source: ntrip/trunk/BNC/bncgetthread.cpp@ 2712

Last change on this file since 2712 was 2711, checked in by mervart, 14 years ago
File size: 19.8 KB
Line 
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(bncRawFile* rawFile) {
78
79 _rawFile = rawFile;
80 _format = rawFile->format();
81 _staID = rawFile->staID();
82 _rawOutput = false;
83 _ntripVersion = "N";
84
85 initialize();
86}
87
88// Constructor 2
89////////////////////////////////////////////////////////////////////////////
90bncGetThread::bncGetThread(const QUrl& mountPoint,
91 const QByteArray& format,
92 const QByteArray& latitude,
93 const QByteArray& longitude,
94 const QByteArray& nmea,
95 const QByteArray& ntripVersion, const QByteArray& extraStaID) {
96 _rawFile = 0;
97 _mountPoint = mountPoint;
98 _staID = (extraStaID.size() == 0 ? mountPoint.path().mid(1).toAscii() : extraStaID);
99 _format = format;
100 _latitude = latitude;
101 _longitude = longitude;
102 _nmea = nmea;
103 _ntripVersion = ntripVersion;
104
105 bncSettings settings;
106 if (!settings.value("rawOutFile").toString().isEmpty()) {
107 _rawOutput = true;
108 }
109
110 initialize();
111}
112
113// Initialization (common part of the constructor)
114////////////////////////////////////////////////////////////////////////////
115void bncGetThread::initialize() {
116
117 setTerminationEnabled(true);
118
119 bncApp* app = (bncApp*) qApp;
120
121 connect(this, SIGNAL(newMessage(QByteArray,bool)),
122 app, SLOT(slotMessage(const QByteArray,bool)));
123
124 _isToBeDeleted = false;
125 _decoder = 0;
126 _query = 0;
127 _nextSleep = 0;
128 _PPPclient = 0;
129
130 bncSettings settings;
131
132 _miscMount = settings.value("miscMount").toString();
133
134 // RINEX writer
135 // ------------
136 _samplingRate = settings.value("rnxSampl").toInt();
137 if ( settings.value("rnxPath").toString().isEmpty() ) {
138 _rnx = 0;
139 }
140 else {
141 _rnx = new bncRinex(_staID, _mountPoint, _format, _latitude,
142 _longitude, _nmea, _ntripVersion);
143 }
144
145 // Serial Port
146 // -----------
147 _serialNMEA = NO_NMEA;
148 _serialOutFile = 0;
149 _serialPort = 0;
150
151 if (settings.value("serialMountPoint").toString() == _staID) {
152 _serialPort = new QextSerialPort(settings.value("serialPortName").toString() );
153 _serialPort->setTimeout(0,100);
154
155 // Baud Rate
156 // ---------
157 QString hlp = settings.value("serialBaudRate").toString();
158 if (hlp == "110") {
159 _serialPort->setBaudRate(BAUD110);
160 }
161 else if (hlp == "300") {
162 _serialPort->setBaudRate(BAUD300);
163 }
164 else if (hlp == "600") {
165 _serialPort->setBaudRate(BAUD600);
166 }
167 else if (hlp == "1200") {
168 _serialPort->setBaudRate(BAUD1200);
169 }
170 else if (hlp == "2400") {
171 _serialPort->setBaudRate(BAUD2400);
172 }
173 else if (hlp == "4800") {
174 _serialPort->setBaudRate(BAUD4800);
175 }
176 else if (hlp == "9600") {
177 _serialPort->setBaudRate(BAUD9600);
178 }
179 else if (hlp == "19200") {
180 _serialPort->setBaudRate(BAUD19200);
181 }
182 else if (hlp == "38400") {
183 _serialPort->setBaudRate(BAUD38400);
184 }
185 else if (hlp == "57600") {
186 _serialPort->setBaudRate(BAUD57600);
187 }
188 else if (hlp == "115200") {
189 _serialPort->setBaudRate(BAUD115200);
190 }
191
192 // Parity
193 // ------
194 hlp = settings.value("serialParity").toString();
195 if (hlp == "NONE") {
196 _serialPort->setParity(PAR_NONE);
197 }
198 else if (hlp == "ODD") {
199 _serialPort->setParity(PAR_ODD);
200 }
201 else if (hlp == "EVEN") {
202 _serialPort->setParity(PAR_EVEN);
203 }
204 else if (hlp == "SPACE") {
205 _serialPort->setParity(PAR_SPACE);
206 }
207
208 // Data Bits
209 // ---------
210 hlp = settings.value("serialDataBits").toString();
211 if (hlp == "5") {
212 _serialPort->setDataBits(DATA_5);
213 }
214 else if (hlp == "6") {
215 _serialPort->setDataBits(DATA_6);
216 }
217 else if (hlp == "7") {
218 _serialPort->setDataBits(DATA_7);
219 }
