[5860] | 1 |
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| 2 | // Part of BNC, a utility for retrieving decoding and
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| 3 | // converting GNSS data streams from NTRIP broadcasters.
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| 4 | //
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| 5 | // Copyright (C) 2007
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| 6 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 7 | // http://www.bkg.bund.de
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| 8 | // Czech Technical University Prague, Department of Geodesy
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| 9 | // http://www.fsv.cvut.cz
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| 10 | //
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| 11 | // Email: euref-ip@bkg.bund.de
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| 12 | //
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| 13 | // This program is free software; you can redistribute it and/or
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| 14 | // modify it under the terms of the GNU General Public License
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| 15 | // as published by the Free Software Foundation, version 2.
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| 16 | //
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| 17 | // This program is distributed in the hope that it will be useful,
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| 18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 20 | // GNU General Public License for more details.
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| 21 | //
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| 22 | // You should have received a copy of the GNU General Public License
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| 23 | // along with this program; if not, write to the Free Software
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| 24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 25 |
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| 26 | /* -------------------------------------------------------------------------
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| 27 | * BKG NTRIP Client
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| 28 | * -------------------------------------------------------------------------
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| 29 | *
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| 30 | * Class: t_pppRunRealTime
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| 31 | *
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| 32 | * Purpose: Single Real-Time PPP Client
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| 33 | *
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| 34 | * Author: L. Mervart
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| 35 | *
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| 36 | * Created: 29-Jul-2014
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| 37 | *
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| 38 | * Changes:
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| 39 | *
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| 40 | * -----------------------------------------------------------------------*/
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| 41 |
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| 42 |
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| 43 | #include <iostream>
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| 44 | #include <iomanip>
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| 45 | #include <string.h>
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| 46 | #include <map>
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| 47 |
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| 48 | #include "pppRunRealTime.h"
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| 49 | #include "bnccore.h"
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| 50 | #include "bncephuser.h"
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| 51 |
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| 52 | using namespace BNC_PPP;
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| 53 | using namespace std;
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| 54 |
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| 55 | // Constructor
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| 56 | ////////////////////////////////////////////////////////////////////////////
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| 57 | t_pppRunRealTime::t_pppRunRealTime(const t_pppOptions* opt) {
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| 58 | _opt = opt;
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| 59 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
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| 60 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
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| 61 | if (_opt->_realTime) {
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| 62 | connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_obs>)),
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| 63 | this, SLOT(slotNewObs(QByteArray, QList<t_obs>)));
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| 64 |
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| 65 | connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
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| 66 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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| 67 |
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| 68 | connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
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| 69 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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| 70 |
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| 71 | connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
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| 72 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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| 73 |
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| 74 | connect(BNC_CORE, SIGNAL(newCorrections(QStringList)),
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| 75 | this, SLOT(slotNewCorrections(QStringList)));
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| 76 |
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[5873] | 77 | connect(this, SIGNAL(newPosition(bncTime, double, double, double)),
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[5876] | 78 | BNC_CORE, SIGNAL(slotNewPosition(bncTime, double, double, double)));
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[5873] | 79 |
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[5860] | 80 | for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) {
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| 81 | _lastOrbCorrIOD[iPrn] = -1;
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| 82 | _lastClkCorrValue[iPrn] = 0.0;
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| 83 | }
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| 84 |
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| 85 | _pppClient = new t_pppClient(_opt);
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| 86 | }
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| 87 | else {
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| 88 | throw t_except("t_pppRunRealTime: post-processing not yet implemented");
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| 89 | }
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| 90 | }
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| 91 |
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| 92 | // Destructor
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| 93 | ////////////////////////////////////////////////////////////////////////////
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| 94 | t_pppRunRealTime::~t_pppRunRealTime() {
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| 95 | }
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| 96 |
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| 97 | //
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| 98 | ////////////////////////////////////////////////////////////////////////////
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| 99 | void t_pppRunRealTime::slotNewEphGPS(gpsephemeris gpseph) {
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| 100 | QMutexLocker locker(&_mutex);
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| 101 | t_ephGPS eph;
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| 102 | eph.set(&gpseph);
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| 103 | _pppClient->putEphemeris(&eph);
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| 104 | }
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| 105 |
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| 106 | //
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| 107 | ////////////////////////////////////////////////////////////////////////////
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| 108 | void t_pppRunRealTime::slotNewEphGlonass(glonassephemeris gloeph) {
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| 109 | QMutexLocker locker(&_mutex);
