source: ntrip/trunk/BNC/src/bncephuser.cpp@ 9326

// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

/* -------------------------------------------------------------------------
 * BKG NTRIP Client
 * -------------------------------------------------------------------------
 *
 * Class:      bncEphUser
 *
 * Purpose:    Base for Classes that use Ephemerides
 *
 * Author:     L. Mervart
 *
 * Created:    27-Jan-2011
 *
 * Changes:
 *
 * -----------------------------------------------------------------------*/

#include <cmath>
#include <iostream>

#include "bncephuser.h"
#include "bnccore.h"

using namespace std;

// Constructor
////////////////////////////////////////////////////////////////////////////
bncEphUser::bncEphUser(bool connectSlots) {
  if (connectSlots) {
    connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
            this, SLOT(slotNewGPSEph(t_ephGPS)), Qt::DirectConnection);

    connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
            this, SLOT(slotNewGlonassEph(t_ephGlo)), Qt::DirectConnection);

    connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
            this, SLOT(slotNewGalileoEph(t_ephGal)), Qt::DirectConnection);

    connect(BNC_CORE, SIGNAL(newSBASEph(t_ephSBAS)),
            this, SLOT(slotNewSBASEph(t_ephSBAS)), Qt::DirectConnection);

    connect(BNC_CORE, SIGNAL(newBDSEph(t_ephBDS)),
            this, SLOT(slotNewBDSEph(t_ephBDS)), Qt::DirectConnection);
  }
}

// Destructor
////////////////////////////////////////////////////////////////////////////
bncEphUser::~bncEphUser() {
  QMapIterator<QString, deque<t_eph*> > it(_eph);
  while (it.hasNext()) {
    it.next();
    const deque<t_eph*>& qq = it.value();
    for (unsigned ii = 0; ii < qq.size(); ii++) {
      delete qq[ii];
    }
  }
}

// New GPS Ephemeris
////////////////////////////////////////////////////////////////////////////
void bncEphUser::slotNewGPSEph(t_ephGPS eph) {
  putNewEph(&eph, true);
}

// New Glonass Ephemeris
////////////////////////////////////////////////////////////////////////////
void bncEphUser::slotNewGlonassEph(t_ephGlo eph) {
  putNewEph(&eph, true);
}

// New Galileo Ephemeris
////////////////////////////////////////////////////////////////////////////
void bncEphUser::slotNewGalileoEph(t_ephGal eph) {
  putNewEph(&eph, true);
}

// New SBAS Ephemeris
////////////////////////////////////////////////////////////////////////////
void bncEphUser::slotNewSBASEph(t_ephSBAS eph) {
  putNewEph(&eph, true);
}

// New BDS Ephemeris
////////////////////////////////////////////////////////////////////////////
void bncEphUser::slotNewBDSEph(t_ephBDS eph) {
  putNewEph(&eph, true);
}

//
////////////////////////////////////////////////////////////////////////////
t_irc bncEphUser::putNewEph(t_eph* eph, bool realTime) {

  QMutexLocker locker(&_mutex);

  if (eph == 0) {
    return failure;
  }

  const t_ephGPS*     ephGPS     = dynamic_cast<const t_ephGPS*>(eph);
  const t_ephGlo*     ephGlo     = dynamic_cast<const t_ephGlo*>(eph);
  const t_ephGal*     ephGal     = dynamic_cast<const t_ephGal*>(eph);
  const t_ephSBAS*    ephSBAS    = dynamic_cast<const t_ephSBAS*>(eph);
  const t_ephBDS*     ephBDS     = dynamic_cast<const t_ephBDS*>(eph);

  t_eph* newEph = 0;

  if      (ephGPS) {
    newEph = new t_ephGPS(*ephGPS);
  }
  else if (ephGlo) {
    newEph = new t_ephGlo(*ephGlo);
  }
  else if (ephGal) {
    newEph = new t_ephGal(*ephGal);
  }
  else if (ephSBAS) {
    newEph = new t_ephSBAS(*ephSBAS);
  }
  else if (ephBDS) {
    newEph = new t_ephBDS(*ephBDS);
  }
  else {
    return failure;
  }

  QString prn(newEph->prn().toInternalString().c_str());

  const t_eph* ephOld = ephLast(prn);

  if (ephOld &&
      (ephOld->checkState() == t_eph::bad ||
       ephOld->checkState() == t_eph::outdated ||
       ephOld->checkState() == t_eph::unhealthy)) {
    ephOld = 0;
  }

  if ( (ephOld == 0) ||
       newEph->isNewerThan(ephOld) ||
       newCorrectedGpsEphSet(newEph)  ) {
    checkEphemeris(newEph, realTime);
    eph->setCheckState(newEph->checkState());
  }
  else {
    delete newEph;
    return failure;
  }

  if (newEph->checkState() != t_eph::bad &&
      newEph->checkState() != t_eph::outdated) {
    deque<t_eph*>& qq = _eph[prn];
    qq.push_back(newEph);
    if (qq.size() > _maxQueueSize) {
      delete qq.front();
      qq.pop_front();
    }
    ephBufferChanged();
    return success;
  }
  else {
    delete newEph;
    return failure;
  }
}

//
////////////////////////////////////////////////////////////////////////////
void bncEphUser::checkEphemeris(t_eph* eph, bool realTime) {

  if (!eph) {
    return;
  }

  // Check health status
  // -------------------
  if (eph->isUnhealthy()) {
    eph->setCheckState(t_eph::unhealthy);
    return;
  }

