| 1 |
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| 2 | #include <iostream>
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| 3 | #include <iomanip>
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| 4 | #include <string.h>
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| 5 |
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| 6 | #include "bncrtrover.h"
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| 7 | #include "bncapp.h"
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| 8 | #include "bncsettings.h"
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| 9 | #include "bnctime.h"
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| 10 |
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| 11 | #include "rtrover_interface.h"
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| 12 |
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| 13 | using namespace std;
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| 14 |
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| 15 | // Constructor
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| 16 | ////////////////////////////////////////////////////////////////////////////
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| 17 | t_bncRtrover::t_bncRtrover() : QThread(0) {
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| 18 | }
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| 19 |
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| 20 | // Destructor
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| 21 | ////////////////////////////////////////////////////////////////////////////
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| 22 | t_bncRtrover::~t_bncRtrover() {
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| 23 | rtrover_destroy();
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| 24 | }
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| 25 |
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| 26 | // Run (virtual)
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| 27 | ////////////////////////////////////////////////////////////////////////////
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| 28 | void t_bncRtrover::run() {
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| 29 | bncSettings settings;
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| 30 |
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| 31 | // User Options
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| 32 | // ------------
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| 33 | _mode = settings.value("rtroverMode").toByteArray();
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| 34 | _roverMount = settings.value("rtroverRoverMount").toByteArray();
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| 35 | _baseMount = settings.value("rtroverBaseMount").toByteArray();
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| 36 | _corrMount = settings.value("rtroverCorrMount").toByteArray();
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| 37 | _outputFile.setFileName(settings.value("rtroverOutput").toString());
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| 38 | _outputFile.open(QIODevice::WriteOnly | QIODevice::Text);
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| 39 |
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| 40 | // Define Input Options
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| 41 | // --------------------
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| 42 | rtrover_opt opt;
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| 43 | rtrover_initOptions(&opt);
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| 44 |
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| 45 | opt._roverName = strdup(_roverMount.data());
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| 46 | opt._baseName = strdup(_baseMount.data());
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| 47 | opt._xyzAprRover[0] = settings.value("rtroverRoverRefCrdX").toDouble();
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| 48 | opt._xyzAprRover[1] = settings.value("rtroverRoverRefCrdY").toDouble();
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| 49 | opt._xyzAprRover[2] = settings.value("rtroverRoverRefCrdZ").toDouble();
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| 50 | opt._xyzAprBase[0] = settings.value("rtroverBaseRefCrdX").toDouble();
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| 51 | opt._xyzAprBase[1] = settings.value("rtroverBaseRefCrdY").toDouble();
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| 52 | opt._xyzAprBase[2] = settings.value("rtroverBaseRefCrdZ").toDouble();
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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 | int numBiases = 0;
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| 176 |
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| 177 | rtrover_orbCorr orbCorr[corrList.size()];
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| 178 | rtrover_clkCorr clkCorr[corrList.size()];
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| 179 | rtrover_codeBiases biases[corrList.size()];
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| 180 |
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| 181 | QListIterator<QString> it(corrList);
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| 182 | while (it.hasNext()) {
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| 183 | QString line = it.next();
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| 184 |
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| 185 | // Check the Mountpoint
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| 186 | // --------------------
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| 187 | QStringList hlp = line.split(" ");
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| 188 | if (hlp.size() > 0) {
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| 189 | QString mountpoint = hlp[hlp.size()-1];
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| 190 | if (mountpoint != _corrMount) {
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| 191 | continue;
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| 192 | }
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| 193 | }
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| 194 |
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| 195 | // Orbit and clock corrections
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| 196 | // ---------------------------
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| 197 | t_corr corr;
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| 198 | if (corr.readLine(line) == success) {
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| 199 |
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| 200 | if (corr.messageType == COTYPE_GPSCOMBINED ||
