source: ntrip/trunk/BNS/bns.cpp@ 1208

Last change on this file since 1208 was 1208, checked in by weber, 15 years ago

* empty log message *
File size: 13.5 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 QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
79 if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
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 slotMessage("Clocks & orbits port: Waiting for client to connect"); // weber
220 delete _clkSocket;
221 _clkSocket = _clkServer->nextPendingConnection();
222}
223
224//
225////////////////////////////////////////////////////////////////////////////
226void t_bns::slotNewEph(t_eph* ep, int nBytes) {
227
228 QMutexLocker locker(&_mutex);
229
230 emit(newEphBytes(nBytes));
231
232 t_ephPair* pair;
233 if ( !_ephList.contains(ep->prn()) ) {
234 pair = new t_ephPair();
235 _ephList.insert(ep->prn(), pair);
236 }
237 else {
238 pair = _ephList[ep->prn()];
239 }
240
241 if (pair->eph == 0) {
242 pair->eph = ep;
243 }
244 else {
245 if (ep->isNewerThan(pair->eph)) {
246 delete pair->oldEph;
247 pair->oldEph = pair->eph;
248 pair->eph = ep;
249 }
250 else {
251 delete ep;
252 }
253 }
254}
255
256// Start
257////////////////////////////////////////////////////////////////////////////
258void t_bns::run() {
259
260 slotMessage("============ Start BNS ============");
261
262 // Start Thread that retrieves broadcast Ephemeris
263 // -----------------------------------------------
264 _bnseph->start();
265
266 // Endless loop
267 // ------------
268 while (true) {
269
270 if (_clkSocket && _clkSocket->thread() != currentThread()) {
271 emit(moveSocket(currentThread()));
272 }
273
274 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
275 if ( _clkSocket->canReadLine()) {
276 readEpoch();
277 }
278 else {
279 _clkSocket->waitForReadyRead(10);
280 }
281 }
282 else {
283 msleep(10);
284 }
285 }
286}
287
288//
289////////////////////////////////////////////////////////////////////////////
290void t_bns::readEpoch() {
291
292 // Read the first line (if not already read)
293 // -----------------------------------------
294 if (_clkLine.indexOf('*') == -1) {
295 _clkLine = _clkSocket->readLine();
296 if (_echoStream) {
297 *_echoStream << _clkLine;
298 _echoStream->flush();
299 }
300 emit(newClkBytes(_clkLine.length()));
301 }
302
303 if (_clkLine.indexOf('*') == -1) {
304 return;
305 }
306
307 QTextStream in(_clkLine);
308
309 QString hlp;
310 int year, month, day, hour, min;
311 double sec;
312 in >> hlp >> year >> month >> day >> hour >> min >> sec;
313
314 int GPSweek;
315 double GPSweeks;
316
317 GPSweekFromYMDhms(year, month, day, hour, min, sec, GPSweek, GPSweeks);
318
319 QStringList prns;
320
321 // Loop over all satellites
322 // ------------------------
323 QStringList lines;
324 for (;;) {
325 if (!_clkSocket->canReadLine()) {
326 break;
327 }
328 _clkLine = _clkSocket->readLine();
329 if (_echoStream) {
330 *_echoStream << _clkLine;
331 _echoStream->flush();
332 }
333 if (_clkLine[0] == '*') {
334 return;
335 }
336 if (_clkLine[0] == 'P') {
337 _clkLine.remove(0,1);
338 lines.push_back(_clkLine);
339 }
340 }
341
342 if (lines.size() > 0) {
343
344 QStringList prns;
345
346 for (int ic = 0; ic < _caster.size(); ic++) {
347 _caster.at(ic)->open();
348
349 for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris
350
351 struct ClockOrbit co;
352 memset(&co, 0, sizeof(co));
353 co.GPSEpochTime = (int)GPSweeks;
354 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0);
355 co.ClockDataSupplied = 1;
356 co.OrbitDataSupplied = 1;
357 co.SatRefPoint = POINT_CENTER;
358 co.SatRefDatum = DATUM_ITRF;
359
360 for (int ii = 0; ii < lines.size(); ii++) {
361
362 QString prn;
363 ColumnVector xx(5);
364 t_eph* ep = 0;
365
366 if (oldEph == 0 && ic == 0) {
