source: ntrip/trunk/BNC/bncgetthread.cpp@ 2000

Last change on this file since 2000 was 2000, checked in by mervart, 14 years ago

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File size: 19.8 KB
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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 "bncnetqueryudp.h"
61#include "bncnetqueryudp0.h"
62#include "bncnetquerys.h"
63#include "bncsettings.h"
64#include "latencychecker.h"
65#include "bncpppthread.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(const QByteArray& rawInpFileName,
78 const QByteArray& format) {
79
80 _rawInpFile = new QFile(rawInpFileName);
81 _rawInpFile->open(QIODevice::ReadOnly);
82 _format = format;
83 _staID = rawInpFileName.mid(
84 rawInpFileName.lastIndexOf(QDir::separator())+1,4);
85
86 initialize();
87}
88
89// Constructor 2
90////////////////////////////////////////////////////////////////////////////
91bncGetThread::bncGetThread(const QUrl& mountPoint,
92 const QByteArray& format,
93 const QByteArray& latitude,
94 const QByteArray& longitude,
95 const QByteArray& nmea,
96 const QByteArray& ntripVersion, const QByteArray& extraStaID) {
97 _rawInpFile = 0;
98 _mountPoint = mountPoint;
99 _staID = (extraStaID.size() == 0 ? mountPoint.path().mid(1).toAscii() : extraStaID);
100 _format = format;
101 _latitude = latitude;
102 _longitude = longitude;
103 _nmea = nmea;
104 _ntripVersion = ntripVersion;
105
106 initialize();
107}
108
109// Initialization (common part of the constructor)
110////////////////////////////////////////////////////////////////////////////
111void bncGetThread::initialize() {
112
113 setTerminationEnabled(true);
114
115 bncApp* app = (bncApp*) qApp;
116
117 connect(this, SIGNAL(newMessage(QByteArray,bool)),
118 app, SLOT(slotMessage(const QByteArray,bool)));
119
120 _isToBeDeleted = false;
121 _decoder = 0;
122 _query = 0;
123 _nextSleep = 0;
124 _rawOutFile = 0;
125 _PPPthread = 0;
126
127 bncSettings settings;
128
129 _miscMount = settings.value("miscMount").toString();
130
131 // RINEX writer
132 // ------------
133 _samplingRate = settings.value("rnxSampl").toInt();
134 if ( settings.value("rnxPath").toString().isEmpty() ) {
135 _rnx = 0;
136 if (_rawInpFile) {
137 cerr << "no RINEX path specified" << endl;
138 ::exit(1);
139 }
140 }
141 else {
142 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
143 _longitude, _nmea, _ntripVersion);
144 }
145
146 // Serial Port
147 // -----------
148 _serialNMEA = NO_NMEA;
149 _serialOutFile = 0;
150 _serialPort = 0;
151
152 if (settings.value("serialMountPoint").toString() == _staID) {
153 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
154 _serialPort->setTimeout(0,100);
155
156 // Baud Rate
157 // ---------
158 QString hlp = settings.value("serialBaudRate").toString();
159 if (hlp == "110") {
160 _serialPort->setBaudRate(BAUD110);
161 }
162 else if (hlp == "300") {
163 _serialPort->setBaudRate(BAUD300);
164 }
165 else if (hlp == "600") {
166 _serialPort->setBaudRate(BAUD600);
167 }
168 else if (hlp == "1200") {
169 _serialPort->setBaudRate(BAUD1200);
170 }
171 else if (hlp == "2400") {
172 _serialPort->setBaudRate(BAUD2400);
173 }
174 else if (hlp == "4800") {
175 _serialPort->setBaudRate(BAUD4800);
176 }
177 else if (hlp == "9600") {
178 _serialPort->setBaudRate(BAUD9600);
179 }
180 else if (hlp == "19200") {
181 _serialPort->setBaudRate(BAUD19200);
182 }
183 else if (hlp == "38400") {
184 _serialPort->setBaudRate(BAUD38400);
185 }
186 else if (hlp == "57600") {
187 _serialPort->setBaudRate(BAUD57600);
188 }
189 else if (hlp == "115200") {
190 _serialPort->setBaudRate(BAUD115200);
191 }
192
193 // Parity
194 // ------
195 hlp = settings.value("serialParity").toString();
196 if (hlp == "NONE") {
197 _serialPort->setParity(PAR_NONE);
198 }
199 else if (hlp == "ODD") {
200 _serialPort->setParity(PAR_ODD);
201 }
202 else if (hlp == "EVEN") {
203 _serialPort->setParity(PAR_EVEN);
204 }
205 else if (hlp == "SPACE") {
206 _serialPort->setParity(PAR_SPACE);
207 }
208
209 // Data Bits
210 // ---------
211 hlp = settings.value("serialDataBits").toString();
212 if (hlp == "5") {
213 _serialPort->setDataBits(DATA_5);
214 }
215 else if (hlp == "6") {
216 _serialPort->setDataBits(DATA_6);
217 }
218 else if (hlp == "7") {
219 _serialPort->setDataBits(DATA_7);
