/* ------------------------------------------------------------------------- * BKG NTRIP Server * ------------------------------------------------------------------------- * * Class: bns * * Purpose: This class implements the main application behaviour * * Author: L. Mervart * * Created: 29-Mar-2008 * * Changes: * * -----------------------------------------------------------------------*/ #include #include #include #include "bns.h" #include "bnsutils.h" #include "bnsrinex.h" #include "bnssp3.h" #include "bnssettings.h" using namespace std; // Constructor //////////////////////////////////////////////////////////////////////////// t_bns::t_bns(QObject* parent) : QThread(parent) { this->setTerminationEnabled(true); connect(this, SIGNAL(moveSocket(QThread*)), this, SLOT(slotMoveSocket(QThread*))); bnsSettings settings; // Set Proxy (application-wide) // ---------------------------- QString proxyHost = settings.value("proxyHost").toString(); int proxyPort = settings.value("proxyPort").toInt(); QNetworkProxy proxy; if (proxyHost.isEmpty()) { proxy.setType(QNetworkProxy::NoProxy); } else { proxy.setType(QNetworkProxy::Socks5Proxy); proxy.setHostName(proxyHost); proxy.setPort(proxyPort); } QNetworkProxy::setApplicationProxy(proxy); // Thread that handles broadcast ephemeris // --------------------------------------- _bnseph = new t_bnseph(parent); connect(_bnseph, SIGNAL(newEph(t_eph*, int)), this, SLOT(slotNewEph(t_eph*, int))); connect(_bnseph, SIGNAL(newMessage(QByteArray)), this, SLOT(slotMessage(const QByteArray))); connect(_bnseph, SIGNAL(error(QByteArray)), this, SLOT(slotError(const QByteArray))); // Server listening for rtnet results // ---------------------------------- _clkSocket = 0; _clkServer = new QTcpServer; _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt()); connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection())); // Socket and file for outputting the results // ------------------------------------------- for (int ic = 1; ic <= 3; ic++) { QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString(); QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString(); if (!mountpoint.isEmpty() || !outFileName.isEmpty()) { _caster.push_back(new t_bnscaster(mountpoint, outFileName, ic)); connect(_caster.back(), SIGNAL(error(const QByteArray)), this, SLOT(slotError(const QByteArray))); connect(_caster.back(), SIGNAL(newMessage(const QByteArray)), this, SLOT(slotMessage(const QByteArray))); } } // Log File // -------- QIODevice::OpenMode oMode; if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) { oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append; } else { oMode = QIODevice::WriteOnly | QIODevice::Unbuffered; } QString logFileName = settings.value("logFile").toString(); if (logFileName.isEmpty()) { _logFile = 0; _logStream = 0; } else { _logFile = new QFile(logFileName); if (_logFile->open(oMode)) { _logStream = new QTextStream(_logFile); } else { _logStream = 0; } } // Echo input from RTNet into a file // --------------------------------- QString echoFileName = settings.value("inpEcho").toString(); if (echoFileName.isEmpty()) { _echoFile = 0; _echoStream = 0; } else { _echoFile = new QFile(echoFileName); if (_echoFile->open(oMode)) { _echoStream = new QTextStream(_echoFile); } else { _echoStream = 0; } } // RINEX writer // ------------ if ( settings.value("rnxPath").toString().isEmpty() ) { _rnx = 0; } else { QString prep = "BNS"; QString ext = ".clk"; QString path = settings.value("rnxPath").toString(); QString intr = settings.value("rnxIntr").toString(); int sampl = settings.value("rnxSampl").toInt(); _rnx = new bnsRinex(prep, ext, path, intr, sampl); } // SP3 writer // ---------- if ( settings.value("sp3Path").toString().isEmpty() ) { _sp3 = 0; } else { QString prep = "BNS"; QString ext = ".sp3"; QString path = settings.value("sp3Path").toString(); QString intr = settings.value("sp3Intr").toString(); int sampl = settings.value("sp3Sampl").toInt(); _sp3 = new