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2 | #include <iostream>
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3 | #include <string.h>
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4 |
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5 | #include "bncrtrover.h"
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6 | #include "bncapp.h"
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7 | #include "bncsettings.h"
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8 | #include "bnctime.h"
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9 |
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10 | #include "rtrover_interface.h"
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11 |
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12 | using namespace std;
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13 |
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14 | // Constructor
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15 | ////////////////////////////////////////////////////////////////////////////
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16 | t_bncRtrover::t_bncRtrover() : QThread(0) {
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17 | }
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18 |
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19 | // Destructor
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20 | ////////////////////////////////////////////////////////////////////////////
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21 | t_bncRtrover::~t_bncRtrover() {
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22 | rtrover_destroy();
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23 | }
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24 |
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25 | // Run (virtual)
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26 | ////////////////////////////////////////////////////////////////////////////
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27 | void t_bncRtrover::run() {
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28 | bncSettings settings;
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29 |
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30 | // User Options
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31 | // ------------
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32 | _mode = settings.value("rtroverMode").toByteArray();
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33 | _roverMount = settings.value("rtroverRoverMount").toByteArray();
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34 | _baseMount = settings.value("rtroverBaseMount").toByteArray();
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35 | _corrMount = settings.value("rtroverCorrMount").toByteArray();
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36 | _outputFile.setFileName(settings.value("rtroverOutput").toString());
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37 | _outputFile.open(QIODevice::WriteOnly | QIODevice::Text);
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38 |
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39 | // Define Input Options
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40 | // --------------------
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41 | rtrover_opt opt;
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42 |
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43 | opt._roverName = strdup(_roverMount.data());
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44 | opt._baseName = strdup(_baseMount.data());
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45 | opt._xyzAprRover[0] = settings.value("rtroverRoverRefCrdX").toDouble();
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46 | opt._xyzAprRover[1] = settings.value("rtroverRoverRefCrdY").toDouble();
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47 | opt._xyzAprRover[2] = settings.value("rtroverRoverRefCrdZ").toDouble();
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48 | opt._xyzAprBase[0] = settings.value("rtroverBaseRefCrdX").toDouble();
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49 | opt._xyzAprBase[1] = settings.value("rtroverBaseRefCrdY").toDouble();
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50 | opt._xyzAprBase[2] = settings.value("rtroverBaseRefCrdZ").toDouble();
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51 | opt._sigmaPhase = 0.002; // TODO
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52 | opt._sigmaCode = 2.0; // TODO
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53 |
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54 | rtrover_setOptions(&opt);
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55 |
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56 | free(opt._roverName);
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57 | free(opt._baseName);
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58 |
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59 | // Connect to BNC Signals
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60 | // ----------------------
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61 | connect(((bncApp*)qApp), SIGNAL(newCorrections(QList<QString>)),
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62 | this, SLOT(slotNewCorrections(QList<QString>)));
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63 |
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64 | connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)),
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65 | this, SLOT(slotNewEphGPS(gpsephemeris)));
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66 |
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67 | connect(((bncApp*)qApp), SIGNAL(newEphGlonass(glonassephemeris)),
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68 | this, SLOT(slotNewEphGlonass(glonassephemeris)));
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69 |
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70 | connect(((bncApp*)qApp), SIGNAL(newEphGalileo(galileoephemeris)),
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71 | this, SLOT(slotNewEphGalileo(galileoephemeris)));
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72 |
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73 | // Start processing loop
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74 | // ---------------------
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75 | QThread::exec();
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76 | }
