source: ntrip/branches/BNC_2.12/src/bnccaster.cpp@ 9241

Last change on this file since 9241 was 9190, checked in by stuerze, 4 years ago

small bug fixed
File size: 17.6 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncCaster
30 *
31 * Purpose: buffers and disseminates the data
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <math.h>
42#include <unistd.h>
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46
47#include "bnccaster.h"
48#include "bncrinex.h"
49#include "bnccore.h"
50#include "bncgetthread.h"
51#include "bncutils.h"
52#include "bncsettings.h"
53
54using namespace std;
55
56// Constructor
57////////////////////////////////////////////////////////////////////////////
58bncCaster::bncCaster() {
59
60 bncSettings settings;
61
62 connect(this, SIGNAL(newMessage(QByteArray,bool)),
63 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
64
65 _outFile = 0;
66 _out = 0;
67 reopenOutFile();
68
69 int port = settings.value("outPort").toInt();
70
71 if (port != 0) {
72 _server = new QTcpServer;
73 if ( !_server->listen(QHostAddress::Any, port) ) {
74 emit newMessage("bncCaster: Cannot listen on sync port", true);
75 }
76 connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
77 _sockets = new QList<QTcpSocket*>;
78 }
79 else {
80 _server = 0;
81 _sockets = 0;
82 }
83
84 int uPort = settings.value("outUPort").toInt();
85 if (uPort != 0) {
86 _uServer = new QTcpServer;
87 if ( !_uServer->listen(QHostAddress::Any, uPort) ) {
88 emit newMessage("bncCaster: Cannot listen on usync port", true);
89 }
90 connect(_uServer, SIGNAL(newConnection()), this, SLOT(slotNewUConnection()));
91 _uSockets = new QList<QTcpSocket*>;
92 }
93 else {
94 _uServer = 0;
95 _uSockets = 0;
96 }
97
98 _outLockTime = settings.value("outLockTime",false).toBool();
99 _samplingRateMult10 = int(settings.value("outSampl").toString().split("sec").first().toDouble() * 10.0);
100 _outWait = settings.value("outWait").toDouble();
101 if (_outWait <= 0.0) {
102 _outWait = 0.01;
103 }
104 _confInterval = -1;
105
106 // Miscellaneous output port
107 // -------------------------
108 _miscMount = settings.value("miscMount").toString();
109 _miscPort = settings.value("miscPort").toInt();
110 if (!_miscMount.isEmpty() && _miscPort != 0) {
111 _miscServer = new QTcpServer;
112 if ( !_miscServer->listen(QHostAddress::Any, _miscPort) ) {
113 emit newMessage("bncCaster: Cannot listen on Miscellaneous Output Port", true);
114 }
115 connect(_miscServer, SIGNAL(newConnection()), this, SLOT(slotNewMiscConnection()));
116 _miscSockets = new QList<QTcpSocket*>;
117 }
118 else {
119 _miscServer = 0;
120 _miscSockets = 0;
121 }
122}
123
124// Destructor
125////////////////////////////////////////////////////////////////////////////
126bncCaster::~bncCaster() {
127
128 QMutexLocker locker(&_mutex);
129
130 QListIterator<bncGetThread*> it(_threads);
131 while(it.hasNext()){
132 bncGetThread* thread = it.next();
133 disconnect(thread, 0, 0, 0);
134 _staIDs.removeAll(thread->staID());
135 _threads.removeAll(thread);
136 thread->terminate();
137 }
138 delete _out;
139 delete _outFile;
140 delete _server;
141 delete _sockets;
142 delete _uServer;
143 delete _uSockets;
144 delete _miscServer;
145 delete _miscSockets;
146}
147
148// New Observations
149////////////////////////////////////////////////////////////////////////////
150void bncCaster::slotNewObs(const QByteArray staID, QList<t_satObs> obsList) {
151
152 QMutexLocker locker(&_mutex);
153
154 reopenOutFile();
155
156 unsigned index = 0;
157 QMutableListIterator<t_satObs> it(obsList);
