[4757] | 1 |
|
---|
[5719] | 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 | *
|
---|
[5731] | 30 | * Class: t_pppThread, t_pppRun
|
---|
[5719] | 31 | *
|
---|
| 32 | * Purpose: Single PPP Client (running in its own thread)
|
---|
| 33 | *
|
---|
| 34 | * Author: L. Mervart
|
---|
| 35 | *
|
---|
| 36 | * Created: 29-Jul-2014
|
---|
| 37 | *
|
---|
| 38 | * Changes:
|
---|
| 39 | *
|
---|
| 40 | * -----------------------------------------------------------------------*/
|
---|
| 41 |
|
---|
| 42 |
|
---|
[4757] | 43 | #include <iostream>
|
---|
[4775] | 44 | #include <iomanip>
|
---|
[4757] | 45 | #include <string.h>
|
---|
[5782] | 46 | #include <map>
|
---|
[4757] | 47 |
|
---|
[5680] | 48 | #include "pppThread.h"
|
---|
[5068] | 49 | #include "bnccore.h"
|
---|
[4757] | 50 |
|
---|
[5719] | 51 | using namespace BNC;
|
---|
[4757] | 52 | using namespace std;
|
---|
| 53 |
|
---|
| 54 | // Constructor
|
---|
| 55 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5721] | 56 | t_pppThread::t_pppThread(const t_options* opt) : QThread(0) {
|
---|
[5774] | 57 | _opt = opt;
|
---|
| 58 | _pppRun = 0;
|
---|
[5775] | 59 | connect(this, SIGNAL(finished()), this, SLOT(deleteLater()));
|
---|
| 60 |
|
---|
[5767] | 61 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
|
---|
| 62 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
|
---|
[4763] | 63 | }
|
---|
| 64 |
|
---|
| 65 | // Destructor
|
---|
| 66 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5680] | 67 | t_pppThread::~t_pppThread() {
|
---|
[5775] | 68 | cout << "~t_pppThread" << endl;
|
---|
[5731] | 69 | delete _pppRun;
|
---|
[4763] | 70 | }
|
---|
| 71 |
|
---|
| 72 | // Run (virtual)
|
---|
| 73 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5680] | 74 | void t_pppThread::run() {
|
---|
[5742] | 75 | try {
|
---|
| 76 | _pppRun = new t_pppRun(_opt);
|
---|
[5775] | 77 | QThread::exec();
|
---|
[5742] | 78 | }
|
---|
[5763] | 79 | catch (pppExcept exc) {
|
---|
[5768] | 80 | _pppRun = 0;
|
---|
[5766] | 81 | emit newMessage(QByteArray(exc.what().c_str()), true);
|
---|
[5742] | 82 | }
|
---|
[5731] | 83 | }
|
---|
| 84 |
|
---|
| 85 | // Constructor
|
---|
| 86 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5736] | 87 | t_pppRun::t_pppRun(const t_options* opt) {
|
---|
[5731] | 88 | _opt = opt;
|
---|
[5767] | 89 | connect(this, SIGNAL(newMessage(QByteArray,bool)),
|
---|
| 90 | BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
|
---|
[5742] | 91 | if (_opt->_realTime) {
|
---|
[5729] | 92 | connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_obs>)),
|
---|
| 93 | this, SLOT(slotNewObs(QByteArray, QList<t_obs>)));
|
---|
[4757] | 94 |
|
---|
[5722] | 95 | connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
|
---|
| 96 | this, SLOT(slotNewEphGPS(gpsephemeris)));
|
---|
| 97 |
|
---|
| 98 | connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
|
---|
| 99 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
|
---|
| 100 |
|
---|
| 101 | connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
|
---|
| 102 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
|
---|
[4757] | 103 |
|
---|
[5732] | 104 | connect(BNC_CORE, SIGNAL(newCorrections(QStringList)),
|
---|
| 105 | this, SLOT(slotNewCorrections(QStringList)));
|
---|
[5742] | 106 |
|
---|
[5761] | 107 | _pppClient = new t_pppClient(_opt);
|
---|
[5722] | 108 | }
|
---|
[5742] | 109 | else {
|
---|
[5766] | 110 | throw pppExcept("t_pppRun: post-processing not yet implemented");
|
---|
[5742] | 111 | }
|
---|
[5731] | 112 | }
|
---|
[5729] | 113 |
|
---|
[5731] | 114 | // Destructor
|
---|
| 115 | ////////////////////////////////////////////////////////////////////////////
|
---|
| 116 | t_pppRun::~t_pppRun() {
|
---|
[5775] | 117 | cout << "~t_pppRun" << endl;
|
---|
[4757] | 118 | }
|
---|
| 119 |
|
---|
| 120 | //
|
---|
| 121 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5731] | 122 | void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) {
|
---|
[4757] | 123 | QMutexLocker locker(&_mutex);
|
---|
[5742] | 124 | t_ephGPS eph;
|
---|
| 125 | eph.set(&gpseph);
|
---|
[5772] | 126 | _pppClient->putEphemeris(&eph);
|
---|
[4757] | 127 | }
|
---|
| 128 |
|
---|
| 129 | //
|
---|
| 130 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5731] | 131 | void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) {
|
---|