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77 |
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78 | //
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79 | ////////////////////////////////////////////////////////////////////////////
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80 | void t_bncRtrover::slotNewEphGPS(gpsephemeris gpseph) {
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81 | QMutexLocker locker(&_mutex);
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82 |
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83 | bncTime toc(gpseph.GPSweek, gpseph.TOC);
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84 | bncTime toe(gpseph.GPSweek, gpseph.TOE);
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85 |
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86 | rtrover_ephGPS eph;
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87 | eph._satellite._system = 'G';
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88 | eph._satellite._number = gpseph.satellite;
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89 | eph._TOC._mjd = toc.mjd();
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90 | eph._TOC._sec = toc.daysec();
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91 | eph._TOE._mjd = toe.mjd();
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92 | eph._TOE._sec = toe.daysec();
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93 | eph._IODE = gpseph.IODE;
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94 | eph._IODC = gpseph.IODC;
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95 | eph._clock_bias = gpseph.clock_bias;
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96 | eph._clock_drift = gpseph.clock_drift;
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97 | eph._clock_driftrate = gpseph.clock_driftrate;
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98 | eph._Crs = gpseph.Crs;
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99 | eph._Delta_n = gpseph.Delta_n;
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100 | eph._M0 = gpseph.M0;
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101 | eph._Cuc = gpseph.Cuc;
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102 | eph._e = gpseph.e;
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103 | eph._Cus = gpseph.Cus;
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104 | eph._sqrt_A = gpseph.sqrt_A;
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105 | eph._Cic = gpseph.Cic;
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106 | eph._OMEGA0 = gpseph.OMEGA0;
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107 | eph._Cis = gpseph.Cis;
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108 | eph._i0 = gpseph.i0;
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109 | eph._Crc = gpseph.Crc;
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110 | eph._omega = gpseph.omega;
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111 | eph._OMEGADOT = gpseph.OMEGADOT;
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112 | eph._IDOT = gpseph.IDOT;
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113 | eph._TGD = gpseph.TGD;
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114 | eph._health = gpseph.SVhealth;
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115 |
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116 | rtrover_putGPSEphemeris(&eph);
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117 | }
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118 |
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119 | //
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120 | ////////////////////////////////////////////////////////////////////////////
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121 | void t_bncRtrover::slotNewEphGlonass(glonassephemeris gloeph) {
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122 | QMutexLocker locker(&_mutex);
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123 |
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124 | int wwUTC = gloeph.GPSWeek;
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125 | int towUTC = gloeph.GPSTOW;
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126 | updatetime(&wwUTC, &towUTC, gloeph.tb*1000, 1); // Moscow -> UTC
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127 | bncTime tUTC(wwUTC,towUTC);
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128 |
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129 | int wwGPS = gloeph.GPSWeek;
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130 | int towGPS = gloeph.GPSTOW;
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131 | updatetime(&wwGPS, &towGPS, gloeph.tb*1000, 0); // Moscow -> GPS
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132 | bncTime tGPS(wwGPS,towGPS);
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133 |
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134 | rtrover_ephGlo eph;
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135 | eph._satellite._system = 'R';
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136 | eph._satellite._number = gloeph.almanac_number;
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137 | eph._timeUTC._mjd = tUTC.mjd();
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138 | eph._timeUTC._sec = tUTC.daysec();
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139 | eph._gps_utc = int(tGPS-tUTC);
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140 | eph._E = gloeph.E;
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141 | eph._tau = gloeph.tau;
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142 | eph._gamma = gloeph.gamma;
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143 | eph._x_pos = gloeph.x_pos;
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144 | eph._x_velocity = gloeph.x_velocity;
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145 | eph._x_acceleration = gloeph.x_acceleration;
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146 | eph._y_pos = gloeph.y_pos;
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147 | eph._y_velocity = gloeph.y_velocity;
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148 | eph._y_acceleration = gloeph.y_acceleration;
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149 | eph._z_pos = gloeph.z_pos;
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150 | eph._z_velocity = gloeph.z_velocity;
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151 | eph._z_acceleration = gloeph.z_acceleration;
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152 | eph._health = 0; // TODO ?