220 }
221 else if (hlp == "8") {
222 _serialPort->setDataBits(DATA_8);
223 }
224 hlp = settings.value("serialStopBits").toString();
225 if (hlp == "1") {
226 _serialPort->setStopBits(STOP_1);
227 }
228 else if (hlp == "2") {
229 _serialPort->setStopBits(STOP_2);
230 }
231
232 // Flow Control
233 // ------------
234 hlp = settings.value("serialFlowControl").toString();
235 if (hlp == "XONXOFF") {
236 _serialPort->setFlowControl(FLOW_XONXOFF);
237 }
238 else if (hlp == "HARDWARE") {
239 _serialPort->setFlowControl(FLOW_HARDWARE);
240 }
241 else {
242 _serialPort->setFlowControl(FLOW_OFF);
243 }
244
245 // Open Serial Port
246 // ----------------
247 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
248 if (!_serialPort->isOpen()) {
249 delete _serialPort;
250 _serialPort = 0;
251 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
252 }
253 connect(_serialPort, SIGNAL(readyRead()),
254 this, SLOT(slotSerialReadyRead()));
255
256 // Automatic NMEA
257 // --------------
258 if (settings.value("serialAutoNMEA").toString() == "Auto") {
259 _serialNMEA = AUTO_NMEA;
260
261 QString fName = settings.value("serialFileNMEA").toString();
262 if (!fName.isEmpty()) {
263 _serialOutFile = new QFile(fName);
264 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
265 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
266 }
267 else {
268 _serialOutFile->open(QIODevice::WriteOnly);
269 }
270 }
271 }
272
273 // Manual NMEA
274 // -----------
275 else {
276 _serialNMEA = MANUAL_NMEA;
277 }
278 }
279
280 // Raw Output
281 // ----------
282 // QByteArray rawOutFileName = "./" + _staID + ".raw";
283 // _rawOutFile = new QFile(rawOutFileName);
284 // _rawOutFile->open(QIODevice::WriteOnly);
285
286
287 // Instantiate the decoder
288 // -----------------------
289 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
290 _format.indexOf("RTCM 2") != -1 ) {
291 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
292 _decoder = new RTCM2Decoder(_staID.data());
293 _PPPthread = new bncPPPthread(_staID);
294 }
295 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
296 _format.indexOf("RTCM 3") != -1 ) {
297 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
298 _decoder = new RTCM3Decoder(_staID);
299 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
300 this, SIGNAL(newMessage(QByteArray,bool)));
301 _PPPthread = new bncPPPthread(_staID);
302 }
303 else if (_format.indexOf("RTIGS") != -1) {
304 emit(newMessage(_staID + ": Get data in RTIGS format", true));
305 _decoder = new RTIGSDecoder();
306 _PPPthread = new bncPPPthread(_staID);
307 }
308 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
309 emit(newMessage(_staID + ": Get Data in GPSS format", true));
310 _decoder = new gpssDecoder();
311 }
312 else if (_format.indexOf("ZERO") != -1) {
313 emit(newMessage(_staID + ": Get data in original format", true));
314 _decoder = new bncZeroDecoder(_staID);
315 }
316 else {
317 emit(newMessage(_staID + ": Unknown data format " + _format, true));
318 _isToBeDeleted = true;
319 }
320
321 _latencyChecker = new latencyChecker(_staID);
322
323 msleep(100); //sleep 0.1 sec
324}
325
326// Destructor
327////////////////////////////////////////////////////////////////////////////
328bncGetThread::~bncGetThread() {
329
330 if (_PPPthread) {
331 _PPPthread->terminate();
332 }
333
334 if (isRunning()) {
335 wait();
336 }
337
338 if (_query) {
339 _query->stop();
340 _query->deleteLater();
341 }
342 delete _decoder;
343 delete _rnx;
344 delete _rawInpFile;
345 delete _rawOutFile;
346 delete _serialOutFile;
347 delete _serialPort;
348 delete _latencyChecker;
349 emit getThreadFinished(_staID);
350}
351
352//
353////////////////////////////////////////////////////////////////////////////
354void bncGetThread::terminate() {
355 _isToBeDeleted = true;
356 if (!isRunning()) {
357 delete this;
358 }
359}
360
361// Run
362////////////////////////////////////////////////////////////////////////////
363void bncGetThread::run() {
364
365 while (true) {
366 try {
367 if (_isToBeDeleted) {
368 QThread::exit(0);
369 this->deleteLater();
370 return;
371 }
372
373 if (tryReconnect() != success) {
374 _latencyChecker->checkReconnect();
375 continue;
376 }
377
378 // Delete old observations
379 // -----------------------
