source: ntrip/trunk/BNC/bnccaster.cpp@ 1807

Last change on this file since 1807 was 1807, checked in by zdenek, 15 years ago

ZL: FEATURE: changes for decoding of message 1003 from RTCM 3.0 streams
File size: 15.0 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
44#include "bnccaster.h"
45#include "bncapp.h"
46#include "bncgetthread.h"
47#include "bncutils.h"
48#include "bncsettings.h"
49#include "RTCM/GPSDecoder.h"
50
51// Constructor
52////////////////////////////////////////////////////////////////////////////
53bncCaster::bncCaster(const QString& outFileName, int port) {
54
55 bncSettings settings;
56
57 connect(this, SIGNAL(newMessage(QByteArray,bool)),
58 (bncApp*) qApp, SLOT(slotMessage(const QByteArray,bool)));
59
60 if ( !outFileName.isEmpty() ) {
61 QString lName = outFileName;
62 expandEnvVar(lName);
63 _outFile = new QFile(lName);
64 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
65 _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
66 }
67 else {
68 _outFile->open(QIODevice::WriteOnly);
69 }
70 _out = new QTextStream(_outFile);
71 _out->setRealNumberNotation(QTextStream::FixedNotation);
72 }
73 else {
74 _outFile = 0;
75 _out = 0;
76 }
77
78 _port = port;
79
80 if (_port != 0) {
81 _server = new QTcpServer;
82 if ( !_server->listen(QHostAddress::Any, _port) ) {
83 emit newMessage("bncCaster: Cannot listen on sync port", true);
84 }
85 connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
86 _sockets = new QList<QTcpSocket*>;
87 }
88 else {
89 _server = 0;
90 _sockets = 0;
91 }
92
93 int uPort = settings.value("outUPort").toInt();
94 if (uPort != 0) {
95 _uServer = new QTcpServer;
96 if ( !_uServer->listen(QHostAddress::Any, uPort) ) {
97 emit newMessage("bncCaster: Cannot listen on usync port", true);
98 }
99 connect(_uServer, SIGNAL(newConnection()), this, SLOT(slotNewUConnection()));
100 _uSockets = new QList<QTcpSocket*>;
101 }
102 else {
103 _uServer = 0;
104 _uSockets = 0;
105 }
106
107 _epochs = new QMultiMap<long, p_obs>;
108
109 _lastDumpSec = 0;
110
111 _confInterval = -1;
112}
113
114// Destructor
115////////////////////////////////////////////////////////////////////////////
116bncCaster::~bncCaster() {
117 QListIterator<bncGetThread*> it(_threads);
118 while(it.hasNext()){
119 bncGetThread* thread = it.next();
120 thread->terminate();
121 }
122 delete _out;
123 delete _outFile;
124 delete _server;
125 delete _sockets;
126 delete _uServer;
127 delete _uSockets;
128 if (_epochs) {
129 QListIterator<p_obs> it(_epochs->values());
130 while (it.hasNext()) {
131 delete it.next();
132 }
133 delete _epochs;
134 }
135}
136
137// New Observations
138////////////////////////////////////////////////////////////////////////////
139void bncCaster::newObs(const QByteArray staID, bool firstObs, p_obs obs) {
140
141 QMutexLocker locker(&_mutex);
142
143 obs->_status = t_obs::received;
144
145 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
146 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
147
148 // Rename the Station
149 // ------------------
150 strncpy(obs->_o.StatID, staID.constData(),sizeof(obs->_o.StatID));
151 obs->_o.StatID[sizeof(obs->_o.StatID)-1] = '\0';
152
153 const char begObs[] = "BEGOBS";
154 const int begObsNBytes = sizeof(begObs) - 1;
155
156 // Output into the socket
157 // ----------------------
158 if (_uSockets) {
159 QMutableListIterator<QTcpSocket*> is(*_uSockets);
160 while (is.hasNext()) {
161 QTcpSocket* sock = is.next();
162 if (sock->state() == QAbstractSocket::ConnectedState) {
163 bool ok = true;