158 while (it.hasNext()) {
159 ++index;
160 t_satObs& obs = it.next();
161
162 // Rename the Station
163 // ------------------
164 obs._staID = staID.data();
165
166 // Update/Set Slip Counters
167 // ------------------------
168 setSlipCounters(obs);
169
170 // Output into the socket
171 // ----------------------
172 if (_uSockets) {
173
174 ostringstream oStr;
175 oStr.setf(ios::showpoint | ios::fixed);
176 oStr << obs._staID << " "
177 << setw(4) << obs._time.gpsw() << " "
178 << setw(14) << setprecision(7) << obs._time.gpssec() << " "
179 << bncRinex::asciiSatLine(obs,_outLockTime) << endl;
180
181 string hlpStr = oStr.str();
182
183 QMutableListIterator<QTcpSocket*> is(*_uSockets);
184 while (is.hasNext()) {
185 QTcpSocket* sock = is.next();
186 if (sock->state() == QAbstractSocket::ConnectedState) {
187 int numBytes = hlpStr.length();
188 if (myWrite(sock, hlpStr.c_str(), numBytes) != numBytes) {
189 delete sock;
190 is.remove();
191 }
192 }
193 else if (sock->state() != QAbstractSocket::ConnectingState) {
194 delete sock;
195 is.remove();
196 }
197 }
198 }
199
200 // First time: set the _lastDumpTime
201 // ---------------------------------
202 if (!_lastDumpTime.valid()) {
203 _lastDumpTime = obs._time - 1.0;
204 }
205
206 // An old observation - throw it away
207 // ----------------------------------
208 if (obs._time <= _lastDumpTime) {
209 if (index == 1) {
210 bncSettings settings;
211 if ( !settings.value("outFile").toString().isEmpty() ||
212 !settings.value("outPort").toString().isEmpty() ) {
213 emit( newMessage(QString("%1: Old or erroneous observation epoch %2 thrown away from %3")
214 .arg(staID.data())
215 .arg(string(obs._time).c_str())
216 .arg(obs._prn.toString().c_str())
217 .toAscii(), true) );
218 }
219 }
220 continue;
221 }
222
223 // Save the observation
224 // --------------------
225 _epochs[obs._time].append(obs);
226
227 // Dump Epochs
228 // -----------
229 if (obs._time - _outWait > _lastDumpTime) {
230 dumpEpochs(obs._time - _outWait);
231 _lastDumpTime = obs._time - _outWait;
232 }
233 }
234}
235
236// New Connection
237////////////////////////////////////////////////////////////////////////////
238void bncCaster::slotNewConnection() {
239 _sockets->push_back( _server->nextPendingConnection() );
240 emit( newMessage(QString("New client connection on sync port: # %1")
241 .arg(_sockets->size()).toAscii(), true) );
242}
243
244void bncCaster::slotNewUConnection() {
245 _uSockets->push_back( _uServer->nextPendingConnection() );
246 emit( newMessage(QString("New client connection on usync port: # %1")
247 .arg(_uSockets->size()).toAscii(), true) );
248}
249
250// Add New Thread
251////////////////////////////////////////////////////////////////////////////
252void bncCaster::addGetThread(bncGetThread* getThread, bool noNewThread) {
253
254 qRegisterMetaType<t_satObs>("t_satObs");
255 qRegisterMetaType< QList<t_satObs> >("QList<t_satObs>");
256
257 connect(getThread, SIGNAL(newObs(QByteArray, QList<t_satObs>)),
258 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)));
259
260 connect(getThread, SIGNAL(newObs(QByteArray, QList<t_satObs>)),
261 this, SIGNAL(newObs(QByteArray, QList<t_satObs>)));
262
263 connect(getThread, SIGNAL(newRawData(QByteArray, QByteArray)),
264 this, SLOT(slotNewRawData(QByteArray, QByteArray)));
265
266 connect(getThread, SIGNAL(getThreadFinished(QByteArray)),
267 this, SLOT(slotGetThreadFinished(QByteArray)));
268
269 _staIDs.push_back(getThread->staID());
270 _threads.push_back(getThread);
271
272 if (noNewThread) {
