[756] | 1 | /* -------------------------------------------------------------------------
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| 2 | * BKG NTRIP Server
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| 3 | * -------------------------------------------------------------------------
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| 4 | *
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| 5 | * Class: bns
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| 6 | *
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| 7 | * Purpose: This class implements the main application behaviour
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| 8 | *
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| 9 | * Author: L. Mervart
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| 10 | *
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| 11 | * Created: 29-Mar-2008
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| 12 | *
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| 13 | * Changes:
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| 14 | *
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| 15 | * -----------------------------------------------------------------------*/
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| 16 |
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| 17 | #include <iostream>
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[800] | 18 | #include <newmatio.h>
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[756] | 19 |
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| 20 | #include "bns.h"
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[799] | 21 | #include "bnsutils.h"
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[756] | 22 |
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| 23 | using namespace std;
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| 24 |
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| 25 | // Constructor
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| 26 | ////////////////////////////////////////////////////////////////////////////
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[757] | 27 | t_bns::t_bns(QObject* parent) : QThread(parent) {
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[760] | 28 |
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[764] | 29 | this->setTerminationEnabled(true);
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| 30 |
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[787] | 31 | // Thread that handles broadcast ephemeris
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| 32 | // ---------------------------------------
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[758] | 33 | _bnseph = new t_bnseph(parent);
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[760] | 34 |
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[787] | 35 | // Server listening for rtnet results
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| 36 | // ----------------------------------
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[786] | 37 | QSettings settings;
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[769] | 38 | _clkSocket = 0;
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[786] | 39 | _clkServer = new QTcpServer;
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[787] | 40 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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[770] | 41 |
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[816] | 42 | // Socket and file for outputting the results
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| 43 | // -------------------------------------------
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[770] | 44 | _outSocket = 0;
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[816] | 45 |
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| 46 | QString outFileName = settings.value("outFile").toString();
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| 47 | if (outFileName.isEmpty()) {
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| 48 | _outFile = 0;
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[811] | 49 | }
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[816] | 50 | else {
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| 51 | _outFile = new QFile(outFileName);
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[817] | 52 | if (_outFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
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[816] | 53 | _outStream = new QTextStream(_outFile);
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| 54 | }
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| 55 | }
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[812] | 56 |
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| 57 | // Log File
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| 58 | // --------
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[816] | 59 | QString logFileName = settings.value("logFile").toString();
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| 60 | if (logFileName.isEmpty()) {
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| 61 | _logFile = 0;
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[812] | 62 | }
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[816] | 63 | else {
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| 64 | _logFile = new QFile(logFileName);
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[817] | 65 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
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[816] | 66 | _logStream = new QTextStream(_logFile);
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| 67 | }
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| 68 | }
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[756] | 69 | }
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| 70 |
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| 71 | // Destructor
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| 72 | ////////////////////////////////////////////////////////////////////////////
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[757] | 73 | t_bns::~t_bns() {
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[763] | 74 | deleteBnsEph();
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[769] | 75 | delete _clkServer;
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[789] | 76 | /// delete _clkSocket;
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[770] | 77 | delete _outSocket;
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[816] | 78 | delete _outStream;
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| 79 | delete _logStream;
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[812] | 80 | delete _outFile;
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| 81 | delete _logFile;
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[779] | 82 | QMapIterator<QString, t_ephPair*> it(_ephList);
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| 83 | while (it.hasNext()) {
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| 84 | it.next();
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| 85 | delete it.value();
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| 86 | }
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[756] | 87 | }
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| 88 |
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[763] | 89 | // Delete bns thread
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| 90 | ////////////////////////////////////////////////////////////////////////////
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| 91 | void t_bns::deleteBnsEph() {
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| 92 | if (_bnseph) {
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| 93 | _bnseph->terminate();
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[764] | 94 | _bnseph->wait(100);
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[763] | 95 | delete _bnseph;
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| 96 | _bnseph = 0;
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| 97 | }
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| 98 | }
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| 99 |
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[756] | 100 | // Write a Program Message
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| 101 | ////////////////////////////////////////////////////////////////////////////
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[758] | 102 | void t_bns::slotMessage(const QByteArray msg) {
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[816] | 103 | if (_logStream) {
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| 104 | *_logStream << msg << endl;
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[818] | 105 | _logStream->flush();
