source: ntrip/trunk/BNC/src/PPP/pppRun.cpp@ 5950

Last change on this file since 5950 was 5950, checked in by mervart, 10 years ago
File size: 13.1 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 Qt::ConnectionType conType = Qt::AutoConnection;
80 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
81 conType = Qt::BlockingQueuedConnection;
82 }
83
84 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_obs>)),
85 this, SLOT(slotNewObs(QByteArray, QList<t_obs>)),conType);
86
87 connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
88 this, SLOT(slotNewEphGPS(gpsephemeris)),conType);
89
90 connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
91 this, SLOT(slotNewEphGlonass(glonassephemeris)),conType);
92
93 connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
94 this, SLOT(slotNewEphGalileo(galileoephemeris)),conType);
95
96 connect(BNC_CORE, SIGNAL(newCorrections(QStringList)),
97 this, SLOT(slotNewCorrections(QStringList)),conType);
98 }
99 else {
100 _rnxObsFile = 0;
101 _rnxNavFile = 0;
102 _corrFile = 0;
103 _maxSpeed = 0;
104 _speed = 0;
105 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
106 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
107 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
108 this, SLOT(slotSetSpeed(int)));
109 }
110}
111
112// Destructor
113////////////////////////////////////////////////////////////////////////////
114t_pppRun::~t_pppRun() {
115}
116
117//
118////////////////////////////////////////////////////////////////////////////
119void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) {
120 QMutexLocker locker(&_mutex);
121 t_ephGPS eph;
122 eph.set(&gpseph);
123 _pppClient->putEphemeris(&eph);
124}
125
126//
127////////////////////////////////////////////////////////////////////////////
128void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) {
129 QMutexLocker locker(&_mutex);
130 t_ephGlo eph;
131 eph.set(&gloeph);
132 _pppClient->putEphemeris(&eph);
133}
134
135//
136////////////////////////////////////////////////////////////////////////////
137void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) {
138 QMutexLocker locker(&_mutex);
139 t_ephGal eph;
140 eph.set(&galeph);
141 _pppClient->putEphemeris(&eph);
142}
143
144//
145////////////////////////////////////////////////////////////////////////////
146void t_pppRun::slotNewObs(QByteArray staID, QList<t_obs> obsList) {
147 QMutexLocker locker(&_mutex);
148
149 if (string(staID.data()) != _opt->_roverName) {
150 return;
151 }
152
153 // Loop over all obsevations (possible different epochs)
154 // -----------------------------------------------------
155 QListIterator<t_obs> it(obsList);
156 while (it.hasNext()) {
157 const t_obs& oldObs = it.next();
158 t_satObs* newObs = new t_satObs;
159
160 newObs->_prn.set(oldObs.satSys, oldObs.satNum);
161 newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks);
162
163 // Find the corresponding data epoch or create a new one
164 // -----------------------------------------------------
165 t_epoData* epoch = 0;
166 deque<t_epoData*>::const_iterator it;
167 for (it = _epoData.begin(); it != _epoData.end(); it++) {
168 if (newObs->_time == (*it)->_time) {
169 epoch = *it;
170 break;
171 }
172 }
173 if (epoch == 0) {
174 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
175 epoch = new t_epoData;
176 epoch->_time = newObs->_time;
177 _epoData.push_back(epoch);
178 }
179 }
180
181 // Fill the new observation and add it to the corresponding epoch
182 // --------------------------------------------------------------
183 if (epoch != 0) {
184 epoch->_satObs.push_back(newObs);
185 map<string, t_frqObs*> frqObsMap;
186 for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
187 string hlp = oldObs.rnxStr(iEntry).toAscii().data();
188 if (hlp.length() >= 2 && oldObs._measdata[iEntry] != 0.0) {
189 char obsType = hlp[0];
190 string rnxType2ch = hlp.substr(1);
191 if (obsType == 'C' || obsType == 'L') {
192 t_frqObs* frqObs = 0;
193 if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) {
194 frqObs = new t_frqObs();
195 frqObsMap[rnxType2ch] = frqObs;
196 frqObs->_rnxType2ch = rnxType2ch;
197 newObs->_obs.push_back(frqObs);
198 }
199 else {
200 frqObs = frqObsMap[rnxType2ch];
201 }
202 if (obsType == 'C') {
203 frqObs->_code = oldObs._measdata[iEntry];
204 frqObs->_codeValid = true;
205 }
206 else if (obsType == 'L') {
207 frqObs->_phase = oldObs._measdata[iEntry];
208 frqObs->_phaseValid = true;
209 }
210 }
211 }
212 }
213 }
214 }
215
216 // Process the oldest epochs
217 // ------------------------
218 while (_epoData.size() &&
219 (!_opt->_realTime || _epoData.front()->_time < _lastClkCorrTime + 10.0)) {
220
221 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
222
223 t_output output;
224 _pppClient->processEpoch(satObs, &output);
225
226 if (!output._error && _opt->xyzAprRoverSet()) {
227 QVector<double> xx(6);
228 xx.data()[0] = output._xyzRover[0];
229 xx.data()[1] = output._xyzRover[1];
230 xx.data()[2] = output._xyzRover[2];
231 xx.data()[3] = output._neu[0];
232 xx.data()[4] = output._neu[1];
233 xx.data()[5] = output._neu[2];
234 emit newPosition(output._epoTime, xx);
235 }
236
237 delete _epoData.front(); _epoData.pop_front();
238
239 emit newMessage(QByteArray(output._log.c_str()), true);
240 }
241}
242
243//
244////////////////////////////////////////////////////////////////////////////
