1 | // Part of BNC, a utility for retrieving decoding and
|
---|
2 | // converting GNSS data streams from NTRIP broadcasters,
|
---|
3 | // written by Leos Mervart.
|
---|
4 | //
|
---|
5 | // Copyright (C) 2006
|
---|
6 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
7 | // http://www.bkg.bund.de
|
---|
8 | // Czech Technical University Prague, Department of Advanced Geodesy
|
---|
9 | // http://www.fsv.cvut.cz
|
---|
10 | //
|
---|
11 | // Email: euref-ip@bkg.bund.de
|
---|
12 | //
|
---|
13 | // This program is free software; you can redistribute it and/or
|
---|
14 | // modify it under the terms of the GNU General Public License
|
---|
15 | // as published by the Free Software Foundation, version 2.
|
---|
16 | //
|
---|
17 | // This program is distributed in the hope that it will be useful,
|
---|
18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
20 | // GNU General Public License for more details.
|
---|
21 | //
|
---|
22 | // You should have received a copy of the GNU General Public License
|
---|
23 | // along with this program; if not, write to the Free Software
|
---|
24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
25 |
|
---|
26 | /* -------------------------------------------------------------------------
|
---|
27 | * BKG NTRIP Client
|
---|
28 | * -------------------------------------------------------------------------
|
---|
29 | *
|
---|
30 | * Class: bncCaster
|
---|
31 | *
|
---|
32 | * Purpose: buffers and disseminates the data
|
---|
33 | *
|
---|
34 | * Author: L. Mervart
|
---|
35 | *
|
---|
36 | * Created: 24-Dec-2005
|
---|
37 | *
|
---|
38 | * Changes:
|
---|
39 | *
|
---|
40 | * -----------------------------------------------------------------------*/
|
---|
41 |
|
---|
42 | #include <math.h>
|
---|
43 |
|
---|
44 | #include "bnccaster.h"
|
---|
45 | #include "bncgetthread.h"
|
---|
46 | #include "bncutils.h"
|
---|
47 | #include "RTCM/GPSDecoder.h"
|
---|
48 |
|
---|
49 | // Constructor
|
---|
50 | ////////////////////////////////////////////////////////////////////////////
|
---|
51 | bncCaster::bncCaster(const QString& outFileName, int port) {
|
---|
52 |
|
---|
53 | QSettings settings;
|
---|
54 |
|
---|
55 | if ( !outFileName.isEmpty() ) {
|
---|
56 | QString lName = outFileName;
|
---|
57 | expandEnvVar(lName);
|
---|
58 | _outFile = new QFile(lName);
|
---|
59 | if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
|
---|
60 | _outFile->open(QIODevice::WriteOnly | QIODevice::Append);
|
---|
61 | }
|
---|
62 | else {
|
---|
63 | _outFile->open(QIODevice::WriteOnly);
|
---|
64 | }
|
---|
65 | _out = new QTextStream(_outFile);
|
---|
66 | _out->setRealNumberNotation(QTextStream::FixedNotation);
|
---|
67 | }
|
---|
68 | else {
|
---|
69 | _outFile = 0;
|
---|
70 | _out = 0;
|
---|
71 | }
|
---|
72 |
|
---|
73 | _port = port;
|
---|
74 |
|
---|
75 | if (_port != 0) {
|
---|
76 | _server = new QTcpServer;
|
---|
77 | _server->listen(QHostAddress::Any, _port);
|
---|
78 | connect(_server, SIGNAL(newConnection()), this, SLOT(slotNewConnection()));
|
---|
79 | _sockets = new QList<QTcpSocket*>;
|
---|
80 | }
|
---|
81 | else {
|
---|
82 | _server = 0;
|
---|
83 | _sockets = 0;
|
---|
84 | }
|
---|
85 |
|
---|
86 | _epochs = new QMultiMap<long, Observation*>;
|
---|
87 |
|
---|
88 | _lastDumpSec = 0;
|
---|
89 |
|
---|
90 | _samplingRate = settings.value("rnxSampl").toInt();
|
---|
91 | _waitTime = settings.value("waitTime").toInt();
|
---|
92 | if (_waitTime < 1) {
|
---|
93 | _waitTime = 1;
|
---|
94 | }
|
---|
95 | }
|
---|
96 |
|
---|
97 | // Destructor
|
---|