220 else if (hlp == "8") {
221 _serialPort->setDataBits(DATA_8);
222 }
223 hlp = settings.value("serialStopBits").toString();
224 if (hlp == "1") {
225 _serialPort->setStopBits(STOP_1);
226 }
227 else if (hlp == "2") {
228 _serialPort->setStopBits(STOP_2);
229 }
230
231 // Flow Control
232 // ------------
233 hlp = settings.value("serialFlowControl").toString();
234 if (hlp == "XONXOFF") {
235 _serialPort->setFlowControl(FLOW_XONXOFF);
236 }
237 else if (hlp == "HARDWARE") {
238 _serialPort->setFlowControl(FLOW_HARDWARE);
239 }
240 else {
241 _serialPort->setFlowControl(FLOW_OFF);
242 }
243
244 // Open Serial Port
245 // ----------------
246 _serialPort->open(QIODevice::ReadWrite|QIODevice::Unbuffered);
247 if (!_serialPort->isOpen()) {
248 delete _serialPort;
249 _serialPort = 0;
250 emit(newMessage((_staID + ": Cannot open serial port\n"), true));
251 }
252 connect(_serialPort, SIGNAL(readyRead()),
253 this, SLOT(slotSerialReadyRead()));
254
255 // Automatic NMEA
256 // --------------
257 if (settings.value("serialAutoNMEA").toString() == "Auto") {
258 _serialNMEA = AUTO_NMEA;
259
260 QString fName = settings.value("serialFileNMEA").toString();
261 if (!fName.isEmpty()) {
262 _serialOutFile = new QFile(fName);
263 if ( Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
264 _serialOutFile->open(QIODevice::WriteOnly | QIODevice::Append);
265 }
266 else {
267 _serialOutFile->open(QIODevice::WriteOnly);
268 }
269 }
270 }
271
272 // Manual NMEA
273 // -----------
274 else {
275 _serialNMEA = MANUAL_NMEA;
276 }
277 }
278
279 // Initialize PPP Client?
280 // ----------------------
281#ifndef MLS_SOFTWARE
282 if (settings.value("pppMount").toString() == _staID) {
283 _PPPclient = new bncPPPclient(_staID);
284 qRegisterMetaType<bncTime>("bncTime");
285 connect(_PPPclient, SIGNAL(newPosition(bncTime, double, double, double)),
286 this, SIGNAL(newPosition(bncTime, double, double, double)));
287 connect(_PPPclient, SIGNAL(newNMEAstr(QByteArray)),
288 this, SIGNAL(newNMEAstr(QByteArray)));
289 }
290#endif
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, _rawFile);
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////////////////////////////////////////////////////////////////////////////
330bncGetThread::~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 _rawFile;
342 delete _serialOutFile;
343 delete _serialPort;
344 delete _latencyChecker;
345 emit getThreadFinished(_staID);
346}
347
348//
349////////////////////////////////////////////////////////////////////////////
350void bncGetThread::terminate() {
351 _isToBeDeleted = true;
352 if (!isRunning()) {
353 delete this;
354 }
355}
356
357// Run
358////////////////////////////////////////////////////////////////////////////
359void bncGetThread::run() {
360
361 while (true) {
362 try {
363 if (_isToBeDeleted) {
364 QThread::exit(0);
365 this->deleteLater();
366 return;
367 }
368
369 if (tryReconnect() != success) {
370 _latencyChecker->checkReconnect();
371 continue;
372 }
373
374 // Delete old observations
375 // -----------------------
376 _decoder->_obsList.clear();
377
378 // Read Data
379 // ---------
380 QByteArray data;
381 if (_query) {
382 _query->waitForReadyRead(data);
383 }
384 else if (_rawFile) {
385 data = _rawFile->readChunk();
386
387 if (data.isEmpty()) {
388 cout << "no more data" << endl;
389 QThread::exit(0);
390 this->deleteLater();
391 return;
392 }
393 }
394 qint64 nBytes = data.size();
395
396 // Timeout, reconnect
397 // ------------------
398 if (nBytes == 0) {
399 _latencyChecker->checkReconnect();
400 emit(newMessage(_staID + ": Data timeout, reconnecting", true));
401 msleep(10000); //sleep 10 sec, G. Weber
402 continue;
403 }
404 else {
405 emit newBytes(_staID, nBytes);
406 }
407
408 // Output Data
409 // -----------
410 if (_rawOutput) {
411 bncApp* app = (bncApp*) qApp;
412 app->writeRawData(data, _staID, _format);
413 }
414
415 if (_serialPort) {
416 slotSerialReadyRead();
