source: ntrip/trunk/BNC/src/bncrinex.cpp@ 10159

Last change on this file since 10159 was 9760, checked in by stuerze, 2 years ago

initial changes to consider RINEX Version 4 in future
File size: 19.5 KB
Line 
1// Part of BNC, a utility for retrieving decoding and
2// converting GNSS data streams from NTRIP broadcasters.
3//
4// Copyright (C) 2007
5// German Federal Agency for Cartography and Geodesy (BKG)
6// http://www.bkg.bund.de
7// Czech Technical University Prague, Department of Geodesy
8// http://www.fsv.cvut.cz
9//
10// Email: euref-ip@bkg.bund.de
11//
12// This program is free software; you can redistribute it and/or
13// modify it under the terms of the GNU General Public License
14// as published by the Free Software Foundation, version 2.
15//
16// This program is distributed in the hope that it will be useful,
17// but WITHOUT ANY WARRANTY; without even the implied warranty of
18// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19// GNU General Public License for more details.
20//
21// You should have received a copy of the GNU General Public License
22// along with this program; if not, write to the Free Software
23// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25/* -------------------------------------------------------------------------
26 * BKG NTRIP Client
27 * -------------------------------------------------------------------------
28 *
29 * Class: bncRinex
30 *
31 * Purpose: writes RINEX files
32 *
33 * Author: L. Mervart
34 *
35 * Created: 27-Aug-2006
36 *
37 * Changes:
38 *
39 * -----------------------------------------------------------------------*/
40
41#include <stdlib.h>
42#include <iostream>
43#include <iomanip>
44#include <math.h>
45#include <sstream>
46
47#include <QtCore>
48#include <QUrl>
49#include <QString>
50
51#include "bncrinex.h"
52#include "bnccore.h"
53#include "bncutils.h"
54#include "bncconst.h"
55#include "bnctabledlg.h"
56#include "bncgetthread.h"
57#include "bncnetqueryv1.h"
58#include "bncnetqueryv2.h"
59#include "bncsettings.h"
60#include "bncversion.h"
61
62using namespace std;
63
64// Constructor
65////////////////////////////////////////////////////////////////////////////
66bncRinex::bncRinex(const QByteArray& statID, const QUrl& mountPoint,
67 const QByteArray& latitude, const QByteArray& longitude,
68 const QByteArray& nmea, const QByteArray& ntripVersion) {
69
70 _statID = statID;
71 _mountPoint = mountPoint;
72 _latitude = latitude;
73 _longitude = longitude;
74 _nmea = nmea;
75 _ntripVersion = ntripVersion;
76 _headerWritten = false;
77 _reconnectFlag = false;
78
79 bncSettings settings;
80 _rnxScriptName = settings.value("rnxScript").toString();
81 expandEnvVar(_rnxScriptName);
82
83 _pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
84#ifdef WIN32
85 _userName = QString("${USERNAME}");
86#else
87 _userName = QString("${USER}");
88#endif
89 expandEnvVar(_userName);
90 _userName = _userName.leftJustified(20, ' ', true);
91
92 _samplingRateMult10 = int(settings.value("rnxSampl").toString().split("sec").first().toDouble() * 10.0);
93
94 if (settings.value("rnxSampl").toString() == "0.1 sec") {
95 _samplingRateStr = "_10Z";
96 }
97 else if (settings.value("rnxSampl").toString() == "1 sec") {
98 _samplingRateStr = "_01S";
99 }
100 else if (settings.value("rnxSampl").toString() == "5 sec") {