98 | ////////////////////////////////////////////////////////////////////////////
|
---|
99 | bncCaster::~bncCaster() {
|
---|
100 | QListIterator<bncGetThread*> it(_threads);
|
---|
101 | while(it.hasNext()){
|
---|
102 | bncGetThread* thread = it.next();
|
---|
103 | thread->terminate();
|
---|
104 | thread->wait();
|
---|
105 | delete thread;
|
---|
106 | }
|
---|
107 | delete _out;
|
---|
108 | delete _outFile;
|
---|
109 | delete _server;
|
---|
110 | delete _sockets;
|
---|
111 | delete _epochs;
|
---|
112 | }
|
---|
113 |
|
---|
114 | // New Observations
|
---|
115 | ////////////////////////////////////////////////////////////////////////////
|
---|
116 | void bncCaster::newObs(const QByteArray& staID, bool firstObs,
|
---|
117 | Observation* obs) {
|
---|
118 |
|
---|
119 | QMutexLocker locker(&_mutex);
|
---|
120 |
|
---|
121 | long iSec = long(floor(obs->GPSWeeks+0.5));
|
---|
122 | long newTime = obs->GPSWeek * 7*24*3600 + iSec;
|
---|
123 |
|
---|
124 | // Rename the Station
|
---|
125 | // ------------------
|
---|
126 | strncpy(obs->StatID, staID.constData(),sizeof(obs->StatID));
|
---|
127 | obs->StatID[sizeof(obs->StatID)-1] = '\0';
|
---|
128 |
|
---|
129 | // First time, set the _lastDumpSec immediately
|
---|
130 | // --------------------------------------------
|
---|
131 | if (_lastDumpSec == 0) {
|
---|
132 | _lastDumpSec = newTime - 1;
|
---|
133 | }
|
---|
134 |
|
---|
135 | // An old observation - throw it away
|
---|
136 | // ----------------------------------
|
---|
137 | if (newTime <= _lastDumpSec) {
|
---|
138 | if (firstObs) {
|
---|
139 | QSettings settings;
|
---|
140 | if ( !settings.value("outFile").toString().isEmpty() ||
|
---|
141 | !settings.value("outPort").toString().isEmpty() ) {
|
---|
142 | emit( newMessage(QString("Station %1: old epoch %2 thrown away")
|
---|
143 | .arg(staID.data()).arg(iSec).toAscii()) );
|
---|
144 | }
|
---|
145 | }
|
---|
146 | delete obs;
|
---|
147 | return;
|
---|
148 | }
|
---|
149 |
|
---|
150 | // Save the observation
|
---|
151 | // --------------------
|
---|
152 | _epochs->insert(newTime, obs);
|
---|
153 |
|
---|
154 | // Dump Epochs
|
---|
155 | // -----------
|
---|
156 | if (newTime - _waitTime > _lastDumpSec) {
|
---|
157 | dumpEpochs(_lastDumpSec + 1, newTime - _waitTime);
|
---|
158 | _lastDumpSec = newTime - _waitTime;
|
---|
159 | }
|
---|
160 | }
|
---|
161 |
|
---|
162 | // New Connection
|
---|
163 | ////////////////////////////////////////////////////////////////////////////
|
---|
164 | void bncCaster::slotNewConnection() {
|
---|
165 | _sockets->push_back( _server->nextPendingConnection() );
|
---|
166 | }
|
---|
167 |
|
---|
168 | // Add New Thread
|
---|
169 | ////////////////////////////////////////////////////////////////////////////
|
---|
170 | void bncCaster::addGetThread(bncGetThread* getThread) {
|
---|
171 | connect(getThread, SIGNAL(error(const QByteArray)),
|
---|
172 | this, SLOT(slotGetThreadError(const QByteArray)));
|
---|
173 |
|
---|
174 | _staIDs.push_back(getThread->staID());
|
---|
175 | _threads.push_back(getThread);
|
---|
176 | }
|
---|
177 |
|
---|
178 | // Error in get thread
|
---|
179 | ////////////////////////////////////////////////////////////////////////////
|
---|
180 | void bncCaster::slotGetThreadError(const QByteArray staID) {
|
---|
181 | QMutexLocker locker(&_mutex);
|
---|
182 | _staIDs.removeAll(staID);
|
---|
183 | emit( newMessage(
|
---|
184 | QString("Mountpoint size %1").arg(_staIDs.size()).toAscii()) );
|
---|
185 | if (_staIDs.size() == 0) {
|
---|
186 | emit(newMessage("bncCaster:: last get thread terminated"));
|
---|
