1 | // Part of BNC, a utility for retrieving decoding and
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2 | // converting GNSS data streams from NTRIP broadcasters.
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3 | //
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4 | // Copyright (C) 2007
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5 | // German Federal Agency for Cartography and Geodesy (BKG)
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6 | // http://www.bkg.bund.de
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7 | // Czech Technical University Prague, Department of Geodesy
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8 | // http://www.fsv.cvut.cz
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9 | //
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10 | // Email: euref-ip@bkg.bund.de
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11 | //
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12 | // This program is free software; you can redistribute it and/or
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13 | // modify it under the terms of the GNU General Public License
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14 | // as published by the Free Software Foundation, version 2.
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15 | //
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16 | // This program is distributed in the hope that it will be useful,
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | // GNU General Public License for more details.
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20 | //
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21 | // You should have received a copy of the GNU General Public License
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22 | // along with this program; if not, write to the Free Software
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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24 |
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25 | /* -------------------------------------------------------------------------
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26 | * BKG NTRIP Client
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27 | * -------------------------------------------------------------------------
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28 | *
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29 | * Class: RTCM3coDecoder
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30 | *
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31 | * Purpose: RTCM3 Clock Orbit Decoder
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32 | *
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33 | * Author: L. Mervart
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34 | *
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35 | * Created: 05-May-2008
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36 | *
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37 | * Changes:
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38 | *
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39 | * -----------------------------------------------------------------------*/
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40 |
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41 | #include <stdio.h>
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42 | #include <math.h>
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43 |
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44 | #include "RTCM3coDecoder.h"
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45 | #include "bncutils.h"
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46 | #include "bncrinex.h"
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47 |
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48 | using namespace std;
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49 |
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50 | // Constructor
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51 | ////////////////////////////////////////////////////////////////////////////
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52 | RTCM3coDecoder::RTCM3coDecoder(const QString& fileName) {
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53 |
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54 | // File Output
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55 | // -----------
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56 | QSettings settings;
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57 | QString path = settings.value("corrPath").toString();
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58 | if (!path.isEmpty()) {
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59 | expandEnvVar(path);
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60 | if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
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61 | path += QDir::separator();
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62 | }
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63 | _fileNameSkl = path + fileName;
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64 | }
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65 | _out = 0;
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66 |
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67 | _port = settings.value("corrPort").toInt();
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68 | _server = 0;
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69 | _sockets = 0;
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70 | }
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71 |
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72 | // Destructor
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73 | ////////////////////////////////////////////////////////////////////////////
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74 | RTCM3coDecoder::~RTCM3coDecoder() {
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75 | delete _out;
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76 | delete _server;
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77 | delete _sockets;
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78 | }
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79 |
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80 | // Reopen Output File
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81 | ////////////////////////////////////////////////////////////////////////
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82 | void RTCM3coDecoder::reopen() {
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83 |
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84 | // Socket Server
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85 | // -------------
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86 | if (_port != 0 && _server == 0) {
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87 | _server = new QTcpServer;
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88 | _server->listen(QHostAddress::Any, _port);
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89 | QObject::connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
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90 | _sockets = new QList<QTcpSocket*>;
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91 | cout << "new port = " << _port << endl;
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92 | }
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93 |
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94 | // Output File
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95 | // -----------
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96 | if (!_fileNameSkl.isEmpty()) {
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97 |
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98 | QSettings settings;
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99 |
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100 | QDateTime datTim = QDateTime::currentDateTime().toUTC();
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101 |
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102 | QString hlpStr = bncRinex::nextEpochStr(datTim,
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103 | settings.value("corrIntr").toString());
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104 |
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105 | QString fileName = _fileNameSkl
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106 | + QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0'))
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107 | + datTim.toString(".yyC");
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108 |
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109 | if (_fileName == fileName) {
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110 | return;
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111 | }
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112 | else {
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113 | _fileName = fileName;
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114 | }
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115 |
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116 | delete _out;
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117 | _out = new ofstream( _fileName.toAscii().data() );
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118 | }
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119 | }
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120 |
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121 | // New Connection
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122 | ////////////////////////////////////////////////////////////////////////////
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123 | void RTCM3coDecoder::slotNewConnection() {
