source: ntrip/trunk/BNC/upload/bncuploadcaster.cpp@ 3209

Last change on this file since 3209 was 3209, checked in by mervart, 13 years ago
File size: 16.0 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncUploadCaster
6 *
7 * Purpose: Connection to NTRIP Caster
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include "bncuploadcaster.h"
19#include "bncsettings.h"
20#include "bncversion.h"
21#include "bncapp.h"
22#include "bncclockrinex.h"
23#include "bncsp3.h"
24
25using namespace std;
26
27// Constructor
28////////////////////////////////////////////////////////////////////////////
29bncUploadCaster::bncUploadCaster(const QString& mountpoint,
30 const QString& outHost, int outPort,
31 const QString& password,
32 const QString& crdTrafo, bool CoM,
33 const QString& sp3FileName,
34 const QString& rnxFileName,
35 const QString& outFileName) {
36 bncSettings settings;
37
38 connect(this, SIGNAL(newMessage(QByteArray,bool)),
39 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
40
41 _mountpoint = mountpoint;
42 _outHost = outHost;
43 _outPort = outPort;
44 _password = password;
45 _crdTrafo = crdTrafo;
46 _CoM = CoM;
47
48 _outSocket = 0;
49 _sOpenTrial = 0;
50
51 _isToBeDeleted = false;
52
53 // Raw Output
54 // ----------
55 if (!outFileName.isEmpty()) {
56 _outFile = new bncoutf(outFileName, "", 0);
57 }
58 else {
59 _outFile = 0;
60 }
61
62 // RINEX writer
63 // ------------
64 if (!rnxFileName.isEmpty()) {
65 _rnx = new bncClockRinex(rnxFileName, "", 0);
66 }
67 else {
68 _rnx = 0;
69 }
70
71 // SP3 writer
72 // ----------
73 if (!sp3FileName.isEmpty()) {
74 _sp3 = new bncSP3(sp3FileName, "", 0);
75 }
76 else {
77 _sp3 = 0;
78 }
79
80 // Set Transformation Parameters
81 // -----------------------------
82 if (_crdTrafo == "ETRF2000") {
83 _dx = 0.0541;
84 _dy = 0.0502;
85 _dz = -0.0538;
86 _dxr = -0.0002;
87 _dyr = 0.0001;
88 _dzr = -0.0018;
89 _ox = 0.000891;
90 _oy = 0.005390;
91 _oz = -0.008712;
92 _oxr = 0.000081;
93 _oyr = 0.000490;
94 _ozr = -0.000792;
95 _sc = 0.40;
96 _scr = 0.08;
97 _t0 = 2000.0;
98 }
99 else if (_crdTrafo == "NAD83") {
100 _dx = 0.9963;
101 _dy = -1.9024;
102 _dz = -0.5210;
103 _dxr = 0.0005;
104 _dyr = -0.0006;
105 _dzr = -0.0013;
106 _ox = 0.025915;
107 _oy = 0.009426;
108 _oz = 0.011599;
109 _oxr = 0.000067;
110 _oyr = -0.000757;
111 _ozr = -0.000051;
112 _sc = 0.78;
113 _scr = -0.10;
114 _t0 = 1997.0;
115 }
116 else if (_crdTrafo == "GDA94") {
117 _dx = -0.07973;
118 _dy = -0.00686;
119 _dz = 0.03803;
120 _dxr = 0.00225;
121 _dyr = -0.00062;
122 _dzr = -0.00056;
123 _ox = 0.0000351;
124 _oy = -0.0021211;
125 _oz = -0.0021411;
126 _oxr = -0.0014707;
127 _oyr = -0.0011443;
128 _ozr = -0.0011701;
129 _sc = 6.636;
130 _scr = 0.294;
131 _t0 = 1994.0;
132 }
133 else if (_crdTrafo == "SIRGAS2000") {
134 _dx = -0.0051;
135 _dy = -0.0065;
136 _dz = -0.0099;
137 _dxr = 0.0000;
138 _dyr = 0.0000;
139 _dzr = 0.0000;
140 _ox = 0.000150;
141 _oy = 0.000020;
142 _oz = 0.000021;
143 _oxr = 0.000000;
144 _oyr = 0.000000;
145 _ozr = 0.000000;
146 _sc = 0.000;
147 _scr = 0.000;
148 _t0 = 0000.0;
149 }
150 else if (_crdTrafo == "SIRGAS95") {
151 _dx = 0.0077;
152 _dy = 0.0058;
153 _dz = -0.0138;
154 _dxr = 0.0000;
155 _dyr = 0.0000;
156 _dzr = 0.0000;
157 _ox = 0.000000;
158 _oy = 0.000000;
159 _oz = -0.000030;
160 _oxr = 0.000000;
161 _oyr = 0.000000;
162 _ozr = 0.000000;
163 _sc = 1.570;
164 _scr = 0.000;
165 _t0 = 0000.0;
166 }
167 else if (_crdTrafo == "Custom") {
168 _dx = settings.value("trafo_dx").toDouble();
169 _dy = settings.value("trafo_dy").toDouble();
170 _dz = settings.value("trafo_dz").toDouble();
171 _dxr = settings.value("trafo_dxr").toDouble();
172 _dyr = settings.value("trafo_dyr").toDouble();
173 _dzr = settings.value("trafo_dzr").toDouble();
174 _ox = settings.value("trafo_ox").toDouble();
175 _oy = settings.value("trafo_oy").toDouble();
176 _oz = settings.value("trafo_oz").toDouble();