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153 | eph._frequency_number = gloeph.frequency_number;
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154 |
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155 | rtrover_putGloEphemeris(&eph);
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156 | }
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157 |
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158 | //
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159 | ////////////////////////////////////////////////////////////////////////////
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160 | void t_bncRtrover::slotNewEphGalileo(galileoephemeris /* galeph */) {
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161 | // not yet implemented
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162 | }
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163 |
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164 | //
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165 | ////////////////////////////////////////////////////////////////////////////
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166 | void t_bncRtrover::slotNewCorrections(QList<QString> corrList) {
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167 | QMutexLocker locker(&_mutex);
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168 |
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169 | if (corrList.size() == 0) {
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170 | return;
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171 | }
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172 |
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173 | int numOrbCorr = 0;
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174 | int numClkCorr = 0;
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175 |
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176 | rtrover_orbCorr orbCorr[corrList.size()];
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177 | rtrover_clkCorr clkCorr[corrList.size()];
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178 |
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179 | QListIterator<QString> it(corrList);
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180 | while (it.hasNext()) {
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181 | QString line = it.next();
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182 |
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183 | // Check the Mountpoint
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184 | // --------------------
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185 | QStringList hlp = line.split(" ");
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186 | if (hlp.size() > 0) {
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187 | QString mountpoint = hlp[hlp.size()-1];
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188 | if (mountpoint != _corrMount) {
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189 | continue;
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190 | }
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191 | }
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192 |
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193 | t_corr corr;
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194 | if (corr.readLine(line) == success) {
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195 |
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196 | if (corr.messageType == COTYPE_GPSCOMBINED ||
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197 | corr.messageType == COTYPE_GLONASSCOMBINED ||
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198 | corr.messageType == COTYPE_GPSORBIT ||
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199 | corr.messageType == COTYPE_GLONASSORBIT ) {
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200 | ++numOrbCorr;
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201 | rtrover_orbCorr& orbC = orbCorr[numOrbCorr-1];
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202 | // rtrover_satellite _satellite; ///< satellite
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203 | // unsigned short _iod; ///< issue of data
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204 | // rtrover_time _time; ///< correction reference time
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205 | // double* _rao; ///< radial, along-track, and out-of-plane correction components
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206 |
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207 | }
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208 |
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209 | if (corr.messageType == COTYPE_GPSCOMBINED ||
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210 | corr.messageType == COTYPE_GLONASSCOMBINED ||
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211 | corr.messageType == COTYPE_GPSCLOCK ||
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212 | corr.messageType == COTYPE_GLONASSCLOCK ) {
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213 | ++numClkCorr;
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214 | rtrover_clkCorr& clkC = clkCorr[numClkCorr-1];
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215 | // rtrover_satellite _satellite; ///< satellite
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216 | // unsigned short _iod; ///< issue of data
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217 | // rtrover_time _time; ///< correction reference time
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218 | // double _dClk; ///< clock correction
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219 |
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220 | }
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221 | }
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222 | }
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223 |
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224 | if (numOrbCorr > 0) {
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225 | rtrover_putOrbCorrections(numOrbCorr, orbCorr);
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226 | }
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227 | if (numClkCorr > 0) {
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228 | rtrover_putClkCorrections(numClkCorr, clkCorr);
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229 | }
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230 | }
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231 |
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232 | //
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233 | ////////////////////////////////////////////////////////////////////////////
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234 | void t_bncRtrover::slotNewObs(QByteArray staID, bool /* firstObs */, t_obs obsIn) {
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235 | QMutexLocker locker(&_mutex);
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236 |
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237 | if (staID != _roverMount && staID != _baseMount) {
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238 | return;
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239 | }
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240 |
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241 | bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks);
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242 | int numSatRover = 1;
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243 | rtrover_satObs satObsRover[numSatRover];
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244 | for (int ii = 0; ii < numSatRover; ii++) {
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245 |
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246 | }
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247 |
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248 | rtrover_output output;
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249 | rtrover_processEpoch(numSatRover, satObsRover, 0, 0, &output);
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250 |
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251 | _outputFile.write(output._log);
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252 | _outputFile.flush();
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253 |
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254 | rtrover_freeOutput(&output);
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255 | }
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