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source: ntrip/trunk/BNC/src/bncrinex.cpp@ 5520

Last change on this file since 5520 was 5518, checked in by weber, 11 years ago
Made C1 in BeiDou the default observation type insteamd of C2
File size: 19.3 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	#include "rtcm3torinex.h"
62
63	using namespace std;
64
65	// Constructor
66	////////////////////////////////////////////////////////////////////////////
67	bncRinex::bncRinex(const QByteArray& statID, const QUrl& mountPoint,
68	const QByteArray& latitude, const QByteArray& longitude,
69	const QByteArray& nmea, const QByteArray& ntripVersion) {
70
71	_statID = statID;
72	_mountPoint = mountPoint;
73	_latitude = latitude;
74	_longitude = longitude;
75	_nmea = nmea;
76	_ntripVersion = ntripVersion;
77	_headerWritten = false;
78	_reconnectFlag = false;
79
80	bncSettings settings;
81	_rnxScriptName = settings.value("rnxScript").toString();
82	expandEnvVar(_rnxScriptName);
83
84	_pgmName = QString(BNCPGMNAME).leftJustified(20, ' ', true);
85	#ifdef WIN32
86	_userName = QString("${USERNAME}");
87	#else
88	_userName = QString("${USER}");
89	#endif
90	expandEnvVar(_userName);
91	_userName = _userName.leftJustified(20, ' ', true);
92
93	_samplingRate = settings.value("rnxSampl").toInt();
94	}
95
96	// Destructor
97	////////////////////////////////////////////////////////////////////////////
98	bncRinex::~bncRinex() {
99	bncSettings settings;
100	if ((_header._version >= 3.0) && ( Qt::CheckState(settings.value("rnxAppend").toInt()) != Qt::Checked) ) {
101	_out << "> 4 1" << endl;
102	_out << "END OF FILE" << endl;
103	}
104	_out.close();
105	}
106
107	// Download Skeleton Header File
108	////////////////////////////////////////////////////////////////////////////
109	t_irc bncRinex::downloadSkeleton() {
110
111	t_irc irc = failure;
112
113	QStringList table;
114	bncTableDlg::getFullTable(_ntripVersion, _mountPoint.host(),
115	_mountPoint.port(), table, true);
116	QString net;
117	QStringListIterator it(table);
118	while (it.hasNext()) {
119	QString line = it.next();
120	if (line.indexOf("STR") == 0) {
121	QStringList tags = line.split(";");
122	if (tags.size() > 7) {
123	if (tags.at(1) == _mountPoint.path().mid(1).toAscii()) {
124	net = tags.at(7);
125	break;
126	}
127	}
128	}
129	}
130	QString sklDir;
131	if (!net.isEmpty()) {
132	it.toFront();
133	while (it.hasNext()) {
134	QString line = it.next();
135	if (line.indexOf("NET") == 0) {
136	QStringList tags = line.split(";");
137	if (tags.size() > 6) {
138	if (tags.at(1) == net) {
139	sklDir = tags.at(6).trimmed();
140	break;
141	}
142	}
143	}
144	}
145	}
146	if (!sklDir.isEmpty() && sklDir != "none") {
147	QUrl url(sklDir + "/" + _mountPoint.path().mid(1,4).toLower() + ".skl");
148	if (url.port() == -1) {
149	url.setPort(80);
150	}
151
152	bncNetQuery* query;
153	if (_ntripVersion == "2s") {
154	query = new bncNetQueryV2(true);
155	}
156	else if (_ntripVersion == "2") {
157	query = new bncNetQueryV2(false);
158	}
159	else {
160	query = new bncNetQueryV1;
161	}
162
163	QByteArray outData;
164	query->waitForRequestResult(url, outData);
165	if (query->status() == bncNetQuery::finished) {
166	irc = success;
167	_header._obsTypesV2.clear();
168	_header._obsTypesV3.clear();
169	QTextStream in(outData);
170	_header.read(&in);
171	}
172
173	delete query;
174	}
175
176	return irc;
177	}
178
179	// Read Skeleton Header File
180	////////////////////////////////////////////////////////////////////////////
181	bool bncRinex::readSkeleton() {
182
183	bool readDone = false;
184
185	// Read the local file
186	// -------------------
187	QFile skl(_sklName);
188	if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
189	readDone = true;
190	_header._obsTypesV2.clear();
191	_header._obsTypesV3.clear();
192	QTextStream in(&skl);
193	_header.read(&in);
194	}
195
196	// Read downloaded file
197	// --------------------
198	else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
199	_ntripVersion != "S" ) {