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| 201 | corr.messageType == COTYPE_GLONASSCOMBINED ||
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| 202 | corr.messageType == COTYPE_GPSORBIT ||
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| 203 | corr.messageType == COTYPE_GLONASSORBIT ) {
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| 204 | ++numOrbCorr;
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| 205 | rtrover_orbCorr& orbC = orbCorr[numOrbCorr-1];
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| 206 | orbC._satellite._system = corr.prn.toAscii()[0];
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| 207 | orbC._satellite._number = corr.prn.mid(1).toInt();
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| 208 | orbC._iod = corr.iod;
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| 209 | orbC._time._mjd = corr.tRao.mjd();
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| 210 | orbC._time._sec = corr.tRao.daysec();
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| 211 | for (int ii = 0; ii < 3; ii++) {
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| 212 | orbC._rao[ii] = corr.rao[ii];
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| 213 | orbC._dotRao[ii] = corr.dotRao[ii];
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| 214 | orbC._dotDotRao[ii] = corr.dotDotRao[ii];
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| 215 | }
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| 216 | }
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| 217 |
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| 218 | if (corr.messageType == COTYPE_GPSCOMBINED ||
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| 219 | corr.messageType == COTYPE_GLONASSCOMBINED ||
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| 220 | corr.messageType == COTYPE_GPSCLOCK ||
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| 221 | corr.messageType == COTYPE_GLONASSCLOCK ) {
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| 222 | ++numClkCorr;
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| 223 | rtrover_clkCorr& clkC = clkCorr[numClkCorr-1];
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| 224 | clkC._satellite._system = corr.prn.toAscii()[0];
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| 225 | clkC._satellite._number = corr.prn.mid(1).toInt();
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| 226 | clkC._iod = corr.iod;
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| 227 | clkC._time._mjd = corr.tClk.mjd();
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| 228 | clkC._time._sec = corr.tClk.daysec();
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| 229 | clkC._dClk = corr.dClk;
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| 230 | clkC._dotDClk = corr.dotDClk;
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| 231 | clkC._dotDotDClk = corr.dotDotDClk;
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| 232 | }
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| 233 | }
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| 234 |
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| 235 | // Code Biases
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| 236 | // -----------
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| 237 | t_bias bias;
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| 238 | if (bias.readLine(line) == success) {
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| 239 | ++numBiases;
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| 240 | rtrover_codeBiases& codeBiases = biases[numBiases-1];
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| 241 | codeBiases._biases = new rtrover_bias[bias._value.size()];
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| 242 | int iBias = -1;
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| 243 | QMapIterator<QByteArray, double> it(bias._value);
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| 244 | while (it.hasNext()) {
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| 245 | it.next();
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| 246 | ++iBias;
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| 247 | rtrover_bias& singleBias = codeBiases._biases[iBias];
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| 248 | singleBias._rnxType[0] = it.key()[0];
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| 249 | singleBias._rnxType[1] = it.key()[1];
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| 250 | singleBias._value = it.value();
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| 251 | }
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| 252 | }
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| 253 | }
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| 254 |
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| 255 | // Pass Corrections and Biases to client library
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| 256 | // ---------------------------------------------
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| 257 | if (numOrbCorr > 0) {
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| 258 | rtrover_putOrbCorrections(numOrbCorr, orbCorr);
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| 259 | }
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| 260 | if (numClkCorr > 0) {
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| 261 | rtrover_putClkCorrections(numClkCorr, clkCorr);
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| 262 | }
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| 263 | if (numBiases > 0) {
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| 264 | rtrover_putBiases(numBiases, biases);
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| 265 | }
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| 266 |
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| 267 | // Clean the memory
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| 268 | // ----------------
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| 269 | for (int ii = 0; ii < numBiases; ii++) {
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| 270 | delete [] biases[ii]._biases;
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| 271 | }
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| 272 | }
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| 273 |
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| 274 | // Auxiliary function - copy observation data
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| 275 | ////////////////////////////////////////////////////////////////////////////
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| 276 | void copyObs(const t_obs& obsBnc, rtrover_satObs& satObs) {
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| 277 |