417 _serialPort->write(data);
418 }
419
420 // Decode Data
421 // -----------
422 vector<string> errmsg;
423 t_irc irc = _decoder->Decode(data.data(), data.size(), errmsg);
424
425 // Perform various scans and checks
426 // --------------------------------
427 _latencyChecker->checkOutage(irc == success);
428 _latencyChecker->checkObsLatency(_decoder->_obsList);
429 _latencyChecker->checkCorrLatency(_decoder->corrGPSEpochTime());
430
431 emit newLatency(_staID, _latencyChecker->currentLatency());
432
433 scanRTCM();
434
435 // Loop over all observations (observations output)
436 // ------------------------------------------------
437 QListIterator<t_obs> it(_decoder->_obsList);
438 bool firstObs = true;
439 while (it.hasNext()) {
440 const t_obs& obs = it.next();
441
442 // Check observation epoch
443 // -----------------------
444 if (!_rawFile && !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 double currSec = week * secPerWeek + sec;
451 double obsSec = obs.GPSWeek * secPerWeek + obs.GPSWeeks;
452
453 const double maxDt = 600.0;
454
455 if (fabs(currSec - obsSec) > maxDt) {
456 emit( newMessage(_staID + ": Wrong observation epoch(s)", false) );
457 continue;
458 }
459 }
460
461 // RINEX Output
462 // ------------
463 if (_rnx) {
464 long iSec = long(floor(obs.GPSWeeks+0.5));
465 long newTime = obs.GPSWeek * 7*24*3600 + iSec;
466 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
467 _rnx->deepCopy(obs);
468 }
469 _rnx->dumpEpoch(newTime);
470 }
471
472 // PPP Client
473 // ----------
474#ifndef MLS_SOFTWARE
475 if (_PPPclient) {
476 _PPPclient->putNewObs(obs);
477 }
478#endif
479
480 // Emit new observation signal
481 // ---------------------------
482 if (!_isToBeDeleted) {
483 emit newObs(_staID, firstObs, obs);
484 }
485 firstObs = false;
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 (!_rawFile) {
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
636 for (int ii = 0; ii <_decoder->_typeList.size(); ii++) {
637 emit(newRTCMMessage(_staID, _decoder->_typeList[ii]));
638 }
639#endif
640
641
642
643
644 _decoder->_typeList.clear();
645 _decoder->_antType.clear();
646 _decoder->_antList.clear();
647}
648
649// Handle Data from Serial Port
650////////////////////////////////////////////////////////////////////////////
651void bncGetThread::slotSerialReadyRead() {
652 if (_serialPort) {
653 int nb = _serialPort->bytesAvailable();
654 if (nb > 0) {
655 QByteArray data = _serialPort->read(nb);
656
657 if (_serialNMEA == AUTO_NMEA) {
658 int i1 = data.indexOf("$GPGGA");
659 if (i1 != -1) {
660 int i2 = data.indexOf("*", i1);
661 if (i2 != -1 && data.size() > i2 + 1) {
662 QByteArray gga = data.mid(i1,i2-i1+3);
663 _query->sendNMEA(gga);
664 }
665 }
666 }
667
668 if (_serialOutFile) {
669 _serialOutFile->write(data);
670 _serialOutFile->flush();
671 }
672 }
673 }
674}
675
676//
677//////////////////////////////////////////////////////////////////////////////
678void bncGetThread::slotNewEphGPS(gpsephemeris gpseph) {
679 RTCM2Decoder* decoder2 = dynamic_cast<RTCM2Decoder*>(_decoder);
680 RTCM3Decoder* decoder3 = dynamic_cast<RTCM3Decoder*>(_decoder);
681
682 if ( decoder2 ) {
683 QMutexLocker locker(&_mutex);
684
685 string storedPRN;
686 vector<int> IODs;
687
688 if ( decoder2->storeEph(gpseph, storedPRN, IODs) ) {
689#ifdef DEBUG_RTCM2_2021
690 QString msg = _staID + QString(": stored eph %1 IODs").arg(storedPRN.c_str());
691
692 for (unsigned ii = 0; ii < IODs.size(); ii++) {
693 msg += QString(" %1").arg(IODs[ii],4);
694 }
695
696 emit(newMessage(msg.toAscii()));
697#endif
698 }
699 }
700
701 if ( decoder3 ) {
702 QMutexLocker locker(&_mutex);
703
704 if ( decoder3->storeEph(gpseph) ) {
705#ifdef DEBUG_RTCM3
706 QString msg = _staID + QString(": RTCM3Decoder, stored eph for satellite %1").arg(gpseph.satellite);
707 emit(newMessage(msg.toAscii(),true));
708#endif
709 }
710 }
711}
712
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