source: ntrip/trunk/BNS/bns.cpp@ 923

Last change on this file since 923 was 923, checked in by mervart, 16 years ago

* empty log message *
File size: 11.2 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(t_eph*)), this, SLOT(slotNewEph(t_eph*)));
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(t_eph* 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->isNewerThan(pair->eph)) {
249 delete pair->oldEph;
250 pair->oldEph = pair->eph;
251 pair->eph = ep;
252 }
253 else {
254 delete ep;
255 }
256 }
257}
258
259// Start
260////////////////////////////////////////////////////////////////////////////
261void t_bns::run() {
262
263 slotMessage("============ Start BNS ============");
264
265 // Start Thread that retrieves broadcast Ephemeris
266 // -----------------------------------------------
267 _bnseph->start();
268
269 // Endless loop
270 // ------------
271 while (true) {
272
273 if (_clkSocket && _clkSocket->thread() != currentThread()) {
274 emit(moveSocket(currentThread()));
275 }
276
277 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
278 if ( _clkSocket->canReadLine()) {
279 if (_outSocket == 0 ||
280 _outSocket->state() != QAbstractSocket::ConnectedState) {
281 openCaster();
282 }
283 readEpoch();
284 }
285 else {
286 _clkSocket->waitForReadyRead(10);
287 }
288 }
289 else {
290 msleep(10);
291 }
292 }
293}
294
295//
296////////////////////////////////////////////////////////////////////////////
297void t_bns::readEpoch() {
298
299 QByteArray line = _clkSocket->readLine();
300
301 if (line.indexOf('*') == -1) {
302 return;
303 }
304
305 QTextStream in(line);
306
307 QString hlp;
308 int GPSweek, numSat;
309 double GPSweeks;
310
311 in >> hlp >> GPSweek >> GPSweeks >> numSat;
312
313 if (numSat > 0) {
314
315 QStringList prns;
316
317 for (int oldEph = 0; oldEph <= 1; oldEph++) {
318
319 struct ClockOrbit co;
320 memset(&co, 0, sizeof(co));
321 co.GPSEpochTime = (int)GPSweeks;
322 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0);
323 co.ClockDataSupplied = 1;
324 co.OrbitDataSupplied = 1;
325 co.SatRefPoint = POINT_CENTER;
326 co.SatRefDatum = DATUM_ITRF;
327
328 for (int ii = 1; ii <= numSat; ii++) {
329
330 QString prn;
331 ColumnVector xx(4);
332 t_eph* ep = 0;
333
334 if (oldEph == 0) {
335 line = _clkSocket->readLine();
336 QTextStream in(line);
337 in >> prn;
338 prns << prn;
339 if ( _ephList.contains(prn) ) {
340 in >> xx(1) >> xx(2) >> xx(3) >> xx(4); xx(4) *= 1e-6;
341 t_ephPair* pair = _ephList[prn];
342 pair->xx = xx;
343 ep = pair->eph;
344 }
345 }
346 else {
347 prn = prns[ii-1];
348 if ( _ephList.contains(prn) ) {
349 t_ephPair* pair = _ephList[prn];
350 prn = pair->eph->prn();
351 xx = pair->xx;
352 ep = pair->oldEph;
353 }
354 }
355
356 if (ep != 0) {
357 struct ClockOrbit::SatData* sd = 0;
358 if (prn[0] == 'G') {
359 sd = co.Sat + co.NumberOfGPSSat;
360 ++co.NumberOfGPSSat;
361 }
362 else if (prn[0] == 'R') {
363 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
364 ++co.NumberOfGLONASSSat;
365 }
366 if (sd) {
367 processSatellite(oldEph, ep, GPSweek, GPSweeks, prn, xx, sd);
368 }
369 }
370 }
371
372 if ( _outSocket &&
373 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
374 char obuffer[CLOCKORBIT_BUFFERSIZE];
375 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
376 if (len > 0) {
377 _outSocket->write(obuffer, len);
378 _outSocket->flush();
379 }
380 }
381 }
382 }
383}
384
385//
386////////////////////////////////////////////////////////////////////////////
387void t_bns::processSatellite(int oldEph, t_eph* ep, int GPSweek, double GPSweeks,
388 const QString& prn, const ColumnVector& xx,
389 struct ClockOrbit::SatData* sd) {
390
391 ColumnVector xB(4);
392 ColumnVector vv(3);
393
394 ep->position(GPSweek, GPSweeks, xB, vv);
395
396 ColumnVector dx = xx.Rows(1,3) - xB.Rows(1,3);
397 double dClk = (xx(4) - xB(4)) * 299792458.0;
398 ColumnVector rsw(3);
399
400 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
401
402 if (sd) {
403 sd->ID = prn.mid(1).toInt();
404 sd->IOD = ep->IOD();
405 sd->Clock.DeltaA0 = dClk;
406 sd->Orbit.DeltaRadial = rsw(1);
407 sd->Orbit.DeltaAlongTrack = rsw(2);
408 sd->Orbit.DeltaCrossTrack = rsw(3);
409 }
410
411 if (_outStream) {
412 QString line;
413 char oldCh = (oldEph ? '!' : ' ');
414 line.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
415 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
416 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
417 *_outStream << line;
418 _outStream->flush();
419 }
420 if (!oldEph) {
421 if (_rnx) {
422 _rnx->write(GPSweek, GPSweeks, prn, xx);
423 }
424 if (_sp3) {
425 _sp3->write(GPSweek, GPSweeks, prn, xx);
426 }
427 }
428}
429
430//
431////////////////////////////////////////////////////////////////////////////
432void t_bns::slotMoveSocket(QThread* tt) {
433 _clkSocket->setParent(0);
434 _clkSocket->moveToThread(tt);
435 slotMessage("bns::slotMoveSocket");
436}
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