101 _samplingRateStr = "_05S";
102 }
103 else if (settings.value("rnxSampl").toString() == "10 sec") {
104 _samplingRateStr = "_10S";
105 }
106 else if (settings.value("rnxSampl").toString() == "15 sec") {
107 _samplingRateStr = "_15S";
108 }
109 else if (settings.value("rnxSampl").toString() == "30 sec") {
110 _samplingRateStr = "_30S";
111 }
112 else if (settings.value("rnxSampl").toString() == "60 sec") {
113 _samplingRateStr = "_01M";
114 }
115
116 _writeRinexFileOnlyWithSkl = settings.value("rnxOnlyWithSKL").toBool();
117
118 _rnxVersion = settings.value("rnxVersion").toInt();
119}
120
121// Destructor
122////////////////////////////////////////////////////////////////////////////
123bncRinex::~bncRinex() {
124 bncSettings settings;
125 if ((_header.version() >= 3.0) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
126 _out << "> 4 1" << endl;
127 _out << "END OF FILE" << endl;
128 }
129 _out.close();
130}
131
132// Download Skeleton Header File
133////////////////////////////////////////////////////////////////////////////
134t_irc bncRinex::downloadSkeleton() {
135
136 t_irc irc = failure;
137
138 QStringList table;
139 bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(), _mountPoint.port(),
140 _mountPoint.userName(), _mountPoint.password(), table, true);
141 QString net;
142 QStringListIterator it(table);
143 while (it.hasNext()) {
144 QString line = it.next();
145 if (line.indexOf("STR") == 0) {
146 QStringList tags = line.split(";");
147 if (tags.size() > 7) {
148 if (tags.at(1) == _mountPoint.path().mid(1).toLatin1()) {
149 net = tags.at(7);
150 break;
151 }
152 }
153 }
154 }
155 QString sklDir;
156 if (!net.isEmpty()) {
157 it.toFront();
158 while (it.hasNext()) {
159 QString line = it.next();
160 if (line.indexOf("NET") == 0) {
161 QStringList tags = line.split(";");
162 if (tags.size() > 6) {
163 if (tags.at(1) == net) {
164 sklDir = tags.at(6).trimmed();
165 break;
166 }
167 }
168 }
169 }
170 }
171 if (!sklDir.isEmpty() && sklDir != "none") {
172 QString staID, staIDalternative;
173 QUrl url;
174 int stIdLength = _mountPoint.path().length()-2;
175 staID = _mountPoint.path().mid(1,stIdLength).toUpper() + ".skl";
176 staIDalternative = _mountPoint.path().mid(1,stIdLength).toLower() + ".skl";
177 if (url.port() == -1) {
178 if (sklDir.contains("https", Qt::CaseInsensitive)) {
179 url.setPort(443);
180 }
181 else {
182 url.setPort(80);
183 }
184 }
185
186 bncNetQuery* query = new bncNetQueryV2(true);
187 QByteArray outData;
188 url = sklDir + "/" + staID;
189 query->waitForRequestResult(url, outData);
190 if (query->status() == bncNetQuery::finished &&
191 outData.contains("END OF HEADER")) {
192 QTextStream in(outData);
193 irc = _sklHeader.read(&in);
194 }
195 else {
196 url = sklDir + "/" + staIDalternative;
197 query->waitForRequestResult(url, outData);
198 if (query->status() == bncNetQuery::finished &&
199 outData.contains("END OF HEADER")) {
200 QTextStream in(outData);
201 irc = _sklHeader.read(&in);
202 }
203 }
204 delete query;
205 }
206
207 return irc;
208}
209
210// Read Skeleton Header File
211////////////////////////////////////////////////////////////////////////////
212bool bncRinex::readSkeleton() {
213
214 bool readDone = false;
215
216 // Read the local file
217 // -------------------
