source: ntrip/trunk/BNC/bncgetthread.cpp@ 2141

Last change on this file since 2141 was 2141, checked in by mervart, 14 years ago

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File size: 20.0 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(_PPPclient, SIGNAL(newPosition(const double*)),
291 this, SIGNAL(newPosition(const double*)));
292 }
293
294 // Instantiate the decoder
295 // -----------------------
296 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
297 _format.indexOf("RTCM 2") != -1 ) {
298 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
299 _decoder = new RTCM2Decoder(_staID.data());
300 }
301 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
302 _format.indexOf("RTCM 3") != -1 ) {
303 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
304 _decoder = new RTCM3Decoder(_staID);
305 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
306 this, SIGNAL(newMessage(QByteArray,bool)));
307 }
308 else if (_format.indexOf("RTIGS") != -1) {
309 emit(newMessage(_staID + ": Get data in RTIGS format", true));
310 _decoder = new RTIGSDecoder();
311 }
312 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
313 emit(newMessage(_staID + ": Get Data in GPSS format", true));
314 _decoder = new gpssDecoder();
315 }
316 else if (_format.indexOf("ZERO") != -1) {
317 emit(newMessage(_staID + ": Get data in original format", true));
318 _decoder = new bncZeroDecoder(_staID);
319 }
320 else {
321 emit(newMessage(_staID + ": Unknown data format " + _format, true));
322 _isToBeDeleted = true;
323 }
324
325 _latencyChecker = new latencyChecker(_staID);
326
327 msleep(100); //sleep 0.1 sec
328}
329
330// Destructor
331////////////////////////////////////////////////////////////////////////////
332bncGetThread::~bncGetThread() {
333 if (isRunning()) {
334 wait();
335 }
336 if (_query) {
337 _query->stop();
338 _query->deleteLater();
339 }
340 delete _PPPclient;
341 delete _decoder;
342 delete _rnx;
343 delete _rawInpFile;
344 delete _rawOutFile;
345 delete _serialOutFile;
346 delete _serialPort;
347 delete _latencyChecker;
348 emit getThreadFinished(_staID);
349}
350
351//
352////////////////////////////////////////////////////////////////////////////
353void bncGetThread::terminate() {
354 _isToBeDeleted = true;
355 if (!isRunning()) {
356 delete this;
357 }
358}
359
360// Run
361////////////////////////////////////////////////////////////////////////////
362void bncGetThread::run() {
363
364 while (true) {
365 try {
366 if (_isToBeDeleted) {
367 QThread::exit(0);
368 this->deleteLater();
369 return;
370 }
371
372 if (tryReconnect() != success) {
373 _latencyChecker->checkReconnect();
374 continue;
375 }
376
377 // Delete old observations
378 // -----------------------
379 QListIterator<p_obs> itOld(_decoder->_obsList);
380 while (itOld.hasNext()) {
381 delete itOld.next();
382 }
383 _decoder->_obsList.clear();
384
385 // Read Data
386 // ---------
387 QByteArray data;
388 if (_query) {
389 _query->waitForReadyRead(data);
390 }
391 else if (_rawInpFile) {
392 const qint64 maxBytes = 1024;
393 data = _rawInpFile->read(maxBytes);
394 if (data.isEmpty()) {
395 cout << "no more data" << endl;
396 ::exit(0);
397 }
398 }
399 qint64 nBytes = data.size();
400
401 // Timeout, reconnect
402 // ------------------
403 if (nBytes == 0) {
404 _latencyChecker->checkReconnect();
405 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
406 continue;
407 }
408 else {
409 emit newBytes(_staID, nBytes);
410 }
411
412 // Output Data
413 // -----------
414 if (_rawOutFile) {
415 _rawOutFile->write(data);
416 _rawOutFile->flush();
417 }
418 if (_serialPort) {
419 slotSerialReadyRead();
420 _serialPort->write(data);
421 }
422
423 // Decode Data
424 // -----------
425 vector<string> errmsg;
426 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
427
428 // Perform various scans and checks
429 // --------------------------------
430 _latencyChecker->checkOutage(irc == success);
431 _latencyChecker->checkObsLatency(_decoder->_obsList);
432 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
433
434 emit newLatency(_staID, _latencyChecker->currentLatency());
435
436 scanRTCM();
437
438 // Loop over all observations (observations output)
439 // ------------------------------------------------
440 QListIterator<p_obs> it(_decoder->_obsList);
441 while (it.hasNext()) {
442 p_obs obs = it.next();
443
444 // Check observation epoch
445 // -----------------------
446 if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
447 int week;
448 double sec;
449 currentGPSWeeks(week, sec);
450 const double secPerWeek = 7.0 * 24.0 * 3600.0;
451
452 if (week < obs->_o.GPSWeek) {
453 week += 1;
454 sec -= secPerWeek;
455 }
456 if (week > obs->_o.GPSWeek) {
457 week -= 1;
458 sec += secPerWeek;
459 }
460 double dt = fabs(sec - obs->_o.GPSWeeks);
461 const double maxDt = 600.0;