187 | emit getThreadErrors();
|
---|
188 | }
|
---|
189 | }
|
---|
190 |
|
---|
191 | // Dump Complete Epochs
|
---|
192 | ////////////////////////////////////////////////////////////////////////////
|
---|
193 | void bncCaster::dumpEpochs(long minTime, long maxTime) {
|
---|
194 |
|
---|
195 | const char begEpoch = 'A';
|
---|
196 | const char begObs = 'B';
|
---|
197 | const char endEpoch = 'C';
|
---|
198 |
|
---|
199 | for (long sec = minTime; sec <= maxTime; sec++) {
|
---|
200 |
|
---|
201 | bool first = true;
|
---|
202 | QList<Observation*> allObs = _epochs->values(sec);
|
---|
203 | QListIterator<Observation*> it(allObs);
|
---|
204 | while (it.hasNext()) {
|
---|
205 | Observation* obs = it.next();
|
---|
206 |
|
---|
207 | if (_samplingRate == 0 || sec % _samplingRate == 0) {
|
---|
208 |
|
---|
209 | // Output into the file
|
---|
210 | // --------------------
|
---|
211 | if (_out) {
|
---|
212 | if (first) {
|
---|
213 | _out->setFieldWidth(1); *_out << begEpoch << endl;;
|
---|
214 | }
|
---|
215 | _out->setFieldWidth(0); *_out << obs->StatID;
|
---|
216 | _out->setFieldWidth(1); *_out << " " << obs->satSys;
|
---|
217 | _out->setPadChar('0');
|
---|
218 | _out->setFieldWidth(2); *_out << obs->satNum;
|
---|
219 | _out->setPadChar(' ');
|
---|
220 | _out->setFieldWidth(1); *_out << " ";
|
---|
221 | _out->setFieldWidth(4); *_out << obs->GPSWeek;
|
---|
222 | _out->setFieldWidth(1); *_out << " ";
|
---|
223 | _out->setFieldWidth(14); _out->setRealNumberPrecision(7); *_out << obs->GPSWeeks;
|
---|
224 | _out->setFieldWidth(1); *_out << " ";
|
---|
225 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->C1;
|
---|
226 | _out->setFieldWidth(1); *_out << " ";
|
---|
227 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->C2;
|
---|
228 | _out->setFieldWidth(1); *_out << " ";
|
---|
229 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->P1;
|
---|
230 | _out->setFieldWidth(1); *_out << " ";
|
---|
231 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->P2;
|
---|
232 | _out->setFieldWidth(1); *_out << " ";
|
---|
233 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->L1;
|
---|
234 | _out->setFieldWidth(1); *_out << " ";
|
---|
235 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->L2;
|
---|
236 | _out->setFieldWidth(1); *_out << " ";
|
---|
237 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->S1;
|
---|
238 | _out->setFieldWidth(1); *_out << " ";
|
---|
239 | _out->setFieldWidth(14); _out->setRealNumberPrecision(3); *_out << obs->S2;
|
---|
240 | _out->setFieldWidth(1);
|
---|
241 | *_out << " " << obs->SNR1 << " " << obs->SNR2 << endl;
|
---|
242 | if (!it.hasNext()) {
|
---|
243 | _out->setFieldWidth(1); *_out << endEpoch << endl;
|
---|
244 | }
|
---|
245 | _out->flush();
|
---|
246 | }
|
---|
247 |
|
---|
248 | // Output into the socket
|
---|
249 | // ----------------------
|
---|
250 | if (_sockets) {
|
---|
251 | int numBytes = sizeof(*obs);
|
---|
252 | QListIterator<QTcpSocket*> is(*_sockets);
|
---|
253 | while (is.hasNext()) {
|
---|
254 | QTcpSocket* sock = is.next();
|
---|
255 | if (sock->state() == QAbstractSocket::ConnectedState) {
|
---|
256 | if (first) {
|
---|
257 | sock->write(&begEpoch, 1);
|
---|
258 | }
|
---|
259 | sock->write(&begObs, 1);
|
---|
260 | sock->write((char*) obs, numBytes);
|
---|
261 | if (!it.hasNext()) {
|
---|
262 | sock->write(&endEpoch, 1);
|
---|
263 | }
|
---|
264 | }
|
---|
265 | }
|
---|
266 | }
|
---|
267 | }
|
---|
268 |
|
---|
269 | delete obs;
|
---|
270 | _epochs->remove(sec);
|
---|
271 | first = false;
|
---|
272 | }
|
---|
273 | }
|
---|
274 | }
|
---|