245void t_pppRun::slotNewCorrections(QStringList corrList) {
246 QMutexLocker locker(&_mutex);
247
248 // Check the Mountpoint (source of corrections)
249 // --------------------------------------------
250 if (_opt->_realTime) {
251 if (_opt->_corrMount.empty()) {
252 return;
253 }
254 QMutableListIterator<QString> itm(corrList);
255 while (itm.hasNext()) {
256 QStringList hlp = itm.next().split(" ");
257 if (hlp.size() > 0) {
258 QString mountpoint = hlp[hlp.size()-1];
259 if (mountpoint != QString(_opt->_corrMount.c_str())) {
260 itm.remove();
261 }
262 }
263 }
264 }
265
266 if (corrList.size() == 0) {
267 return;
268 }
269
270 vector<t_orbCorr*> orbCorr;
271 vector<t_clkCorr*> clkCorr;
272 vector<t_satBias*> satBias;
273
274 QListIterator<QString> it(corrList);
275 while (it.hasNext()) {
276 QString line = it.next();
277
278 QTextStream in(&line);
279 int messageType;
280 int updateInterval;
281 int GPSweek;
282 double GPSweeks;
283 QString prn;
284 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
285
286 if ( t_corr::relevantMessageType(messageType) ) {
287 t_corr corr;
288 corr.readLine(line);
289 if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
290 messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) {
291 t_orbCorr* cc = new t_orbCorr();
292 cc->_prn.set(corr.prn.toAscii().data());
293 cc->_iod = corr.iod;
294 cc->_time = corr.tRao;
295 cc->_system = 'R';
296 cc->_xr[0] = corr.rao[0];
297 cc->_xr[1] = corr.rao[1];
298 cc->_xr[2] = corr.rao[2];
299 cc->_dotXr[0] = corr.dotRao[0];
300 cc->_dotXr[0] = corr.dotRao[1];
301 cc->_dotXr[0] = corr.dotRao[2];
302 orbCorr.push_back(cc);
303
304 _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod;
305 }
306 else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
307 messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) {
308 t_clkCorr* cc = new t_clkCorr();
309 cc->_prn.set(corr.prn.toAscii().data());
310 cc->_iod = corr.iod;
311 cc->_time = corr.tClk;
312 cc->_dClk = corr.dClk;
313 cc->_dotDClk = corr.dotDClk;
314 cc->_dotDotDClk = corr.dotDotDClk;
315 cc->_clkPartial = 0.0;
316 if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) {
317 int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()];
318 if (lastIOD != -1) {
319 cc->_iod = lastIOD;
320 }
321 else {
322 delete cc;
323 cc = 0;
324 }
325 }
326 if (cc) {
327 clkCorr.push_back(cc);
328 if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) {
329 _lastClkCorrTime = cc->_time;
330 }
331 }
332 }
333 }
334 else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
335 t_bias bias;
336 bias.readLine(line);
337 }
338 }
339
340 _pppClient->putOrbCorrections(orbCorr);
341 _pppClient->putClkCorrections(clkCorr);
342 _pppClient->putBiases(satBias);
343
344 for (unsigned ii = 0; ii < orbCorr.size(); ii++) {
345 delete orbCorr[ii];
346 }
347 for (unsigned ii = 0; ii < clkCorr.size(); ii++) {
348 delete clkCorr[ii];
349 }
350 for (unsigned ii = 0; ii < satBias.size(); ii++) {
351 delete satBias[ii];
352 }
353}
354
355
356//
357////////////////////////////////////////////////////////////////////////////
358void t_pppRun::processFiles() {
359
360 try {
361 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
362 }
363 catch (...) {
364 delete _rnxObsFile; _rnxObsFile = 0;
365 emit finishedRnxPPP();
366 return;
367 }
368
369 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
370
371 if (!_opt->_corrFile.empty()) {
372 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
373 connect(_corrFile, SIGNAL(newCorrections(QStringList)),
374 this, SLOT(slotNewCorrections(QStringList)));
375 }
376
377 // Read/Process Observations
378 // -------------------------
379 int nEpo = 0;
380 const t_rnxObsFile::t_rnxEpo* epo = 0;
381 while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) {
382 ++nEpo;
383
384 if (_maxSpeed != 0) {
385 QMutexLocker locker(&_mutex);
386 if (_speed < _maxSpeed) {
387 double sleepTime = 0.02 * _maxSpeed / _speed;
388 t_pppThread::msleep(sleepTime*1.e3);
389 }
390 }
391
392 // Get Corrections
393 // ---------------
394 if (_corrFile) {
395 _corrFile->syncRead(epo->tt);
396 }
397
398 // Get Ephemerides
399 // ----------------
400 t_eph* eph = 0;
401 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
402 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
403 _pppClient->putEphemeris(eph);
404 delete eph; eph = 0;
405 }
406
407 // Create list of observations and start epoch processing
408 // ------------------------------------------------------
409 QList<t_obs> obsList;
410 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
411 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
412
413 t_obs obs;
414 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
415 obsList << obs;
416 }
417 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
418
419
420 if (nEpo % 10 == 0) {
421 emit progressRnxPPP(nEpo);
422 }
423
424 QCoreApplication::processEvents();
425 }
426
427 emit finishedRnxPPP();
428
429 if (BNC_CORE->mode() != t_bncCore::interactive) {
430 qApp->exit(0);
431 }
432 else {
433 BNC_CORE->stopPPP();
434 }
435}
436
437//
438////////////////////////////////////////////////////////////////////////////
439void t_pppRun::slotSetSpeed(int speed) {
440 QMutexLocker locker(&_mutex);
441 _speed = speed;
442}
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