source: ntrip/trunk/BNC/src/PPP/pppRun.cpp@ 5936

Last change on this file since 5936 was 5936, checked in by mervart, 10 years ago
File size: 12.5 KB
Line 
1
2// Part of BNC, a utility for retrieving decoding and
3// converting GNSS data streams from NTRIP broadcasters.
4//
5// Copyright (C) 2007
6// German Federal Agency for Cartography and Geodesy (BKG)
7// http://www.bkg.bund.de
8// Czech Technical University Prague, Department of Geodesy
9// http://www.fsv.cvut.cz
10//
11// Email: euref-ip@bkg.bund.de
12//
13// This program is free software; you can redistribute it and/or
14// modify it under the terms of the GNU General Public License
15// as published by the Free Software Foundation, version 2.
16//
17// This program is distributed in the hope that it will be useful,
18// but WITHOUT ANY WARRANTY; without even the implied warranty of
19// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20// GNU General Public License for more details.
21//
22// You should have received a copy of the GNU General Public License
23// along with this program; if not, write to the Free Software
24// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
25
26/* -------------------------------------------------------------------------
27 * BKG NTRIP Client
28 * -------------------------------------------------------------------------
29 *
30 * Class: t_pppRun
31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
45#include <string.h>
46#include <map>
47
48#include "pppRun.h"
49#include "pppThread.h"
50#include "bnccore.h"
51#include "bncephuser.h"
52#include "rinex/rnxobsfile.h"
53#include "rinex/rnxnavfile.h"
54#include "rinex/corrfile.h"
55
56using namespace BNC_PPP;
57using namespace std;
58
59// Constructor
60////////////////////////////////////////////////////////////////////////////
61t_pppRun::t_pppRun(const t_pppOptions* opt) {
62
63 _opt = opt;
64
65 connect(this, SIGNAL(newMessage(QByteArray,bool)),
66 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
67
68 connect(this, SIGNAL(newPosition(bncTime, QVector<double>)),
69 BNC_CORE, SIGNAL(newPosition(bncTime, QVector<double>)));
70
71 for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) {
72 _lastOrbCorrIOD[iPrn] = -1;
73 _lastClkCorrValue[iPrn] = 0.0;
74 }
75
76 _pppClient = new t_pppClient(_opt);
77
78 if (_opt->_realTime) {
79 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_obs>)),
80 this, SLOT(slotNewObs(QByteArray, QList<t_obs>)));
81
82 connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
83 this, SLOT(slotNewEphGPS(gpsephemeris)));
84
85 connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
86 this, SLOT(slotNewEphGlonass(glonassephemeris)));
87
88 connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
89 this, SLOT(slotNewEphGalileo(galileoephemeris)));
90
91 connect(BNC_CORE, SIGNAL(newCorrections(QStringList)),
92 this, SLOT(slotNewCorrections(QStringList)));
93 }
94 else {
95 _rnxObsFile = 0;
96 _rnxNavFile = 0;
97 _corrFile = 0;
98 _maxSpeed = 0;
99 _speed = 0;
100 }
101}
102
103// Destructor
104////////////////////////////////////////////////////////////////////////////
105t_pppRun::~t_pppRun() {
106}
107
108//
109////////////////////////////////////////////////////////////////////////////
110void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) {
111 QMutexLocker locker(&_mutex);
112 t_ephGPS eph;
113 eph.set(&gpseph);
114 _pppClient->putEphemeris(&eph);
115}
116
117//
118////////////////////////////////////////////////////////////////////////////
119void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) {
120 QMutexLocker locker(&_mutex);
121 t_ephGlo eph;
122 eph.set(&gloeph);
123 _pppClient->putEphemeris(&eph);
124}
125
126//
127////////////////////////////////////////////////////////////////////////////
128void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) {
129 QMutexLocker locker(&_mutex);
130 t_ephGal eph;
131 eph.set(&galeph);
132 _pppClient->putEphemeris(&eph);
133}
134
135//
136////////////////////////////////////////////////////////////////////////////
137void t_pppRun::slotNewObs(QByteArray staID, QList<t_obs> obsList) {
