source: ntrip/trunk/BNC/bncgetthread.cpp@ 2054

Last change on this file since 2054 was 2054, checked in by mervart, 14 years ago

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File size: 20.2 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 "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(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 _PPPclient = 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 // Initialize PPP Client?
287 // ----------------------
288 if (settings.value("pppMount").toString() == _staID) {
289 _PPPclient = new bncPPPclient(_staID);
290 connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
291 _PPPclient, SLOT(slotNewEphGPS(gpsephemeris)));
292 connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
293 _PPPclient, SLOT(slotNewCorrections(QList<QString>)));
294 connect(_PPPclient, SIGNAL(newMessage(QByteArray,bool)),
295 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
296 }
297
298 // Instantiate the decoder
299 // -----------------------
300 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
301 _format.indexOf("RTCM 2") != -1 ) {
302 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
303 _decoder = new RTCM2Decoder(_staID.data());
304 }
305 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
306 _format.indexOf("RTCM 3") != -1 ) {
307 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
308 _decoder = new RTCM3Decoder(_staID);
309 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
310 this, SIGNAL(newMessage(QByteArray,bool)));
311 }
312 else if (_format.indexOf("RTIGS") != -1) {
313 emit(newMessage(_staID + ": Get data in RTIGS format", true));
314 _decoder = new RTIGSDecoder();
315 }
316 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
317 emit(newMessage(_staID + ": Get Data in GPSS format", true));
318 _decoder = new gpssDecoder();
319 }
320 else if (_format.indexOf("ZERO") != -1) {
321 emit(newMessage(_staID + ": Get data in original format", true));
322 _decoder = new bncZeroDecoder(_staID);
323 }
324 else {
325 emit(newMessage(_staID + ": Unknown data format " + _format, true));
326 _isToBeDeleted = true;
327 }
328
329 _latencyChecker = new latencyChecker(_staID);
330
331 msleep(100); //sleep 0.1 sec
332}
333
334// Destructor
335////////////////////////////////////////////////////////////////////////////
336bncGetThread::~bncGetThread() {
337 if (isRunning()) {
338 wait();
339 }
340 if (_query) {
341 _query->stop();
342 _query->deleteLater();
343 }
344 delete _PPPclient;
345 delete _decoder;
346 delete _rnx;
347 delete _rawInpFile;
348 delete _rawOutFile;
349 delete _serialOutFile;
350 delete _serialPort;
351 delete _latencyChecker;
352 emit getThreadFinished(_staID);
353}
354
355//
356////////////////////////////////////////////////////////////////////////////
357void bncGetThread::terminate() {
358 _isToBeDeleted = true;
359 if (!isRunning()) {
360 delete this;
361 }
362}
363
364// Run
365////////////////////////////////////////////////////////////////////////////
366void bncGetThread::run() {
367
368 while (true) {
369 try {
370 if (_isToBeDeleted) {
371 QThread::exit(0);
372 this->deleteLater();
373 return;
374 }
375
376 if (tryReconnect() != success) {
377 _latencyChecker->checkReconnect();
378 continue;
379 }
380
381 // Delete old observations
382 // -----------------------
383 QListIterator<p_obs> itOld(_decoder->_obsList);
384 while (itOld.hasNext()) {
385 delete itOld.next();
386 }
387 _decoder->_obsList.clear();
388
389 // Read Data
390 // ---------
391 QByteArray data;
392 if (_query) {
393 _query->waitForReadyRead(data);
394 }
395 else if (_rawInpFile) {
396 const qint64 maxBytes = 1024;
397 data = _rawInpFile->read(maxBytes);
398 if (data.isEmpty()) {
399 cout << "no more data" << endl;
400 ::exit(0);
401 }
402 }
403 qint64 nBytes = data.size();
404
405 // Timeout, reconnect
406 // ------------------
407 if (nBytes == 0) {
408 _latencyChecker->checkReconnect();
409 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
410 continue;
411 }
412 else {
413 emit newBytes(_staID, nBytes);
414 }
415
416 // Output Data
417 // -----------
418 if (_rawOutFile) {
419 _rawOutFile->write(data);
420 _rawOutFile->flush();
421 }
422 if (_serialPort) {
423 slotSerialReadyRead();
424 _serialPort->write(data);
425 }
426
427 // Decode Data
428 // -----------
429 vector<string> errmsg;
430 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
431
432 // Perform various scans and checks
433 // --------------------------------
434 _latencyChecker->checkOutage(irc == success);
435 _latencyChecker->checkObsLatency(_decoder->_obsList);
436 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
437
438 emit newLatency(_staID, _latencyChecker->currentLatency());
439
440 scanRTCM();
441
442 // Loop over all observations (observations output)
443 // ------------------------------------------------
444 QListIterator<p_obs> it(_decoder->_obsList);
445 while (it.hasNext()) {
446 p_obs obs = it.next();
447
448 // Check observation epoch
449 // -----------------------
450 if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
451 int week;
452 double sec;
453 currentGPSWeeks(week, sec);
454 const double secPerWeek = 7.0 * 24.0 * 3600.0;
455
456 if (week < obs->_o.GPSWeek) {
457 week += 1;
458 sec -= secPerWeek;
459 }
460 if (week > obs->_o.GPSWeek) {
461 week -= 1;
462 sec += secPerWeek;
463 }
464 double dt = fabs(sec - obs->_o.GPSWeeks);
465 const double maxDt = 600.0;
466 if (week != obs->_o.GPSWeek || dt > maxDt) {
467 emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
468 delete obs;
469 continue;
470 }
471 }
472
473 // RINEX Output
474 // ------------
475 if (_rnx) {
476 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
477 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
478 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
479 _rnx->deepCopy(obs);
480 }
481 _rnx->dumpEpoch(newTime);
482 }
483
484 // PPP Client
485 // ----------
486 if (_PPPclient) {
487 _PPPclient->putNewObs(obs);
488 }
489