164 if (myWrite(sock, begObs, begObsNBytes) != begObsNBytes) {
165 ok = false;
166 }
167 int numBytes = sizeof(obs->_o);
168 if (myWrite(sock, (const char*)(&obs->_o), numBytes) != numBytes) {
169 ok = false;
170 }
171 if (!ok) {
172 delete sock;
173 is.remove();
174 }
175 }
176 else if (sock->state() != QAbstractSocket::ConnectingState) {
177 delete sock;
178 is.remove();
179 }
180 }
181 }
182
183 // First time, set the _lastDumpSec immediately
184 // --------------------------------------------
185 if (_lastDumpSec == 0) {
186 _lastDumpSec = newTime - 1;
187 }
188
189 // An old observation - throw it away
190 // ----------------------------------
191 if (newTime <= _lastDumpSec) {
192 if (firstObs) {
193 bncSettings settings;
194 if ( !settings.value("outFile").toString().isEmpty() ||
195 !settings.value("outPort").toString().isEmpty() ) {
196 emit( newMessage(QString("%1: Old epoch %2 thrown away")
197 .arg(staID.data()).arg(iSec).toAscii(), true) );
198 }
199 }
200 delete obs;
201 return;
202 }
203
204 // Save the observation
205 // --------------------
206 _epochs->insert(newTime, obs);
207
208 // Dump Epochs
209 // -----------
210 if (newTime - _waitTime > _lastDumpSec) {
211 dumpEpochs(_lastDumpSec + 1, newTime - _waitTime);
212 _lastDumpSec = newTime - _waitTime;
213 }
214}
215
216// New Connection
217////////////////////////////////////////////////////////////////////////////
218void bncCaster::slotNewConnection() {
219 _sockets->push_back( _server->nextPendingConnection() );
220 emit( newMessage(QString("New client connection on sync port: # %1")
221 .arg(_sockets->size()).toAscii(), true) );
222}
223
224void bncCaster::slotNewUConnection() {
225 _uSockets->push_back( _uServer->nextPendingConnection() );
226 emit( newMessage(QString("New client connection on usync port: # %1")
227 .arg(_uSockets->size()).toAscii(), true) );
228}
229
230// Add New Thread
231////////////////////////////////////////////////////////////////////////////
232void bncCaster::addGetThread(bncGetThread* getThread) {
233
234 qRegisterMetaType<p_obs>("p_obs");
235
236 connect(getThread, SIGNAL(newObs(QByteArray, bool, p_obs)),
237 this, SLOT(newObs(QByteArray, bool, p_obs)));
238
239 connect(getThread, SIGNAL(getThreadFinished(QByteArray)),
240 this, SLOT(slotGetThreadFinished(QByteArray)));
241
242 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
243 getThread, SLOT(slotNewEphGPS(gpsephemeris)));
244
245 _staIDs.push_back(getThread->staID());
246 _threads.push_back(getThread);
247
248 getThread->start();
249}
250
251// Get Thread destroyed
252////////////////////////////////////////////////////////////////////////////
253void bncCaster::slotGetThreadFinished(QByteArray staID) {
254 QMutexLocker locker(&_mutex);
255
256 QListIterator<bncGetThread*> it(_threads);
257 while (it.hasNext()) {
258 bncGetThread* thread = it.next();
259 if (thread->staID() == staID) {
260 _threads.removeOne(thread);
261 }
262 }
263
264 _staIDs.removeAll(staID);
265 emit( newMessage(
266 QString("Mountpoint size %1").arg(_staIDs.size()).toAscii(), true) );
267 if (_staIDs.size() == 0) {
268 emit(newMessage("bncCaster: Last get thread terminated", true));
269 emit getThreadsFinished();
270 }
271}
272
273// Dump Complete Epochs
274////////////////////////////////////////////////////////////////////////////
275void bncCaster::dumpEpochs(long minTime, long maxTime) {
276
277 const char begEpoch[] = "BEGEPOCH";
278 const char endEpoch[] = "ENDEPOCH";
279
280 const int begEpochNBytes = sizeof(begEpoch) - 1;
281 const int endEpochNBytes = sizeof(endEpoch) - 1;
282