bnsSP3(prep, ext, path, intr, sampl); } } // Destructor //////////////////////////////////////////////////////////////////////////// t_bns::~t_bns() { deleteBnsEph(); delete _clkServer; delete _clkSocket; for (int ic = 0; ic < _caster.size(); ic++) { delete _caster.at(ic); } delete _logStream; delete _logFile; delete _echoStream; delete _echoFile; QMapIterator it(_ephList); while (it.hasNext()) { it.next(); delete it.value(); } delete _rnx; delete _sp3; } // Delete bns thread //////////////////////////////////////////////////////////////////////////// void t_bns::deleteBnsEph() { if (_bnseph) { _bnseph->terminate(); _bnseph->wait(100); delete _bnseph; _bnseph = 0; } } // Write a Program Message //////////////////////////////////////////////////////////////////////////// void t_bns::slotMessage(const QByteArray msg) { if (_logStream) { QString txt = QDateTime::currentDateTime().toUTC().toString("yy-MM-dd hh:mm:ss "); *_logStream << txt << msg << endl; _logStream->flush(); } emit(newMessage(msg)); } // Write a Program Message //////////////////////////////////////////////////////////////////////////// void t_bns::slotError(const QByteArray msg) { if (_logStream) { *_logStream << msg << endl; _logStream->flush(); } deleteBnsEph(); emit(error(msg)); } // New Connection //////////////////////////////////////////////////////////////////////////// void t_bns::slotNewConnection() { //slotMessage("t_bns::slotNewConnection"); slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber delete _clkSocket; _clkSocket = _clkServer->nextPendingConnection(); } // //////////////////////////////////////////////////////////////////////////// void t_bns::slotNewEph(t_eph* ep, int nBytes) { QMutexLocker locker(&_mutex); emit(newEphBytes(nBytes)); t_ephPair* pair; if ( !_ephList.contains(ep->prn()) ) { pair = new t_ephPair(); _ephList.insert(ep->prn(), pair); } else { pair = _ephList[ep->prn()]; } if (pair->eph == 0) { pair->eph = ep; } else { if (ep->isNewerThan(pair->eph)) { delete pair->oldEph; pair->oldEph = pair->eph; pair->eph = ep; } else { delete ep; } } } // Start //////////////////////////////////////////////////////////////////////////// void t_bns::run() { slotMessage("============ Start BNS ============"); // Start Thread that retrieves broadcast Ephemeris // ----------------------------------------------- _bnseph->start(); // Endless loop // ------------ while (true) { if (_clkSocket && _clkSocket->thread() != currentThread()) { emit(moveSocket(currentThread())); } if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) { if ( _clkSocket->canReadLine()) { readEpoch(); } else { _clkSocket->waitForReadyRead(10); } } else { msleep(10); } } } // //////////////////////////////////////////////////////////////////////////// void t_bns::readEpoch() { bnsSettings settings; // Read the first line (if not already read) // ----------------------------------------- if (_clkLine.indexOf('*') == -1) { _clkLine = _clkSocket->readLine(); if (_echoStream) { *_echoStream << _clkLine; _echoStream->flush(); } emit(newClkBytes(_clkLine.length())); } if (_clkLine.indexOf('*') == -1) { return; } QTextStream in(_clkLine); QString hlp; int year, month, day, hour, min; double sec; in >> hlp >> year >> month >> day >> hour >> min >> sec; int GPSweek; double GPSweeks; GPSweekFromYMDhms(year, month, day, hour, min, sec, GPSweek, GPSweeks); QStringList prns; // Loop over all satellites // ------------------------ QStringList lines; for (;;) { if (!