source: ntrip/trunk/BNC/bncgetthread.cpp@ 480

Last change on this file since 480 was 476, checked in by weber, 19 years ago

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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
43#include <QFile>
44#include <QTextStream>
45#include <QtNetwork>
46#include <QTime>
47
48#include "bncgetthread.h"
49#include "bnctabledlg.h"
50#include "bncapp.h"
51#include "bncutils.h"
52#include "bncrinex.h"
53#include "bnczerodecoder.h"
54
55#include "RTCM/RTCM2Decoder.h"
56#include "RTCM3/RTCM3Decoder.h"
57#include "RTIGS/RTIGSDecoder.h"
58
59using namespace std;
60
61// Constructor
62////////////////////////////////////////////////////////////////////////////
63bncGetThread::bncGetThread(const QUrl& mountPoint,
64 const QByteArray& format,
65 const QByteArray& latitude,
66 const QByteArray& longitude,
67 const QByteArray& nmea, int iMount) {
68 _decoder = 0;
69 _mountPoint = mountPoint;
70 _staID = mountPoint.path().mid(1).toAscii();
71 _staID_orig = _staID;
72 _format = format;
73 _latitude = latitude;
74 _longitude = longitude;
75 _nmea = nmea;
76 _socket = 0;
77 _timeOut = 20*1000; // 20 seconds
78 _nextSleep = 1; // 1 second
79 _iMount = iMount; // index in mountpoints array
80
81 // Check name conflict
82 // -------------------
83 QSettings settings;
84 QListIterator<QString> it(settings.value("mountPoints").toStringList());
85 int num = 0;
86 int ind = -1;
87 while (it.hasNext()) {
88 ++ind;
89 QStringList hlp = it.next().split(" ");
90 if (hlp.size() <= 1) continue;
91 QUrl url(hlp[0]);
92 if (_mountPoint.path() == url.path()) {
93 if (_iMount > ind) {
94 ++num;
95 }
96 }
97 }
98
99 if (num > 0) {
100 _staID = _staID.left(_staID.length()-1) + QString("%1").arg(num).toAscii();
101 }
102
103 // RINEX writer
104 // ------------
105 _samplingRate = settings.value("rnxSampl").toInt();
106 if ( settings.value("rnxPath").toString().isEmpty() ) {
107 _rnx = 0;
108 }
109 else {
110 _rnx = new bncRinex(_staID, mountPoint, format, latitude, longitude, nmea);
111 }
112
113 msleep(100); //sleep 0.1 sec
114}
115
116// Destructor
117////////////////////////////////////////////////////////////////////////////
118bncGetThread::~bncGetThread() {
119 delete _socket;
120 delete _decoder;
121}
122
123// Connect to Caster, send the Request (static)
124////////////////////////////////////////////////////////////////////////////
125QTcpSocket* bncGetThread::request(const QUrl& mountPoint,
126 QByteArray& latitude, QByteArray& longitude,
127 QByteArray& nmea, int timeOut,
128 QString& msg) {
129
130 // Connect the Socket
131 // ------------------
132 QSettings settings;
133 QString proxyHost = settings.value("proxyHost").toString();
134 int proxyPort = settings.value("proxyPort").toInt();
135
136 QTcpSocket* socket = new QTcpSocket();
137 if ( proxyHost.isEmpty() ) {
138 socket->connectToHost(mountPoint.host(), mountPoint.port());
139 }
140 else {
141 socket->connectToHost(proxyHost, proxyPort);
142 }
143 if (!socket->waitForConnected(timeOut)) {
144 msg += "Connect timeout\n";
145 delete socket;
146 return 0;
147 }
148
149 // Send Request
150 // ------------
151 QString uName = QUrl::fromPercentEncoding(mountPoint.userName().toAscii());
152 QString passW = QUrl::fromPercentEncoding(mountPoint.password().toAscii());
153 QByteArray userAndPwd = uName.toAscii() + ":" + passW.toAscii();
154
155 QUrl hlp;
156 hlp.setScheme("http");
157 hlp.setHost(mountPoint.host());
158 hlp.setPort(mountPoint.port());
159 hlp.setPath(mountPoint.path());
160
161 QByteArray reqStr;
162 if ( proxyHost.isEmpty() ) {
163 if (hlp.path().indexOf("/") != 0) hlp.setPath("/");
164 reqStr = "GET " + hlp.path().toAscii() +
165 " HTTP/1.0\r\n"
166 "User-Agent: NTRIP BNC 1.4\r\n"
167 "Authorization: Basic " +
168 userAndPwd.toBase64() + "\r\n";
169 } else {
170 reqStr = "GET " + hlp.toEncoded() +
171 " HTTP/1.0\r\n"
172 "User-Agent: NTRIP BNC 1.4\r\n"
173 "Authorization: Basic " +
174 userAndPwd.toBase64() + "\r\n";
175 }
