source: ntrip/trunk/BNC/bncgetthread.cpp@ 3031

Last change on this file since 3031 was 3027, checked in by mervart, 14 years ago
File size: 19.8 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: bncGetThread
30 *
31 * Purpose: Thread that retrieves data from NTRIP caster
32 *
33 * Author: L. Mervart
34 *
35 * Created: 24-Dec-2005
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iomanip>
43#include <sstream>
44
45#include <QFile>
46#include <QTextStream>
47#include <QtNetwork>
48#include <QTime>
49
50#include "bncgetthread.h"
51#include "bnctabledlg.h"
52#include "bncapp.h"
53#include "bncutils.h"
54#include "bncrinex.h"
55#include "bnczerodecoder.h"
56#include "bncnetqueryv0.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncnetqueryrtp.h"
60#include "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "bncpppclient.h"
66
67#include "RTCM/RTCM2Decoder.h"
68#include "RTCM3/RTCM3Decoder.h"
69#include "RTIGS/RTIGSDecoder.h"
70#include "GPSS/gpssDecoder.h"
71#include "serial/qextserialport.h"
72
73using namespace std;
74
75// Constructor 1
76////////////////////////////////////////////////////////////////////////////
77bncGetThread::bncGetThread(bncRawFile* rawFile) {
78
79 _rawFile = rawFile;
80 _format = rawFile->format();
81 _staID = rawFile->staID();
82 _rawOutput = false;
83 _ntripVersion = "N";
84
85 initialize();
86}
87
88// Constructor 2
89////////////////////////////////////////////////////////////////////////////
90bncGetThread::bncGetThread(const QUrl& mountPoint,
91 const QByteArray& format,
92 const QByteArray& latitude,
93 const QByteArray& longitude,
94 const QByteArray& nmea,
95 const QByteArray& ntripVersion) {
96 _rawFile = 0;
97 _mountPoint = mountPoint;
98 _staID = mountPoint.path().mid(1).toAscii();
99 _format = format;
100 _latitude = latitude;
101 _longitude = longitude;
102 _nmea = nmea;
103 _ntripVersion = ntripVersion;
104
105 bncSettings settings;
106 if (!settings.value("rawOutFile").toString().isEmpty()) {
107 _rawOutput = true;
108 }
109
110 initialize();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 setTerminationEnabled(true);
118
119 bncApp* app = (bncApp*) qApp;
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 app, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _decoder = 0;
126 _query = 0;
127 _nextSleep = 0;
128 _PPPclient = 0;
129
130 bncSettings settings;
131
132 _miscMount = settings.value("miscMount").toString();
133
134 // RINEX writer
135 // ------------
136 _samplingRate = settings.value("rnxSampl").toInt();
137 if ( settings.value("rnxPath").toString().isEmpty() ) {
138 _rnx = 0;
139 }
140 else {
141 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
142 _longitude, _nmea, _ntripVersion);
143 }
144
145 // Serial Port
146 // -----------
147 _serialNMEA = NO_NMEA;
148 _serialOutFile = 0;
149 _serialPort = 0;
150
151 if (settings.value("serialMountPoint").toString() == _staID) {
152 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
153 _serialPort->setTimeout(0,100);
154
155 // Baud Rate
156 // ---------
157 QString hlp = settings.value("serialBaudRate").toString();
158 if (hlp == "110") {
159 _serialPort->setBaudRate(BAUD110);
160 }
161 else if (hlp == "300") {
162 _serialPort->setBaudRate(BAUD300);
163 }
164 else if (hlp == "600") {
165 _serialPort->setBaudRate(BAUD600);
166 }
167 else if (hlp == "1200") {
168 _serialPort->setBaudRate(BAUD1200);
169 }
170 else if (hlp == "2400") {
171 _serialPort->setBaudRate(BAUD2400);
172 }
173 else if (hlp == "4800") {
174 _serialPort->setBaudRate(BAUD4800);
175 }
176 else if (hlp == "9600") {
177 _serialPort->setBaudRate(BAUD9600);
178 }
179 else if (hlp == "19200") {
180 _serialPort->setBaudRate(BAUD19200);
181 }
182 else if (hlp == "38400") {
183 _serialPort->setBaudRate(BAUD38400);
184 }
185 else if (hlp == "57600") {
186 _serialPort->setBaudRate(BAUD57600);
187 }
188 else if (hlp == "115200") {
189 _serialPort->setBaudRate(BAUD115200);
190 }
191
192 // Parity
193 // ------
194 hlp = settings.value("serialParity").toString();
195 if (hlp == "NONE") {
196 _serialPort->setParity(PAR_NONE);
197 }
198 else if (hlp == "ODD") {
199 _serialPort->setParity(PAR_ODD);
200 }
201 else if (hlp == "EVEN") {
202 _serialPort->setParity(PAR_EVEN);
203 }
204 else if (hlp == "SPACE") {
205 _serialPort->setParity(PAR_SPACE);
206 }
207
208 // Data Bits
209 // ---------
210 hlp = settings.value("serialDataBits").toString();