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| 278 | bncTime obsTime(obsBnc.GPSWeek, obsBnc.GPSWeeks);
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| 279 | satObs._satellite._system = obsBnc.satSys;
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| 280 | satObs._satellite._number = obsBnc.satNum;
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| 281 | satObs._time._mjd = obsTime.mjd();
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| 282 | satObs._time._sec = obsTime.daysec();
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| 283 | satObs._slotNumber = obsBnc.slotNum;
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| 284 |
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| 285 | QMap<QByteArray, rtrover_obs> allObs;
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| 286 | for (int iEntry = 0; iEntry < GNSSENTRY_NUMBER; ++iEntry) {
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| 287 | if (obsBnc._measdata[iEntry] != 0.0) {
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| 288 | QByteArray rnxStr = obsBnc.rnxStr(iEntry).toAscii();
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| 289 | if (rnxStr.length() == 3) {
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| 290 | QByteArray codeType = rnxStr.mid(1);
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| 291 |
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| 292 | bool existed = allObs.contains(codeType);
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| 293 | rtrover_obs& currObs = allObs[codeType];
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| 294 | if (!existed) {
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| 295 | rtrover_initObs(&currObs);
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| 296 | currObs._rnxType[0] = codeType[0];
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| 297 | currObs._rnxType[1] = codeType[1];
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| 298 | }
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| 299 |
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| 300 | if (rnxStr[0] == 'C') {
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| 301 | currObs._code = obsBnc._measdata[iEntry];
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| 302 | currObs._codeValid = true;
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| 303 | }
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| 304 | else if (rnxStr[0] == 'L') {
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| 305 | currObs._phase = obsBnc._measdata[iEntry];
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| 306 | currObs._phaseValid = true;
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| 307 | if (codeType[0] == '1') {
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| 308 | currObs._slip = obsBnc.slipL1;
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| 309 | currObs._slipCounter = obsBnc.slip_cnt_L1;
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| 310 | }
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| 311 | else if (codeType[0] == '2') {
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| 312 | currObs._slip = obsBnc.slipL2;
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| 313 | currObs._slipCounter = obsBnc.slip_cnt_L2;
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| 314 | }
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| 315 | else if (codeType[0] == '5') {
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| 316 | currObs._slip = obsBnc.slipL5;
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| 317 | currObs._slipCounter = obsBnc.slip_cnt_L5;
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| 318 | }
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| 319 | }
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| 320 | else if (rnxStr[0] == 'D') {
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| 321 | currObs._doppler = obsBnc._measdata[iEntry];
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| 322 | currObs._dopplerValid = true;
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| 323 | }
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| 324 | else if (rnxStr[0] == 'S') {
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| 325 | currObs._snr = obsBnc._measdata[iEntry];
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| 326 | currObs._snrValid = true;
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| 327 | }
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| 328 | }
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| 329 | }
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| 330 | }
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| 331 | satObs._numObs = allObs.size();
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| 332 | satObs._obs = new rtrover_obs[satObs._numObs];
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| 333 | int iObs = -1;
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| 334 | QMapIterator<QByteArray, rtrover_obs> it(allObs);
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| 335 | while (it.hasNext()) {
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| 336 | it.next();
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| 337 | ++iObs;
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| 338 | satObs._obs[iObs] = it.value();
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| 339 | }
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| 340 | }
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| 341 |
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| 342 | //
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| 343 | ////////////////////////////////////////////////////////////////////////////
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| 344 | void t_bncRtrover::slotNewObs(QByteArray staID, bool /* firstObs */, t_obs obsIn) {
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| 345 | QMutexLocker locker(&_mutex);
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| 346 |
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| 347 | if (staID != _roverMount && staID != _baseMount) {
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| 348 | return;
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| 349 | }
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| 350 |
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| 351 | bncTime obsTime(obsIn.GPSWeek, obsIn.GPSWeeks);
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| 352 |
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| 353 | // Find corresponding epoch or create a new one
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| 354 | // --------------------------------------------
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| 355 | t_epoData* epoData = 0;
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| 356 | for (unsigned ii = 0; ii < _epochs.size(); ii++) {