177 _oxr = settings.value("trafo_oxr").toDouble();
178 _oyr = settings.value("trafo_oyr").toDouble();
179 _ozr = settings.value("trafo_ozr").toDouble();
180 _sc = settings.value("trafo_sc").toDouble();
181 _scr = settings.value("trafo_scr").toDouble();
182 _t0 = settings.value("trafo_t0").toDouble();
183 }
184
185 // Member that receives the ephemeris
186 // ----------------------------------
187 _ephUser = new bncEphUser();
188}
189
190// Safe Desctructor
191////////////////////////////////////////////////////////////////////////////
192void bncUploadCaster::deleteSafely() {
193 QMutexLocker locker(&_mutex);
194 _isToBeDeleted = true;
195 if (!isRunning()) {
196 delete this;
197 }
198}
199
200// Destructor
201////////////////////////////////////////////////////////////////////////////
202bncUploadCaster::~bncUploadCaster() {
203 if (isRunning()) {
204 wait();
205 }
206 delete _outFile;
207 delete _rnx;
208 delete _sp3;
209 delete _ephUser;
210}
211
212// Endless Loop
213////////////////////////////////////////////////////////////////////////////
214void bncUploadCaster::run() {
215 while (true) {
216 {
217 QMutexLocker locker(&_mutex);
218 if (_isToBeDeleted) {
219 QThread::quit();
220 deleteLater();
221 return;
222 }
223 }
224 uploadClockOrbitBias();
225 msleep(10);
226 }
227}
228
229// Start the Communication with NTRIP Caster
230////////////////////////////////////////////////////////////////////////////
231void bncUploadCaster::open() {
232
233 if (_mountpoint.isEmpty()) {
234 return;
235 }
236
237 if (_outSocket != 0 &&
238 _outSocket->state() == QAbstractSocket::ConnectedState) {
239 return;
240 }
241
242 delete _outSocket; _outSocket = 0;
243
244 double minDt = pow(2.0,_sOpenTrial);
245 if (++_sOpenTrial > 4) {
246 _sOpenTrial = 4;
247 }
248 if (_outSocketOpenTime.isValid() &&
249 _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
250 return;
251 }
252 else {
253 _outSocketOpenTime = QDateTime::currentDateTime();
254 }
255
256 bncSettings settings;
257 _outSocket = new QTcpSocket();
258 _outSocket->connectToHost(_outHost, _outPort);
259
260 const int timeOut = 5000; // 5 seconds
261 if (!_outSocket->waitForConnected(timeOut)) {
262 delete _outSocket;
263 _outSocket = 0;
264 emit(newMessage("Broadcaster: Connect timeout", true));
265 return;
266 }
267
268 QByteArray msg = "SOURCE " + _password.toAscii() + " /" +
269 _mountpoint.toAscii() + "\r\n" +
270 "Source-Agent: NTRIP BNC/" BNCVERSION "\r\n\r\n";
271
272 _outSocket->write(msg);
273 _outSocket->waitForBytesWritten();
274
275 _outSocket->waitForReadyRead();
276 QByteArray ans = _outSocket->readLine();
277
278 if (ans.indexOf("OK") == -1) {
279 delete _outSocket;
280 _outSocket = 0;
281 emit(newMessage("Broadcaster: Connection broken", true));
282 }
283 else {
284 emit(newMessage("Broadcaster: Connection opened", true));
285 _sOpenTrial = 0;
286 }
287}
288
289// Write buffer
290////////////////////////////////////////////////////////////////////////////
291void bncUploadCaster::write(char* buffer, unsigned len) {
292 if (_outSocket) {
293 _outSocket->write(buffer, len);
294 _outSocket->flush();
295 }
296}
297
298//
299////////////////////////////////////////////////////////////////////////////
300void bncUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
301
302 QMutexLocker locker(&_mutex);
303
304 // Append to buffer
305 // ----------------
306 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
307}
308
309// Function called in separate thread
310////////////////////////////////////////////////////////////////////////
311void bncUploadCaster::uploadClockOrbitBias() {
312
313 QMutexLocker locker(&_mutex);
314
315 // Prepare list of lines with satellite positions in SP3-like format
316 // -----------------------------------------------------------------
317 QStringList lines;
318 int iLast = _rtnetStreamBuffer.lastIndexOf('\n');
319 if (iLast != -1) {
