[2904] | 1 | // Part of BNC, a utility for retrieving decoding and
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| 2 | // converting GNSS data streams from NTRIP broadcasters.
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| 3 | //
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| 4 | // Copyright (C) 2007
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| 5 | // German Federal Agency for Cartography and Geodesy (BKG)
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| 6 | // http://www.bkg.bund.de
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| 7 | // Czech Technical University Prague, Department of Geodesy
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| 8 | // http://www.fsv.cvut.cz
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| 9 | //
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| 10 | // Email: euref-ip@bkg.bund.de
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| 11 | //
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| 12 | // This program is free software; you can redistribute it and/or
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| 13 | // modify it under the terms of the GNU General Public License
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| 14 | // as published by the Free Software Foundation, version 2.
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| 15 | //
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| 16 | // This program is distributed in the hope that it will be useful,
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| 17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | // GNU General Public License for more details.
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| 20 | //
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| 21 | // You should have received a copy of the GNU General Public License
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| 22 | // along with this program; if not, write to the Free Software
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| 23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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| 24 |
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| 25 | /* -------------------------------------------------------------------------
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| 26 | * BKG NTRIP Client
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| 27 | * -------------------------------------------------------------------------
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| 28 | *
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| 29 | * Class: bncEphUser
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| 30 | *
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| 31 | * Purpose: Base for Classes that use Ephemerides
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| 32 | *
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| 33 | * Author: L. Mervart
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| 34 | *
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| 35 | * Created: 27-Jan-2011
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| 36 | *
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| 37 | * Changes:
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| 38 | *
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| 39 | * -----------------------------------------------------------------------*/
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| 40 |
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[2907] | 41 | #include <iostream>
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| 42 |
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[2904] | 43 | #include "bncephuser.h"
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[5070] | 44 | #include "bnccore.h"
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[2904] | 45 |
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| 46 | using namespace std;
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| 47 |
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| 48 | // Constructor
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| 49 | ////////////////////////////////////////////////////////////////////////////
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[3640] | 50 | bncEphUser::bncEphUser(bool connectSlots) {
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| 51 | if (connectSlots) {
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[6434] | 52 | connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
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| 53 | this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);
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[6432] | 54 |
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[6434] | 55 | connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
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| 56 | this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);
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[6432] | 57 |
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[6434] | 58 | connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
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| 59 | this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);
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[6393] | 60 |
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[6434] | 61 | connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
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| 62 | this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);
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[3640] | 63 | }
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[2904] | 64 | }
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| 65 |
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| 66 | // Destructor
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| 67 | ////////////////////////////////////////////////////////////////////////////
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| 68 | bncEphUser::~bncEphUser() {
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[6443] | 69 | QMapIterator<QString, deque<t_eph*> > it(_eph);
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[2904] | 70 | while (it.hasNext()) {
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| 71 | it.next();
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[6443] | 72 | const deque<t_eph*>& qq = it.value();
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| 73 | for (unsigned ii = 0; ii < qq.size(); ii++) {
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| 74 | delete qq[ii];
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| 75 | }
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[2904] | 76 | }
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| 77 | }
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| 78 |
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[6432] | 79 | // New GPS Ephemeris
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[2904] | 80 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 81 | void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
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[6444] | 82 | putNewEph(&eph, false);
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[6394] | 83 | }
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[6432] | 84 |
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| 85 | // New Glonass Ephemeris
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[6394] | 86 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 87 | void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
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[6444] | 88 | putNewEph(&eph, false);
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[6394] | 89 | }
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[5133] | 90 |
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[6432] | 91 | // New Galileo Ephemeris
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[6394] | 92 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 93 | void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
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[6444] | 94 | putNewEph(&eph, false);
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[2904] | 95 | }
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| 96 |
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[6432] | 97 | // New SBAS Ephemeris
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[2904] | 98 | ////////////////////////////////////////////////////////////////////////////
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[6432] | 99 | void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
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[6444] | 100 | putNewEph(&eph, false);
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[2904] | 101 | }
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| 102 |
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| 103 | //
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| 104 | ////////////////////////////////////////////////////////////////////////////
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[6519] | 105 | t_irc bncEphUser::putNewEph(t_eph* eph, bool check) {