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| 357 | if (_epochs[ii]->_time == obsTime) {
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| 358 | epoData = _epochs[ii];
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| 359 | break;
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| 360 | }
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| 361 | }
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| 362 | if (epoData == 0) {
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| 363 | if (_epochs.size() == 0 || _epochs.back()->_time < obsTime) {
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| 364 | epoData = new t_epoData();
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| 365 | epoData->_time = obsTime;
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| 366 | _epochs.push_back(epoData);
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| 367 | }
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| 368 | else {
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| 369 | return;
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| 370 | }
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| 371 | }
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| 372 |
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| 373 | // Store observation into epoch class
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| 374 | // ----------------------------------
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| 375 | if (staID == _roverMount) {
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| 376 | epoData->_obsRover.push_back(obsIn);
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| 377 | }
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| 378 | else if (staID == _baseMount) {
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| 379 | epoData->_obsBase.push_back(obsIn);
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| 380 | }
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| 381 |
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| 382 | // Wait for observations
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| 383 | // ---------------------
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| 384 | const double WAITTIME = 5.0;
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| 385 | double dt = 0.0;
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| 386 | if (_epochs.size() > 1) {
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| 387 | dt = _epochs.back()->_time - _epochs.front()->_time;
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| 388 | }
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| 389 | if (dt < WAITTIME) {
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| 390 | return;
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| 391 | }
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| 392 |
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| 393 | // Copy observations into rtrover_satObs structures
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| 394 | // ------------------------------------------------
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| 395 | t_epoData* frontEpoData = _epochs.front();
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| 396 | _epochs.erase(_epochs.begin());
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| 397 |
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| 398 | int numSatRover = frontEpoData->_obsRover.size();
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| 399 | rtrover_satObs satObsRover[numSatRover];
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| 400 | for (int ii = 0; ii < numSatRover; ii++) {
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| 401 | const t_obs& obsBnc = frontEpoData->_obsRover[ii];
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| 402 | rtrover_satObs& satObs = satObsRover[ii];
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| 403 | copyObs(obsBnc, satObs);
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| 404 | }
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| 405 |
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| 406 | int numSatBase = frontEpoData->_obsBase.size();
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| 407 | rtrover_satObs satObsBase[numSatBase];
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| 408 | for (int ii = 0; ii < numSatBase; ii++) {
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| 409 | const t_obs& obsBnc = frontEpoData->_obsBase[ii];
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| 410 | rtrover_satObs& satObs = satObsBase[ii];
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| 411 | copyObs(obsBnc, satObs);
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| 412 | }
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| 413 |
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| 414 | delete frontEpoData;
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| 415 |
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| 416 | // Process single epoch
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| 417 | // --------------------
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| 418 | rtrover_output output;
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| 419 | rtrover_processEpoch(numSatRover, satObsRover, numSatBase, satObsBase, &output);
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| 420 |
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| 421 | // Write output
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| 422 | // ---------------------
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| 423 | _outputFile.write(output._log);
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| 424 | _outputFile.flush();
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| 425 |
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| 426 | // Free memory
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|---|
| 427 | // -----------
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| 428 | rtrover_freeOutput(&output);
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| 429 | for (int ii = 0; ii < numSatRover; ii++) {
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| 430 | rtrover_satObs& satObs = satObsRover[ii];
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| 431 | delete [] satObs._obs;
|
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| 432 | }
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| 433 | for (int ii = 0; ii < numSatBase; ii++) {
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| 434 | rtrover_satObs& satObs = satObsBase[ii];
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|---|
| 435 | delete [] satObs._obs;
|
|---|
| 436 | }
|
|---|
| 437 | }
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|---|