320 QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
321 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1);
322 for (int ii = 0; ii < hlpLines.size(); ii++) {
323 if (hlpLines[ii].indexOf('*') != -1) {
324 QTextStream in(hlpLines[ii].toAscii());
325 QString hlp;
326 int year, month, day, hour, min;
327 double sec;
328 in >> hlp >> year >> month >> day >> hour >> min >> sec;
329 _epoTime.set( year, month, day, hour, min, sec);
330 }
331 else if (_epoTime.valid()) {
332 lines << hlpLines[ii];
333 }
334 }
335 }
336
337 if (lines.size() == 0) {
338 return;
339 }
340
341 this->open();
342
343 unsigned year, month, day;
344 _epoTime.civil_date(year, month, day);
345
346 struct ClockOrbit co;
347 memset(&co, 0, sizeof(co));
348 co.GPSEpochTime = static_cast<int>(_epoTime.gpssec());
349 co.GLONASSEpochTime = static_cast<int>(fmod(_epoTime.gpssec(), 86400.0))
350 + 3 * 3600 - gnumleap(year, month, day);
351 co.ClockDataSupplied = 1;
352 co.OrbitDataSupplied = 1;
353 co.SatRefDatum = DATUM_ITRF;
354
355 struct Bias bias;
356 memset(&bias, 0, sizeof(bias));
357 bias.GPSEpochTime = co.GPSEpochTime;
358 bias.GLONASSEpochTime = co.GLONASSEpochTime;
359
360 for (int ii = 0; ii < lines.size(); ii++) {
361
362 QString prn;
363 ColumnVector xx(14); xx = 0.0;
364
365 QTextStream in(lines[ii].toAscii());
366
367 in >> prn;
368 if (prn[0] == 'P') {
369 prn.remove(0,1);
370 }
371
372 const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
373 if (ephPair) {
374 t_eph* eph = ephPair->last;
375 if (ephPair->prev &&
376 eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
377 eph = ephPair->prev;
378 }
379
380 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
381 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
382 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
383 xx(1) *= 1e3; // x-crd
384 xx(2) *= 1e3; // y-crd
385 xx(3) *= 1e3; // z-crd
386 xx(4) *= 1e-6; // clk
387 xx(5) *= 1e-6; // rel. corr.
388 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
389 // xx(9) ... P1-C1 DCB in meters
390 // xx(10) ... P1-P2 DCB in meters
391 // xx(11) ... dT
392 xx(12) *= 1e3; // x-crd at time + dT
393 xx(13) *= 1e3; // y-crd at time + dT
394 xx(14) *= 1e3; // z-crd at time + dT
395
396 struct ClockOrbit::SatData* sd = 0;
397 if (prn[0] == 'G') {
398 sd = co.Sat + co.NumberOfGPSSat;
399 ++co.NumberOfGPSSat;
400 }
401 else if (prn[0] == 'R') {
402 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
403 ++co.NumberOfGLONASSSat;
404 }
405 if (sd) {
406 QString outLine;
407 processSatellite(eph, _epoTime.gpsw(), _epoTime.gpssec(), prn,
408 xx, sd, outLine);
409 if (_outFile) {
410 _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine);
411 }
412 }
413
414 struct Bias::BiasSat* biasSat = 0;
415 if (prn[0] == 'G') {
416 biasSat = bias.Sat + bias.NumberOfGPSSat;
417 ++bias.NumberOfGPSSat;
418 }
419 else if (prn[0] == 'R') {
420 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
421 ++bias.NumberOfGLONASSSat;
422 }
423
424 // Coefficient of Ionosphere-Free LC
425 // ---------------------------------
426 const static double a_L1_GPS = 2.54572778;
427 const static double a_L2_GPS = -1.54572778;
428 const static double a_L1_Glo = 2.53125000;
429 const static double a_L2_Glo = -1.53125000;
430
431 if (biasSat) {
432 biasSat->ID = prn.mid(1).toInt();
433 biasSat->NumberOfCodeBiases = 3;
434 if (prn[0] == 'G') {
435 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
436 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
437 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
438 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
439 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
440 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
441 }
442 else if (prn[0] == 'R') {
443 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
444 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