211 if (hlp == "5") {
212 _serialPort->setDataBits(DATA_5);
213 }
214 else if (hlp == "6") {
215 _serialPort->setDataBits(DATA_6);
216 }
217 else if (hlp == "7") {
218 _serialPort->setDataBits(DATA_7);
219 }
220 else if (hlp == "8") {
221 _serialPort->setDataBits(DATA_8);
222 }
223 hlp = settings.value("serialStopBits").toString();
224 if (hlp == "1") {
225 _serialPort->setStopBits(STOP_1);
226 }
227 else if (hlp == "2") {
228 _serialPort->setStopBits(STOP_2);
229 }
230
231 // Flow Control
232 // ------------
233 hlp = settings.value("serialFlowControl").toString();
234 if (hlp == "XONXOFF") {
235 _serialPort->setFlowControl(FLOW_XONXOFF);
236 }
237 else if (hlp == "HARDWARE") {
238 _serialPort->setFlowControl(FLOW_HARDWARE);
239 }
240 else {
241 _serialPort->setFlowControl(FLOW_OFF);
242 }
243
244 // Open Serial Port
245 // ----------------
246 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
247 if (!_serialPort->isOpen()) {
248 delete _serialPort;
249 _serialPort = 0;
250 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
251 }
252 connect(_serialPort, SIGNAL(readyRead()),
253 this, SLOT(slotSerialReadyRead()));
254
255 // Automatic NMEA
256 // --------------
257 if (settings.value("serialAutoNMEA").toString() == "Auto") {
258 _serialNMEA = AUTO_NMEA;
259
260 QString fName = settings.value("serialFileNMEA").toString();
261 if (!fName.isEmpty()) {
262 _serialOutFile = new QFile(fName);
263 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
264 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
265 }
266 else {
267 _serialOutFile->open(QIODevice::WriteOnly);
268 }
269 }
270 }
271
272 // Manual NMEA
273 // -----------
274 else {
275 _serialNMEA = MANUAL_NMEA;
276 }
277 }
278
279 // Initialize PPP Client?
280 // ----------------------
281#ifndef MLS_SOFTWARE
282 if (settings.value("pppMount").toString() == _staID) {
283 _PPPclient = new bncPPPclient(_staID);
284 app->_bncPPPclient = _PPPclient;
285 qRegisterMetaType<bncTime>("bncTime");
286 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
287 this, SIGNAL(newPosition(bncTime, double, double, double)));
288 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
289 this, SIGNAL(newNMEAstr(QByteArray)));
290 }
291#endif
292
293 // Instantiate the decoder
294 // -----------------------
295 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
296 _format.indexOf("RTCM 2") != -1 ) {
297 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
298 _decoder = new RTCM2Decoder(_staID.data());
299 }
300 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
301 _format.indexOf("RTCM 3") != -1 ) {
302 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
303 _decoder = new RTCM3Decoder(_staID, _rawFile);
304 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
305 this, SIGNAL(newMessage(QByteArray,bool)));
306 }
307 else if (_format.indexOf("RTIGS") != -1) {
308 emit(newMessage(_staID + ": Get data in RTIGS format", true));
309 _decoder = new RTIGSDecoder();
310 }
311 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
312 emit(newMessage(_staID + ": Get Data in GPSS format", true));
313 _decoder = new gpssDecoder();
314 }
315 else if (_format.indexOf("ZERO") != -1) {
316 emit(newMessage(_staID + ": Get data in original format", true));
317 _decoder = new bncZeroDecoder(_staID);
318 }
319 else {
320 emit(newMessage(_staID + ": Unknown data format " + _format, true));
321 _isToBeDeleted = true;
322 }
323
324 _latencyChecker = new latencyChecker(_staID);
325
326 msleep(100); //sleep 0.1 sec
327}
328
329// Destructor
330////////////////////////////////////////////////////////////////////////////
331bncGetThread::~bncGetThread() {
332 if (isRunning()) {
333 wait();
334 }
335 if (_query) {
336 _query->stop();
337 _query->deleteLater();
338 }
339 delete _PPPclient;
340 delete _decoder;
341 delete _rnx;
342 delete _rawFile;
343 delete _serialOutFile;
344 delete _serialPort;
345 delete _latencyChecker;
346 emit getThreadFinished(_staID);
347}
348
349//
350////////////////////////////////////////////////////////////////////////////
351void bncGetThread::terminate() {
352 _isToBeDeleted = true;
353 if (!isRunning()) {
354 delete this;
355 }
356}
357
358// Run
359////////////////////////////////////////////////////////////////////////////
360void bncGetThread::run() {
361
362 while (true) {
363 try {
364 if (_isToBeDeleted) {
365 QThread::exit(0);
366 this->deleteLater();
367 return;
368 }
