[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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[825] | 31 | _outSocket = 0;
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| 32 | _clkSocket = 0;
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[760] | 33 |
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[786] | 34 | QSettings settings;
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[816] | 35 | QString outFileName = settings.value("outFile").toString();
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| 36 | if (outFileName.isEmpty()) {
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| 37 | _outFile = 0;
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[811] | 38 | }
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[816] | 39 | else {
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| 40 | _outFile = new QFile(outFileName);
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[817] | 41 | if (_outFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
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[816] | 42 | _outStream = new QTextStream(_outFile);
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| 43 | }
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| 44 | }
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[812] | 45 |
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| 46 | // Log File
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| 47 | // --------
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[816] | 48 | QString logFileName = settings.value("logFile").toString();
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| 49 | if (logFileName.isEmpty()) {
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| 50 | _logFile = 0;
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[812] | 51 | }
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[816] | 52 | else {
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| 53 | _logFile = new QFile(logFileName);
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[817] | 54 | if (_logFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
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[816] | 55 | _logStream = new QTextStream(_logFile);
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| 56 | }
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| 57 | }
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[756] | 58 | }
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| 59 |
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| 60 | // Destructor
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| 61 | ////////////////////////////////////////////////////////////////////////////
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[757] | 62 | t_bns::~t_bns() {
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[763] | 63 | deleteBnsEph();
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[769] | 64 | delete _clkServer;
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[789] | 65 | /// delete _clkSocket;
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[770] | 66 | delete _outSocket;
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[816] | 67 | delete _outStream;
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| 68 | delete _logStream;
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[812] | 69 | delete _outFile;
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| 70 | delete _logFile;
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[779] | 71 | QMapIterator<QString, t_ephPair*> it(_ephList);
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| 72 | while (it.hasNext()) {
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| 73 | it.next();
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| 74 | delete it.value();
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| 75 | }
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[756] | 76 | }
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| 77 |
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[763] | 78 | // Delete bns thread
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| 79 | ////////////////////////////////////////////////////////////////////////////
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| 80 | void t_bns::deleteBnsEph() {
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| 81 | if (_bnseph) {
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| 82 | _bnseph->terminate();
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[764] | 83 | _bnseph->wait(100);
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[763] | 84 | delete _bnseph;
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| 85 | _bnseph = 0;
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| 86 | }
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| 87 | }
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| 88 |
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[756] | 89 | // Write a Program Message
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| 90 | ////////////////////////////////////////////////////////////////////////////
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[758] | 91 | void t_bns::slotMessage(const QByteArray msg) {
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[816] | 92 | if (_logStream) {
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| 93 | *_logStream << msg << endl;
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[818] | 94 | _logStream->flush();
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[812] | 95 | }
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[757] | 96 | emit(newMessage(msg));
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[756] | 97 | }
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| 98 |
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[760] | 99 | // Write a Program Message
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| 100 | ////////////////////////////////////////////////////////////////////////////
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| 101 | void t_bns::slotError(const QByteArray msg) {
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[816] | 102 | if (_logStream) {
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| 103 | *_logStream << msg << endl;
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[818] | 104 | _logStream->flush();
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[812] | 105 | }
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[763] | 106 | deleteBnsEph();
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[760] | 107 | emit(error(msg));
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| 108 | }
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| 109 |
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[769] | 110 | // New Connection
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| 111 | ////////////////////////////////////////////////////////////////////////////
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| 112 | void t_bns::slotNewConnection() {
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[786] | 113 | slotMessage("t_bns::slotNewConnection");
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[787] | 114 | delete _clkSocket;
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[769] | 115 | _clkSocket = _clkServer->nextPendingConnection();
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| 116 | }
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| 117 |
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[770] | 118 | // Start the Communication with NTRIP Caster
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| 119 | ////////////////////////////////////////////////////////////////////////////
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| 120 | void t_bns::openCaster() {
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| 121 |
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| 122 | QSettings settings;
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| 123 |
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| 124 | _outSocket = new QTcpSocket();