218 QFile skl(_localSklName), sklAlt(_localSklNameAlternative);
219 if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
220 QTextStream in(&skl);
221 if (_sklHeader.read(&in) == success) {
222 readDone = true;
223 }
224 }
225 else if ( sklAlt.exists() && sklAlt.open(QIODevice::ReadOnly) ) {
226 QTextStream in(&sklAlt);
227 if (_sklHeader.read(&in) == success) {
228 readDone = true;
229 }
230 }
231
232 // Read downloaded file
233 // --------------------
234 else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
235 _ntripVersion != "S" ) {
236 QDate currDate = currentDateAndTimeGPS().date();
237 if ( !_skeletonDate.isValid() || _skeletonDate != currDate ) {
238 if (downloadSkeleton() == success) {
239 readDone = true;
240 _skeletonDate = currDate;
241 }
242 } else if (_skeletonDate.isValid()) {
243 readDone = true;
244 }
245 }
246 return readDone;
247}
248
249// Next File Epoch (static)
250////////////////////////////////////////////////////////////////////////////
251QString bncRinex::nextEpochStr(const QDateTime& datTim,
252 const QString& intStr, int rnxVersion,
253 QDateTime* nextEpoch) {
254
255 QString epoStr = "";
256
257 QTime nextTime;
258 QDate nextDate;
259
260 int indHlp = intStr.indexOf("min");
261
262 if ( indHlp != -1) {
263 int step = intStr.left(indHlp-1).toInt();
264 if (rnxVersion > 2) {
265 epoStr += QString("%1").arg(datTim.time().hour(), 2, 10, QChar('0')); // H
266 } else {
267 epoStr += 'A' + datTim.time().hour();
268 }
269
270 if (datTim.time().minute() >= 60-step) {
271 epoStr += QString("%1").arg(60-step, 2, 10, QChar('0')); // M
272 if (datTim.time().hour() < 23) {
273 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
274 nextDate = datTim.date();
275 }
276 else {
277 nextTime.setHMS(0, 0, 0);
278 nextDate = datTim.date().addDays(1);
279 }
280 }
281 else {
282 for (int limit = step; limit <= 60-step; limit += step) {
283 if (datTim.time().minute() < limit) {
284 epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0')); // M
285 nextTime.setHMS(datTim.time().hour(), limit, 0);
286 nextDate = datTim.date();
287 break;
288 }
289 }
290 }
291 if (rnxVersion > 2) {
292 epoStr += QString("_%1M").arg(step, 2, 10, QChar('0')); // period
293 }
294 }
295 else if (intStr == "1 hour") {
296 int step = intStr.left(indHlp-1).toInt();
297 if (rnxVersion > 2) {
298 epoStr += QString("%1").arg(datTim.time().hour(), 2, 10, QChar('0')); // H
299 epoStr += QString("%1").arg(0, 2, 10, QChar('0')); // M
300 epoStr += QString("_%1H").arg(step+1, 2, 10, QChar('0')); // period
301 } else {
302 epoStr += 'A' + datTim.time().hour();
303 }
304 if (datTim.time().hour() < 23) {
305 nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
306 nextDate = datTim.date();
307 }
308 else {
309 nextTime.setHMS(0, 0, 0);
310 nextDate = datTim.date().addDays(1);
311 }
312 }
313 else {
314 int step = intStr.left(indHlp-1).toInt();
315 if (rnxVersion > 2) {
316 epoStr += QString("%1").arg(0, 2, 10, QChar('0')); // H
317 epoStr += QString("%1").arg(0, 2, 10, QChar('0')); // M
318 epoStr += QString("_%1D").arg(step+1, 2, 10, QChar('0')); // period
319 } else {
320 epoStr = "0";
321 }
322 nextTime.setHMS(0, 0, 0);
323 nextDate = datTim.date().addDays(1);
324 }
325
326 if (nextEpoch) {
327 *nextEpoch = QDateTime(nextDate, nextTime);
328 }
329
330 return epoStr;
331}
332