  // Simple Check - check satellite radial distance
  // ----------------------------------------------
  ColumnVector xc(6);
  ColumnVector vv(3);
  if (eph->getCrd(eph->TOC(), xc, vv, false) != success) {
    eph->setCheckState(t_eph::bad);
    return;
  }
  double rr = xc.Rows(1,3).NormFrobenius();

  const double MINDIST = 2.e7;
  const double MAXDIST = 6.e7;
  if (rr < MINDIST || rr > MAXDIST || std::isnan(rr)) {
    eph->setCheckState(t_eph::bad);
    return;
  }

  // Check whether the epoch is too far away the current time
  // --------------------------------------------------------
  if (realTime) {
    bncTime   toc = eph->TOC();
    QDateTime now = currentDateAndTimeGPS();
    bncTime currentTime(now.toString(Qt::ISODate).toStdString());
    double dt = currentTime - toc;

    // update interval: 2h, data sets are valid for 4 hours
    if      (eph->type() == t_eph::GPS     && (dt > 4*3600.0 || dt < -2*3600.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
    // update interval: 3h, data sets are valid for 4 hours
    else if (eph->type() == t_eph::Galileo && (dt > 4*3600.0 || dt <       0.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
    // updated every 30 minutes
    else if (eph->type() == t_eph::GLONASS && (dt > 1*3600.0 || dt <   -1800.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
    // orbit parameters are valid for 7200 seconds (minimum)
    else if (eph->type() == t_eph::QZSS    && (dt > 2*3600.0 || dt < -1*3600.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
    // maximum update interval: 300 sec
    else if (eph->type() == t_eph::SBAS    && (dt >     600 || dt <     -300.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
    // updates 1h (GEO) up to 6 hours non-GEO
    else if (eph->type() == t_eph::BDS     && (dt > 6*3600  || dt <        0.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
    // update interval: up to 24 hours
    else if (eph->type() == t_eph::IRNSS   && fabs(dt > 24*3600.0)) {
      eph->setCheckState(t_eph::outdated);
      return;
    }
  }

  // Check consistency with older ephemeris
  // --------------------------------------
  const double MAXDIFF = 10.0;
  const double MINDIFF = 0.005;
  QString      prn     = QString(eph->prn().toInternalString().c_str());
  t_eph*       ephL    = ephLast(prn);

  if (ephL) {
    ColumnVector xcL(6);
    ColumnVector vvL(3);
    ephL->getCrd(eph->TOC(), xcL, vvL, false);

    double diff  = (xc.Rows(1,3) - xcL.Rows(1,3)).NormFrobenius();
    double diffC = fabs(xc(4) - xcL(4)) * t_CST::c;

    if (diff < MAXDIFF && diffC < MAXDIFF) {
      if (diff < MINDIFF && diffC < MINDIFF &&
          ephL->checkState() == t_eph::ok) {
        // to prevent the same data sets with different TOC values
        eph->setCheckState(t_eph::bad);
      }
      else {
        eph->setCheckState(t_eph::ok);
        ephL->setCheckState(t_eph::ok);
      }
    }
    else {
      if (ephL->checkState() == t_eph::ok) {
        eph->setCheckState(t_eph::bad);
      }
    }

    double dt = eph->TOC() - ephL->TOC();
    // some lines to allow update of ephemeris data sets after an outage
    // -----------------------------------------------------------------
    // update interval: 2h,
    // sometimes corrected BRDC sets are sent with TOC values 16 seconds
    // before the nominal TOC (integer time)
    if      (eph->type() == t_eph::GPS     && dt > (2*3600.0 + 60.0)) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
    // update interval: 3h,
    else if (eph->type() == t_eph::Galileo && dt > (3*3600.0 + 60.0)) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
    // updated every 30 minutes
    else if (eph->type() == t_eph::GLONASS && dt > (  1800.0 + 60.0)) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
    // updated every ?
    else if (eph->type() == t_eph::QZSS    && dt > (2*3600.0 + 60.0)) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
    // maximum update interval: 300 sec
    else if  (eph->type() == t_eph::SBAS   && dt > (   300.0)) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
    // updates 1h (GEO) up to 6 hours non-GEO
    else if  (eph->type() == t_eph::BDS    && dt >  6*3600.0) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
    // update interval: up to 24 hours
    else if  (eph->type() == t_eph::IRNSS  && dt > 24*3600.0) {
      ephL->setCheckState(t_eph::outdated);
      return;
    }
  }
}

//
////////////////////////////////////////////////////////////////////////////
bool bncEphUser::newCorrectedGpsEphSet(const t_eph* eph) {

  if (eph->prn().system() != 'G') {
    return false;
  }

  bool correctedGpsEphSet = false;
  if ((fmod(eph->TOC().daysec()+16.0, 7200) == 0.0)) {
    // sometimes corrected BRDC sets are sent with TOC values 16 seconds
    // before the nominal TOC (integer time)
    correctedGpsEphSet = true;
  } else {
    return false;
  }

  QString  prn  = QString(eph->prn().toInternalString().c_str());
  t_eph*   ephL = ephLast(prn);
  if (!ephL) {
    // first set is a corrected set for GPS
    if (correctedGpsEphSet) {
      return true;
    }
    else {
      return false;
    }
  }
  else {
    double dt = eph->TOC() - ephL->TOC();
    if (correctedGpsEphSet) {
      // set already available
      if (dt == 0.0) {
        return false;
      }
      else {
        return true;
      }
    }
  }

  return false;
}