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[811] | 125 | _outSocket->connectToHost(settings.value("outHost").toString(),
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| 126 | settings.value("outPort").toInt());
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[770] | 127 |
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[819] | 128 | const int timeOut = 100; // 0.1 seconds
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| 129 | if (!_outSocket->waitForConnected(timeOut)) {
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| 130 | delete _outSocket;
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| 131 | _outSocket = 0;
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| 132 | emit(error("bns::openCaster Connect Timeout"));
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| 133 | }
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| 134 |
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[770] | 135 | QString mountpoint = settings.value("mountpoint").toString();
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| 136 | QString password = settings.value("password").toString();
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| 137 |
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| 138 | QByteArray msg = "SOURCE " + password.toAscii() + " /" +
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| 139 | mountpoint.toAscii() + "\r\n" +
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| 140 | "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
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| 141 |
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| 142 | _outSocket->write(msg);
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[820] | 143 | _outSocket->waitForBytesWritten();
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[770] | 144 |
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[820] | 145 | _outSocket->waitForReadyRead();
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[770] | 146 | QByteArray ans = _outSocket->readLine();
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| 147 |
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| 148 | if (ans.indexOf("OK") == -1) {
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| 149 | delete _outSocket;
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| 150 | _outSocket = 0;
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[822] | 151 | emit(slotMessage("bns::openCaster socket deleted"));
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[770] | 152 | }
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[821] | 153 | else {
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[822] | 154 | emit(slotMessage("bns::openCaster socket OK"));
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[821] | 155 | }
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[770] | 156 | }
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| 157 |
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[784] | 158 | //
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| 159 | ////////////////////////////////////////////////////////////////////////////
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| 160 | void t_bns::slotNewEph(gpsEph* ep) {
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| 161 |
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| 162 | QMutexLocker locker(&_mutex);
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| 163 |
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| 164 | t_ephPair* pair;
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| 165 | if ( !_ephList.contains(ep->prn) ) {
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| 166 | pair = new t_ephPair();
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| 167 | _ephList.insert(ep->prn, pair);
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| 168 | }
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| 169 | else {
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| 170 | pair = _ephList[ep->prn];
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| 171 | }
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| 172 |
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| 173 | if (pair->eph == 0) {
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| 174 | pair->eph = ep;
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| 175 | }
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| 176 | else {
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| 177 | if (ep->GPSweek > pair->eph->GPSweek ||
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| 178 | (ep->GPSweek == pair->eph->GPSweek && ep->TOC > pair->eph->TOC)) {
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| 179 | delete pair->oldEph;
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| 180 | pair->oldEph = pair->eph;
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| 181 | pair->eph = ep;
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| 182 | }
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| 183 | else {
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| 184 | delete ep;
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| 185 | }
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| 186 | }
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| 187 | }
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| 188 |
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[756] | 189 | // Start
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| 190 | ////////////////////////////////////////////////////////////////////////////
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[757] | 191 | void t_bns::run() {
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[769] | 192 |
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[758] | 193 | slotMessage("============ Start BNS ============");
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[770] | 194 |
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[825] | 195 | // Thread that handles broadcast ephemeris
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| 196 | // ---------------------------------------
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| 197 | _bnseph = new t_bnseph(parent());
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| 198 |
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| 199 | // Server listening for rtnet results
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| 200 | // ----------------------------------
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| 201 | QSettings settings;
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| 202 | _clkServer = new QTcpServer;
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| 203 | _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
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| 204 |
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[770] | 205 | // Start Thread that retrieves broadcast Ephemeris
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| 206 | // -----------------------------------------------
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[758] | 207 | _bnseph->start();
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[769] | 208 |
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[824] | 209 | // Connect Slots-Signals
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| 210 | // ---------------------
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| 211 | connect(_bnseph, SIGNAL(newEph(gpsEph*)),
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| 212 | this, SLOT(slotNewEph(gpsEph*)));
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| 213 |
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| 214 | connect(_bnseph, SIGNAL(newMessage(QByteArray)),
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| 215 | this, SLOT(slotMessage(const QByteArray)));
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| 216 |
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| 217 | connect(_bnseph, SIGNAL(error(QByteArray)),
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| 218 | this, SLOT(slotError(const QByteArray)));