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| 110 | t_ephGlo eph;
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| 111 | eph.set(&gloeph);
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| 112 | _pppClient->putEphemeris(&eph);
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| 113 | }
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| 114 |
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| 115 | //
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| 116 | ////////////////////////////////////////////////////////////////////////////
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| 117 | void t_pppRunRealTime::slotNewEphGalileo(galileoephemeris galeph) {
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| 118 | QMutexLocker locker(&_mutex);
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| 119 | t_ephGal eph;
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| 120 | eph.set(&galeph);
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| 121 | _pppClient->putEphemeris(&eph);
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| 122 | }
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| 123 |
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| 124 | //
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| 125 | ////////////////////////////////////////////////////////////////////////////
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| 126 | void t_pppRunRealTime::slotNewObs(QByteArray staID, QList<t_obs> obsList) {
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| 127 | QMutexLocker locker(&_mutex);
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| 128 |
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| 129 | if (string(staID.data()) != _opt->_roverName) {
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| 130 | return;
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| 131 | }
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| 132 |
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| 133 | // Loop over all obsevations (possible different epochs)
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| 134 | // -----------------------------------------------------
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| 135 | QListIterator<t_obs> it(obsList);
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| 136 | while (it.hasNext()) {
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| 137 | const t_obs& oldObs = it.next();
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| 138 | t_satObs* newObs = new t_satObs;
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| 139 |
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| 140 | newObs->_prn.set(oldObs.satSys, oldObs.satNum);
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| 141 | newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks);
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| 142 |
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| 143 | // Find the corresponding data epoch or create a new one
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| 144 | // -----------------------------------------------------
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| 145 | t_epoData* epoch = 0;
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| 146 | deque<t_epoData*>::const_iterator it;
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| 147 | for (it = _epoData.begin(); it != _epoData.end(); it++) {
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| 148 | if (newObs->_time == (*it)->_time) {
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| 149 | epoch = *it;
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| 150 | break;
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| 151 | }
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| 152 | }
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| 153 | if (epoch == 0) {
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| 154 | if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
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| 155 | epoch = new t_epoData;
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| 156 | epoch->_time = newObs->_time;
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| 157 | _epoData.push_back(epoch);
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| 158 | }
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| 159 | }
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| 160 |
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| 161 | // Fill the new observation and add it to the corresponding epoch
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| 162 | // --------------------------------------------------------------
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| 163 | if (epoch != 0) {
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| 164 | epoch->_satObs.push_back(newObs);
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| 165 | map<string, t_frqObs*> frqObsMap;
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| 166 | for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
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| 167 | string hlp(oldObs.rnxStr(iEntry).toAscii().data());
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| 168 | if (hlp.length() == 3) {
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| 169 | char obsType = hlp[0];
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| 170 | string rnxType2ch = hlp.substr(1);
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| 171 | if (obsType == 'C' || obsType == 'L') {
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| 172 | t_frqObs* frqObs = 0;
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| 173 | if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) {
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| 174 | frqObs = new t_frqObs();
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| 175 | frqObsMap[rnxType2ch] = frqObs;
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| 176 | frqObs->_rnxType2ch = rnxType2ch;
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| 177 | newObs->_obs.push_back(frqObs);
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| 178 | }
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| 179 | else {
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| 180 | frqObs = frqObsMap[rnxType2ch];
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| 181 | }
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| 182 | if (obsType == 'C') {
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| 183 | frqObs->_code = oldObs._measdata[iEntry];
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| 184 | frqObs->_codeValid = true;
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| 185 | }
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| 186 | else if (obsType == 'L') {
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| 187 | frqObs->_phase = oldObs._measdata[iEntry];
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| 188 | frqObs->_phaseValid = true;
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| 189 | }
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| 190 | }
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| 191 | }
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| 192 | }
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| 193 | }
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| 194 | }
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| 195 |
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| 196 | // Process the oldest epochs
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| 197 | // ------------------------
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| 198 | while (_epoData.size() && _epoData.front()->_time < _lastClkCorrTime + 10.0) {
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| 199 |
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| 200 | const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
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| 201 |
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| 202 | t_output output;
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| 203 | _pppClient->processEpoch(satObs, &output);
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| 204 |
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[5873] | 205 | if (!output._error && _opt->xyzAprRoverSet()) {
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| 206 | ColumnVector dx(3);
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| 207 | dx[0] = _opt->_xyzAprRover[0] - output._xyzRover[0];
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| 208 | dx[1] = _opt->_xyzAprRover[1] - output._xyzRover[1];
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| 209 | dx[2] = _opt->_xyzAprRover[2] - output._xyzRover[2];
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| 210 | emit newPosition (output._epoTime, dx[0], dx[1], dx[2]);
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| 211 | }
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| 212 |
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[5860] | 213 | delete _epoData.front(); _epoData.pop_front();
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| 214 |
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| 215 | emit newMessage(QByteArray(output._log.c_str()), true);
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| 216 | }