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[812] | 106 | }
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[757] | 107 | emit(newMessage(msg));
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[756] | 108 | }
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| 109 |
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[760] | 110 | // Write a Program Message
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| 111 | ////////////////////////////////////////////////////////////////////////////
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| 112 | void t_bns::slotError(const QByteArray msg) {
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[816] | 113 | if (_logStream) {
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| 114 | *_logStream << msg << endl;
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[818] | 115 | _logStream->flush();
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[812] | 116 | }
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[763] | 117 | deleteBnsEph();
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[760] | 118 | emit(error(msg));
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| 119 | }
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| 120 |
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[769] | 121 | // New Connection
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| 122 | ////////////////////////////////////////////////////////////////////////////
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| 123 | void t_bns::slotNewConnection() {
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[786] | 124 | slotMessage("t_bns::slotNewConnection");
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[787] | 125 | delete _clkSocket;
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[769] | 126 | _clkSocket = _clkServer->nextPendingConnection();
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| 127 | }
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| 128 |
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[770] | 129 | // Start the Communication with NTRIP Caster
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| 130 | ////////////////////////////////////////////////////////////////////////////
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| 131 | void t_bns::openCaster() {
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| 132 |
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| 133 | QSettings settings;
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| 134 |
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| 135 | _outSocket = new QTcpSocket();
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[811] | 136 | _outSocket->connectToHost(settings.value("outHost").toString(),
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| 137 | settings.value("outPort").toInt());
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[770] | 138 |
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[819] | 139 | const int timeOut = 100; // 0.1 seconds
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| 140 | if (!_outSocket->waitForConnected(timeOut)) {
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| 141 | delete _outSocket;
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| 142 | _outSocket = 0;
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| 143 | emit(error("bns::openCaster Connect Timeout"));
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| 144 | }
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| 145 |
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[770] | 146 | QString mountpoint = settings.value("mountpoint").toString();
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| 147 | QString password = settings.value("password").toString();
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| 148 |
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| 149 | QByteArray msg = "SOURCE " + password.toAscii() + " /" +
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| 150 | mountpoint.toAscii() + "\r\n" +
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| 151 | "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
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| 152 |
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| 153 | _outSocket->write(msg);
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[820] | 154 | _outSocket->waitForBytesWritten();
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[770] | 155 |
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[820] | 156 | _outSocket->waitForReadyRead();
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[770] | 157 | QByteArray ans = _outSocket->readLine();
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| 158 |
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| 159 | if (ans.indexOf("OK") == -1) {
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| 160 | delete _outSocket;
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| 161 | _outSocket = 0;
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[822] | 162 | emit(slotMessage("bns::openCaster socket deleted"));
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[770] | 163 | }
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[821] | 164 | else {
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[822] | 165 | emit(slotMessage("bns::openCaster socket OK"));
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[821] | 166 | }
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[770] | 167 | }
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| 168 |
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[784] | 169 | //
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| 170 | ////////////////////////////////////////////////////////////////////////////
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| 171 | void t_bns::slotNewEph(gpsEph* ep) {
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| 172 |
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| 173 | QMutexLocker locker(&_mutex);
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| 174 |
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| 175 | t_ephPair* pair;
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| 176 | if ( !_ephList.contains(ep->prn) ) {
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| 177 | pair = new t_ephPair();
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| 178 | _ephList.insert(ep->prn, pair);
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| 179 | }
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| 180 | else {
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| 181 | pair = _ephList[ep->prn];
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| 182 | }
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| 183 |
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| 184 | if (pair->eph == 0) {
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| 185 | pair->eph = ep;
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| 186 | }
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| 187 | else {
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| 188 | if (ep->GPSweek > pair->eph->GPSweek ||
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| 189 | (ep->GPSweek == pair->eph->GPSweek && ep->TOC > pair->eph->TOC)) {
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| 190 | delete pair->oldEph;
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| 191 | pair->oldEph = pair->eph;
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| 192 | pair->eph = ep;
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| 193 | }
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| 194 | else {
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| 195 | delete ep;
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| 196 | }
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| 197 | }
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| 198 | }
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| 199 |
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[756] | 200 | // Start
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| 201 | ////////////////////////////////////////////////////////////////////////////
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[757] | 202 | void t_bns::run() {
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[769] | 203 |
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[758] | 204 | slotMessage("============ Start BNS ============");
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[770] | 205 |
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| 206 | // Start Thread that retrieves broadcast Ephemeris
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| 207 | // -----------------------------------------------
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[758] | 208 | _bnseph->start();
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[769] | 209 |