380 QListIterator<p_obs> itOld(_decoder->_obsList);
381 while (itOld.hasNext()) {
382 delete itOld.next();
383 }
384 _decoder->_obsList.clear();
385
386 // Read Data
387 // ---------
388 QByteArray data;
389 if (_query) {
390 _query->waitForReadyRead(data);
391 }
392 else if (_rawInpFile) {
393 const qint64 maxBytes = 1024;
394 data = _rawInpFile->read(maxBytes);
395 if (data.isEmpty()) {
396 cout << "no more data" << endl;
397 ::exit(0);
398 }
399 }
400 qint64 nBytes = data.size();
401
402 // Timeout, reconnect
403 // ------------------
404 if (nBytes == 0) {
405 _latencyChecker->checkReconnect();
406 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
407 continue;
408 }
409 else {
410 emit newBytes(_staID, nBytes);
411 }
412
413 // Output Data
414 // -----------
415 if (_rawOutFile) {
416 _rawOutFile->write(data);
417 _rawOutFile->flush();
418 }
419 if (_serialPort) {
420 slotSerialReadyRead();
421 _serialPort->write(data);
422 }
423
424 // Decode Data
425 // -----------
426 vector<string> errmsg;
427 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
428
429 // Perform various scans and checks
430 // --------------------------------
431 _latencyChecker->checkOutage(irc == success);
432 _latencyChecker->checkObsLatency(_decoder->_obsList);
433 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
434
435 emit newLatency(_staID, _latencyChecker->currentLatency());
436
437 scanRTCM();
438
439 // Loop over all observations (observations output)
440 // ------------------------------------------------
441 QListIterator<p_obs> it(_decoder->_obsList);
442 while (it.hasNext()) {
443 p_obs obs = it.next();
444
445 // Check observation epoch
446 // -----------------------
447 if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
448 int week;
449 double sec;
450 currentGPSWeeks(week, sec);
451 const double secPerWeek = 7.0 * 24.0 * 3600.0;
452
453 if (week < obs->_o.GPSWeek) {
454 week += 1;
455 sec -= secPerWeek;
456 }
457 if (week > obs->_o.GPSWeek) {
458 week -= 1;
459 sec += secPerWeek;
460 }
461 double dt = fabs(sec - obs->_o.GPSWeeks);
462 const double maxDt = 600.0;
463 if (week != obs->_o.GPSWeek || dt > maxDt) {
464 emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
465 delete obs;
466 continue;
467 }
468 }
469
470 // RINEX Output
471 // ------------
472 if (_rnx) {
473 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
474 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
475 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
476 _rnx->deepCopy(obs);
477 }
478 _rnx->dumpEpoch(newTime);
479 }
480
481 // Emit new observation signal
482 // ---------------------------
483 bool firstObs = (obs == _decoder->_obsList.first());
484 obs->_status = t_obs::posted;
485 emit newObs(_staID, firstObs, obs);
486 }
487 _decoder->_obsList.clear();
488 }
489 catch (...) {
490 emit(newMessage(_staID + "bncGetThread exception", true));
491 _isToBeDeleted = true;
492 }
493 }
494}
495
496// Try Re-Connect
497////////////////////////////////////////////////////////////////////////////
498t_irc bncGetThread::tryReconnect() {
499
500 // Easy Return
501 // -----------
502 if (_query && _query->status() == bncNetQuery::running) {
503 _nextSleep = 0;
504 if (_rnx) {
505 _rnx->setReconnectFlag(false);
506 }
507 return success;
508 }
509
510 // Start a new query
511 // -----------------
512 if (!_rawInpFile) {
513
514 sleep(_nextSleep);
515 if (_nextSleep == 0) {
516 _nextSleep = 1;
517 }
518 else {
519 _nextSleep = 2 * _nextSleep;
520 if (_nextSleep > 256) {
521 _nextSleep = 256;
522 }
523#ifdef MLS_SOFTWARE
524 if (_nextSleep > 4) {
525 _nextSleep = 4;
526 }
527#endif
528 }
529
530 delete _query;
531 if (_ntripVersion == "U") {
532 _query = new bncNetQueryUdp();
533 }
534 else if (_ntripVersion == "R") {
535 _query = new bncNetQueryRtp();
536 }
537 else if (_ntripVersion == "S") {
538 _query = new bncNetQueryS();
539 }
540 else if (_ntripVersion == "N") {
541 _query = new bncNetQueryV0();
542 }
543 else if (_ntripVersion == "UN") {
544 _query = new bncNetQueryUdp0();
545 }
546 else if (_ntripVersion == "2") {
547 _query = new bncNetQueryV2();
548 }
549 else {
550 _query = new bncNetQueryV1();
551 }
552 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
553 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
