source: ntrip/trunk/BNC/bncgetthread.cpp@ 1621

Last change on this file since 1621 was 1621, checked in by weber, 15 years ago

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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 "bncsettings.h"
61#include "latencychecker.h"
62
63#include "RTCM/RTCM2Decoder.h"
64#include "RTCM3/RTCM3Decoder.h"
65#include "RTIGS/RTIGSDecoder.h"
66#include "GPSS/gpssDecoder.h"
67#include "serial/qextserialport.h"
68
69using namespace std;
70
71// Constructor 1
72////////////////////////////////////////////////////////////////////////////
73bncGetThread::bncGetThread(const QByteArray& rawInpFileName,
74 const QByteArray& format) {
75
76 _rawInpFile = new QFile(rawInpFileName);
77 _rawInpFile->open(QIODevice::ReadOnly);
78 _format = format;
79 _staID = rawInpFileName.mid(
80 rawInpFileName.lastIndexOf(QDir::separator())+1,4);
81
82 initialize();
83}
84
85// Constructor 2
86////////////////////////////////////////////////////////////////////////////
87bncGetThread::bncGetThread(const QUrl& mountPoint,
88 const QByteArray& format,
89 const QByteArray& latitude,
90 const QByteArray& longitude,
91 const QByteArray& nmea,
92 const QByteArray& ntripVersion, int iMount) {
93 _rawInpFile = 0;
94 _mountPoint = mountPoint;
95 _staID = mountPoint.path().mid(1).toAscii();
96 _format = format;
97 _latitude = latitude;
98 _longitude = longitude;
99 _nmea = nmea;
100 _ntripVersion = ntripVersion;
101 _iMount = iMount; // index in mountpoints array
102
103 initialize();
104}
105
106// Initialization (common part of the constructor)
107////////////////////////////////////////////////////////////////////////////
108void bncGetThread::initialize() {
109
110 setTerminationEnabled(true);
111
112 bncApp* app = (bncApp*) qApp;
113
114 connect(this, SIGNAL(newMessage(QByteArray,bool)),
115 app, SLOT(slotMessage(const QByteArray,bool)));
116
117 _isToBeDeleted = false;
118 _decoder = 0;
119 _query = 0;
120 _nextSleep = 0;
121 _rawOutFile = 0;
122 _serialOutFile = 0;
123 _staID_orig = _staID;
124
125 bncSettings settings;
126
127 _miscMount = settings.value("miscMount").toString();
128
129 if ( settings.value("serialMountPoint").toString() == _staID &&
130 settings.value("serialAutoNMEA").toString() != "Auto" ) {
131 _height = settings.value("serialHeightNMEA").toString().toAscii();
132 } else {
133 _height = "100";
134 }
135
136 // Check name conflict
137 // -------------------
138 QListIterator<QString> it(settings.value("mountPoints").toStringList());
139 int num = 0;
140 int ind = -1;
141 while (it.hasNext()) {
142 ++ind;
143 QStringList hlp = it.next().split(" ");
144 if (hlp.size() <= 1) continue;
145 QUrl url(hlp[0]);
146 if (_mountPoint.path() == url.path()) {
147 if (_iMount > ind || _iMount < 0) {
148 ++num;
149 }
150 }
151 }
152
153 if (num > 0) {
154 _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
155 }
156
157 // RINEX writer
158 // ------------
159 _samplingRate = settings.value("rnxSampl").toInt();
160 if ( settings.value("rnxPath").toString().isEmpty() ) {
161 _rnx = 0;
162 if (_rawInpFile) {
163 cerr << "no RINEX path specified" << endl;
164 ::exit(1);
165 }
166 }
167 else {
168 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
169 _longitude, _nmea);
170 }
171
172 // Serial Port
173 // -----------
174 if (settings.value("serialMountPoint").toString() == _staID) {
175 _serialPort = new QextSerialPort(
176 settings.value("serialPortName").toString() );
177 QString hlp = settings.value("serialBaudRate").toString();
178 if (hlp == "110") {
179 _serialPort->setBaudRate(BAUD110);
180 }
181 else if (hlp == "300") {
182 _serialPort->setBaudRate(BAUD300);