273 getThread->run();
274 }
275 else {
276 getThread->start();
277 }
278}
279
280// Get Thread destroyed
281////////////////////////////////////////////////////////////////////////////
282void bncCaster::slotGetThreadFinished(QByteArray staID) {
283 QMutexLocker locker(&_mutex);
284
285 QListIterator<bncGetThread*> it(_threads);
286 while (it.hasNext()) {
287 bncGetThread* thread = it.next();
288 if (thread->staID() == staID) {
289 _threads.removeOne(thread);
290 }
291 }
292
293 _staIDs.removeAll(staID);
294 emit( newMessage(
295 QString("Decoding %1 stream(s)").arg(_staIDs.size()).toAscii(), true) );
296 if (_staIDs.size() == 0) {
297 emit(newMessage("bncCaster: Last get thread terminated", true));
298 emit getThreadsFinished();
299 }
300}
301
302// Dump Complete Epochs
303////////////////////////////////////////////////////////////////////////////
304void bncCaster::dumpEpochs(const bncTime& maxTime) {
305
306 QMutableMapIterator<bncTime, QList<t_satObs> > itEpo(_epochs);
307 while (itEpo.hasNext()) {
308 itEpo.next();
309 const bncTime& epoTime = itEpo.key();
310 if (epoTime <= maxTime) {
311 const QList<t_satObs>& allObs = itEpo.value();
312 int sec = int(nint(epoTime.gpssec()*10));
313 if ( (_out || _sockets) && (sec % (_samplingRateMult10) == 0) ) {
314 QListIterator<t_satObs> it(allObs);
315 bool firstObs = true;
316 while (it.hasNext()) {
317 const t_satObs& obs = it.next();
318
319 ostringstream oStr;
320 oStr.setf(ios::showpoint | ios::fixed);
321 if (firstObs) {
322 firstObs = false;
323 oStr << "> " << obs._time.gpsw() << ' '
324 << setprecision(7) << obs._time.gpssec() << endl;
325 }
326 oStr << obs._staID << ' '
327 << bncRinex::asciiSatLine(obs,_outLockTime) << endl;
328 if (!it.hasNext()) {
329 oStr << endl;
330 }
331 string hlpStr = oStr.str();
332
333 // Output into the File
334 // --------------------
335 if (_out) {
336 *_out << hlpStr.c_str();
337 _out->flush();
338 }
339
340 // Output into the socket
341 // ----------------------
342 if (_sockets) {
343 QMutableListIterator<QTcpSocket*> is(*_sockets);
344 while (is.hasNext()) {
345 QTcpSocket* sock = is.next();
346 if (sock->state() == QAbstractSocket::ConnectedState) {
347 int numBytes = hlpStr.length();
348 if (myWrite(sock, hlpStr.c_str(), numBytes) != numBytes) {
349 delete sock;
350 is.remove();
351 }
352 }
353 else if (sock->state() != QAbstractSocket::ConnectingState) {
354 delete sock;
355 is.remove();
356 }
357 }
358 }
359 }
360 }
361 //_epochs.remove(epoTime);
362 itEpo.remove();
363 }
364 }
365}
366
367// Reread configuration (private slot)
368////////////////////////////////////////////////////////////////////////////
369void bncCaster::slotReadMountPoints() {
370
371 bncSettings settings;
372 settings.reRead();
373
374 readMountPoints();
375}
376
377// Read Mountpoints
378////////////////////////////////////////////////////////////////////////////
379void bncCaster::readMountPoints() {
380
381 bncSettings settings;
382
383 // Reread several options
384 // ----------------------
385 _samplingRateMult10 = int(settings.value("outSampl").toString().split("sec").first().toDouble() * 10.0);
386 _outWait = settings.value("outWait").toInt();
387 if (_outWait < 1) {
388 _outWait = 1;
389 }
390
391 // Add new mountpoints
392 // -------------------
393 int iMount = -1;
394 QListIterator<QString> it(settings.value("mountPoints").toStringList());
395 while (it.hasNext()) {
396 ++iMount;
397 QStringList hlp = it.next().split(" ");
398 if (hlp.size() < 7) continue;
399 QUrl url(hlp[0]);
400
401 // Does it already exist?