200	QDate currDate = currentDateAndTimeGPS().date();
201	if ( !_skeletonDate.isValid() \|\| _skeletonDate != currDate ) {
202	if (downloadSkeleton() == success) {
203	readDone = true;
204	}
205	_skeletonDate = currDate;
206	}
207	}
208
209	return readDone;
210	}
211
212	// Next File Epoch (static)
213	////////////////////////////////////////////////////////////////////////////
214	QString bncRinex::nextEpochStr(const QDateTime& datTim,
215	const QString& intStr, QDateTime* nextEpoch) {
216
217	QString epoStr;
218
219	QTime nextTime;
220	QDate nextDate;
221
222	int indHlp = intStr.indexOf("min");
223
224	if ( indHlp != -1) {
225	int step = intStr.left(indHlp-1).toInt();
226	char ch = 'A' + datTim.time().hour();
227	epoStr = ch;
228	if (datTim.time().minute() >= 60-step) {
229	epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
230	if (datTim.time().hour() < 23) {
231	nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
232	nextDate = datTim.date();
233	}
234	else {
235	nextTime.setHMS(0, 0, 0);
236	nextDate = datTim.date().addDays(1);
237	}
238	}
239	else {
240	for (int limit = step; limit <= 60-step; limit += step) {
241	if (datTim.time().minute() < limit) {
242	epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
243	nextTime.setHMS(datTim.time().hour(), limit, 0);
244	nextDate = datTim.date();
245	break;
246	}
247	}
248	}
249	}
250	else if (intStr == "1 hour") {
251	char ch = 'A' + datTim.time().hour();
252	epoStr = ch;
253	if (datTim.time().hour() < 23) {
254	nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
255	nextDate = datTim.date();
256	}
257	else {
258	nextTime.setHMS(0, 0, 0);
259	nextDate = datTim.date().addDays(1);
260	}
261	}
262	else {
263	epoStr = "0";
264	nextTime.setHMS(0, 0, 0);
265	nextDate = datTim.date().addDays(1);
266	}
267
268	if (nextEpoch) {
269	*nextEpoch = QDateTime(nextDate, nextTime);
270	}
271
272	return epoStr;
273	}
274
275	// File Name according to RINEX Standards
276	////////////////////////////////////////////////////////////////////////////
277	void bncRinex::resolveFileName(const QDateTime& datTim) {
278
279	bncSettings settings;
280	QString path = settings.value("rnxPath").toString();
281	expandEnvVar(path);
282
283	if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
284	path += QDir::separator();
285	}
286
287	QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
288	&_nextCloseEpoch);
289
290	QString ID4 = _statID.left(4);
291
292	// Check name conflict
293	// -------------------
294	QString distStr;
295	int num = 0;
296	QListIterator<QString> it(settings.value("mountPoints").toStringList());
297	while (it.hasNext()) {
298	QString mp = it.next();
299	if (mp.indexOf(ID4) != -1) {
300	++num;
301	}
302	}
303	if (num > 1) {
304	distStr = "_" + _statID.mid(4);
305	}
306
307	QString sklExt = settings.value("rnxSkel").toString();
308	if (!sklExt.isEmpty()) {
309	_sklName = path + ID4 + distStr + "." + sklExt;
310	}
311
312	path += ID4 +
313	QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
314	hlpStr + distStr + datTim.toString(".yyO");
315
316	_fName = path.toAscii();
317	}
318
319	// Write RINEX Header
320	////////////////////////////////////////////////////////////////////////////
321	void bncRinex::writeHeader(const QByteArray& format,
322	const QDateTime& datTimNom) {
323
324	bncSettings settings;
325
326	// Open the Output File
327	// --------------------
328	resolveFileName(datTimNom);
329
330	// Append to existing file and return
331	// ----------------------------------
332	if ( QFile::exists(_fName) ) {
333	if (_reconnectFlag \|\|
334	Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) {
335	_out.open(_fName.data(), ios::app);
336	_out.setf(ios::showpoint \| ios::fixed);
337	_headerWritten = true;
338	_reconnectFlag = false;
339	return;
340	}
341	}
342
343	_out.open(_fName.data());
344	_out.setf(ios::showpoint \| ios::fixed);
345
346	// Read Skeleton Header
347	// --------------------
348	bool skelRead = readSkeleton();
349
350	// Set RINEX Version
351	// -----------------
352	if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