333// File Name according to RINEX Standards
334////////////////////////////////////////////////////////////////////////////
335void bncRinex::resolveFileName(const QDateTime& datTim) {
336
337 bncSettings settings;
338 QString rnxPath = settings.value("rnxPath").toString();
339 expandEnvVar(rnxPath);
340
341 if ( rnxPath.length() > 0 && rnxPath[rnxPath.length()-1] != QDir::separator() ) {
342 rnxPath += QDir::separator();
343 }
344
345 QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
346 _rnxVersion, &_nextCloseEpoch);
347
348 int n = _statID.size();
349 int statIDlength;
350 if (n > 9) {
351 statIDlength = 9; // rnx3
352 }
353 else if (n > 4) {
354 statIDlength = 4; // rnx2
355 }
356 else {
357 statIDlength = n;
358 }
359 QString ID = _statID.left(statIDlength);
360 ID = ID.toUpper();
361
362 // Check name conflict
363 // -------------------
364 QString distStr;
365 int num = 0;
366 QListIterator<QString> it(settings.value("mountPoints").toStringList());
367 while (it.hasNext()) {
368 QString mp = it.next();
369 if (mp.indexOf(_statID.left(statIDlength)) != -1) {
370 ++num;
371 }
372 }
373 if (num > 1) {
374 distStr = "_" + _statID.right(1);
375 }
376
377 // Local Skeleton file
378 // -------------------
379 QString sklExt = settings.value("rnxSkel").toString();
380 QString sklPath = settings.value("rnxSkelPath").toString();
381 expandEnvVar(sklPath);
382 if (sklPath.length() > 0 &&
383 sklPath[sklPath.length()-1] != QDir::separator()) {
384 sklPath += QDir::separator();
385 }
386 if (sklPath.isEmpty()) {
387 sklPath = rnxPath;
388 }
389 _localSklName = sklPath + ID + distStr + "." + sklExt;
390 _localSklNameAlternative = sklPath + ID.toLower() + distStr + "." + sklExt;
391
392 if (_rnxVersion > 2) {
393 QString country;
394 QString monNum = "0";
395 QString recNum = "0";
396 if (statIDlength == 9) {
397 monNum = QChar(_statID[4]);
398 recNum = QChar(_statID[5]);
399 }
400 QListIterator<QString> it(settings.value("mountPoints").toStringList());
401 while (it.hasNext()) {
402 QStringList hlp = it.next().split(" ");
403 if (hlp.size() < 7)
404 continue;
405 if (hlp.join(" ").indexOf(_statID, 0) != -1) {
406 country = hlp[2].left(3);
407 }
408 }
409
410 rnxPath += ID.left(4) +
411 QString("%1").arg(monNum, 1, 10) +
412 QString("%1").arg(recNum, 1, 10) +
413 country +
414 "_S_" + // stream
415 QString("%1").arg(datTim.date().year()) +
416 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
417 hlpStr + // HMS_period
418 QString("%1").arg(_samplingRateStr) + // sampling rate
419 "_MO" + // mixed OBS
420 distStr +
421 ".rnx";
422 }
423 else {
424 rnxPath += ID.left(4) +
425 QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
426 hlpStr + distStr + datTim.toString(".yyO");
427 }
428
429 _fName = rnxPath.toLatin1();
430}
431
432// Write RINEX Header
433////////////////////////////////////////////////////////////////////////////
434void bncRinex::writeHeader(const QByteArray& format, const bncTime& firstObsTime) {
435
436 bncSettings settings;
437
438 // Set RINEX Version
439 // -----------------
440 int intHeaderVers = settings.value("rnxVersion").toInt();
441
442 // Open the Output File
443 // --------------------
444 QDateTime datTimNom = dateAndTimeFromGPSweek(firstObsTime.gpsw(),
445 floor(firstObsTime.gpssec()+0.5));
446
447 resolveFileName(datTimNom);