369
370 if (tryReconnect() != success) {
371 _latencyChecker->checkReconnect();
372 continue;
373 }
374
375 // Delete old observations
376 // -----------------------
377 _decoder->_obsList.clear();
378
379 // Read Data
380 // ---------
381 QByteArray data;
382 if (_query) {
383 _query->waitForReadyRead(data);
384 }
385 else if (_rawFile) {
386 data = _rawFile->readChunk();
387
388 if (data.isEmpty()) {
389 cout << "no more data" << endl;
390 QThread::exit(0);
391 this->deleteLater();
392 return;
393 }
394 }
395 qint64 nBytes = data.size();
396
397 // Timeout, reconnect
398 // ------------------
399 if (nBytes == 0) {
400 _latencyChecker->checkReconnect();
401 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
402 msleep(10000); //sleep 10 sec, G. Weber
403 continue;
404 }
405 else {
406 emit newBytes(_staID, nBytes);
407 }
408
409 // Output Data
410 // -----------
411 if (_rawOutput) {
412 bncApp* app = (bncApp*) qApp;
413 app->writeRawData(data, _staID, _format);
414 }
415
416 if (_serialPort) {
417 slotSerialReadyRead();
418 _serialPort->write(data);
419 }
420
421 // Decode Data
422 // -----------
423 vector<string> errmsg;
424 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
425
426 // Perform various scans and checks
427 // --------------------------------
428 _latencyChecker->checkOutage(irc == success);
429 _latencyChecker->checkObsLatency(_decoder->_obsList);
430 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
431
432 emit newLatency(_staID, _latencyChecker->currentLatency());
433
434 scanRTCM();
435
436 // Loop over all observations (observations output)
437 // ------------------------------------------------
438 QListIterator<t_obs> it(_decoder->_obsList);
439 bool firstObs = true;
440 while (it.hasNext()) {
441 const t_obs& obs = it.next();
442
443 // Check observation epoch
444 // -----------------------
445 if (!_rawFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
446 int week;
447 double sec;
448 currentGPSWeeks(week, sec);
449 const double secPerWeek = 7.0 * 24.0 * 3600.0;
450
451 double currSec = week * secPerWeek + sec;
452 double obsSec = obs.GPSWeek * secPerWeek + obs.GPSWeeks;
453
454 const double maxDt = 600.0;
455
456 if (fabs(currSec - obsSec) > maxDt) {
457 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
458 continue;
459 }
460 }
461
462 // RINEX Output
463 // ------------
464 if (_rnx) {
465 long iSec = long(floor(obs.GPSWeeks+0.5));
466 long newTime = obs.GPSWeek * 7*24*3600 + iSec;
467 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
468 _rnx->deepCopy(obs);
469 }
470 _rnx->dumpEpoch(newTime);
471 }
472
473 // PPP Client
474 // ----------
475#ifndef MLS_SOFTWARE
476 if (_PPPclient) {
477 _PPPclient->putNewObs(obs);
478 }
479#endif
480
481 // Emit new observation signal
482 // ---------------------------
483 if (!_isToBeDeleted) {
484 emit newObs(_staID, firstObs, obs);
485 }
486 firstObs = false;
487 }
488 _decoder->_obsList.clear();
489 }
490 catch (...) {
491 emit(newMessage(_staID + "bncGetThread exception", true));
492 _isToBeDeleted = true;
493 }
494 }
495}
496
497// Try Re-Connect
498////////////////////////////////////////////////////////////////////////////
499t_irc bncGetThread::tryReconnect() {
500
501 // Easy Return
502 // -----------
503 if (_query && _query->status() == bncNetQuery::running) {
504 _nextSleep = 0;
505 if (_rnx) {
506 _rnx->setReconnectFlag(false);
507 }
508 return success;
509 }
510
511 // Start a new query
512 // -----------------
513 if (!_rawFile) {
514
515 sleep(_nextSleep);
516 if (_nextSleep == 0) {
517 _nextSleep = 1;
518 }
519 else {
520 _nextSleep = 2 * _nextSleep;
521 if (_nextSleep > 256) {
522 _nextSleep = 256;
523 }
524#ifdef MLS_SOFTWARE
525 if (_nextSleep > 4) {
526 _nextSleep = 4;
527 }
528#endif
529 }
530
531 delete _query;
532 if (_ntripVersion == "U") {
533 _query = new bncNetQueryUdp();
534 }
535 else if (_ntripVersion == "R") {
536 _query = new bncNetQueryRtp();
537 }
538 else if (_ntripVersion == "S") {
539 _query = new bncNetQueryS();
540 }
541 else if (_ntripVersion == "N") {
542 _query = new bncNetQueryV0();
543 }
544 else if (_ntripVersion == "UN") {
545 _query = new bncNetQueryUdp0();
546 }
547 else if (_ntripVersion == "2") {
548 _query = new bncNetQueryV2();
549 }
550 else {
551 _query = new bncNetQueryV1();
552 }
553 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
554 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
