source: ntrip/trunk/BNS/bns.cpp@ 878

Last change on this file since 878 was 874, checked in by mervart, 18 years ago

* empty log message *
File size: 11.1 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 // Thread that handles broadcast ephemeris
38 // ---------------------------------------
39 _bnseph = new t_bnseph(parent);
40
41 connect(_bnseph, SIGNAL(newEph(gpsEph*)), this, SLOT(slotNewEph(gpsEph*)));
42 connect(_bnseph, SIGNAL(newMessage(QByteArray)),
43 this, SLOT(slotMessage(const QByteArray)));
44 connect(_bnseph, SIGNAL(error(QByteArray)),
45 this, SLOT(slotError(const QByteArray)));
46
47 // Server listening for rtnet results
48 // ----------------------------------
49 QSettings settings;
50 _clkSocket = 0;
51 _clkServer = new QTcpServer;
52 _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
53 connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
54
55 // Socket and file for outputting the results
56 // -------------------------------------------
57 _outSocket = 0;
58 _outSocketOpenTrial = 0;
59
60 QString outFileName = settings.value("outFile").toString();
61 if (outFileName.isEmpty()) {
62 _outFile = 0;
63 _outStream = 0;
64 }
65 else {
66 _outFile = new QFile(outFileName);
67 if (_outFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
68 _outStream = new QTextStream(_outFile);
69 }
70 }
71
72 // Log File
73 // --------
74 QString logFileName = settings.value("logFile").toString();
75 if (logFileName.isEmpty()) {
76 _logFile = 0;
77 }
78 else {
79 _logFile = new QFile(logFileName);
80 if (_logFile->open(QIODevice::WriteOnly | QIODevice::Unbuffered)) {
81 _logStream = new QTextStream(_logFile);
82 }
83 }
84
85 // RINEX writer
86 // ------------
87 if ( settings.value("rnxPath").toString().isEmpty() ) {
88 _rnx = 0;
89 }
90 else {
91 QString prep = "BNS";
92 QString ext = ".clk";
93 QString path = settings.value("rnxPath").toString();
94 QString intr = settings.value("rnxIntr").toString();
95 int sampl = settings.value("rnxSampl").toInt();
96 _rnx = new bnsRinex(prep, ext, path, intr, sampl);
97 }
98
99 // SP3 writer
100 // ----------
101 if ( settings.value("sp3Path").toString().isEmpty() ) {
102 _sp3 = 0;
103 }
104 else {
105 QString prep = "BNS";
106 QString ext = ".sp3";
107 QString path = settings.value("sp3Path").toString();
108 QString intr = settings.value("sp3Intr").toString();
109 int sampl = settings.value("sp3Sampl").toInt();
110 _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
111 }
112}
113
114// Destructor
115////////////////////////////////////////////////////////////////////////////
116t_bns::~t_bns() {
117 deleteBnsEph();
118 delete _clkServer;
119 delete _clkSocket;
120 delete _outSocket;
121 delete _outStream;
122 delete _logStream;
123 delete _outFile;
124 delete _logFile;
125 QMapIterator<QString, t_ephPair*> it(_ephList);
126 while (it.hasNext()) {
127 it.next();
128 delete it.value();
129 }
130 delete _rnx;
131 delete _sp3;
132}
133
134// Delete bns thread
135////////////////////////////////////////////////////////////////////////////
136void t_bns::deleteBnsEph() {
137 if (_bnseph) {
138 _bnseph->terminate();
139 _bnseph->wait(100);
140 delete _bnseph;
141 _bnseph = 0;
142 }
143}
144
145// Write a Program Message
146////////////////////////////////////////////////////////////////////////////
147void t_bns::slotMessage(const QByteArray msg) {
148 if (_logStream) {
149 *_logStream << msg << endl;
150 _logStream->flush();
151 }
152 emit(newMessage(msg));
153}
154
155// Write a Program Message