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[824] | 210 | // Connect Slots-Signals
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| 211 | // ---------------------
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| 212 | connect(_bnseph, SIGNAL(newEph(gpsEph*)),
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| 213 | this, SLOT(slotNewEph(gpsEph*)));
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| 214 |
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| 215 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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| 216 | this, SLOT(slotMessage(const QByteArray)));
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| 217 |
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| 218 | connect(_bnseph, SIGNAL(error(QByteArray)),
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| 219 | this, SLOT(slotError(const QByteArray)));
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| 220 |
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| 221 | connect(_clkServer, SIGNAL(newConnection()),this,
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| 222 | SLOT(slotNewConnection()));
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| 223 |
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[770] | 224 | // Endless loop
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| 225 | // ------------
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[769] | 226 | while (true) {
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[796] | 227 | if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
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| 228 | if ( _clkSocket->canReadLine()) {
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[811] | 229 | if (_outSocket == 0) {
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| 230 | openCaster();
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| 231 | }
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[796] | 232 | readEpoch();
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| 233 | }
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[809] | 234 | else {
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| 235 | _clkSocket->waitForReadyRead(10);
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| 236 | }
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[769] | 237 | }
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| 238 | else {
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[794] | 239 | msleep(10);
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[769] | 240 | }
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| 241 | }
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[756] | 242 | }
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| 243 |
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[778] | 244 | //
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| 245 | ////////////////////////////////////////////////////////////////////////////
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[784] | 246 | void t_bns::readEpoch() {
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[778] | 247 |
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[784] | 248 | QByteArray line = _clkSocket->readLine();
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[786] | 249 |
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[784] | 250 | if (line.indexOf('*') == -1) {
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| 251 | return;
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[778] | 252 | }
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| 253 |
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[784] | 254 | QTextStream in(line);
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| 255 |
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| 256 | QString hlp;
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[798] | 257 | int GPSweek, numSat;
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| 258 | double GPSweeks;
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[784] | 259 |
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[798] | 260 | in >> hlp >> GPSweek >> GPSweeks >> numSat;
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[784] | 261 |
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| 262 | for (int ii = 1; ii <= numSat; ii++) {
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[792] | 263 | line = _clkSocket->readLine();
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[791] | 264 |
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[784] | 265 | QTextStream in(line);
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| 266 |
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| 267 | QString prn;
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| 268 | ColumnVector xx(4);
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| 269 |
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[795] | 270 | in >> prn >> xx(1) >> xx(2) >> xx(3) >> xx(4);
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[797] | 271 | xx(4) *= 1e-6;
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[784] | 272 |
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[798] | 273 | processSatellite(GPSweek, GPSweeks, prn, xx);
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[780] | 274 | }
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[778] | 275 | }
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[784] | 276 |
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| 277 | //
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| 278 | ////////////////////////////////////////////////////////////////////////////
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[798] | 279 | void t_bns::processSatellite(int GPSweek, double GPSweeks, const QString& prn,
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[784] | 280 | const ColumnVector& xx) {
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| 281 |
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[795] | 282 | // No broadcast ephemeris available
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| 283 | // --------------------------------
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| 284 | if ( !_ephList.contains(prn) ) {
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| 285 | return;
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| 286 | }
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| 287 |
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| 288 | t_ephPair* pair = _ephList[prn];
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| 289 | gpsEph* ep = pair->eph;
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| 290 |
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[799] | 291 | ColumnVector xB(4);
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[802] | 292 | ColumnVector vv(3);
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[799] | 293 |
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[803] | 294 | satellitePosition(GPSweek, GPSweeks, ep, xB(1), xB(2), xB(3), xB(4),
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[802] | 295 | vv(1), vv(2), vv(3));
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[799] | 296 |
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[804] | 297 | ColumnVector dx = xx.Rows(1,3) - xB.Rows(1,3);
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| 298 | double dClk = (xx(4) - xB(4)) * 299792458.0;
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| 299 | ColumnVector rsw(3);
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[800] | 300 |
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[806] | 301 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
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[804] | 302 |
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[811] | 303 | QString line;
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[817] | 304 | line.sprintf("%d %.1f %s %3d %3d %8.3f %8.3f %8.3f %8.3f\n",
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[811] | 305 | GPSweek, GPSweeks, ep->prn.toAscii().data(),
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| 306 | int(ep->IODC), int(ep->IODE), dClk, rsw(1), rsw(2), rsw(3));
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| 307 |
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[816] | 308 | if (_outStream) {
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| 309 | *_outStream << line;
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[818] | 310 | _outStream->flush();
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[811] | 311 | }
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| 312 | if (_outSocket) {
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| 313 | _outSocket->write(line.toAscii());
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| 314 | }
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[784] | 315 | }
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