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[6435] | 106 |
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[3670] | 107 | QMutexLocker locker(&_mutex);
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| 108 |
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[6435] | 109 | if (eph == 0) {
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| 110 | return failure;
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| 111 | }
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[6395] | 112 |
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[6518] | 113 | if (check) {
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| 114 | checkEphemeris(eph);
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| 115 | }
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| 116 |
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[6435] | 117 | const t_ephGPS* ephGPS = dynamic_cast<const t_ephGPS*>(eph);
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| 118 | const t_ephGlo* ephGlo = dynamic_cast<const t_ephGlo*>(eph);
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| 119 | const t_ephGal* ephGal = dynamic_cast<const t_ephGal*>(eph);
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| 120 | const t_ephSBAS* ephSBAS = dynamic_cast<const t_ephSBAS*>(eph);
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| 121 | const t_ephCompass* ephCompass = dynamic_cast<const t_ephCompass*>(eph);
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| 122 |
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| 123 | t_eph* newEph = 0;
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| 124 |
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| 125 | if (ephGPS) {
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| 126 | newEph = new t_ephGPS(*ephGPS);
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[3670] | 127 | }
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[6435] | 128 | else if (ephGlo) {
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| 129 | newEph = new t_ephGlo(*ephGlo);
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| 130 | }
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| 131 | else if (ephGal) {
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| 132 | newEph = new t_ephGal(*ephGal);
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| 133 | }
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| 134 | else if (ephSBAS) {
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| 135 | newEph = new t_ephSBAS(*ephSBAS);
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| 136 | }
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| 137 | else if (ephCompass) {
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| 138 | newEph = new t_ephCompass(*ephCompass);
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| 139 | }
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| 140 | else {
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| 141 | return failure;
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| 142 | }
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[3670] | 143 |
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[5776] | 144 | QString prn(newEph->prn().toString().c_str());
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[6435] | 145 |
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[6443] | 146 | const t_eph* ephOld = ephLast(prn);
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| 147 |
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| 148 | if (ephOld == 0 || newEph->isNewerThan(ephOld)) {
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| 149 | deque<t_eph*>& qq = _eph[prn];
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| 150 | qq.push_back(newEph);
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| 151 | if (qq.size() > _maxQueueSize) {
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| 152 | delete qq.front();
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| 153 | qq.pop_front();
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[3670] | 154 | }
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[6395] | 155 | ephBufferChanged();
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[6435] | 156 | return success;
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[3670] | 157 | }
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[6443] | 158 | else {
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| 159 | return failure;
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| 160 | }
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[6395] | 161 | }
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[3671] | 162 |
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[6518] | 163 | //
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| 164 | ////////////////////////////////////////////////////////////////////////////
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[6519] | 165 | void bncEphUser::checkEphemeris(t_eph* eph) {
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[6518] | 166 |
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[6519] | 167 | if (!eph || eph->checkState() == t_eph::ok || eph->checkState() == t_eph::bad) {
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| 168 | return;
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| 169 | }
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| 170 |
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| 171 | // Simple Check - check satellite radial distance
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| 172 | // ----------------------------------------------
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| 173 | ColumnVector xc(4);
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| 174 | ColumnVector vv(3);
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| 175 | if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
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| 176 | eph->setCheckState(t_eph::bad);
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| 177 | return;
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| 178 | }
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| 179 |
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| 180 | double rr = xc.Rows(1,3).norm_Frobenius();
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| 181 |
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[6521] | 182 | const double MINDIST = 2.e7;
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[6526] | 183 | const double MAXDIST = 6.e7;
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[6521] | 184 | if (rr < MINDIST || rr > MAXDIST) {
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[6519] | 185 | eph->setCheckState(t_eph::bad);
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| 186 | return;
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| 187 | }
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[6520] | 188 |
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[6521] | 189 | // Check consistency with older ephemerides
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| 190 | // ----------------------------------------
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[6526] | 191 | const double MAXDIFF = 1000.0;
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[6521] | 192 | QString prn = QString(eph->prn().toString().c_str());
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| 193 | t_eph* ephL = ephLast(prn);
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| 194 | if (ephL) {
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| 195 | ColumnVector xcL(4);
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| 196 | ColumnVector vvL(3);
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| 197 | ephL->getCrd(eph->TOC(), xcL, vvL, false);
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| 198 |
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| 199 | double dt = eph->TOC() - ephL->TOC();
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| 200 | double diff = (xc.Rows(1,3) - xcL.Rows(1,3)).norm_Frobenius();
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| 201 |
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| 202 | if (diff < MAXDIFF) {
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| 203 | if (dt != 0.0) {
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| 204 | eph->setCheckState(t_eph::ok);
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| 205 | ephL->setCheckState(t_eph::ok);
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| 206 | }
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| 207 | }
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| 208 | else {
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| 209 | if (ephL->checkState() == t_eph::ok) {
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| 210 | eph->setCheckState(t_eph::bad);
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| 211 | }
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| 212 | }
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| 213 | }
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[6518] | 214 | }
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