490 // Emit new observation signal
491 // ---------------------------
492 bool firstObs = (obs == _decoder->_obsList.first());
493 obs->_status = t_obs::posted;
494 emit newObs(_staID, firstObs, obs);
495 }
496 _decoder->_obsList.clear();
497 }
498 catch (...) {
499 emit(newMessage(_staID + "bncGetThread exception", true));
500 _isToBeDeleted = true;
501 }
502 }
503}
504
505// Try Re-Connect
506////////////////////////////////////////////////////////////////////////////
507t_irc bncGetThread::tryReconnect() {
508
509 // Easy Return
510 // -----------
511 if (_query && _query->status() == bncNetQuery::running) {
512 _nextSleep = 0;
513 if (_rnx) {
514 _rnx->setReconnectFlag(false);
515 }
516 return success;
517 }
518
519 // Start a new query
520 // -----------------
521 if (!_rawInpFile) {
522
523 sleep(_nextSleep);
524 if (_nextSleep == 0) {
525 _nextSleep = 1;
526 }
527 else {
528 _nextSleep = 2 * _nextSleep;
529 if (_nextSleep > 256) {
530 _nextSleep = 256;
531 }
532#ifdef MLS_SOFTWARE
533 if (_nextSleep > 4) {
534 _nextSleep = 4;
535 }
536#endif
537 }
538
539 delete _query;
540 if (_ntripVersion == "U") {
541 _query = new bncNetQueryUdp();
542 }
543 else if (_ntripVersion == "R") {
544 _query = new bncNetQueryRtp();
545 }
546 else if (_ntripVersion == "S") {
547 _query = new bncNetQueryS();
548 }
549 else if (_ntripVersion == "N") {
550 _query = new bncNetQueryV0();
551 }
552 else if (_ntripVersion == "UN") {
553 _query = new bncNetQueryUdp0();
554 }
555 else if (_ntripVersion == "2") {
556 _query = new bncNetQueryV2();
557 }
558 else {
559 _query = new bncNetQueryV1();
560 }
561 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
562 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
563 _query->startRequest(_mountPoint, gga);
564 }
565 else {
566 _query->startRequest(_mountPoint, "");
567 }
568 if (_query->status() != bncNetQuery::running) {
569 return failure;
570 }
571 }
572
573 if (_rnx) {
574 _rnx->setReconnectFlag(true);
575 }
576
577 return success;
578}
579
580// RTCM scan output
581//////////////////////////////////////////////////////////////////////////////
582void bncGetThread::scanRTCM() {
583
584 bncSettings settings;
585 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
586
587 if ( _miscMount == _staID || _miscMount == "ALL" ) {
588
589 // RTCM message types
590 // ------------------
591 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
592 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
593 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
594 }
595
596 // RTCMv3 antenna descriptor
597 // -------------------------
598 for (int ii=0;ii<_decoder->_antType.size();ii++) {
599 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
600 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
601 }
602
603 // RTCM Antenna Coordinates
604 // ------------------------
605 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
606 QByteArray antT;
607 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
608 antT = "ARP";
609 }
610 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
611 antT = "APC";
612 }
613 QByteArray ant1, ant2, ant3;
614 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
615 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
616 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
617 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
618 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
619 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
620 if (_decoder->_antList[ii].height_f) {
621 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
622 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
623 }
624 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
625 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
626 antT));
627 }
628 }
629 }
630
631#ifdef MLS_SOFTWARE
632 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
633 QByteArray antT;
634 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
635 antT = "ARP";
636 }
637 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
638 antT = "APC";
639 }
640 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
641 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
642 antT));
643 }
644#endif
645
646
647
648
649 _decoder->_typeList.clear();
650 _decoder->_antType.clear();
651 _decoder->_antList.clear();
652}
653
654// Handle Data from Serial Port
655////////////////////////////////////////////////////////////////////////////
656void bncGetThread::slotSerialReadyRead() {
657 if (_serialPort) {
658 int nb = _serialPort->bytesAvailable();
659 if (nb > 0) {
660 QByteArray data = _serialPort->read(nb);
661
662 if (_serialNMEA == AUTO_NMEA) {
663 int i1 = data.indexOf("$GPGGA");
664 if (i1 != -1) {
665 int i2 = data.indexOf("*", i1);
666 if (i2 != -1 && data.size() > i2 + 1) {
667 QByteArray gga = data.mid(i1,i2-i1+3);
668 _query->sendNMEA(gga);
669 }
670 }
671 }
672
673 if (_serialOutFile) {
674 _serialOutFile->write(data);
675 _serialOutFile->flush();
676 }
677 }
678 }
679}
680
681//
682//////////////////////////////////////////////////////////////////////////////
683void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
684 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
685 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
686
687 if ( decoder2 ) {
688 QMutexLocker locker(&_mutex);
689
690 string storedPRN;
691 vector<int> IODs;
692
693 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
694#ifdef DEBUG_RTCM2_2021
695 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
696
697 for (unsigned ii = 0; ii < IODs.size(); ii++) {
698 msg += QString(" %1").arg(IODs[ii],4);
699 }
700
701 emit(newMessage(msg.toAscii()));
702#endif
703 }
704 }
705
706 if ( decoder3 ) {
707 QMutexLocker locker(&_mutex);
708
709 if ( decoder3->storeEph(gpseph) ) {
710#ifdef DEBUG_RTCM3
711 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
712 emit(newMessage(msg.toAscii(),true));
713#endif
714 }
715 }
716}
717
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