source: ntrip/trunk/BNC/bncgetthread.cpp@ 2182

Last change on this file since 2182 was 2182, 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 qRegisterMetaType<bncTime>("bncTime");
291 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
292 this, SIGNAL(newPosition(bncTime, double, double, double)));
293 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
294 this, SIGNAL(newNMEAstr(QByteArray)));
295 }
296
297 // Instantiate the decoder
298 // -----------------------
299 if (_format.indexOf("RTCM_2") != -1 || _format.indexOf("RTCM2") != -1 ||
300 _format.indexOf("RTCM 2") != -1 ) {
301 emit(newMessage(_staID + ": Get data in RTCM 2.x format", true));
302 _decoder = new RTCM2Decoder(_staID.data());
303 }
304 else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 ||
305 _format.indexOf("RTCM 3") != -1 ) {
306 emit(newMessage(_staID + ": Get data in RTCM 3.x format", true));
307 _decoder = new RTCM3Decoder(_staID);
308 connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)),
309 this, SIGNAL(newMessage(QByteArray,bool)));
310 }
311 else if (_format.indexOf("RTIGS") != -1) {
312 emit(newMessage(_staID + ": Get data in RTIGS format", true));
313 _decoder = new RTIGSDecoder();
314 }
315 else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) {
316 emit(newMessage(_staID + ": Get Data in GPSS format", true));
317 _decoder = new gpssDecoder();
318 }
319 else if (_format.indexOf("ZERO") != -1) {
320 emit(newMessage(_staID + ": Get data in original format", true));
321 _decoder = new bncZeroDecoder(_staID);
322 }
323 else {
324 emit(newMessage(_staID + ": Unknown data format " + _format, true));
325 _isToBeDeleted = true;
326 }
327
328 _latencyChecker = new latencyChecker(_staID);
329
330 msleep(100); //sleep 0.1 sec
331}
332
333// Destructor
334////////////////////////////////////////////////////////////////////////////
335bncGetThread::~bncGetThread() {
336 if (isRunning()) {
337 wait();
338 }
339 if (_query) {
340 _query->stop();
341 _query->deleteLater();
342 }
343 delete _PPPclient;
344 delete _decoder;
345 delete _rnx;
346 delete _rawInpFile;
347 delete _rawOutFile;
348 delete _serialOutFile;
349 delete _serialPort;
350 delete _latencyChecker;
351 emit getThreadFinished(_staID);
352}
353
354//
355////////////////////////////////////////////////////////////////////////////
356void bncGetThread::terminate() {
357 _isToBeDeleted = true;
358 if (!isRunning()) {
359 delete this;
360 }
361}
362
363// Run
364////////////////////////////////////////////////////////////////////////////
365void bncGetThread::run() {
366
367 while (true) {
368 try {
369 if (_isToBeDeleted) {
370 QThread::exit(0);
371 this->deleteLater();
372 return;
373 }
374
375 if (tryReconnect() != success) {
376 _latencyChecker->checkReconnect();
377 continue;
378 }
379
380 // Delete old observations
381 // -----------------------
382 QListIterator<p_obs> itOld(_decoder->_obsList);
383 while (itOld.hasNext()) {
384 delete itOld.next();
385 }
386 _decoder->_obsList.clear();
387
388 // Read Data
389 // ---------
390 QByteArray data;
391 if (_query) {
392 _query->waitForReadyRead(data);
393 }
394 else if (_rawInpFile) {
395 const qint64 maxBytes = 1024;
396 data = _rawInpFile->read(maxBytes);
397 if (data.isEmpty()) {
398 cout << "no more data" << endl;
399 ::exit(0);
400 }
401 }
402 qint64 nBytes = data.size();
403
404 // Timeout, reconnect
405 // ------------------
406 if (nBytes == 0) {
407 _latencyChecker->checkReconnect();
408 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
409 continue;
410 }
411 else {
412 emit newBytes(_staID, nBytes);
413 }
414
415 // Output Data
416 // -----------
417 if (_rawOutFile) {
418 _rawOutFile->write(data);
419 _rawOutFile->flush();
420 }
421 if (_serialPort) {
422 slotSerialReadyRead();
423 _serialPort->write(data);
424 }
425
426 // Decode Data
427 // -----------
428 vector<string> errmsg;
429 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