283 for (long sec = minTime; sec <= maxTime; sec++) {
284
285 bool first = true;
286 QList<p_obs> allObs = _epochs->values(sec);
287 QListIterator<p_obs> it(allObs);
288 while (it.hasNext()) {
289 p_obs obs = it.next();
290
291 if (_samplingRate == 0 || sec % _samplingRate == 0) {
292
293 // Output into the file
294 // --------------------
295 if (_out) {
296 if (first) {
297 _out->setFieldWidth(1); *_out << begEpoch << endl;;
298 }
299 _out->setFieldWidth(0); *_out << obs->_o.StatID;
300 _out->setFieldWidth(1); *_out << " " << obs->_o.satSys;
301 _out->setPadChar('0');
302 _out->setFieldWidth(2); *_out << obs->_o.satNum;
303 _out->setPadChar(' ');
304 _out->setFieldWidth(1); *_out << " ";
305 _out->setFieldWidth(4); *_out << obs->_o.GPSWeek;
306 _out->setFieldWidth(1); *_out << " ";
307 _out->setFieldWidth(14); _out->setRealNumberPrecision(7); *_out << obs->_o.GPSWeeks;
308 _out->setFieldWidth(1); *_out << " ";
309 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C1;
310 _out->setFieldWidth(1); *_out << " ";
311 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.C2;
312 _out->setFieldWidth(1); *_out << " ";
313 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P1;
314 _out->setFieldWidth(1); *_out << " ";
315 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.P2;
316 _out->setFieldWidth(1); *_out << " ";
317 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L1;
318 _out->setFieldWidth(1); *_out << " ";
319 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.L2;
320 _out->setFieldWidth(1); *_out << " ";
321 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S1;
322 _out->setFieldWidth(1); *_out << " ";
323 _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->_o.S2;
324 _out->setFieldWidth(1);
325 *_out << " " << obs->_o.SNR1 << " " << obs->_o.SNR2 << endl;
326 if (!it.hasNext()) {
327 _out->setFieldWidth(1); *_out << endEpoch << endl;
328 }
329 _out->flush();
330 }
331
332 // Output into the socket
333 // ----------------------
334 if (_sockets) {
335 QMutableListIterator<QTcpSocket*> is(*_sockets);
336 while (is.hasNext()) {
337 QTcpSocket* sock = is.next();
338 if (sock->state() == QAbstractSocket::ConnectedState) {
339 bool ok = true;
340 if (first) {
341 if (myWrite(sock, begEpoch, begEpochNBytes) != begEpochNBytes) {
342 ok = false;
343 }
344 }
345 int numBytes = sizeof(obs->_o);
346 if (myWrite(sock, (const char*)(&obs->_o), numBytes) != numBytes) {
347 ok = false;
348 }
349 if (!it.hasNext()) {
350 if (myWrite(sock, endEpoch, endEpochNBytes) != endEpochNBytes) {
351 ok = false;
352 }
353 }
354 if (!ok) {
355 delete sock;
356 is.remove();
357 }
358 }
359 else if (sock->state() != QAbstractSocket::ConnectingState) {
360 delete sock;
361 is.remove();
362 }
363 }
364 }
365 }
366
367 delete obs;
368 _epochs->remove(sec);
369 first = false;
370 }
371 }
372}
373
374// Reread configuration
375////////////////////////////////////////////////////////////////////////////
376void bncCaster::slotReadMountPoints() {
377
378 bncSettings settings;
379
380 // Reread several options
381 // ----------------------
382 _samplingRate = settings.value("binSampl").toInt();
383 _waitTime = settings.value("waitTime").toInt();
384 if (_waitTime < 1) {
385 _waitTime = 1;
386 }
387
388 // Add new mountpoints
389 // -------------------
390 int iMount = -1;
391 QListIterator<QString> it(settings.value("mountPoints").toStringList());
392 while (it.hasNext()) {
393 ++iMount;
394 QStringList hlp = it.next().split(" ");
395 if (hlp.size() <= 1) continue;
396 QUrl url(hlp[0]);
397
398 // Does it already exist?
