source: ntrip/trunk/BNS/bns.cpp@ 1075

Last change on this file since 1075 was 1075, checked in by mervart, 17 years ago

* empty log message *
File size: 12.8 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bns
6 *
7 * Purpose: This class implements the main application behaviour
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2008
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include <iostream>
19#include <newmatio.h>
20
21#include "bns.h"
22#include "bnsutils.h"
23#include "bnsrinex.h"
24#include "bnssp3.h"
25
26using namespace std;
27
28// Constructor
29////////////////////////////////////////////////////////////////////////////
30t_bns::t_bns(QObject* parent) : QThread(parent) {
31
32 this->setTerminationEnabled(true);
33
34 connect(this, SIGNAL(moveSocket(QThread*)),
35 this, SLOT(slotMoveSocket(QThread*)));
36
37 QSettings settings;
38
39 // Set Proxy (application-wide)
40 // ----------------------------
41 QString proxyHost = settings.value("proxyHost").toString();
42 int proxyPort = settings.value("proxyPort").toInt();
43
44 QNetworkProxy proxy;
45 if (proxyHost.isEmpty()) {
46 proxy.setType(QNetworkProxy::NoProxy);
47 }
48 else {
49 proxy.setType(QNetworkProxy::Socks5Proxy);
50 proxy.setHostName(proxyHost);
51 proxy.setPort(proxyPort);
52 }
53 QNetworkProxy::setApplicationProxy(proxy);
54
55 // Thread that handles broadcast ephemeris
56 // ---------------------------------------
57 _bnseph = new t_bnseph(parent);
58
59 connect(_bnseph, SIGNAL(newEph(t_eph*, int)),
60 this, SLOT(slotNewEph(t_eph*, int)));
61 connect(_bnseph, SIGNAL(newMessage(QByteArray)),
62 this, SLOT(slotMessage(const QByteArray)));
63 connect(_bnseph, SIGNAL(error(QByteArray)),
64 this, SLOT(slotError(const QByteArray)));
65
66 // Server listening for rtnet results
67 // ----------------------------------
68 _clkSocket = 0;
69 _clkServer = new QTcpServer;
70 _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
71 connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
72
73 // Socket and file for outputting the results
74 // -------------------------------------------
75 for (int ic = 1; ic <= 2; ic++) {
76
77 QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString();
78 if (!mountpoint.isEmpty()) {
79 QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
80 QString refSys = settings.value(QString("refSys_%1").arg(ic)).toString();
81
82 _caster.push_back(new t_bnscaster(mountpoint, outFileName, refSys));
83 connect(_caster.back(), SIGNAL(error(const QByteArray)),
84 this, SLOT(slotError(const QByteArray)));
85 connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
86 this, SLOT(slotMessage(const QByteArray)));
87 }
88 }
89
90 // Log File
91 // --------
92 QIODevice::OpenMode oMode;
93 if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
94 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
95 }
96 else {
97 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
98 }
99
100 QString logFileName = settings.value("logFile").toString();
101 if (logFileName.isEmpty()) {
102 _logFile = 0;
103 _logStream = 0;
104 }
105 else {
106 _logFile = new QFile(logFileName);
107 if (_logFile->open(oMode)) {
108 _logStream = new QTextStream(_logFile);
109 }
110 else {
111 _logStream = 0;
112 }
113 }
114
115 // Echo input from RTNet into a file
116 // ---------------------------------
117 QString echoFileName = settings.value("inpEcho").toString();
118 if (echoFileName.isEmpty()) {
119 _echoFile = 0;
120 _echoStream = 0;
121 }
122 else {
123 _echoFile = new QFile(echoFileName);
124 if (_echoFile->open(oMode)) {
125 _echoStream = new QTextStream(_echoFile);
126 }
127 else {
128 _echoStream = 0;
129 }
130 }
131
132 // RINEX writer
133 // ------------
134 if ( settings.value("rnxPath").toString().isEmpty() ) {
135 _rnx = 0;
136 }
137 else {
138 QString prep = "BNS";
139 QString ext = ".clk";
140 QString path = settings.value("rnxPath").toString();
141 QString intr = settings.value("rnxIntr").toString();
142 int sampl = settings.value("rnxSampl").toInt();
143 _rnx = new bnsRinex(prep, ext, path, intr, sampl);
144 }
145
146 // SP3 writer
147 // ----------
148 if ( settings.value("sp3Path").toString().isEmpty() ) {
149 _sp3 = 0;
150 }