430
431 // Perform various scans and checks
432 // --------------------------------
433 _latencyChecker->checkOutage(irc == success);
434 _latencyChecker->checkObsLatency(_decoder->_obsList);
435 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
436
437 emit newLatency(_staID, _latencyChecker->currentLatency());
438
439 scanRTCM();
440
441 // Loop over all observations (observations output)
442 // ------------------------------------------------
443 QListIterator<p_obs> it(_decoder->_obsList);
444 while (it.hasNext()) {
445 p_obs obs = it.next();
446
447 // Check observation epoch
448 // -----------------------
449 if (!_rawInpFile && !dynamic_cast<gpssDecoder*>(_decoder)) {
450 int week;
451 double sec;
452 currentGPSWeeks(week, sec);
453 const double secPerWeek = 7.0 * 24.0 * 3600.0;
454
455 if (week < obs->_o.GPSWeek) {
456 week += 1;
457 sec -= secPerWeek;
458 }
459 if (week > obs->_o.GPSWeek) {
460 week -= 1;
461 sec += secPerWeek;
462 }
463 double dt = fabs(sec - obs->_o.GPSWeeks);
464 const double maxDt = 600.0;
465 if (week != obs->_o.GPSWeek || dt > maxDt) {
466 emit( newMessage(_staID + ": Wrong observation epoch(s)", true) );
467 delete obs;
468 continue;
469 }
470 }
471
472 // RINEX Output
473 // ------------
474 if (_rnx) {
475 long iSec = long(floor(obs->_o.GPSWeeks+0.5));
476 long newTime = obs->_o.GPSWeek * 7*24*3600 + iSec;
477 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
478 _rnx->deepCopy(obs);
479 }
480 _rnx->dumpEpoch(newTime);
481 }
482
483 // PPP Client
484 // ----------
485 if (_PPPclient) {
486 _PPPclient->putNewObs(obs);
487 }
488
489 // Emit new observation signal
490 // ---------------------------
491 bool firstObs = (obs == _decoder->_obsList.first());
492 obs->_status = t_obs::posted;
493 emit newObs(_staID, firstObs, obs);
494 }
495 _decoder->_obsList.clear();
496 }
497 catch (...) {
498 emit(newMessage(_staID + "bncGetThread exception", true));
499 _isToBeDeleted = true;
500 }
501 }
502}
503
504// Try Re-Connect
505////////////////////////////////////////////////////////////////////////////
506t_irc bncGetThread::tryReconnect() {
507
508 // Easy Return
509 // -----------
510 if (_query && _query->status() == bncNetQuery::running) {
511 _nextSleep = 0;
512 if (_rnx) {
513 _rnx->setReconnectFlag(false);
514 }
515 return success;
516 }
517
518 // Start a new query
519 // -----------------
520 if (!_rawInpFile) {
521
522 sleep(_nextSleep);
523 if (_nextSleep == 0) {
524 _nextSleep = 1;
525 }
526 else {
527 _nextSleep = 2 * _nextSleep;
528 if (_nextSleep > 256) {
529 _nextSleep = 256;
530 }
531#ifdef MLS_SOFTWARE
532 if (_nextSleep > 4) {
533 _nextSleep = 4;
534 }
535#endif
536 }
537
538 delete _query;
539 if (_ntripVersion == "U") {
540 _query = new bncNetQueryUdp();
541 }
542 else if (_ntripVersion == "R") {
543 _query = new bncNetQueryRtp();
544 }
545 else if (_ntripVersion == "S") {
546 _query = new bncNetQueryS();
547 }
548 else if (_ntripVersion == "N") {
549 _query = new bncNetQueryV0();
550 }
551 else if (_ntripVersion == "UN") {
552 _query = new bncNetQueryUdp0();
553 }
554 else if (_ntripVersion == "2") {
555 _query = new bncNetQueryV2();
556 }
557 else {
558 _query = new bncNetQueryV1();
559 }
560 if (_nmea == "yes" && _serialNMEA != AUTO_NMEA) {
561 QByteArray gga = ggaString(_latitude, _longitude, "100.0");
562 _query->startRequest(_mountPoint, gga);
563 }
564 else {
565 _query->startRequest(_mountPoint, "");
566 }
567 if (_query->status() != bncNetQuery::running) {
568 return failure;
569 }
570 }
571
572 if (_rnx) {
573 _rnx->setReconnectFlag(true);
574 }
575
576 return success;
577}
578
579// RTCM scan output
580//////////////////////////////////////////////////////////////////////////////
581void bncGetThread::scanRTCM() {
582
583 bncSettings settings;
584 if ( Qt::CheckState(settings.value("scanRTCM").toInt()) == Qt::Checked ) {
585
586 if ( _miscMount == _staID || _miscMount == "ALL" ) {
587