183 }
184 else if (hlp == "600") {
185 _serialPort->setBaudRate(BAUD600);
186 }
187 else if (hlp == "1200") {
188 _serialPort->setBaudRate(BAUD1200);
189 }
190 else if (hlp == "2400") {
191 _serialPort->setBaudRate(BAUD2400);
192 }
193 else if (hlp == "4800") {
194 _serialPort->setBaudRate(BAUD4800);
195 }
196 else if (hlp == "9600") {
197 _serialPort->setBaudRate(BAUD9600);
198 }
199 else if (hlp == "19200") {
200 _serialPort->setBaudRate(BAUD19200);
201 }
202 else if (hlp == "38400") {
203 _serialPort->setBaudRate(BAUD38400);
204 }
205 else if (hlp == "57600") {
206 _serialPort->setBaudRate(BAUD57600);
207 }
208 else if (hlp == "115200") {
209 _serialPort->setBaudRate(BAUD115200);
210 }
211 hlp = settings.value("serialParity").toString();
212 if (hlp == "NONE") {
213 _serialPort->setParity(PAR_NONE);
214 }
215 else if (hlp == "ODD") {
216 _serialPort->setParity(PAR_ODD);
217 }
218 else if (hlp == "EVEN") {
219 _serialPort->setParity(PAR_EVEN);
220 }
221 else if (hlp == "SPACE") {
222 _serialPort->setParity(PAR_SPACE);
223 }
224 hlp = settings.value("serialDataBits").toString();
225 if (hlp == "5") {
226 _serialPort->setDataBits(DATA_5);
227 }
228 else if (hlp == "6") {
229 _serialPort->setDataBits(DATA_6);
230 }
231 else if (hlp == "7") {
232 _serialPort->setDataBits(DATA_7);
233 }
234 else if (hlp == "8") {
235 _serialPort->setDataBits(DATA_8);
236 }
237 hlp = settings.value("serialStopBits").toString();
238 if (hlp == "1") {
239 _serialPort->setStopBits(STOP_1);
240 }
241 else if (hlp == "2") {
242 _serialPort->setStopBits(STOP_2);
243 }
244 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
245 if (!_serialPort->isOpen()) {
246 delete _serialPort;
247 _serialPort = 0;
248 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
249 }
250
251 connect(_serialPort, SIGNAL(readyRead()),
252 this, SLOT(slotSerialReadyRead()));
253
254 // Serial File Output
255 // ------------------
256 QString serialFileNMEA = settings.value("serialFileNMEA").toString();
257 if (!serialFileNMEA.isEmpty()) {
258 _serialOutFile = new QFile(serialFileNMEA);
259 _serialOutFile->open(QIODevice::WriteOnly);
260 }
261 }
262 else {
263 _serialPort = 0;
264 }
265
266 // Raw Output
267 // ----------
268 // QByteArray rawOutFileName = "./" + _staID + ".raw";
269 // _rawOutFile = new QFile(rawOutFileName);
270 // _rawOutFile->open(QIODevice::WriteOnly);
271
272
273 // Instantiate the decoder
274 // -----------------------
275 if (_format.indexOf("RTCM_2") != -1) {
276 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
277 _decoder = new RTCM2Decoder(_staID.data());
278 }
279 else if (_format.indexOf("RTCM_3") != -1) {
280 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
281 _decoder = new RTCM3Decoder(_staID);
282 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
283 this, SIGNAL(newMessage(QByteArray,bool)));
284 }
285 else if (_format.indexOf("RTIGS") != -1) {
286 emit(newMessage(_staID + ": Get data in RTIGS format", true));
287 _decoder = new RTIGSDecoder();
288 }
289 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
290 emit(newMessage(_staID + ": Get Data in GPSS format", true));
291 _decoder = new gpssDecoder();
292 }
293 else if (_format.indexOf("ZERO") != -1) {
294 emit(newMessage(_staID + ": Get data in original format", true));
295 _decoder = new bncZeroDecoder(_staID);
296 }
297 else {
298 emit(newMessage(_staID + ": Unknown data format " + _format, true));
299 _isToBeDeleted = true;
300 delete this;
301 }
302
303 _latencyChecker = new latencyChecker(_staID);
304
305 msleep(100); //sleep 0.1 sec
306}
307
308// Destructor
309////////////////////////////////////////////////////////////////////////////