448
449 // Read Skeleton Header
450 // --------------------
451 if (readSkeleton()) {
452 _header.set(_sklHeader, intHeaderVers);
453 }
454 else {
455 if (_writeRinexFileOnlyWithSkl) {
456 return;
457 }
458 _header.setDefault(_statID, intHeaderVers);
459 }
460
461 // Append to existing file and return
462 // ----------------------------------
463 if ( QFile::exists(_fName) &&
464 (_reconnectFlag || Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) ) {
465 _out.open(_fName.data(), ios::app);
466 _out.setf(ios::showpoint | ios::fixed);
467 _headerWritten = true;
468 _reconnectFlag = false;
469 }
470 else {
471 _out.open(_fName.data());
472 _addComments.clear();
473 }
474
475 _out.setf(ios::showpoint | ios::fixed);
476
477 // A Few Additional Comments
478 // -------------------------
479 _addComments << format.left(6) + " " + _mountPoint.host() + _mountPoint.path();
480 if (_nmea == "yes") {
481 _addComments << "NMEA LAT=" + _latitude + " " + "LONG=" + _longitude;
482 }
483
484 // Write the Header
485 // ----------------
486 QByteArray headerLines;
487 QTextStream outHlp(&headerLines);
488
489 QMap<QString, QString> txtMap;
490 txtMap["COMMENT"] = _addComments.join("\\n");
491
492 _header.setStartTime(firstObsTime);
493 _header.write(&outHlp, &txtMap);
494
495 outHlp.flush();
496
497 if (!_headerWritten) {
498 _out << headerLines.data();
499 }
500
501 _headerWritten = true;
502}
503
504// Stores Observation into Internal Array
505////////////////////////////////////////////////////////////////////////////
506void bncRinex::deepCopy(t_satObs obs) {
507 _obs.push_back(obs);
508}
509
510// Write One Epoch into the RINEX File
511////////////////////////////////////////////////////////////////////////////
512void bncRinex::dumpEpoch(const QByteArray& format, const bncTime& maxTime) {
513
514 // Select observations older than maxTime
515 // --------------------------------------
516 QList<t_satObs> obsList;
517 QMutableListIterator<t_satObs> mIt(_obs);
518 while (mIt.hasNext()) {
519 t_satObs obs = mIt.next();
520 if (obs._time < maxTime) {
521 obsList.push_back(obs);
522 mIt.remove();
523 }
524 }
525
526 // Easy Return
527 // -----------
528 if (obsList.isEmpty()) {
529 return;
530 }
531
532 // Time of Epoch
533 // -------------
534 const t_satObs& fObs = obsList.first();
535 QDateTime datTimNom = dateAndTimeFromGPSweek(fObs._time.gpsw(), fObs._time.gpssec());
536
537 // Close the file
538 // --------------
539 if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
540 closeFile();
541 _headerWritten = false;
542 }
543
544 // Write RINEX Header
545 // ------------------
546 if (!_headerWritten) {
547 writeHeader(format, fObs._time);
548 }
549 if (!_headerWritten) {
550 return;
551 }
552
553 // Prepare structure t_rnxEpo
554 // --------------------------
555 t_rnxObsFile::t_rnxEpo rnxEpo;
556 rnxEpo.tt = fObs._time;
557
558 QListIterator<t_satObs> it(obsList);
559 while (it.hasNext()) {
560 const t_satObs& satObs = it.next();
561 t_rnxObsFile::t_rnxSat rnxSat;
562 rnxSat.prn = satObs._prn;
563
564 // Initialize all observations mentioned in skeleton header
565 // --------------------------------------------------------
566 char sys = rnxSat.prn.system();
567 for (int iType = 0; iType < _sklHeader.nTypes(sys); iType++) {
568 QString type = _sklHeader.obsType(sys, iType);