176 if (hlp.path().indexOf(".skl") > 0) { reqStr += "Host: " + hlp.host().toAscii() + "\r\n"; }
177 reqStr += "\r\n";
178
179// NMEA string to handle VRS stream
180// --------------------------------
181
182 double lat, lon;
183
184 lat = strtod(latitude,NULL);
185 lon = strtod(longitude,NULL);
186
187 if ((nmea == "yes") && (hlp.path().length() > 2) && (hlp.path().indexOf(".skl") < 0)) {
188 const char* flagN="N";
189 const char* flagE="E";
190 if (lon >180.) {lon=(lon-360.)*(-1.); flagE="W";}
191 if ((lon < 0.) && (lon >= -180.)) {lon=lon*(-1.); flagE="W";}
192 if (lon < -180.) {lon=(lon+360.); flagE="E";}
193 if (lat < 0.) {lat=lat*(-1.); flagN="S";}
194 QTime ttime(QTime::currentTime());
195 int lat_deg = (int)lat;
196 double lat_min=(lat-lat_deg)*60.;
197 int lon_deg = (int)lon;
198 double lon_min=(lon-lon_deg)*60.;
199 int hh = 0 , mm = 0;
200 double ss = 0.0;
201 hh=ttime.hour();
202 mm=ttime.minute();
203 ss=(double)ttime.second()+0.001*ttime.msec();
204 QString gga;
205 gga += "GPGGA,";
206 gga += QString("%1%2%3,").arg((int)hh, 2, 10, QLatin1Char('0')).arg((int)mm, 2, 10, QLatin1Char('0')).arg((int)ss, 2, 10, QLatin1Char('0'));
207 gga += QString("%1%2,").arg((int)lat_deg,2, 10, QLatin1Char('0')).arg(lat_min, 7, 'f', 4, QLatin1Char('0'));
208 gga += flagN;
209 gga += QString(",%1%2,").arg((int)lon_deg,3, 10, QLatin1Char('0')).arg(lon_min, 7, 'f', 4, QLatin1Char('0'));
210 gga += flagE + QString(",1,05,1.00,+00100,M,10.000,M,,");
211 int xori;
212 char XOR = 0;
213 char *Buff =gga.toAscii().data();
214 int iLen = strlen(Buff);
215 for (xori = 0; xori < iLen; xori++) {
216 XOR ^= (char)Buff[xori];
217 }
218 gga += QString("*%1").arg(XOR, 2, 16, QLatin1Char('0'));
219 reqStr += "$";
220 reqStr += gga;
221 reqStr += "\r\n";
222 }
223
224 msg += reqStr;
225
226 socket->write(reqStr, reqStr.length());
227
228 if (!socket->waitForBytesWritten(timeOut)) {
229 msg += "Write timeout\n";
230 delete socket;
231 return 0;
232 }
233
234 return socket;
235}
236
237// Init Run
238////////////////////////////////////////////////////////////////////////////
239t_irc bncGetThread::initRun() {
240
241 // Send the Request
242 // ----------------
243 QString msg;
244
245 _socket = bncGetThread::request(_mountPoint, _latitude, _longitude, _nmea, _timeOut, msg);
246
247 //// emit(newMessage(msg.toAscii()));
248
249 if (!_socket) {
250 return failure;
251 }
252
253 // Read Caster Response
254 // --------------------
255 _socket->waitForReadyRead(_timeOut);
256 if (_socket->canReadLine()) {
257 QString line = _socket->readLine();
258
259 // Skip messages from proxy server
260 // -------------------------------
261 if (line.indexOf("ICY 200 OK") == -1 &&
262 line.indexOf("200 OK") != -1 ) {
263 bool proxyRespond = true;
264 while (true) {
265 if (_socket->canReadLine()) {
266 line = _socket->readLine();
267 if (!proxyRespond) {
268 break;
269 }
270 if (line.trimmed().isEmpty()) {
271 proxyRespond = false;
272 }
273 }
274 else {
275 _socket->waitForReadyRead(_timeOut);
276 if (_socket->bytesAvailable() <= 0) {
277 break;
278 }
279 }
280 }
281 }
282
283 if (line.indexOf("Unauthorized") != -1) {
284 QStringList table;
285 bncTableDlg::getFullTable(_mountPoint.host(), _mountPoint.port(), table);
286 QString net;
287 QStringListIterator it(table);
288 while (it.hasNext()) {
289 QString line = it.next();
290 if (line.indexOf("STR") == 0) {
291 QStringList tags = line.split(";");
292 if (tags.at(1) == _staID_orig) {
293 net = tags.at(7);
294 break;
295 }
296 }
297 }
298
299 QString reg;
300 it.toFront();
301 while (it.hasNext()) {
302 QString line = it.next();
303 if (line.indexOf("NET") == 0) {
304 QStringList tags = line.split(";");
305 if (tags.at(1) == net) {
306 reg = tags.at(7);
307 break;
308 }
309 }
310 }
311 emit(newMessage((_staID + ": Caster Response: " + line +
312 " Adjust User-ID and Password Register, see"
313 "\n " + reg).toAscii()));
314 return fatal;
315 }
316 if (line.indexOf("ICY 200 OK") != 0) {
317 emit(newMessage((_staID + ": Wrong Caster Response:\n" + line).toAscii()));