156////////////////////////////////////////////////////////////////////////////
157void t_bns::slotError(const QByteArray msg) {
158 if (_logStream) {
159 *_logStream << msg << endl;
160 _logStream->flush();
161 }
162 deleteBnsEph();
163 emit(error(msg));
164}
165
166// New Connection
167////////////////////////////////////////////////////////////////////////////
168void t_bns::slotNewConnection() {
169 slotMessage("t_bns::slotNewConnection");
170 delete _clkSocket;
171 _clkSocket = _clkServer->nextPendingConnection();
172}
173
174// Start the Communication with NTRIP Caster
175////////////////////////////////////////////////////////////////////////////
176void t_bns::openCaster() {
177
178 delete _outSocket; _outSocket = 0;
179
180 double minDt = exp2(_outSocketOpenTrial);
181 if (++_outSocketOpenTrial > 8) {
182 _outSocketOpenTrial = 8;
183 }
184 if (_outSocketOpenTime.isValid() &&
185 _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
186 return;
187 }
188 else {
189 _outSocketOpenTime = QDateTime::currentDateTime();
190 }
191
192 QSettings settings;
193 _outSocket = new QTcpSocket();
194 _outSocket->connectToHost(settings.value("outHost").toString(),
195 settings.value("outPort").toInt());
196
197 const int timeOut = 100; // 0.1 seconds
198 if (!_outSocket->waitForConnected(timeOut)) {
199 delete _outSocket;
200 _outSocket = 0;
201 emit(error("bns::openCaster Connect Timeout"));
202 return;
203 }
204
205 QString mountpoint = settings.value("mountpoint").toString();
206 QString password = settings.value("password").toString();
207
208 QByteArray msg = "SOURCE " + password.toAscii() + " /" +
209 mountpoint.toAscii() + "\r\n" +
210 "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
211
212 _outSocket->write(msg);
213 _outSocket->waitForBytesWritten();
214
215 _outSocket->waitForReadyRead();
216 QByteArray ans = _outSocket->readLine();
217
218 if (ans.indexOf("OK") == -1) {
219 delete _outSocket;
220 _outSocket = 0;
221 slotMessage("bns::openCaster socket deleted");
222 }
223 else {
224 slotMessage("bns::openCaster socket OK");
225 _outSocketOpenTrial = 0;
226 }
227}
228
229//
230////////////////////////////////////////////////////////////////////////////
231void t_bns::slotNewEph(gpsEph* ep) {
232
233 QMutexLocker locker(&_mutex);
234
235 t_ephPair* pair;
236 if ( !_ephList.contains(ep->prn) ) {
237 pair = new t_ephPair();
238 _ephList.insert(ep->prn, pair);
239 }
240 else {
241 pair = _ephList[ep->prn];
242 }
243
244 if (pair->eph == 0) {
245 pair->eph = ep;
246 }
247 else {
248 if (ep->GPSweek > pair->eph->GPSweek ||
249 (ep->GPSweek == pair->eph->GPSweek && ep->TOC > pair->eph->TOC)) {
250 delete pair->oldEph;
251 pair->oldEph = pair->eph;
252 pair->eph = ep;
253 }
254 else {
255 delete ep;
256 }
257 }
258}
259
260// Start
261////////////////////////////////////////////////////////////////////////////
262void t_bns::run() {
263
264 slotMessage("============ Start BNS ============");
265
266 // Start Thread that retrieves broadcast Ephemeris
267 // -----------------------------------------------
268 _bnseph->start();
269
270 // Endless loop
271 // ------------
272 while (true) {
273
274 if (_clkSocket && _clkSocket->thread() != currentThread()) {
275 emit(moveSocket(currentThread()));
276 }
277
278 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
279 if ( _clkSocket->canReadLine()) {
280 if (_outSocket == 0 ||
281 _outSocket->state() != QAbstractSocket::ConnectedState) {
282 openCaster();
283 }
284 readEpoch();
285 }
286 else {
