";
  const char begEpoch[] = "BEGEPOCH";
  const char endEpoch[] = "ENDEPOCH";
  const unsigned begObsNBytes   = sizeof(begObs) - 1;
  const unsigned begEpochNBytes = sizeof(begEpoch) - 1;
  const unsigned endEpochNBytes = sizeof(endEpoch) - 1;

  QByteArray buffer;

  while (true) {
    if (socketObs.state() != QAbstractSocket::ConnectedState) {
      cerr << "socketObs: disconnected" << endl;
      exit(1);
    }

    if ( socketObs.bytesAvailable() ) {
      buffer += socketObs.readAll();

      // Skip begEpoch and endEpoch Marks
      // --------------------------------
      for (;;) {
        int i1 = buffer.indexOf(begEpoch);
        if (i1 == -1) {
          break;
        }
        else {
          buffer.remove(i1, begEpochNBytes);
          cout << endl;
        }
      }
      for (;;) {
        int i2 = buffer.indexOf(endEpoch);
        if (i2 == -1) {
          break;
        }
        else {
          buffer.remove(i2, endEpochNBytes);
        }
      }
      for (;;) {
        int i3 = buffer.indexOf(begObs);
        if (i3 == -1) {
          break;
        }
        else {
          buffer.remove(i3, begObsNBytes);
        }
      }

      // Interpret a portion of buffer as observation
      // --------------------------------------------
      t_obs* obs;
      const int obsSize = sizeof(t_obs);


      while (buffer.size() >= obsSize) {

        obs = (t_obs*) (buffer.left(obsSize).data());

        cout << obs->StatID                      << " "
             << obs->satSys << obs->satNum       << " "
             << obs->GPSWeek                     << " "
             << setprecision(2) << obs->GPSWeeks << " "
             << setprecision(4) << obs->C1       << " "
             << setprecision(4) << obs->C2       << " "
             << setprecision(4) << obs->P1       << " "
             << setprecision(4) << obs->P2       << " "
             << setprecision(4) << obs->L1()     << " "
             <<                    obs->slip_cnt_L1 << " "
             << setprecision(4) << obs->L2()     << " "
             <<                    obs->slip_cnt_L2 << " "
             << setprecision(4) << obs->S1()     << " "
             << setprecision(4) << obs->S2()     << endl;

        buffer.remove(0,obsSize);
      }
    }
    else {
      socketObs.waitForReadyRead(1);
    }
  }

  return 0;
}