[4757] | 132 | QMutexLocker locker(&_mutex);
|
---|
[5769] | 133 | t_ephGlo eph;
|
---|
| 134 | eph.set(&gloeph);
|
---|
[5772] | 135 | _pppClient->putEphemeris(&eph);
|
---|
[4757] | 136 | }
|
---|
| 137 |
|
---|
| 138 | //
|
---|
| 139 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5769] | 140 | void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) {
|
---|
[5681] | 141 | QMutexLocker locker(&_mutex);
|
---|
[5769] | 142 | t_ephGal eph;
|
---|
| 143 | eph.set(&galeph);
|
---|
[5772] | 144 | _pppClient->putEphemeris(&eph);
|
---|
[4757] | 145 | }
|
---|
| 146 |
|
---|
| 147 | //
|
---|
| 148 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5732] | 149 | void t_pppRun::slotNewCorrections(QStringList corrList) {
|
---|
[4757] | 150 | QMutexLocker locker(&_mutex);
|
---|
[5771] | 151 |
|
---|
| 152 | QStringListIterator it(corrList);
|
---|
| 153 | while (it.hasNext()) {
|
---|
[5775] | 154 | it.next();
|
---|
[5771] | 155 | }
|
---|
| 156 |
|
---|
[5779] | 157 | // _pppClient->putOrbCorrections(const std::vector<t_orbCorr*>& corr);
|
---|
| 158 | // _pppClient->putClkCorrections(const std::vector<t_clkCorr*>& corr);
|
---|
| 159 | // _pppClient->putBiases(const std::vector<t_satBiases*>& biases);
|
---|
[4757] | 160 | }
|
---|
| 161 | //
|
---|
| 162 | ////////////////////////////////////////////////////////////////////////////
|
---|
[5731] | 163 | void t_pppRun::slotNewObs(QByteArray staID, QList<t_obs> obsList) {
|
---|
[4757] | 164 | QMutexLocker locker(&_mutex);
|
---|
[5766] | 165 |
|
---|
[5777] | 166 | if (string(staID.data()) != _opt->_roverName) {
|
---|
| 167 | return;
|
---|
| 168 | }
|
---|
| 169 |
|
---|
[5781] | 170 | // class t_pppObs {
|
---|
| 171 | // std::string _rnxType2ch;
|
---|
| 172 | // double _code;
|
---|
| 173 | // bool _codeValid;
|
---|
| 174 | // double _phase;
|
---|
| 175 | // bool _phaseValid;
|
---|
| 176 | // double _doppler;
|
---|
| 177 | // bool _dopplerValid;
|
---|
| 178 | // double _snr;
|
---|
| 179 | // bool _snrValid;
|
---|
| 180 | // bool _slip;
|
---|
| 181 | // int _slipCounter;
|
---|
| 182 | // int _biasJumpCounter;
|
---|
| 183 | // };
|
---|
| 184 | //
|
---|
| 185 | // class t_pppSatObs {
|
---|
| 186 | // t_prn _prn;
|
---|
| 187 | // bncTime _time;
|
---|
| 188 | // std::vector<t_pppObs> _obs;
|
---|
| 189 | // };
|
---|
| 190 |
|
---|
[5780] | 191 | vector<t_pppSatObs*> pppSatObs;
|
---|
[5778] | 192 | QListIterator<t_obs> it(obsList);
|
---|
| 193 | while (it.hasNext()) {
|
---|
[5780] | 194 | const t_obs& oldObs = it.next();
|
---|
| 195 | t_pppSatObs* newObs = new t_pppSatObs;
|
---|
[5781] | 196 |
|
---|
| 197 | newObs->_prn.set(oldObs.satSys, oldObs.satNum);
|
---|
| 198 | newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks);
|
---|
[5780] | 199 |
|
---|
[5782] | 200 | map<string, t_pppObs*> pppObsMap;
|
---|
| 201 | for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) {
|
---|
| 202 | string hlp(oldObs.rnxStr(iEntry).toAscii().data());
|
---|
| 203 | if (hlp.length() == 3) {
|
---|
| 204 | char obsType = hlp[0];
|
---|
| 205 | string rnxType2ch = hlp.substr(1);
|
---|
[5783] | 206 | if (obsType == 'C' || obsType == 'L') {
|
---|
| 207 | t_pppObs* pppObs = 0;
|
---|
| 208 | if (pppObsMap.find(rnxType2ch) == pppObsMap.end()) {
|
---|
| 209 | pppObs = new t_pppObs();
|
---|
| 210 | pppObsMap[rnxType2ch] = pppObs;
|
---|
| 211 | }
|
---|
| 212 | else {
|
---|
| 213 | pppObs = pppObsMap[rnxType2ch];
|
---|
| 214 | }
|
---|
| 215 | if (obsType == 'C') {
|
---|
| 216 | pppObs->_code = oldObs._measdata[iEntry];
|
---|
| 217 | pppObs->_codeValid = true;
|
---|
| 218 | }
|
---|
| 219 | else if (obsType == 'L') {
|
---|
| 220 | pppObs->_phase = oldObs._measdata[iEntry];
|
---|
| 221 | pppObs->_phaseValid = true;
|
---|
| 222 | }
|
---|
| 223 | }
|
---|
[5782] | 224 | }
|
---|
| 225 | }
|
---|
| 226 |
|
---|
| 227 | //// pppSatObs.push_back(newObs);
|
---|
[5778] | 228 | }
|
---|
[5772] | 229 |
|
---|
[5778] | 230 | t_output output;
|
---|
[5780] | 231 | _pppClient->processEpoch(pppSatObs, &output);
|
---|
[5772] | 232 |
|
---|
[5780] | 233 | for (unsigned ii = 0; ii < pppSatObs.size(); ii++) {
|
---|
| 234 | delete pppSatObs[ii];
|
---|
[5779] | 235 | }
|
---|
[5780] | 236 | pppSatObs.clear();
|
---|
[5779] | 237 |
|
---|
[5772] | 238 | emit newMessage(QByteArray(output._log.c_str()), true);
|
---|
[5589] | 239 | }
|
---|
[5525] | 240 |
|
---|