555 _query->startRequest(_mountPoint, gga);
556 }
557 else {
558 _query->startRequest(_mountPoint, "");
559 }
560 if (_query->status() != bncNetQuery::running) {
561 return failure;
562 }
563 }
564
565 if (_rnx) {
566 _rnx->setReconnectFlag(true);
567 }
568
569 return success;
570}
571
572// RTCM scan output
573//////////////////////////////////////////////////////////////////////////////
574void bncGetThread::scanRTCM() {
575
576 bncSettings settings;
577 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
578
579 if ( _miscMount == _staID || _miscMount == "ALL" ) {
580
581 // RTCM message types
582 // ------------------
583 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
584 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
585 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
586 }
587
588 // RTCMv3 antenna descriptor
589 // -------------------------
590 for (int ii=0;ii<_decoder->_antType.size();ii++) {
591 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
592 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
593 }
594
595 // RTCM Antenna Coordinates
596 // ------------------------
597 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
598 QByteArray antT;
599 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
600 antT = "ARP";
601 }
602 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
603 antT = "APC";
604 }
605 QByteArray ant1, ant2, ant3;
606 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
607 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
608 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
609 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
610 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
611 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
612 if (_decoder->_antList[ii].height_f) {
613 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
614 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
615 }
616 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
617 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
618 antT));
619 }
620 }
621 }
622
623#ifdef MLS_SOFTWARE
624 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
625 QByteArray antT;
626 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
627 antT = "ARP";
628 }
629 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
630 antT = "APC";
631 }
632 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
633 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
634 antT));
635 }
636
637 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
638 emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
639 }
640#endif
641
642
643
644
645 _decoder->_typeList.clear();
646 _decoder->_antType.clear();
647 _decoder->_antList.clear();
648}
649
650// Handle Data from Serial Port
651////////////////////////////////////////////////////////////////////////////
652void bncGetThread::slotSerialReadyRead() {
653 if (_serialPort) {
654 int nb = _serialPort->bytesAvailable();
655 if (nb > 0) {
656 QByteArray data = _serialPort->read(nb);
657
658 if (_serialNMEA == AUTO_NMEA) {
659 int i1 = data.indexOf("$GPGGA");
660 if (i1 != -1) {
661 int i2 = data.indexOf("*", i1);
662 if (i2 != -1 && data.size() > i2 + 1) {
663 QByteArray gga = data.mid(i1,i2-i1+3);
664 _query->sendNMEA(gga);
665 }
666 }
667 }
668
669 if (_serialOutFile) {
670 _serialOutFile->write(data);
671 _serialOutFile->flush();
672 }
673 }
674 }
675}
676
677//
678//////////////////////////////////////////////////////////////////////////////
679void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
680 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
681 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
682
683 if ( decoder2 ) {
684 QMutexLocker locker(&_mutex);
685
686 string storedPRN;
687 vector<int> IODs;
688
689 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
690#ifdef DEBUG_RTCM2_2021
691 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
692
693 for (unsigned ii = 0; ii < IODs.size(); ii++) {
694 msg += QString(" %1").arg(IODs[ii],4);
695 }
696
697 emit(newMessage(msg.toAscii()));
698#endif
699 }
700 }
701
702 if ( decoder3 ) {
703 QMutexLocker locker(&_mutex);
704
705 if ( decoder3->storeEph(gpseph) ) {
706#ifdef DEBUG_RTCM3
707 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
708 emit(newMessage(msg.toAscii(),true));
709#endif
710 }
711 }
712}
713
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