399 // ----------------------
400 bool existFlg = false;
401 QListIterator<bncGetThread*> iTh(_threads);
402 while (iTh.hasNext()) {
403 bncGetThread* thread = iTh.next();
404 if (thread->mountPoint() == url) {
405 existFlg = true;
406 break;
407 }
408 }
409
410 // New bncGetThread
411 // ----------------
412 if (!existFlg) {
413 QByteArray format = hlp[1].toAscii();
414 QByteArray latitude = hlp[2].toAscii();
415 QByteArray longitude = hlp[3].toAscii();
416 QByteArray nmea = hlp[4].toAscii();
417 QByteArray ntripVersion = hlp[5].toAscii();
418
419 bncGetThread* getThread = new bncGetThread(url, format, latitude,
420 longitude, nmea, ntripVersion, "");
421 addGetThread(getThread);
422 }
423 }
424
425 // Remove mountpoints
426 // ------------------
427 QListIterator<bncGetThread*> iTh(_threads);
428 while (iTh.hasNext()) {
429 bncGetThread* thread = iTh.next();
430
431 bool existFlg = false;
432 QListIterator<QString> it(settings.value("mountPoints").toStringList());
433 while (it.hasNext()) {
434 QStringList hlp = it.next().split(" ");
435 if (hlp.size() <= 1) continue;
436 QUrl url(hlp[0]);
437
438 if (thread->mountPoint() == url) {
439 existFlg = true;
440 break;
441 }
442 }
443
444 if (!existFlg) {
445 disconnect(thread, 0, 0, 0);
446 _staIDs.removeAll(thread->staID());
447 _threads.removeAll(thread);
448 thread->terminate();
449 }
450 }
451
452 emit mountPointsRead(_threads);
453 emit( newMessage(QString("Configuration read: "
454 + ((bncApp*) qApp)->confFileName()
455 + ", %1 stream(s)")
456 .arg(_threads.count()).toAscii(), true) );
457
458 // (Re-) Start the configuration timer
459 // -----------------------------------
460 int ms = 0;
461
462 if (_confInterval != -1) {
463 ms = 1000 * _confInterval;
464 }
465 else {
466 QTime currTime = currentDateAndTimeGPS().time();
467 QTime nextShotTime;
468
469 if (settings.value("onTheFlyInterval").toString() == "1 min") {
470 _confInterval = 60;
471 nextShotTime = QTime(currTime.hour(), currTime.minute()+1, 0);
472 }
473 else if (settings.value("onTheFlyInterval").toString() == "1 hour") {
474 _confInterval = 3600;
475 nextShotTime = QTime(currTime.hour()+1, 0, 0);
476 }
477 else {
478 _confInterval = 86400;
479 nextShotTime = QTime(23, 59, 59, 999);
480 }
481
482 ms = currTime.msecsTo(nextShotTime);
483 if (ms < 30000) {
484 ms = 30000;
485 }
486 }
487
488 QTimer::singleShot(ms, this, SLOT(slotReadMountPoints()));
489}
490
491//
492////////////////////////////////////////////////////////////////////////////
493int bncCaster::myWrite(QTcpSocket* sock, const char* buf, int bufLen) {
494 sock->write(buf, bufLen);
495 for (int ii = 1; ii <= 10; ii++) {
496 if (sock->waitForBytesWritten(10)) { // wait 10 ms
497 return bufLen;
498 }
499 }
500 return -1;
501}
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