367 QTextStream in(lines[ii].toAscii());
368 in >> prn;
369 prns << prn;
370 if ( _ephList.contains(prn) ) {
371 in >> xx(1) >> xx(2) >> xx(3) >> xx(4);
372 xx(1) *= 1e3;
373 xx(2) *= 1e3;
374 xx(3) *= 1e3;
375 xx(4) *= 1e-6;
376
377 t_ephPair* pair = _ephList[prn];
378 pair->xx = xx;
379 ep = pair->eph;
380 }
381 }
382 else {
383 prn = prns[ii];
384 if ( _ephList.contains(prn) ) {
385 t_ephPair* pair = _ephList[prn];
386 prn = pair->eph->prn();
387 xx = pair->xx;
388 if (oldEph) {
389 ep = pair->oldEph;
390 }
391 else {
392 ep = pair->eph;
393 }
394 }
395 }
396
397 if (ep != 0) {
398 struct ClockOrbit::SatData* sd = 0;
399 if (prn[0] == 'G') {
400 sd = co.Sat + co.NumberOfGPSSat;
401 ++co.NumberOfGPSSat;
402 }
403 else if (prn[0] == 'R') {
404 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
405 ++co.NumberOfGLONASSSat;
406 }
407 if (sd) {
408 QString outLine;
409 processSatellite(oldEph, ic, _caster.at(ic)->crdTrafo(), ep,
410 GPSweek, GPSweeks, prn, xx, sd, outLine);
411 _caster.at(ic)->printAscii(outLine);
412 }
413 }
414 }
415
416 if ( _caster.at(ic)->usedSocket() &&
417 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
418 char obuffer[CLOCKORBIT_BUFFERSIZE];
419 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
420 if (len > 0) {
421 emit(newOutBytes(len));
422 _caster.at(ic)->write(obuffer, len);
423 }
424 }
425 }
426 }
427 }
428}
429
430//
431////////////////////////////////////////////////////////////////////////////
432void t_bns::processSatellite(int oldEph, int iCaster, bool trafo, t_eph* ep,
433 int GPSweek, double GPSweeks, const QString& prn,
434 const ColumnVector& xx,
435 struct ClockOrbit::SatData* sd,
436 QString& outLine) {
437
438 ColumnVector xB(4);
439 ColumnVector vv(3);
440
441 ep->position(GPSweek, GPSweeks, xB, vv);
442
443 ColumnVector xyz = xx.Rows(1,3);
444 if (trafo) {
445 crdTrafo(GPSweek, xyz);
446 }
447
448 ColumnVector dx = xyz - xB.Rows(1,3);
449
450 double dClk = (xx(4) - xB(4)) * 299792458.0;
451 ColumnVector rsw(3);
452
453 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
454
455 if (sd) {
456 sd->ID = prn.mid(1).toInt();
457 sd->IOD = ep->IOD();
458 sd->Clock.DeltaA0 = dClk;
459 sd->Orbit.DeltaRadial = rsw(1);
460 sd->Orbit.DeltaAlongTrack = rsw(2);
461 sd->Orbit.DeltaCrossTrack = rsw(3);
462 }
463
464 char oldCh = (oldEph ? '!' : ' ');
465 outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
466 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
467 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
468
469 if (!oldEph && iCaster == 0) {
470 if (_rnx) {
471 _rnx->write(GPSweek, GPSweeks, prn, xx);
472 }
473 if (_sp3) {
474 _sp3->write(GPSweek, GPSweeks, prn, xx);
475 }
476 }
477}
478
479//
480////////////////////////////////////////////////////////////////////////////
481void t_bns::slotMoveSocket(QThread* tt) {
482 _clkSocket->setParent(0);
483 _clkSocket->moveToThread(tt);
484 slotMessage("bns::slotMoveSocket");
485}
486
487// Transform Coordinates IGS -> ETRF
488////////////////////////////////////////////////////////////////////////////
489void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) {
490
491 ColumnVector dx(3);
492 dx(1) = 0.054;
493 dx(2) = 0.051;
494 dx(3) = -0.048;
495 static const double arcSec = 180.0 * 3600.0 / M_PI;
496 static const double ox = 0.000081 / arcSec;
497 static const double oy = 0.000490 / arcSec;
498 static const double oz = -0.000792 / arcSec;
499
500 Matrix rMat(3,3); rMat = 0.0;
501 rMat(1,2) = -oz;
502 rMat(1,3) = oy;
503 rMat(2,1) = oz;
504 rMat(2,3) = -ox;
505 rMat(3,1) = -oy;
506 rMat(3,2) = ox;
507
508 // Current epoch minus 1989.0 in years
509 // ------------------------------------
510 double dt = (GPSWeek - 469.0) / 365.2422 * 7.0;
511
512 xyz += dx + dt * rMat * xyz;
513}
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