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source: ntrip/trunk/BNC/bncgetthread.cpp@ 2113

Last change on this file since 2113 was 2113, checked in by mervart, 14 years ago
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File size: 19.9 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
73	using namespace std;
74
75	// Constructor 1
76	////////////////////////////////////////////////////////////////////////////
77	bncGetThread::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	////////////////////////////////////////////////////////////////////////////
91	bncGetThread::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	////////////////////////////////////////////////////////////////////////////
111	void 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	}
291
292	// Instantiate the decoder
293	// -----------------------
294	if (_format.indexOf("RTCM_2") != -1 \|\| _format.indexOf("RTCM2") != -1 \|\|
295	_format.indexOf("RTCM 2") != -1 ) {
296	emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
297	_decoder = new RTCM2Decoder(_staID.data());
298	}
299	else if (_format.indexOf("RTCM_3") != -1 \|\| _format.indexOf("RTCM3") != -1 \|\|
300	_format.indexOf("RTCM 3") != -1 ) {
301	emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
302	_decoder = new RTCM3Decoder(_staID);
303	connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
304	this, SIGNAL(newMessage(QByteArray,bool)));
305	}
306	else if (_format.indexOf("RTIGS") != -1) {
307	emit(newMessage(_staID + ": Get data in RTIGS format", true));
308	_decoder = new RTIGSDecoder();
309	}
310	else if (_format.indexOf("GPSS") != -1 \|\| _format.indexOf("BNC") != -1) {
311	emit(newMessage(_staID + ": Get Data in GPSS format", true));
312	_decoder = new gpssDecoder();
313	}
314	else if (_format.indexOf("ZERO") != -1) {
315	emit(newMessage(_staID + ": Get data in original format", true));
316	_decoder = new bncZeroDecoder(_staID);
317	}
318	else {
319	emit(newMessage(_staID + ": Unknown data format " + _format, true));
320	_isToBeDeleted = true;
321	}
322
323	_latencyChecker = new latencyChecker(_staID);
324
325	msleep(100); //sleep 0.1 sec
326	}
327
328	// Destructor
329	////////////////////////////////////////////////////////////////////////////
330	bncGetThread::~bncGetThread() {
331	if (isRunning()) {
332	wait();
333	}
334	if (_query) {
335	_query->stop();
336	_query->deleteLater();
337	}
338	delete _PPPclient;
339	delete _decoder;
340	delete _rnx;
341	delete _rawInpFile;
342	delete _rawOutFile;
343	delete _serialOutFile;
344	delete _serialPort;
345	delete _latencyChecker;
346	emit getThreadFinished(_staID);
347	}
348
349	//
350	////////////////////////////////////////////////////////////////////////////
351	void bncGetThread::terminate() {
352	_isToBeDeleted = true;
353	if (!isRunning()) {
354	delete this;
355	}
356	}
357
358	// Run
359	////////////////////////////////////////////////////////////////////////////
360	void 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	QListIterator<p_obs> itOld(_decoder->_obsList);
378	while (itOld.hasNext()) {
379	delete itOld.next();
380	}
381	_decoder->_obsList.clear();
382
383	// Read Data
384	// ---------
385	QByteArray data;
386	if (_query) {
387	_query->waitForReadyRead(data);
388	}
389	else if (_rawInpFile) {
390	const qint64 maxBytes = 1024;
391	data = _rawInpFile->read(maxBytes);
392	if (data.isEmpty()) {
393	cout << "no more data" << endl;
394	::exit(0);
395	}
396	}
397	qint64 nBytes = data.size();
398
399	// Timeout, reconnect
400	// ------------------
401	if (nBytes == 0) {
402	_latencyChecker->checkReconnect();
403	emit(newMessage(_staID + ": Data timeout, reconnecting", true));
404	continue;
405	}
406	else {
407	emit newBytes(_staID, nBytes);
408	}
409
410	// Output Data
411	// -----------
412	if (_rawOutFile) {
413	_rawOutFile->write(data);
414	_rawOutFile->flush();
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<p_obs> it(_decoder->_obsList);
439	while (it.hasNext()) {
440	p_obs obs = it.next();
441
442	// Check observation epoch
443	// -----------------------
444	if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
445	int week;
446	double sec;
447	currentGPSWeeks(week, sec);
448	const double secPerWeek = 7.0 * 24.0 * 3600.0;
449
450	if (week < obs->_o.GPSWeek) {
451	week += 1;
452	sec -= secPerWeek;
453	}
454	if (week > obs->_o.GPSWeek) {
455	week -= 1;
456	sec += secPerWeek;
457	}
458	double dt = fabs(sec - obs->_o.GPSWeeks);
459	const double maxDt = 600.0;
460	if (week != obs->_o.GPSWeek \|\| dt > maxDt) {
461	emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
462	delete obs;
463	continue;
464	}
465	}
466
467	// RINEX Output
468	// ------------
469	if (_rnx) {
470	long iSec = long(floor(obs->_o.GPSWeeks+0.5));
471	long newTime = obs->_o.GPSWeek * 7243600 + iSec;
472	if (_samplingRate == 0 \|\| iSec % _samplingRate == 0) {
473	_rnx->deepCopy(obs);
474	}
475	_rnx->dumpEpoch(newTime);
476	}
477
478	// PPP Client
479	// ----------
480	if (_PPPclient) {
481	_PPPclient->putNewObs(obs);
482	}
483
484	// Emit new observation signal
485	// ---------------------------
486	bool firstObs = (obs == _decoder->_obsList.first());
487	obs->_status = t_obs::posted;
488	emit newObs(_staID, firstObs, obs);
489	}
490	_decoder->_obsList.clear();
491	}
492	catch (...) {
493	emit(newMessage(_staID + "bncGetThread exception", true));
494	_isToBeDeleted = true;
495	}
496	}
497	}
498
499	// Try Re-Connect
500	////////////////////////////////////////////////////////////////////////////
501	t_irc bncGetThread::tryReconnect() {