151 else {
152 QString prep = "BNS";
153 QString ext = ".sp3";
154 QString path = settings.value("sp3Path").toString();
155 QString intr = settings.value("sp3Intr").toString();
156 int sampl = settings.value("sp3Sampl").toInt();
157 _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
158 }
159}
160
161// Destructor
162////////////////////////////////////////////////////////////////////////////
163t_bns::~t_bns() {
164 deleteBnsEph();
165 delete _clkServer;
166 delete _clkSocket;
167 for (int ic = 0; ic < _caster.size(); ic++) {
168 delete _caster.at(ic);
169 }
170 delete _logStream;
171 delete _logFile;
172 delete _echoStream;
173 delete _echoFile;
174 QMapIterator<QString, t_ephPair*> it(_ephList);
175 while (it.hasNext()) {
176 it.next();
177 delete it.value();
178 }
179 delete _rnx;
180 delete _sp3;
181}
182
183// Delete bns thread
184////////////////////////////////////////////////////////////////////////////
185void t_bns::deleteBnsEph() {
186 if (_bnseph) {
187 _bnseph->terminate();
188 _bnseph->wait(100);
189 delete _bnseph;
190 _bnseph = 0;
191 }
192}
193
194// Write a Program Message
195////////////////////////////////////////////////////////////////////////////
196void t_bns::slotMessage(const QByteArray msg) {
197 if (_logStream) {
198 *_logStream << msg << endl;
199 _logStream->flush();
200 }
201 emit(newMessage(msg));
202}
203
204// Write a Program Message
205////////////////////////////////////////////////////////////////////////////
206void t_bns::slotError(const QByteArray msg) {
207 if (_logStream) {
208 *_logStream << msg << endl;
209 _logStream->flush();
210 }
211 deleteBnsEph();
212 emit(error(msg));
213}
214
215// New Connection
216////////////////////////////////////////////////////////////////////////////
217void t_bns::slotNewConnection() {
218 slotMessage("t_bns::slotNewConnection");
219 delete _clkSocket;
220 _clkSocket = _clkServer->nextPendingConnection();
221}
222
223//
224////////////////////////////////////////////////////////////////////////////
225void t_bns::slotNewEph(t_eph* ep, int nBytes) {
226
227 QMutexLocker locker(&_mutex);
228
229 emit(newEphBytes(nBytes));
230
231 t_ephPair* pair;
232 if ( !_ephList.contains(ep->prn()) ) {
233 pair = new t_ephPair();
234 _ephList.insert(ep->prn(), pair);
235 }
236 else {
237 pair = _ephList[ep->prn()];
238 }
239
240 if (pair->eph == 0) {
241 pair->eph = ep;
242 }
243 else {
244 if (ep->isNewerThan(pair->eph)) {
245 delete pair->oldEph;
246 pair->oldEph = pair->eph;
247 pair->eph = ep;
248 }
249 else {
250 delete ep;
251 }
252 }
253}
254
255// Start
256////////////////////////////////////////////////////////////////////////////
257void t_bns::run() {
258
259 slotMessage("============ Start BNS ============");
260
261 // Start Thread that retrieves broadcast Ephemeris
262 // -----------------------------------------------
263 _bnseph->start();
264
265 // Endless loop
266 // ------------
267 while (true) {
268
269 if (_clkSocket && _clkSocket->thread() != currentThread()) {
270 emit(moveSocket(currentThread()));
271 }
272
273 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
274 if ( _clkSocket->canReadLine()) {
275 readEpoch();
276 }
277 else {
278 _clkSocket->waitForReadyRead(10);
279 }
280 }
281 else {
282 msleep(10);
283 }
284 }
285}
286
287//
288////////////////////////////////////////////////////////////////////////////
289void t_bns::readEpoch() {
290
291 QByteArray line = _clkSocket->readLine();
292
293 if (_echoStream) {
294 *_echoStream << line;
295 _echoStream->flush();
296 }
297
298 emit(newClkBytes(line.length()));
299
300 if (line.indexOf('*') == -1) {
301 return;
302 }
303
304 QTextStream in(line);
305
306 QString hlp;
307 int GPSweek, numSat;
308 double GPSweeks;
309
310 in >> hlp >> GPSweek >> GPSweeks >> numSat;
311
312 if (numSat > 0) {
313
314 QStringList prns;
315
316 for (int ic = 0; ic < _caster.size(); ic++) {
317 _caster.at(ic)->open();
318
319 cout << "caster number " << ic+1 << endl;
320
321 for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris
322
323 struct ClockOrbit co;
324 memset(&co, 0, sizeof(co));
325 co.GPSEpochTime = (int)GPSweeks;
326 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0);
327 co.ClockDataSupplied = 1;