138 QMutexLocker locker(&_mutex);
139
140 if (string(staID.data()) != _opt->_roverName) {
141 return;
142 }
143
144 // Loop over all obsevations (possible different epochs)
145 // -----------------------------------------------------
146 QListIterator<t_obs> it(obsList);
147 while (it.hasNext()) {
148 const t_obs& oldObs = it.next();
149 t_satObs* newObs = new t_satObs;
150
151 newObs->_prn.set(oldObs.satSys, oldObs.satNum);
152 newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks);
153
154 // Find the corresponding data epoch or create a new one
155 // -----------------------------------------------------
156 t_epoData* epoch = 0;
157 deque<t_epoData*>::const_iterator it;
158 for (it = _epoData.begin(); it != _epoData.end(); it++) {
159 if (newObs->_time == (*it)->_time) {
160 epoch = *it;
161 break;
162 }
163 }
164 if (epoch == 0) {
165 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
166 epoch = new t_epoData;
167 epoch->_time = newObs->_time;
168 _epoData.push_back(epoch);
169 }
170 }
171
172 // Fill the new observation and add it to the corresponding epoch
173 // --------------------------------------------------------------
174 if (epoch != 0) {
175 epoch->_satObs.push_back(newObs);
176 map<string, t_frqObs*> frqObsMap;
177 for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
178 string hlp = oldObs.rnxStr(iEntry).toAscii().data();
179 if (hlp.length() >= 2 && oldObs._measdata[iEntry] != 0.0) {
180 char obsType = hlp[0];
181 string rnxType2ch = hlp.substr(1);
182 if (obsType == 'C' || obsType == 'L') {
183 t_frqObs* frqObs = 0;
184 if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) {
185 frqObs = new t_frqObs();
186 frqObsMap[rnxType2ch] = frqObs;
187 frqObs->_rnxType2ch = rnxType2ch;
188 newObs->_obs.push_back(frqObs);
189 }
190 else {
191 frqObs = frqObsMap[rnxType2ch];
192 }
193 if (obsType == 'C') {
194 frqObs->_code = oldObs._measdata[iEntry];
195 frqObs->_codeValid = true;
196 }
197 else if (obsType == 'L') {
198 frqObs->_phase = oldObs._measdata[iEntry];
199 frqObs->_phaseValid = true;
200 }
201 }
202 }
203 }
204 }
205 }
206
207 // Process the oldest epochs
208 // ------------------------
209 while (_epoData.size() &&
210 (!_opt->_realTime || _epoData.front()->_time < _lastClkCorrTime + 10.0)) {
211
212 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
213
214 t_output output;
215 _pppClient->processEpoch(satObs, &output);
216
217 if (!output._error && _opt->xyzAprRoverSet()) {
218 QVector<double> xx(6);
219 xx.data()[0] = output._xyzRover[0];
220 xx.data()[1] = output._xyzRover[1];
221 xx.data()[2] = output._xyzRover[2];
222 xx.data()[3] = output._neu[0];
223 xx.data()[4] = output._neu[1];
224 xx.data()[5] = output._neu[2];
225 emit newPosition(output._epoTime, xx);
226 }
227
228 delete _epoData.front(); _epoData.pop_front();
229
230 emit newMessage(QByteArray(output._log.c_str()), true);
231 }
232}
233
234//
235////////////////////////////////////////////////////////////////////////////
236void t_pppRun::slotNewCorrections(QStringList corrList) {
237 QMutexLocker locker(&_mutex);
238
239 if (_opt->_corrMount.empty()) {
240 return;
241 }
242
243 // Check the Mountpoint (source of corrections)
244 // --------------------------------------------
245 QMutableListIterator<QString> itm(corrList);
246 while (itm.hasNext()) {
247 QStringList hlp = itm.next().split(" ");
248 if (hlp.size() > 0) {
249 QString mountpoint = hlp[hlp.size()-1];
250 if (mountpoint != QString(_opt->_corrMount.c_str())) {
251 itm.remove();
252 }
253 }
254 }
255
256 if (corrList.size() == 0) {
257 return;
258 }
259
260 vector<t_orbCorr*> orbCorr;
261 vector<t_clkCorr*> clkCorr;
262 vector<t_satBias*> satBias;
263
264 QListIterator<QString> it(corrList);
265 while (it.hasNext()) {
266 QString line = it.next();
267
268 QTextStream in(&line);
269 int messageType;
270 int updateInterval;
271 int GPSweek;
272 double GPSweeks;
273 QString prn;
274 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
275
276 if ( t_corr::relevantMessageType(messageType) ) {
277 t_corr corr;
278 corr.readLine(line);