588 // RTCM message types
589 // ------------------
590 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
591 QString type = QString("%1 ").arg(_decoder->_typeList[ii]);
592 emit(newMessage(_staID + ": Received message type " + type.toAscii(), true));
593 }
594
595 // RTCMv3 antenna descriptor
596 // -------------------------
597 for (int ii=0;ii<_decoder->_antType.size();ii++) {
598 QString ant1 = QString("%1 ").arg(_decoder->_antType[ii]);
599 emit(newMessage(_staID + ": Antenna descriptor " + ant1.toAscii(), true));
600 }
601
602 // RTCM Antenna Coordinates
603 // ------------------------
604 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
605 QByteArray antT;
606 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
607 antT = "ARP";
608 }
609 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
610 antT = "APC";
611 }
612 QByteArray ant1, ant2, ant3;
613 ant1 = QString("%1 ").arg(_decoder->_antList[ii].xx,0,'f',4).toAscii();
614 ant2 = QString("%1 ").arg(_decoder->_antList[ii].yy,0,'f',4).toAscii();
615 ant3 = QString("%1 ").arg(_decoder->_antList[ii].zz,0,'f',4).toAscii();
616 emit(newMessage(_staID + ": " + antT + " (ITRF) X " + ant1 + "m", true));
617 emit(newMessage(_staID + ": " + antT + " (ITRF) Y " + ant2 + "m", true));
618 emit(newMessage(_staID + ": " + antT + " (ITRF) Z " + ant3 + "m", true));
619 if (_decoder->_antList[ii].height_f) {
620 QByteArray ant4 = QString("%1 ").arg(_decoder->_antList[ii].height,0,'f',4).toAscii();
621 emit(newMessage(_staID + ": Antenna height above marker " + ant4 + "m", true));
622 }
623 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
624 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
625 antT));
626 }
627 }
628 }
629
630#ifdef MLS_SOFTWARE
631 for (int ii=0; ii <_decoder->_antList.size(); ii++) {
632 QByteArray antT;
633 if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::ARP) {
634 antT = "ARP";
635 }
636 else if (_decoder->_antList[ii].type == GPSDecoder::t_antInfo::APC) {
637 antT = "APC";
638 }
639 emit(newAntCrd(_staID, _decoder->_antList[ii].xx,
640 _decoder->_antList[ii].yy, _decoder->_antList[ii].zz,
641 antT));
642 }
643#endif
644
645
646
647
648 _decoder->_typeList.clear();
649 _decoder->_antType.clear();
650 _decoder->_antList.clear();
651}
652
653// Handle Data from Serial Port
654////////////////////////////////////////////////////////////////////////////
655void bncGetThread::slotSerialReadyRead() {
656 if (_serialPort) {
657 int nb = _serialPort->bytesAvailable();
658 if (nb > 0) {
659 QByteArray data = _serialPort->read(nb);
660
661 if (_serialNMEA == AUTO_NMEA) {
662 int i1 = data.indexOf("$GPGGA");
663 if (i1 != -1) {
664 int i2 = data.indexOf("*", i1);
665 if (i2 != -1 && data.size() > i2 + 1) {
666 QByteArray gga = data.mid(i1,i2-i1+3);
667 _query->sendNMEA(gga);
668 }
669 }
670 }
671
672 if (_serialOutFile) {
673 _serialOutFile->write(data);
674 _serialOutFile->flush();
675 }
676 }
677 }
678}
679
680//
681//////////////////////////////////////////////////////////////////////////////
682void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
683 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
684 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
685
686 if ( decoder2 ) {
687 QMutexLocker locker(&_mutex);
688
689 string storedPRN;
690 vector<int> IODs;
691
692 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
693#ifdef DEBUG_RTCM2_2021
694 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
695
696 for (unsigned ii = 0; ii < IODs.size(); ii++) {
697 msg += QString(" %1").arg(IODs[ii],4);
698 }
699
700 emit(newMessage(msg.toAscii()));
701#endif
702 }
703 }
704
705 if ( decoder3 ) {
706 QMutexLocker locker(&_mutex);
707
708 if ( decoder3->storeEph(gpseph) ) {
709#ifdef DEBUG_RTCM3
710 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
711 emit(newMessage(msg.toAscii(),true));
712#endif
713 }
714 }
715}
716
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