445 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
446 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
447 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
448 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
449 }
450 }
451 }
452 }
453
454 if (_outSocket && (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0)) {
455 char obuffer[CLOCKORBIT_BUFFERSIZE];
456
457 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
458 if (len > 0) {
459 this->write(obuffer, len);
460 }
461 }
462
463 if (_outSocket && (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0)) {
464 char obuffer[CLOCKORBIT_BUFFERSIZE];
465 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
466 if (len > 0) {
467 this->write(obuffer, len);
468 }
469 }
470}
471
472//
473////////////////////////////////////////////////////////////////////////////
474void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek,
475 double GPSweeks, const QString& prn,
476 const ColumnVector& xx,
477 struct ClockOrbit::SatData* sd,
478 QString& outLine) {
479
480 const double secPerWeek = 7.0 * 86400.0;
481
482 ColumnVector rsw(3);
483 ColumnVector rsw2(3);
484 double dClk;
485
486 for (int ii = 1; ii <= 2; ++ii) {
487
488 int GPSweek12 = GPSweek;
489 double GPSweeks12 = GPSweeks;
490 if (ii == 2) {
491 GPSweeks12 += xx(11);
492 if (GPSweeks12 > secPerWeek) {
493 GPSweek12 += 1;
494 GPSweeks12 -= secPerWeek;
495 }
496 }
497
498 ColumnVector xB(4);
499 ColumnVector vv(3);
500
501 eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
502
503 ColumnVector xyz;
504 if (ii == 1) {
505 xyz = xx.Rows(1,3);
506 }
507 else {
508 xyz = xx.Rows(12,14);
509 }
510
511 // Correction Center of Mass -> Antenna Phase Center
512 // -------------------------------------------------
513 if (! _CoM) {
514 xyz(1) += xx(6);
515 xyz(2) += xx(7);
516 xyz(3) += xx(8);
517 }
518
519 if (_crdTrafo != "IGS05") {
520 crdTrafo(GPSweek12, xyz);
521 }
522
523 ColumnVector dx = xB.Rows(1,3) - xyz ;
524
525 if (ii == 1) {
526 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
527 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
528 }
529 else {
530 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
531 }
532 }
533
534 if (sd) {
535 sd->ID = prn.mid(1).toInt();
536 sd->IOD = eph->IOD();
537 sd->Clock.DeltaA0 = dClk;
538 sd->Orbit.DeltaRadial = rsw(1);
539 sd->Orbit.DeltaAlongTrack = rsw(2);
540 sd->Orbit.DeltaCrossTrack = rsw(3);
541 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
542 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
543 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
544 }
545
546 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
547 GPSweek, GPSweeks, eph->prn().c_str(),
548 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
549
550 if (_rnx) {
551 _rnx->write(GPSweek, GPSweeks, prn, xx);
552 }
553 if (_sp3) {
554 _sp3->write(GPSweek, GPSweeks, prn, xx);
555 }
556}
557
558// Transform Coordinates
559////////////////////////////////////////////////////////////////////////////
560void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
561
562 // Current epoch minus 2000.0 in years
563 // ------------------------------------
564 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
565
566 ColumnVector dx(3);
567
568 dx(1) = _dx + dt * _dxr;
569 dx(2) = _dy + dt * _dyr;
570 dx(3) = _dz + dt * _dzr;
571
572 static const double arcSec = 180.0 * 3600.0 / M_PI;
573
574 double ox = (_ox + dt * _oxr) / arcSec;
575 double oy = (_oy + dt * _oyr) / arcSec;
576 double oz = (_oz + dt * _ozr) / arcSec;
577
578 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
579
580 Matrix rMat(3,3);
581 rMat(1,1) = 1.0;
582 rMat(1,2) = -oz;
583 rMat(1,3) = oy;
584 rMat(2,1) = oz;
585 rMat(2,2) = 1.0;
586 rMat(2,3) = -ox;
587 rMat(3,1) = -oy;
588 rMat(3,2) = ox;
589 rMat(3,3) = 1.0;
590
591 xyz = sc * rMat * xyz + dx;
592}
593
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