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| 217 | }
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| 218 |
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| 219 | //
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| 220 | ////////////////////////////////////////////////////////////////////////////
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| 221 | void t_pppRunRealTime::slotNewCorrections(QStringList corrList) {
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| 222 | QMutexLocker locker(&_mutex);
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| 223 |
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| 224 | if (_opt->_corrMount.empty()) {
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| 225 | return;
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| 226 | }
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| 227 |
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| 228 | // Check the Mountpoint (source of corrections)
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| 229 | // --------------------------------------------
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| 230 | QMutableListIterator<QString> itm(corrList);
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| 231 | while (itm.hasNext()) {
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| 232 | QStringList hlp = itm.next().split(" ");
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| 233 | if (hlp.size() > 0) {
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| 234 | QString mountpoint = hlp[hlp.size()-1];
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| 235 | if (mountpoint != QString(_opt->_corrMount.c_str())) {
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| 236 | itm.remove();
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| 237 | }
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| 238 | }
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| 239 | }
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| 240 |
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| 241 | if (corrList.size() == 0) {
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| 242 | return;
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| 243 | }
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| 244 |
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| 245 | vector<t_orbCorr*> orbCorr;
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| 246 | vector<t_clkCorr*> clkCorr;
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| 247 | vector<t_satBias*> satBias;
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| 248 |
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| 249 | QListIterator<QString> it(corrList);
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| 250 | while (it.hasNext()) {
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| 251 | QString line = it.next();
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| 252 |
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| 253 | QTextStream in(&line);
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| 254 | int messageType;
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| 255 | int updateInterval;
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| 256 | int GPSweek;
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| 257 | double GPSweeks;
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| 258 | QString prn;
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| 259 | in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
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| 260 |
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| 261 | if ( t_corr::relevantMessageType(messageType) ) {
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| 262 | t_corr corr;
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| 263 | corr.readLine(line);
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| 264 | if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
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| 265 | messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) {
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| 266 | t_orbCorr* cc = new t_orbCorr();
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| 267 | cc->_prn.set(corr.prn.toAscii().data());
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| 268 | cc->_iod = corr.iod;
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| 269 | cc->_time = corr.tRao;
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| 270 | cc->_system = 'R';
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| 271 | cc->_xr[0] = corr.rao[0];
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| 272 | cc->_xr[1] = corr.rao[1];
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| 273 | cc->_xr[2] = corr.rao[2];
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| 274 | cc->_dotXr[0] = corr.dotRao[0];
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| 275 | cc->_dotXr[0] = corr.dotRao[1];
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| 276 | cc->_dotXr[0] = corr.dotRao[2];
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| 277 | orbCorr.push_back(cc);
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| 278 |
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| 279 | _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod;
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| 280 | }
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| 281 | else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
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| 282 | messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) {
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| 283 | t_clkCorr* cc = new t_clkCorr();
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| 284 | cc->_prn.set(corr.prn.toAscii().data());
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| 285 | cc->_iod = corr.iod;
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| 286 | cc->_time = corr.tClk;
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| 287 | cc->_dClk = corr.dClk;
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| 288 | cc->_dotDClk = corr.dotDClk;
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| 289 | cc->_dotDotDClk = corr.dotDotDClk;
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| 290 | cc->_clkPartial = 0.0;
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| 291 | if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) {
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| 292 | int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()];
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| 293 | if (lastIOD != -1) {
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| 294 | cc->_iod = lastIOD;
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| 295 | }
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| 296 | else {
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| 297 | delete cc;
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| 298 | cc = 0;
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| 299 | }
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| 300 | }
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| 301 | if (cc) {
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| 302 | clkCorr.push_back(cc);
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| 303 | if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) {
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| 304 | _lastClkCorrTime = cc->_time;
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| 305 | }
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| 306 | }
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| 307 | }
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| 308 | }
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| 309 | else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
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| 310 | t_bias bias;
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| 311 | bias.readLine(line);
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| 312 | }
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| 313 | }
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| 314 |
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| 315 | _pppClient->putOrbCorrections(orbCorr);
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| 316 | _pppClient->putClkCorrections(clkCorr);
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| 317 | _pppClient->putBiases(satBias);
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| 318 |
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| 319 | for (unsigned ii = 0; ii < orbCorr.size(); ii++) {
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| 320 | delete orbCorr[ii];
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| 321 | }
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| 322 | for (unsigned ii = 0; ii < clkCorr.size(); ii++) {
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| 323 | delete clkCorr[ii];
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| 324 | }
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| 325 | for (unsigned ii = 0; ii < satBias.size(); ii++) {
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| 326 | delete satBias[ii];
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| 327 | }
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| 328 | }
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