502
503	// Easy Return
504	// -----------
505	if (_query && _query->status() == bncNetQuery::running) {
506	_nextSleep = 0;
507	if (_rnx) {
508	_rnx->setReconnectFlag(false);
509	}
510	return success;
511	}
512
513	// Start a new query
514	// -----------------
515	if (!_rawInpFile) {
516
517	sleep(_nextSleep);
518	if (_nextSleep == 0) {
519	_nextSleep = 1;
520	}
521	else {
522	_nextSleep = 2 * _nextSleep;
523	if (_nextSleep > 256) {
524	_nextSleep = 256;
525	}
526	#ifdef MLS_SOFTWARE
527	if (_nextSleep > 4) {
528	_nextSleep = 4;
529	}
530	#endif
531	}
532
533	delete _query;
534	if (_ntripVersion == "U") {
535	_query = new bncNetQueryUdp();
536	}
537	else if (_ntripVersion == "R") {
538	_query = new bncNetQueryRtp();
539	}
540	else if (_ntripVersion == "S") {
541	_query = new bncNetQueryS();
542	}
543	else if (_ntripVersion == "N") {
544	_query = new bncNetQueryV0();
545	}
546	else if (_ntripVersion == "UN") {
547	_query = new bncNetQueryUdp0();
548	}
549	else if (_ntripVersion == "2") {
550	_query = new bncNetQueryV2();
551	}
552	else {
553	_query = new bncNetQueryV1();
554	}
555	if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
556	QByteArray gga = ggaString(_latitude, _longitude, "100.0");
557	_query->startRequest(_mountPoint, gga);
558	}
559	else {
560	_query->startRequest(_mountPoint, "");
561	}
562	if (_query->status() != bncNetQuery::running) {
563	return failure;
564	}
565	}
566
567	if (_rnx) {
568	_rnx->setReconnectFlag(true);
569	}
570
571	return success;
572	}
573
574	// RTCM scan output
575	//////////////////////////////////////////////////////////////////////////////
576	void bncGetThread::scanRTCM() {
577
578	bncSettings settings;
579	if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
580
581	if ( _miscMount == _staID \|\| _miscMount == "ALL" ) {
582
583	// RTCM message types
584	// ------------------
585	for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
586	QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
587	emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
588	}
589
590	// RTCMv3 antenna descriptor
591	// -------------------------
592	for (int ii=0;ii<_decoder->_antType.size();ii++) {
593	QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
594	emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
595	}
596
597	// RTCM Antenna Coordinates
598	// ------------------------
599	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
600	QByteArray antT;
601	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
602	antT = "ARP";
603	}
604	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
605	antT = "APC";
606	}
607	QByteArray ant1, ant2, ant3;
608	ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
609	ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
610	ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
611	emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
612	emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
613	emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
614	if (_decoder->_antList[ii].height_f) {
615	QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
616	emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
617	}
618	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
619	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
620	antT));
621	}
622	}
623	}
624
625	#ifdef MLS_SOFTWARE
626	for (int ii=0; ii <_decoder->_antList.size(); ii++) {
627	QByteArray antT;
628	if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
629	antT = "ARP";
630	}
631	else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
632	antT = "APC";
633	}
634	emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
635	_decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
636	antT));
637	}
638	#endif
639
640
641
642
643	_decoder->_typeList.clear();
644	_decoder->_antType.clear();
645	_decoder->_antList.clear();
646	}
647
648	// Handle Data from Serial Port
649	////////////////////////////////////////////////////////////////////////////
650	void bncGetThread::slotSerialReadyRead() {
651	if (_serialPort) {
652	int nb = _serialPort->bytesAvailable();
653	if (nb > 0) {
654	QByteArray data = _serialPort->read(nb);
655
656	if (_serialNMEA == AUTO_NMEA) {
657	int i1 = data.indexOf("$GPGGA");
658	if (i1 != -1) {
659	int i2 = data.indexOf("*", i1);
660	if (i2 != -1 && data.size() > i2 + 1) {
661	QByteArray gga = data.mid(i1,i2-i1+3);
662	_query->sendNMEA(gga);
663	}
664	}
665	}
666
667	if (_serialOutFile) {
668	_serialOutFile->write(data);
669	_serialOutFile->flush();
670	}
671	}
672	}
673	}
674
675	//
676	//////////////////////////////////////////////////////////////////////////////
677	void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
678	RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
679	RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
680
681	if ( decoder2 ) {
682	QMutexLocker locker(&_mutex);
683
684	string storedPRN;
685	vector<int> IODs;
686
687	if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
688	#ifdef DEBUG_RTCM2_2021
689	QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
690
691	for (unsigned ii = 0; ii < IODs.size(); ii++) {
692	msg += QString(" %1").arg(IODs[ii],4);
693	}
694
695	emit(newMessage(msg.toAscii()));
696	#endif
697	}
698	}
699
700	if ( decoder3 ) {
701	QMutexLocker locker(&_mutex);
702
703	if ( decoder3->storeEph(gpseph) ) {
704	#ifdef DEBUG_RTCM3
705	QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
706	emit(newMessage(msg.toAscii(),true));
707	#endif
708	}
709	}
710	}
711

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