279 if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
280 messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) {
281 t_orbCorr* cc = new t_orbCorr();
282 cc->_prn.set(corr.prn.toAscii().data());
283 cc->_iod = corr.iod;
284 cc->_time = corr.tRao;
285 cc->_system = 'R';
286 cc->_xr[0] = corr.rao[0];
287 cc->_xr[1] = corr.rao[1];
288 cc->_xr[2] = corr.rao[2];
289 cc->_dotXr[0] = corr.dotRao[0];
290 cc->_dotXr[0] = corr.dotRao[1];
291 cc->_dotXr[0] = corr.dotRao[2];
292 orbCorr.push_back(cc);
293
294 _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod;
295 }
296 else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
297 messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) {
298 t_clkCorr* cc = new t_clkCorr();
299 cc->_prn.set(corr.prn.toAscii().data());
300 cc->_iod = corr.iod;
301 cc->_time = corr.tClk;
302 cc->_dClk = corr.dClk;
303 cc->_dotDClk = corr.dotDClk;
304 cc->_dotDotDClk = corr.dotDotDClk;
305 cc->_clkPartial = 0.0;
306 if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) {
307 int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()];
308 if (lastIOD != -1) {
309 cc->_iod = lastIOD;
310 }
311 else {
312 delete cc;
313 cc = 0;
314 }
315 }
316 if (cc) {
317 clkCorr.push_back(cc);
318 if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) {
319 _lastClkCorrTime = cc->_time;
320 }
321 }
322 }
323 }
324 else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
325 t_bias bias;
326 bias.readLine(line);
327 }
328 }
329
330 _pppClient->putOrbCorrections(orbCorr);
331 _pppClient->putClkCorrections(clkCorr);
332 _pppClient->putBiases(satBias);
333
334 for (unsigned ii = 0; ii < orbCorr.size(); ii++) {
335 delete orbCorr[ii];
336 }
337 for (unsigned ii = 0; ii < clkCorr.size(); ii++) {
338 delete clkCorr[ii];
339 }
340 for (unsigned ii = 0; ii < satBias.size(); ii++) {
341 delete satBias[ii];
342 }
343}
344
345
346//
347////////////////////////////////////////////////////////////////////////////
348void t_pppRun::processFiles() {
349
350 try {
351 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
352 }
353 catch (...) {
354 delete _rnxObsFile; _rnxObsFile = 0;
355 emit finished();
356 return;
357 }
358
359 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
360
361 if (!_opt->_corrFile.empty()) {
362 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
363 connect(_corrFile, SIGNAL(newCorrections(QStringList)),
364 this, SLOT(slotNewCorrections(QStringList)));
365 }
366
367 // Read/Process Observations
368 // -------------------------
369 int nEpo = 0;
370 const t_rnxObsFile::t_rnxEpo* epo = 0;
371 while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) {
372 ++nEpo;
373
374 if (_maxSpeed != 0) {
375 QMutexLocker locker(&_mutex);
376 if (_speed < _maxSpeed) {
377 double sleepTime = 0.02 * _maxSpeed / _speed;
378 t_pppThread::msleep(sleepTime*1.e3);
379 }
380 }
381
382 // Get Corrections
383 // ---------------
384 if (_corrFile) {
385 _corrFile->syncRead(epo->tt);
386 }
387
388 // Get Ephemerides
389 // ----------------
390 t_eph* eph = 0;
391 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
392 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
393 _pppClient->putEphemeris(eph);
394 delete eph; eph = 0;
395 }
396
397 // Create list of observations and start epoch processing
398 // ------------------------------------------------------
399 QList<t_obs> obsList;
400 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
401 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
402
403 t_obs obs;
404 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
405 obsList << obs;
406 }
407 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
408
409
410 if (nEpo % 10 == 0) {
411 emit progress(nEpo);
412 }
413 }
414
415 emit finished();
416
417 if (BNC_CORE->mode() != t_bncCore::interactive) {
418 qApp->exit(0);
419 }
420}
421
422//
423////////////////////////////////////////////////////////////////////////////
424void t_pppRun::slotSetSpeed(int speed) {
425 QMutexLocker locker(&_mutex);
426 _speed = speed;
427}
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