554 _query->startRequest(_mountPoint, gga);
555 }
556 else {
557 _query->startRequest(_mountPoint, "");
558 }
559 if (_query->status() != bncNetQuery::running) {
560 return failure;
561 }
562 }
563
564 if (_rnx) {
565 _rnx->setReconnectFlag(true);
566 }
567
568 return success;
569}
570
571// RTCM scan output
572//////////////////////////////////////////////////////////////////////////////
573void bncGetThread::scanRTCM() {
574
575 bncSettings settings;
576 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
577
578 if ( _miscMount == _staID || _miscMount == "ALL" ) {
579
580 // RTCM message types
581 // ------------------
582 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
583 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
584 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
585 }
586
587 // RTCMv3 antenna descriptor
588 // -------------------------
589 for (int ii=0;ii<_decoder->_antType.size();ii++) {
590 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
591 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
592 }
593
594 // RTCM Antenna Coordinates
595 // ------------------------
596 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
597 QByteArray antT;
598 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
599 antT = "ARP";
600 }
601 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
602 antT = "APC";
603 }
604 QByteArray ant1, ant2, ant3;
605 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
606 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
607 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
608 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
609 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
610 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
611 if (_decoder->_antList[ii].height_f) {
612 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
613 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
614 }
615 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
616 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
617 antT));
618 }
619 }
620 }
621
622#ifdef MLS_SOFTWARE
623 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
624 QByteArray antT;
625 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
626 antT = "ARP";
627 }
628 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
629 antT = "APC";
630 }
631 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
632 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
633 antT));
634 }
635#endif
636
637
638
639
640 _decoder->_typeList.clear();
641 _decoder->_antType.clear();
642 _decoder->_antList.clear();
643}
644
645// Handle Data from Serial Port
646////////////////////////////////////////////////////////////////////////////
647void bncGetThread::slotSerialReadyRead() {
648 if (_serialPort) {
649 int nb = _serialPort->bytesAvailable();
650 if (nb > 0) {
651 QByteArray data = _serialPort->read(nb);
652
653 if (_serialNMEA == AUTO_NMEA) {
654 int i1 = data.indexOf("$GPGGA");
655 if (i1 != -1) {
656 int i2 = data.indexOf("*", i1);
657 if (i2 != -1 && data.size() > i2 + 1) {
658 QByteArray gga = data.mid(i1,i2-i1+3);
659 _query->sendNMEA(gga);
660 }
661 }
662 }
663
664 if (_serialOutFile) {
665 _serialOutFile->write(data);
666 _serialOutFile->flush();
667 }
668 }
669 }
670}
671
672//
673//////////////////////////////////////////////////////////////////////////////
674void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
675 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
676 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
677
678 if ( decoder2 ) {
679 QMutexLocker locker(&_mutex);
680
681 string storedPRN;
682 vector<int> IODs;
683
684 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
685#ifdef DEBUG_RTCM2_2021
686 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
687
688 for (unsigned ii = 0; ii < IODs.size(); ii++) {
689 msg += QString(" %1").arg(IODs[ii],4);
690 }
691
692 emit(newMessage(msg.toAscii()));
693#endif
694 }
695 }
696
697 if ( decoder3 ) {
698 QMutexLocker locker(&_mutex);
699
700 if ( decoder3->storeEph(gpseph) ) {
701#ifdef DEBUG_RTCM3
702 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
703 emit(newMessage(msg.toAscii(),true));
704#endif
705 }
706 }
707}
708
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