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124 | cout << "slotNewConnection" << endl;
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125 | _sockets->push_back( _server->nextPendingConnection() );
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126 | }
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127 |
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128 | //
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129 | ////////////////////////////////////////////////////////////////////////////
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130 | t_irc RTCM3coDecoder::Decode(char* buffer, int bufLen) {
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131 |
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132 | _buffer.append(buffer, bufLen);
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133 |
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134 | while (true) {
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135 |
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136 | memset(&_co, 0, sizeof(_co));
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137 |
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138 | int bytesused = 0;
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139 | GCOB_RETURN irc = GetClockOrbitBias(&_co, &_bias, _buffer.data(),
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140 | _buffer.size(), &bytesused);
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141 |
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142 | // Not enough Data
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143 | // ---------------
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144 | if (irc == GCOBR_SHORTBUFFER ||
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145 | irc == GCOBR_MESSAGEEXCEEDSBUFFER) {
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146 | return failure;
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147 | }
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148 |
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149 | // Message correctly decoded
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150 | // -------------------------
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151 | else if ( (irc == GCOBR_OK || irc == GCOBR_MESSAGEFOLLOWS) &&
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152 | bytesused > 0) {
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153 | reopen();
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154 |
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155 | int GPSweek;
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156 | double GPSweeks;
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157 | currentGPSWeeks(GPSweek, GPSweeks);
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158 |
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159 | if (_co.NumberOfGPSSat > 0) {
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160 | if (GPSweeks > _co.GPSEpochTime + 86400.0) {
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161 | GPSweek += 1;
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162 | }
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163 | else if (GPSweeks < _co.GPSEpochTime - 86400.0) {
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164 | GPSweek -= 1;
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165 | }
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166 | GPSweeks = _co.GPSEpochTime;
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167 | }
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168 | else {
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169 | double GPSdaysec = fmod(GPSweeks, 86400.0);
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170 | int weekDay = int((GPSweeks - GPSdaysec) / 86400.0);
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171 | if (GPSdaysec > _co.GLONASSEpochTime + 3600.0) {
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172 | weekDay += 1;
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173 | if (weekDay > 6) {
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174 | weekDay = 0;
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175 | GPSweek += 1;
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176 | }
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177 | }
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178 | else if (GPSdaysec < _co.GLONASSEpochTime - 3600.0) {
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179 | weekDay -= 1;
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180 | if (weekDay < 0) {
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181 | weekDay = 6;
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182 | GPSweek -= 1;
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183 | }
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184 | }
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185 | GPSweeks = weekDay * 86400.0 + _co.GLONASSEpochTime;
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186 | }
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187 |
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188 | for(int ii = 0; ii < _co.NumberOfGPSSat; ++ii) {
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189 | QString line;
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190 | line.sprintf("%d %.1f G%2.2d %3d %8.3f %8.3f %8.3f %8.3f\n",
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191 | GPSweek, GPSweeks, _co.Sat[ii].ID, _co.Sat[ii].IOD,
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192 | _co.Sat[ii].Clock.DeltaA0,
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193 | _co.Sat[ii].Orbit.DeltaRadial,
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194 | _co.Sat[ii].Orbit.DeltaAlongTrack,
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195 | _co.Sat[ii].Orbit.DeltaCrossTrack);
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196 | printLine(line);
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197 | }
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198 | for(int ii = CLOCKORBIT_NUMGPS;
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199 | ii < CLOCKORBIT_NUMGPS + _co.NumberOfGLONASSSat; ++ii) {
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200 | QString line;
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201 | line.sprintf("%d %.1f R%2.2d %3d %8.3f %8.3f %8.3f %8.3f\n",
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202 | GPSweek, GPSweeks, _co.Sat[ii].ID, _co.Sat[ii].IOD,
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203 | _co.Sat[ii].Clock.DeltaA0,
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204 | _co.Sat[ii].Orbit.DeltaRadial,
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205 | _co.Sat[ii].Orbit.DeltaAlongTrack,
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206 | _co.Sat[ii].Orbit.DeltaCrossTrack);
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207 | printLine(line);
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208 | }
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209 | _buffer = _buffer.substr(bytesused);
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210 | return success;
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211 | }
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212 |
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213 | // All other Cases
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214 | // ---------------
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215 | else {
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216 | _buffer = _buffer.substr(1);
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217 | }
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218 | }
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219 | }
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220 |
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221 | //
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222 | ////////////////////////////////////////////////////////////////////////////
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223 | void RTCM3coDecoder::printLine(const QString& line) {
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224 |
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225 | if (_out) {
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226 | *_out << line.toAscii().data();
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227 | _out->flush();
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228 | }
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229 |
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230 | if (_sockets) {
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231 | QMutableListIterator<QTcpSocket*> is(*_sockets);
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232 | while (is.hasNext()) {
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233 | QTcpSocket* sock = is.next();
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234 | if (sock->state() == QAbstractSocket::ConnectedState) {
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235 | if (sock->write(line.toAscii()) == -1) {
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236 | delete sock;
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237 | is.remove();
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238 | }
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239 | }
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240 | else if (sock->state() != QAbstractSocket::ConnectingState) {
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241 | delete sock;
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242 | is.remove();
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243 | }
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244 | }
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245 | }
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246 | }
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