328 co.OrbitDataSupplied = 1;
329 co.SatRefPoint = POINT_CENTER;
330 co.SatRefDatum = DATUM_ITRF;
331
332 for (int ii = 1; ii <= numSat; ii++) {
333
334 QString prn;
335 ColumnVector xx(5);
336 t_eph* ep = 0;
337
338 if (oldEph == 0 && ic == 0) {
339 line = _clkSocket->readLine();
340
341 if (_echoStream) {
342 *_echoStream << line;
343 _echoStream->flush();
344 }
345
346 QTextStream in(line);
347 in >> prn;
348 prns << prn;
349 if ( _ephList.contains(prn) ) {
350 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5); xx(4) *= 1e-6;
351
352 //// beg test (zero clock correction for Gerhard Wuebbena)
353 //// xx(4) -= xx(5) / 299792458.0;
354 //// end test
355
356 t_ephPair* pair = _ephList[prn];
357 pair->xx = xx;
358 ep = pair->eph;
359 }
360 }
361 else {
362 prn = prns[ii-1];
363 if ( _ephList.contains(prn) ) {
364 t_ephPair* pair = _ephList[prn];
365 prn = pair->eph->prn();
366 xx = pair->xx;
367 ep = pair->oldEph;
368 }
369 }
370
371 if (ep != 0) {
372 struct ClockOrbit::SatData* sd = 0;
373 if (prn[0] == 'G') {
374 sd = co.Sat + co.NumberOfGPSSat;
375 ++co.NumberOfGPSSat;
376 }
377 else if (prn[0] == 'R') {
378 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
379 ++co.NumberOfGLONASSSat;
380 }
381 if (sd) {
382 QString outLine;
383 processSatellite(oldEph, _caster.at(ic)->crdTrafo(), ep, GPSweek,
384 GPSweeks, prn, xx, sd, outLine);
385 cout << outLine.toAscii().data();
386 _caster.at(ic)->printAscii(outLine);
387 }
388 }
389 }
390
391 if ( _caster.at(ic)->used() &&
392 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
393 char obuffer[CLOCKORBIT_BUFFERSIZE];
394 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
395 if (len > 0) {
396 emit(newOutBytes(len));
397 _caster.at(ic)->write(obuffer, len);
398 }
399 }
400 }
401 }
402 }
403}
404
405//
406////////////////////////////////////////////////////////////////////////////
407void t_bns::processSatellite(int oldEph, bool trafo, t_eph* ep, int GPSweek,
408 double GPSweeks, const QString& prn,
409 const ColumnVector& xx,
410 struct ClockOrbit::SatData* sd,
411 QString& outLine) {
412
413 ColumnVector xB(4);
414 ColumnVector vv(3);
415
416 ep->position(GPSweek, GPSweeks, xB, vv);
417
418 ColumnVector xyz = xx.Rows(1,3);
419 if (trafo) {
420 crdTrafo(GPSweek, xyz);
421 }
422
423 ColumnVector dx = xyz - xB.Rows(1,3);
424
425 double dClk = (xx(4) - xB(4)) * 299792458.0;
426 ColumnVector rsw(3);
427
428 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
429
430 if (sd) {
431 sd->ID = prn.mid(1).toInt();
432 sd->IOD = ep->IOD();
433 sd->Clock.DeltaA0 = dClk;
434 sd->Orbit.DeltaRadial = rsw(1);
435 sd->Orbit.DeltaAlongTrack = rsw(2);
436 sd->Orbit.DeltaCrossTrack = rsw(3);
437 }
438
439 char oldCh = (oldEph ? '!' : ' ');
440 outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
441 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
442 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
443
444 if (!oldEph) {
445 if (_rnx) {
446 _rnx->write(GPSweek, GPSweeks, prn, xx);
447 }
448 if (_sp3) {
449 _sp3->write(GPSweek, GPSweeks, prn, xx);
450 }
451 }
452}
453
454//
455////////////////////////////////////////////////////////////////////////////
456void t_bns::slotMoveSocket(QThread* tt) {
457 _clkSocket->setParent(0);
458 _clkSocket->moveToThread(tt);
459 slotMessage("bns::slotMoveSocket");
460}
461
462// Transform Coordinates IGS -> ETRF
463////////////////////////////////////////////////////////////////////////////
464void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) {
465
466 ColumnVector dx(3);
467 dx(1) = 0.054;
468 dx(2) = 0.051;
469 dx(3) = -0.048;
470 const static double arcSec = 180.0 * 3600.0 / M_PI;
471 const static double ox = 0.000081 / arcSec;
472 const static double oy = 0.000490 / arcSec;
473 const static double oz = -0.000792 / arcSec;
474
475 Matrix rMat(3,3); rMat = 0.0;
476 rMat(1,2) = -oz;
477 rMat(1,3) = oy;
478 rMat(2,1) = oz;
479 rMat(2,3) = -ox;
480 rMat(3,1) = -oy;
481 rMat(3,2) = ox;
482
483 // Current epoch minus 1989.0 in years
484 // ------------------------------------
485 double dt = (GPSWeek - 469.0) / 365.2422 * 7.0;
486
487 xyz += dx + dt * rMat * xyz;
488}
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