287 _clkSocket->waitForReadyRead(10);
288 }
289 }
290 else {
291 msleep(10);
292 }
293 }
294}
295
296//
297////////////////////////////////////////////////////////////////////////////
298void t_bns::readEpoch() {
299
300 QByteArray line = _clkSocket->readLine();
301
302 if (line.indexOf('*') == -1) {
303 return;
304 }
305
306 QTextStream in(line);
307
308 QString hlp;
309 int GPSweek, numSat;
310 double GPSweeks;
311
312 in >> hlp >> GPSweek >> GPSweeks >> numSat;
313
314 if (numSat > 0) {
315
316 for (int oldEph = 0; oldEph <= 1; oldEph++) {
317
318 struct ClockOrbit co;
319 memset(&co, 0, sizeof(co));
320 co.GPSEpochTime = (int)GPSweeks;
321 co.ClockDataSupplied = 1;
322 co.OrbitDataSupplied = 1;
323 co.SatRefPoint = POINT_CENTER;
324 co.SatRefDatum = DATUM_ITRF;
325
326 for (int ii = 1; ii <= numSat; ii++) {
327
328 QString prn;
329 ColumnVector xx(4);
330 gpsEph* ep = 0;
331
332 if (oldEph == 0) {
333 line = _clkSocket->readLine();
334 QTextStream in(line);
335 in >> prn;
336 if ( _ephList.contains(prn) ) {
337 in >> xx(1) >> xx(2) >> xx(3) >> xx(4); xx(4) *= 1e-6;
338 t_ephPair* pair = _ephList[prn];
339 pair->xx = xx;
340 ep = pair->eph;
341 }
342 }
343 else {
344 if ( _ephList.contains(prn) ) {
345 t_ephPair* pair = _ephList[prn];
346 prn = pair->eph->prn;
347 xx = pair->xx;
348 ep = pair->oldEph;
349 }
350 }
351
352 if (ep != 0) {
353 struct ClockOrbit::SatData* sd = 0;
354 if (prn[0] == 'G') {
355 sd = co.Sat + co.NumberOfGPSSat;
356 ++co.NumberOfGPSSat;
357 }
358 else if (prn[0] == 'R') {
359 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
360 ++co.NumberOfGLONASSSat;
361 }
362 processSatellite(ep, GPSweek, GPSweeks, prn, xx, sd);
363 }
364 }
365
366 if ( _outSocket &&
367 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
368 char obuffer[CLOCKORBIT_BUFFERSIZE];
369 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
370 if (len > 0) {
371 _outSocket->write(obuffer, len);
372 _outSocket->flush();
373 }
374 }
375 }
376 }
377}
378
379//
380////////////////////////////////////////////////////////////////////////////
381void t_bns::processSatellite(gpsEph* ep, int GPSweek, double GPSweeks,
382 const QString& prn, const ColumnVector& xx,
383 struct ClockOrbit::SatData* sd) {
384
385 ColumnVector xB(4);
386 ColumnVector vv(3);
387
388 satellitePosition(GPSweek, GPSweeks, ep, xB(1), xB(2), xB(3), xB(4),
389 vv(1), vv(2), vv(3));
390
391 ColumnVector dx = xx.Rows(1,3) - xB.Rows(1,3);
392 double dClk = (xx(4) - xB(4)) * 299792458.0;
393 ColumnVector rsw(3);
394
395 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
396
397 if (sd) {
398 sd->ID = prn.mid(1).toInt();
399 sd->IOD = int(ep->IODE);
400 sd->Clock.DeltaA0 = dClk;
401 sd->Orbit.DeltaRadial = rsw(1);
402 sd->Orbit.DeltaAlongTrack = rsw(2);
403 sd->Orbit.DeltaCrossTrack = rsw(3);
404 }
405
406 if (_outStream) {
407 QString line;
408 line.sprintf("%d %.1f %s %3d %3d %8.3f %8.3f %8.3f %8.3f\n",
409 GPSweek, GPSweeks, ep->prn.toAscii().data(),
410 int(ep->IODC), int(ep->IODE), dClk, rsw(1), rsw(2), rsw(3));
411 *_outStream << line;
412 _outStream->flush();
413 }
414 if (_rnx) {
415 _rnx->write(GPSweek, GPSweeks, prn, xx);
416 }
417 if (_sp3) {
418 _sp3->write(GPSweek, GPSweeks, prn, xx);
419 }
420}
421
422//
423////////////////////////////////////////////////////////////////////////////
424void t_bns::slotMoveSocket(QThread* tt) {
425 _clkSocket->setParent(0);
426 _clkSocket->moveToThread(tt);
427 slotMessage("bns::slotMoveSocket");
428}
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