569 t_rnxObsFile::t_rnxObs rnxObs; // create an empty observation
570 rnxSat.obs[type] = rnxObs;
571 }
572
573 for (unsigned ii = 0; ii < satObs._obs.size(); ii++) {
574 const t_frqObs* frqObs = satObs._obs[ii];
575 if (frqObs->_codeValid) {
576 QString type = 'C' + QString(frqObs->_rnxType2ch.c_str());
577 t_rnxObsFile::t_rnxObs rnxObs;
578 rnxObs.value = frqObs->_code;
579 rnxSat.obs[type] = rnxObs;
580 }
581 if (frqObs->_phaseValid) {
582 QString type = 'L' + QString(frqObs->_rnxType2ch.c_str());
583 t_rnxObsFile::t_rnxObs rnxObs;
584 rnxObs.value = frqObs->_phase;
585 if (frqObs->_slip) {
586 rnxObs.lli |= 1;
587 }
588 rnxSat.obs[type] = rnxObs;
589 }
590 if (frqObs->_dopplerValid) {
591 QString type = 'D' + QString(frqObs->_rnxType2ch.c_str());
592 t_rnxObsFile::t_rnxObs rnxObs;
593 rnxObs.value = frqObs->_doppler;
594 rnxSat.obs[type] = rnxObs;
595 }
596 if (frqObs->_snrValid) {
597 QString type = 'S' + QString(frqObs->_rnxType2ch.c_str());
598 t_rnxObsFile::t_rnxObs rnxObs;
599 rnxObs.value = frqObs->_snr;
600 rnxSat.obs[type] = rnxObs;
601 }
602 }
603
604
605 rnxEpo.rnxSat.push_back(rnxSat);
606 }
607
608 // Write the epoch
609 // ---------------
610 QByteArray outLines;
611 QTextStream outStream(&outLines);
612 t_rnxObsFile::writeEpoch(&outStream, _header, &rnxEpo);
613
614 _out << outLines.data();
615 _out.flush();
616}
617
618// Close the Old RINEX File
619////////////////////////////////////////////////////////////////////////////
620void bncRinex::closeFile() {
621
622 if (_header.version() == 3) {
623 _out << "> 4 1" << endl;
624 _out << "END OF FILE" << endl;
625 }
626 _out.close();
627 if (!_rnxScriptName.isEmpty()) {
628 qApp->thread()->wait(100);
629#ifdef WIN32
630 QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
631#else
632 QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
633#endif
634
635 }
636}
637
638// One Line in ASCII (Internal) Format
639////////////////////////////////////////////////////////////////////////////
640string bncRinex::asciiSatLine(const t_satObs& obs, bool outLockTime) {
641
642 ostringstream str;
643 str.setf(ios::showpoint | ios::fixed);
644
645 str << obs._prn.toString();
646
647 for (unsigned ii = 0; ii < obs._obs.size(); ii++) {
648 const t_frqObs* frqObs = obs._obs[ii];
649 if (frqObs->_codeValid) {
650 str << ' '
651 << left << setw(3) << "C" + frqObs->_rnxType2ch << ' '
652 << right << setw(14) << setprecision(3) << frqObs->_code;
653 }
654 if (frqObs->_phaseValid) {
655 str << ' '
656 << left << setw(3) << "L" + frqObs->_rnxType2ch << ' '
657 << right << setw(14) << setprecision(3) << frqObs->_phase << ' '
658 << right << setw(4) << frqObs->_slipCounter;
659 }
660 if (frqObs->_dopplerValid) {
661 str << ' '
662 << left << setw(3) << "D" + frqObs->_rnxType2ch << ' '
663 << right << setw(14) << setprecision(3) << frqObs->_doppler;
664 }
665 if (frqObs->_snrValid) {
666 str << ' '
667 << left << setw(3) << "S" + frqObs->_rnxType2ch << ' '
668 << right << setw(8) << setprecision(3) << frqObs->_snr;
669 }
670 if (frqObs->_lockTimeValid && outLockTime) {
671 str << ' '
672 << left << setw(3) << "T" + frqObs->_rnxType2ch << ' '
673 << right << setw(9) << setprecision(3) << frqObs->_lockTime;
674 }
675 }
676
677 return str.str();
678}
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