310bncGetThread::~bncGetThread() {
311 if (_query) {
312 _query->stop();
313 delete _query;
314 }
315 delete _decoder;
316 delete _rnx;
317 delete _rawInpFile;
318 delete _rawOutFile;
319 delete _serialOutFile;
320 delete _serialPort;
321 delete _latencyChecker;
322 emit getThreadFinished(_staID);
323}
324
325//
326////////////////////////////////////////////////////////////////////////////
327void bncGetThread::terminate() {
328 _isToBeDeleted = true;
329 if (!isRunning()) {
330 delete this;
331 }
332}
333
334// Run
335////////////////////////////////////////////////////////////////////////////
336void bncGetThread::run() {
337
338 while (true) {
339 try {
340 if (_isToBeDeleted) {
341 QThread::exit(0);
342 this->deleteLater();
343 return;
344 }
345
346 if (tryReconnect() != success) {
347 _latencyChecker->checkReconnect();
348 continue;
349 }
350
351 // Delete old observations
352 // -----------------------
353 QListIterator<p_obs> itOld(_decoder->_obsList);
354 while (itOld.hasNext()) {
355 delete itOld.next();
356 }
357 _decoder->_obsList.clear();
358
359 // Read Data
360 // ---------
361 QByteArray data;
362 if (_query) {
363 _query->waitForReadyRead(data);
364 }
365 else if (_rawInpFile) {
366 const qint64 maxBytes = 1024;
367 data = _rawInpFile->read(maxBytes);
368 if (data.isEmpty()) {
369 cout << "no more data" << endl;
370 ::exit(0);
371 }
372 }
373 qint64 nBytes = data.size();
374
375 // Timeout, reconnect
376 // ------------------
377 if (nBytes == 0) {
378 _latencyChecker->checkReconnect();
379 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
380 continue;
381 }
382 else {
383 emit newBytes(_staID, nBytes);
384 }
385
386 // Output Data
387 // -----------
388 if (_rawOutFile) {
389 _rawOutFile->write(data);
390 _rawOutFile->flush();
391 }
392 if (_serialPort) {
393 _serialPort->write(data);
394 }
395
396 // Decode Data
397 // -----------
398 vector<string> errmsg;
399 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
400
401 // Perform various scans and checks
402 // --------------------------------
403 _latencyChecker->checkOutage(irc == success);
404 _latencyChecker->checkObsLatency(_decoder->_obsList);
405 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
406
407 scanRTCM();
408
409 // Loop over all observations (observations output)
410 // ------------------------------------------------
411 QListIterator<p_obs> it(_decoder->_obsList);
412 while (it.hasNext()) {
413 p_obs obs = it.next();
414
415 // Check observation epoch
416 // -----------------------
417 if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
418 int week;
419 double sec;
420 currentGPSWeeks(week, sec);
421 const double secPerWeek = 7.0 * 24.0 * 3600.0;
422
423 if (week < obs->_o.GPSWeek) {
424 week += 1;
425 sec -= secPerWeek;
426 }
427 if (week > obs->_o.GPSWeek) {
428 week -= 1;
429 sec += secPerWeek;
430 }
431 double dt = fabs(sec - obs->_o.GPSWeeks);
432 const double maxDt = 600.0;
433 if (week != obs->_o.GPSWeek || dt > maxDt) {
434 emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
435 delete obs;
436 continue;
437 }
438 }
439
440 // RINEX Output
441 // ------------
442 if (_rnx) {
443 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
444 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
445 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
446 _rnx->deepCopy(obs);
447 }
448 _rnx->dumpEpoch(newTime);
449 }
450
451 // Emit new observation signal
452 // ---------------------------
453 bool firstObs = (obs == _decoder->_obsList.first());
454 obs->_status = t_obs::posted;
455 emit newObs(_staID, firstObs, obs);
456 }
457 _decoder->_obsList.clear();