402 // ----------------------
403 bool existFlg = false;
404 QListIterator<bncGetThread*> iTh(_threads);
405 while (iTh.hasNext()) {
406 bncGetThread* thread = iTh.next();
407 if (thread->mountPoint() == url) {
408 existFlg = true;
409 break;
410 }
411 }
412
413 // New bncGetThread
414 // ----------------
415 if (!existFlg) {
416 QByteArray format = hlp[1].toAscii();
417 QByteArray latitude = hlp[3].toAscii();
418 QByteArray longitude = hlp[4].toAscii();
419 QByteArray nmea = hlp[5].toAscii();
420 QByteArray ntripVersion = hlp[6].toAscii();
421
422 bncGetThread* getThread = new bncGetThread(url, format, latitude,
423 longitude, nmea, ntripVersion);
424 addGetThread(getThread);
425
426 }
427 }
428
429 // Remove mountpoints
430 // ------------------
431 QListIterator<bncGetThread*> iTh(_threads);
432 while (iTh.hasNext()) {
433 bncGetThread* thread = iTh.next();
434
435 bool existFlg = false;
436 QListIterator<QString> it(settings.value("mountPoints").toStringList());
437 while (it.hasNext()) {
438 QStringList hlp = it.next().split(" ");
439 if (hlp.size() <= 1) continue;
440 QUrl url(hlp[0]);
441
442 if (thread->mountPoint() == url) {
443 existFlg = true;
444 break;
445 }
446 }
447
448 if (!existFlg) {
449 disconnect(thread, 0, 0, 0);
450 _staIDs.removeAll(thread->staID());
451 _threads.removeAll(thread);
452 thread->terminate();
453 }
454 }
455
456 emit mountPointsRead(_threads);
457 emit( newMessage(QString("Configuration read: "
458 + BNC_CORE->confFileName()
459 + ", %1 stream(s)")
460 .arg(_threads.count()).toAscii(), true) );
461
462 // (Re-) Start the configuration timer
463 // -----------------------------------
464 if (settings.value("onTheFlyInterval").toString() == "no") {
465 return;
466 }
467
468 int ms = 0;
469 if (_confInterval != -1) {
470 ms = 1000 * _confInterval;
471 }
472 else {
473 QTime currTime = currentDateAndTimeGPS().time();
474 QTime nextShotTime;
475 if (settings.value("onTheFlyInterval").toString() == "1 min") {
476 _confInterval = 60;
477 nextShotTime = QTime(currTime.hour(), currTime.minute()+1, 0);
478 }
479 else if (settings.value("onTheFlyInterval").toString() == "5 min") {
480 _confInterval = 300;
481 nextShotTime = QTime(currTime.hour(), currTime.minute()+5, 0);
482 }
483 else if (settings.value("onTheFlyInterval").toString() == "1 hour") {
484 _confInterval = 3600;
485 nextShotTime = QTime(currTime.hour()+1, 0, 0);
486 }
487 else {
488 _confInterval = 86400;
489 nextShotTime = QTime(23, 59, 59, 999);
490 }
491
492 ms = currTime.msecsTo(nextShotTime);
493 if (ms < 30000) {
494 ms = 30000;
495 }
496 }
497
498 QTimer::singleShot(ms, this, SLOT(slotReadMountPoints()));
499}
500
501//
502////////////////////////////////////////////////////////////////////////////
503int bncCaster::myWrite(QTcpSocket* sock, const char* buf, int bufLen) {
504 sock->write(buf, bufLen);
505 for (int ii = 1; ii <= 10; ii++) {
506 if (sock->waitForBytesWritten(10)) { // wait 10 ms
507 return bufLen;
508 }
509 }