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| 219 |
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| 220 | connect(_clkServer, SIGNAL(newConnection()),this,
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| 221 | SLOT(slotNewConnection()));
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| 222 |
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[770] | 223 | // Endless loop
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| 224 | // ------------
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[769] | 225 | while (true) {
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[796] | 226 | if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
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| 227 | if ( _clkSocket->canReadLine()) {
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[811] | 228 | if (_outSocket == 0) {
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| 229 | openCaster();
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| 230 | }
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[796] | 231 | readEpoch();
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| 232 | }
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[809] | 233 | else {
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| 234 | _clkSocket->waitForReadyRead(10);
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| 235 | }
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[769] | 236 | }
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| 237 | else {
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[794] | 238 | msleep(10);
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[769] | 239 | }
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| 240 | }
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[756] | 241 | }
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| 242 |
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[778] | 243 | //
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| 244 | ////////////////////////////////////////////////////////////////////////////
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[784] | 245 | void t_bns::readEpoch() {
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[778] | 246 |
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[784] | 247 | QByteArray line = _clkSocket->readLine();
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[786] | 248 |
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[784] | 249 | if (line.indexOf('*') == -1) {
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| 250 | return;
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[778] | 251 | }
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| 252 |
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[784] | 253 | QTextStream in(line);
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| 254 |
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| 255 | QString hlp;
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[798] | 256 | int GPSweek, numSat;
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| 257 | double GPSweeks;
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[784] | 258 |
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[798] | 259 | in >> hlp >> GPSweek >> GPSweeks >> numSat;
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[784] | 260 |
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| 261 | for (int ii = 1; ii <= numSat; ii++) {
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[792] | 262 | line = _clkSocket->readLine();
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[791] | 263 |
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[784] | 264 | QTextStream in(line);
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| 265 |
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| 266 | QString prn;
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| 267 | ColumnVector xx(4);
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| 268 |
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[795] | 269 | in >> prn >> xx(1) >> xx(2) >> xx(3) >> xx(4);
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[797] | 270 | xx(4) *= 1e-6;
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[784] | 271 |
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[798] | 272 | processSatellite(GPSweek, GPSweeks, prn, xx);
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[780] | 273 | }
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[778] | 274 | }
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[784] | 275 |
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| 276 | //
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| 277 | ////////////////////////////////////////////////////////////////////////////
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[798] | 278 | void t_bns::processSatellite(int GPSweek, double GPSweeks, const QString& prn,
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[784] | 279 | const ColumnVector& xx) {
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| 280 |
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[795] | 281 | // No broadcast ephemeris available
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| 282 | // --------------------------------
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| 283 | if ( !_ephList.contains(prn) ) {
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| 284 | return;
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| 285 | }
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| 286 |
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| 287 | t_ephPair* pair = _ephList[prn];
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| 288 | gpsEph* ep = pair->eph;
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| 289 |
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[799] | 290 | ColumnVector xB(4);
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[802] | 291 | ColumnVector vv(3);
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[799] | 292 |
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[803] | 293 | satellitePosition(GPSweek, GPSweeks, ep, xB(1), xB(2), xB(3), xB(4),
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[802] | 294 | vv(1), vv(2), vv(3));
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[799] | 295 |
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[804] | 296 | ColumnVector dx = xx.Rows(1,3) - xB.Rows(1,3);
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| 297 | double dClk = (xx(4) - xB(4)) * 299792458.0;
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| 298 | ColumnVector rsw(3);
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[800] | 299 |
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[806] | 300 | XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
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[804] | 301 |
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[811] | 302 | QString line;
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[817] | 303 | line.sprintf("%d %.1f %s %3d %3d %8.3f %8.3f %8.3f %8.3f\n",
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[811] | 304 | GPSweek, GPSweeks, ep->prn.toAscii().data(),
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| 305 | int(ep->IODC), int(ep->IODE), dClk, rsw(1), rsw(2), rsw(3));
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| 306 |
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[816] | 307 | if (_outStream) {
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| 308 | *_outStream << line;
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[818] | 309 | _outStream->flush();
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[811] | 310 | }
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| 311 | if (_outSocket) {
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| 312 | _outSocket->write(line.toAscii());
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| 313 | }
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[784] | 314 | }
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