458 }
459 catch (...) {
460 emit(newMessage(_staID + "bncGetThread exception", true));
461 _isToBeDeleted = true;
462 }
463 }
464}
465
466// Try Re-Connect
467////////////////////////////////////////////////////////////////////////////
468t_irc bncGetThread::tryReconnect() {
469
470 // Easy Return
471 // -----------
472 if (_query && _query->status() == bncNetQuery::running) {
473 _nextSleep = 0;
474 return success;
475 }
476
477 // Start a new query
478 // -----------------
479 if (!_rawInpFile) {
480
481 sleep(_nextSleep);
482 if (_nextSleep == 0) {
483 _nextSleep = 1;
484 }
485 else {
486 _nextSleep = 2 * _nextSleep;
487 if (_nextSleep > 256) {
488 _nextSleep = 256;
489 }
490 }
491
492 delete _query;
493 if (_ntripVersion == "R") {
494 _query = new bncNetQueryRtp();
495 }
496 else if (_ntripVersion == "N") {
497 _query = new bncNetQueryV0();
498 }
499 else if (_ntripVersion == "2") {
500 _query = new bncNetQueryV2();
501 }
502 else {
503 _query = new bncNetQueryV1();
504 }
505 if (_nmea == "yes") {
506 QByteArray gga = ggaString(_latitude, _longitude, _height);
507 _query->startRequest(_mountPoint, gga);
508 }
509 else {
510 _query->startRequest(_mountPoint, "");
511 }
512 if (_query->status() != bncNetQuery::running) {
513 return failure;
514 }
515 }
516
517 if (_rnx) {
518 _rnx->setReconnectFlag(true);
519 }
520
521 return success;
522}
523
524// RTCM scan output
525//////////////////////////////////////////////////////////////////////////////
526void bncGetThread::scanRTCM() {
527
528 bncSettings settings;
529 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
530
531 if ( _miscMount == _staID || _miscMount == "ALL" ) {
532
533 // RTCM message types
534 // ------------------
535 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
536 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
537 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
538 }
539
540 // RTCMv3 antenna descriptor
541 // -------------------------
542 for (int ii=0;ii<_decoder->_antType.size();ii++) {
543 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
544 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
545 }
546
547 // RTCM Antenna Coordinates
548 // ------------------------
549 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
550 QByteArray antT;
551 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
552 antT = "ARP";
553 }
554 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
555 antT = "APC";
556 }
557 QByteArray ant1, ant2, ant3;
558 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
559 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
560 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
561 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
562 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
563 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
564 if (_decoder->_antList[ii].height_f) {
565 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
566 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
567 }
568 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
569 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
570 antT));
571 }
572 }
573 }
574
575 _decoder->_typeList.clear();
576 _decoder->_antType.clear();
577 _decoder->_antList.clear();
578}
579
580// Handle Data from Serial Port
581////////////////////////////////////////////////////////////////////////////
582void bncGetThread::slotSerialReadyRead() {
583 if (_serialPort) {
584 QByteArray data = _serialPort->readAll();
585 if (_serialOutFile) {
586 _serialOutFile->write(data);
587 _serialOutFile->flush();
588 }
589 }
590}
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