462 if (week != obs->_o.GPSWeek || dt > maxDt) {
463 emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
464 delete obs;
465 continue;
466 }
467 }
468
469 // RINEX Output
470 // ------------
471 if (_rnx) {
472 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
473 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
474 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
475 _rnx->deepCopy(obs);
476 }
477 _rnx->dumpEpoch(newTime);
478 }
479
480 // PPP Client
481 // ----------
482 if (_PPPclient) {
483 _PPPclient->putNewObs(obs);
484 }
485
486 // Emit new observation signal
487 // ---------------------------
488 bool firstObs = (obs == _decoder->_obsList.first());
489 obs->_status = t_obs::posted;
490 emit newObs(_staID, firstObs, obs);
491 }
492 _decoder->_obsList.clear();
493 }
494 catch (...) {
495 emit(newMessage(_staID + "bncGetThread exception", true));
496 _isToBeDeleted = true;
497 }
498 }
499}
500
501// Try Re-Connect
502////////////////////////////////////////////////////////////////////////////
503t_irc bncGetThread::tryReconnect() {
504
505 // Easy Return
506 // -----------
507 if (_query && _query->status() == bncNetQuery::running) {
508 _nextSleep = 0;
509 if (_rnx) {
510 _rnx->setReconnectFlag(false);
511 }
512 return success;
513 }
514
515 // Start a new query
516 // -----------------
517 if (!_rawInpFile) {
518
519 sleep(_nextSleep);
520 if (_nextSleep == 0) {
521 _nextSleep = 1;
522 }
523 else {
524 _nextSleep = 2 * _nextSleep;
525 if (_nextSleep > 256) {
526 _nextSleep = 256;
527 }
528#ifdef MLS_SOFTWARE
529 if (_nextSleep > 4) {
530 _nextSleep = 4;
531 }
532#endif
533 }
534
535 delete _query;
536 if (_ntripVersion == "U") {
537 _query = new bncNetQueryUdp();
538 }
539 else if (_ntripVersion == "R") {
540 _query = new bncNetQueryRtp();
541 }
542 else if (_ntripVersion == "S") {
543 _query = new bncNetQueryS();
544 }
545 else if (_ntripVersion == "N") {
546 _query = new bncNetQueryV0();
547 }
548 else if (_ntripVersion == "UN") {
549 _query = new bncNetQueryUdp0();
550 }
551 else if (_ntripVersion == "2") {
552 _query = new bncNetQueryV2();
553 }
554 else {
555 _query = new bncNetQueryV1();
556 }
557 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
558 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
559 _query->startRequest(_mountPoint, gga);
560 }
561 else {
562 _query->startRequest(_mountPoint, "");
563 }
564 if (_query->status() != bncNetQuery::running) {
565 return failure;
566 }
567 }
568
569 if (_rnx) {
570 _rnx->setReconnectFlag(true);
571 }
572
573 return success;
574}
575
576// RTCM scan output
577//////////////////////////////////////////////////////////////////////////////
578void bncGetThread::scanRTCM() {
579
580 bncSettings settings;
581 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
582
583 if ( _miscMount == _staID || _miscMount == "ALL" ) {
584
585 // RTCM message types
586 // ------------------
587 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
588 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
589 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
590 }
591
592 // RTCMv3 antenna descriptor
593 // -------------------------
594 for (int ii=0;ii<_decoder->_antType.size();ii++) {
595 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
596 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
597 }
598
599 // RTCM Antenna Coordinates
600 // ------------------------
601 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
602 QByteArray antT;
603 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
604 antT = "ARP";
605 }
606 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
607 antT = "APC";
608 }
609 QByteArray ant1, ant2, ant3;
610 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
611 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
612 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
613 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
614 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
615 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
616 if (_decoder->_antList[ii].height_f) {
617 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
618 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
619 }
620 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
621 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
622 antT));
623 }
624 }
625 }
626
627#ifdef MLS_SOFTWARE
628 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
629 QByteArray antT;
630 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
631 antT = "ARP";
632 }
633 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
634 antT = "APC";
635 }
636 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
637 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
638 antT));
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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