_clkSocket->canReadLine()) { break; } _clkLine = _clkSocket->readLine(); if (_echoStream) { *_echoStream << _clkLine; _echoStream->flush(); } if (_clkLine[0] == '*') { return; } if (_clkLine[0] == 'P') { _clkLine.remove(0,1); lines.push_back(_clkLine); } } if (lines.size() > 0) { QStringList prns; for (int ic = 0; ic < _caster.size(); ic++) { _caster.at(ic)->open(); for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris struct ClockOrbit co; memset(&co, 0, sizeof(co)); co.GPSEpochTime = (int)GPSweeks; co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0); co.ClockDataSupplied = 1; co.OrbitDataSupplied = 1; co.SatRefPoint = POINT_CENTER; co.SatRefDatum = DATUM_ITRF; for (int ii = 0; ii < lines.size(); ii++) { QString prn; ColumnVector xx(5); xx = 0.0; t_eph* ep = 0; if (oldEph == 0 && ic == 0) { QTextStream in(lines[ii].toAscii()); in >> prn; prns << prn; if ( _ephList.contains(prn) ) { in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5); xx(1) *= 1e3; xx(2) *= 1e3; xx(3) *= 1e3; xx(4) *= 1e-6; t_ephPair* pair = _ephList[prn]; pair->xx = xx; ep = pair->eph; } } else { prn = prns[ii]; if ( _ephList.contains(prn) ) { t_ephPair* pair = _ephList[prn]; prn = pair->eph->prn(); xx = pair->xx; if (oldEph) { ep = pair->oldEph; } else { ep = pair->eph; } } } if (ep != 0) { struct ClockOrbit::SatData* sd = 0; if (prn[0] == 'G') { sd = co.Sat + co.NumberOfGPSSat; ++co.NumberOfGPSSat; } else if (prn[0] == 'R') { sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat; ++co.NumberOfGLONASSSat; } if (sd) { QString outLine; processSatellite(oldEph, ic, _caster.at(ic)->crdTrafo(), _caster.at(ic)->beClocks(), ep, GPSweek, GPSweeks, prn, xx, sd, outLine); _caster.at(ic)->printAscii(outLine); } } } if ( _caster.at(ic)->usedSocket() && (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) { char obuffer[CLOCKORBIT_BUFFERSIZE]; int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer)); if (len > 0) { if (_caster.at(ic)->ic() == 1) { emit(newOutBytes1(len));} if (_caster.at(ic)->ic() == 2) { emit(newOutBytes2(len));} if (_caster.at(ic)->ic() == 3) { emit(newOutBytes3(len));} _caster.at(ic)->write(obuffer, len); } } } } } } // //////////////////////////////////////////////////////////////////////////// void t_bns::processSatellite(int oldEph, int iCaster, bool trafo, bool beClocks, t_eph* ep, int GPSweek, double GPSweeks, const QString& prn, const ColumnVector& xx, struct ClockOrbit::SatData* sd, QString& outLine) { ColumnVector xB(4); ColumnVector vv(3); ep->position(GPSweek, GPSweeks, xB, vv); ColumnVector xyz = xx.Rows(1,3); if (trafo) { crdTrafo(GPSweek, xyz); } ColumnVector dx = xyz - xB.Rows(1,3); ColumnVector rsw(3); XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw); double dClk; if (beClocks) { dClk = (xx(4) - xB(4)) * 299792458.0 - xx(5); } else { dClk = (xx(4) - xB(4)) * 299792458.0; } if (sd) { sd->ID = prn.mid(1).toInt(); sd->IOD = ep->IOD(); sd->Clock.DeltaA0 = dClk; sd->Orbit.DeltaRadial = rsw(1); sd->Orbit.DeltaAlongTrack = rsw(2); sd->Orbit.DeltaCrossTrack = rsw(3); } char oldCh = (oldEph ? '!' : ' '); outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n", oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(), ep->IOD(), dClk, rsw(1), rsw(2), rsw(3)); if (!oldEph && iCaster == 0) { if (_rnx) { _rnx->write(GPSweek, GPSweeks, prn, xx); } if (_sp3) { _sp3->write(GPSweek, GPSweeks, prn, xx); } } } // //////////////////////////////////////////////////////////////////////////// void t_bns::slotMoveSocket(QThread* tt) { _clkSocket->setParent(0); _clkSocket->moveToThread(tt); //slotMessage("bns::slotMoveSocket"); slotMessage("Clocks & orbits port: Socket moved to thread"); // weber } // Transform Coordinates IGS -> ETRF //////////////////////////////////////////////////////////////////////////// void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) { // Current epoch minus 2000.0 in years // ------------------------------------ double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0; ColumnVector dx(3); dx(1) = 0.0541 - dt * 0.0002; dx(2) = 0.0502 + dt * 0.0001; dx(3) = -0.0538 - dt * 0.0018; static const double arcSec = 180.0 * 3600.0 / M_PI; double ox = ( 0.000891 + dt * 0.000081) / arcSec; double oy = ( 0.005390 + dt * 0.000490) / arcSec; double oz = (-0.008712 - dt * 0.000792) / arcSec; double sc = 1.0 + 0.4e-9 + dt * 0.08e-9; Matrix rMat(3,3); rMat(1,1) = 1.0; rMat(1,2) = -oz; rMat(1,3) = oy; rMat(2,1) = oz; rMat(2,2) = 1.0; rMat(2,3) = -ox; rMat(3,1) = -oy; rMat(3,2) = ox; rMat(3,3) = 1.0; xyz = sc * rMat * xyz + dx; }