510 return -1;
511}
512
513//
514////////////////////////////////////////////////////////////////////////////
515void bncCaster::reopenOutFile() {
516
517 bncSettings settings;
518
519 QString outFileName = settings.value("outFile").toString();
520 if ( !outFileName.isEmpty() ) {
521 expandEnvVar(outFileName);
522 if (!_outFile || _outFile->fileName() != outFileName) {
523 delete _out;
524 delete _outFile;
525 _outFile = new QFile(outFileName);
526 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
527 _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
528 }
529 else {
530 _outFile->open(QIODevice::WriteOnly);
531 }
532 _out = new QTextStream(_outFile);
533 _out->setRealNumberNotation(QTextStream::FixedNotation);
534 }
535 }
536 else {
537 delete _out; _out = 0;
538 delete _outFile; _outFile = 0;
539 }
540}
541
542// Output into the Miscellaneous socket
543////////////////////////////////////////////////////////////////////////////
544void bncCaster::slotNewRawData(QByteArray staID, QByteArray data) {
545 if (_miscSockets && (_miscMount == "ALL" || _miscMount == staID)) {
546 QMutableListIterator<QTcpSocket*> is(*_miscSockets);
547 while (is.hasNext()) {
548 QTcpSocket* sock = is.next();
549 if (sock->state() == QAbstractSocket::ConnectedState) {
550 sock->write(data);
551 }
552 else if (sock->state() != QAbstractSocket::ConnectingState) {
553 delete sock;
554 is.remove();
555 }
556 }
557 }
558}
559
560// New Connection
561////////////////////////////////////////////////////////////////////////////
562void bncCaster::slotNewMiscConnection() {
563 _miscSockets->push_back( _miscServer->nextPendingConnection() );
564 emit( newMessage(QString("New client connection on Miscellaneous Output Port: # %1")
565 .arg(_miscSockets->size()).toAscii(), true) );
566}
567
568
569// Set/Update Slip Counters
570////////////////////////////////////////////////////////////////////////////
571void bncCaster::setSlipCounters(t_satObs& obs) {
572
573 double minLockTime = -1.0;
574 for (unsigned ii = 0; ii < obs._obs.size(); ii++) {
575 const t_frqObs* frqObs = obs._obs[ii];
576 if (frqObs->_lockTimeValid) {
577 if (minLockTime == -1.0 || minLockTime < frqObs->_lockTime) {
578 minLockTime = frqObs->_lockTime;
579 }
580 }
581 }
582
583 if (minLockTime == -1.0) {
584 return;
585 }
586
587 QMap<t_prn, double>& ltMap = _lockTimeMap[obs._staID];
588 QMap<t_prn, int>& jcMap = _jumpCounterMap[obs._staID];
589
590 QMap<t_prn, double>::const_iterator it = ltMap.find(obs._prn);
591 if (it == ltMap.end()) {
592 ltMap[obs._prn] = minLockTime;
593 jcMap[obs._prn] = 0;
594 }
595 else {
596 if (minLockTime < ltMap[obs._prn]) {
597 jcMap[obs._prn] += 1;
598 if (jcMap[obs._prn] > 9999) {
599 jcMap[obs._prn] = 0;
600 }
601 }
602 ltMap[obs._prn] = minLockTime;
603 }
604 for (unsigned ii = 0; ii < obs._obs.size(); ii++) {
605 t_frqObs* frqObs = obs._obs[ii];
606 frqObs->_slipCounter = jcMap[obs._prn];
607 }
608}
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