318 return failure;
319 }
320 }
321 else {
322 emit(newMessage(_staID + ": Response Timeout"));
323 return failure;
324 }
325
326 // Instantiate the filter
327 // ----------------------
328 if (!_decoder) {
329 if (_format.indexOf("RTCM_2") != -1) {
330 emit(newMessage("Get Data: " + _staID + " in RTCM 2.x format"));
331 _decoder = new RTCM2Decoder();
332 }
333 else if (_format.indexOf("RTCM_3") != -1) {
334 emit(newMessage("Get Data: " + _staID + " in RTCM 3.0 format"));
335 _decoder = new RTCM3Decoder();
336 }
337 else if (_format.indexOf("RTIGS") != -1) {
338 emit(newMessage("Get Data: " + _staID + " in RTIGS format"));
339 _decoder = new RTIGSDecoder();
340 }
341 else if (_format.indexOf("SP3") != -1 || _format.indexOf("ZERO") != -1) {
342 emit(newMessage("Get Data: " + _staID + " in original format"));
343 _decoder = new bncZeroDecoder(_staID);
344 }
345 else {
346 emit(newMessage(_staID + ": Unknown data format " + _format));
347 return fatal;
348 }
349 }
350 return success;
351}
352
353// Run
354////////////////////////////////////////////////////////////////////////////
355void bncGetThread::run() {
356
357 t_irc irc = initRun();
358
359 if (irc == fatal) {
360 QThread::exit(1);
361 return;
362 }
363 else if (irc != success) {
364 emit(newMessage(_staID + ": initRun failed, reconnecting"));
365 tryReconnect();
366 }
367
368 // Read Incoming Data
369 // ------------------
370 while (true) {
371 try {
372 if (_socket->state() != QAbstractSocket::ConnectedState) {
373 emit(newMessage(_staID + ": Socket not connected, reconnecting"));
374 tryReconnect();
375 }
376
377
378 _socket->waitForReadyRead(_timeOut);
379 qint64 nBytes = _socket->bytesAvailable();
380 if (nBytes > 0) {
381 char* data = new char[nBytes];
382 _socket->read(data, nBytes);
383
384 _decoder->Decode(data, nBytes);
385 delete [] data;
386
387 for (list<Observation*>::iterator it = _decoder->_obsList.begin();
388 it != _decoder->_obsList.end(); it++) {
389
390 // Check observation epoch
391 // -----------------------
392 int week;
393 double sec;
394 currentGPSWeeks(week, sec);
395
396 const double secPerWeek = 7.0 * 24.0 * 3600.0;
397 const double maxDt = 600.0;
398
399 if (week < (*it)->GPSWeek) {
400 week += 1;
401 sec -= secPerWeek;
402 }
403 if (week > (*it)->GPSWeek) {
404 week -= 1;
405 sec += secPerWeek;
406 }
407 double dt = fabs(sec - (*it)->GPSWeeks);
408 if (week != (*it)->GPSWeek || dt > maxDt) {
409 emit( newMessage("Wrong observation epoch") );
410 delete (*it);
411 continue;
412 }
413
414 // RINEX Output
415 // ------------
416 if (_rnx) {
417 long iSec = long(floor((*it)->GPSWeeks+0.5));
418 long newTime = (*it)->GPSWeek * 7*24*3600 + iSec;
419 if (_samplingRate == 0 || iSec % _samplingRate == 0) {
420 _rnx->deepCopy(*it);
421 }
422 _rnx->dumpEpoch(newTime);
423 }
424
425 emit newBytes(_staID, sizeof(**it));
426 bool firstObs = (it == _decoder->_obsList.begin());
427 emit newObs(_staID, firstObs, *it);
428 }
429 _decoder->_obsList.clear();
430 }
431 else {
432 emit(newMessage(_staID + ": Data Timeout, reconnecting"));
433 tryReconnect();
434 }
435 }
436 catch (const char* msg) {
437 emit(newMessage(_staID + msg));
438 tryReconnect();
439 }
440 }
441}
442
443// Exit
444////////////////////////////////////////////////////////////////////////////
445void bncGetThread::exit(int exitCode) {
446 if (exitCode!= 0) {
447 emit error(_staID);
448 }
449 QThread::exit(exitCode);
450 terminate();
451}
452
453// Try Re-Connect
454////////////////////////////////////////////////////////////////////////////
455void bncGetThread::tryReconnect() {
456 if (_rnx) {
457 _rnx->setReconnectFlag(true);
458 }
459 while (1) {
460 delete _socket; _socket = 0;
461 sleep(_nextSleep);
462 if ( initRun() == success ) {
463 break;
464 }
465 else {
466 _nextSleep *= 2;
467 if (_nextSleep > 256) {
468 _nextSleep = 256;
469 }
470 _nextSleep += rand() % 6;
471 }
472 }
473 _nextSleep = 1;
474}
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