353	_header._version = t_rnxObsHeader::defaultRnxObsVersion3;
354	}
355	else {
356	_header._version = t_rnxObsHeader::defaultRnxObsVersion2;
357	}
358
359	// A Few Additional Comments
360	// -------------------------
361	if (skelRead \|\| _addComments.size() == 0) {
362	_addComments.clear();
363	_addComments << format.left(6) + " "
364	+ _mountPoint.host() + _mountPoint.path();
365	if (_header._obsTypesV3.size() == 0 && _header._version >= 3.0) {
366	_addComments << "Default set of observation types used";
367	}
368	if (_nmea == "yes") {
369	_addComments << "NMEA LAT=" + _latitude + " " + "LONG=" + _longitude;
370	}
371	}
372
373	// Set Marker Name
374	// ---------------
375	if (_header._markerName.isEmpty()) {
376	_header._markerName = _statID;
377	}
378
379	// Set Default RINEX v2 Types
380	// --------------------------
381	if (_header._obsTypesV2.size() == 0) {
382	_header._obsTypesV2 << "C1" << "P1" << "L1" << "S1"
383	<< "C2" << "P2" << "L2" << "S2";
384	}
385
386	// Set Default RINEX v3 Types
387	// ---------------------------
388	if (_header._obsTypesV3.size() == 0) {
389	_header._obsTypesV3['G'] << "C1C" << "L1C" << "D1C" << "S1C"
390	<< "C1P" << "L1P" << "D1P" << "S1P"
391	<< "C2C" << "L2C" << "D2C" << "S2C"
392	<< "C2P" << "L2P" << "D2P" << "S2P"
393	<< "C5" << "D5" << "L5" << "S5";
394
395	_header._obsTypesV3['R'] << "C1C" << "L1C" << "D1C" << "S1C"
396	<< "C1P" << "L1P" << "D1P" << "S1P"
397	<< "C2C" << "L2C" << "D2C" << "S2C"
398	<< "C2P" << "L2P" << "D2P" << "S2P";
399
400	_header._obsTypesV3['E'] << "C1" << "L1" << "D1" << "S1"
401	<< "C5" << "L5" << "D5" << "S5"
402	<< "C6" << "L6" << "D6" << "S6"
403	<< "C7" << "L7" << "D7" << "S7"
404	<< "C8" << "L8" << "D8" << "S8";
405
406	_header._obsTypesV3['J'] << "C1" << "L1" << "D1" << "S1"
407	<< "C2" << "L2" << "D2" << "S2"
408	<< "C5" << "L5" << "D5" << "S5"
409	<< "C6" << "D6" << "L6" << "S6";
410
411	_header._obsTypesV3['S'] << "C1" << "L1" << "D1" << "S1"
412	<< "C5" << "L5" << "D5" << "S5";
413
414	_header._obsTypesV3['C'] << "C1" << "L1" << "D1" << "S1"
415	<< "C6" << "L6" << "D6" << "S6"
416	<< "C7" << "L7" << "D7" << "S7";
417	}
418
419	// Write the Header
420	// ----------------
421	QByteArray headerLines;
422	QTextStream outHlp(&headerLines);
423
424	QMap<QString, QString> txtMap;
425	txtMap["COMMENT"] = _addComments.join("\\n");
426
427	_header.write(&outHlp, &txtMap);
428
429	outHlp.flush();
430	_out << headerLines.data();
431
432	_headerWritten = true;
433	}
434
435	// Stores Observation into Internal Array
436	////////////////////////////////////////////////////////////////////////////
437	void bncRinex::deepCopy(t_obs obs) {
438	_obs.push_back(obs);
439	}
440
441	// Write One Epoch into the RINEX File
442	////////////////////////////////////////////////////////////////////////////
443	void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
444
445	// Select observations older than maxTime
446	// --------------------------------------
447	QList<t_obs> dumpList;
448	QMutableListIterator<t_obs> mIt(_obs);
449	while (mIt.hasNext()) {
450	t_obs obs = mIt.next();
451	if (obs.GPSWeek * 7243600 + obs.GPSWeeks < maxTime - 0.05) {
452	dumpList.push_back(obs);
453	mIt.remove();
454	}
455	}
456
457	// Easy Return
458	// -----------
459	if (dumpList.isEmpty()) {
460	return;
461	}
462
463	// Time of Epoch
464	// -------------
465	const t_obs& fObs = dumpList.first();
466	QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
467	QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
468	floor(fObs.GPSWeeks+0.5));
469
470	// Close the file
471	// --------------
472	if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
473	closeFile();
474	_headerWritten = false;
475	}
476
477	// Write RINEX Header
478	// ------------------
479	if (!_headerWritten) {
480	_header._startTime.set(fObs.GPSWeek, fObs.GPSWeeks);
481	writeHeader(format, datTimNom);
482	}
483
484	// Check whether observation types available
485	// -----------------------------------------
486	QMutableListIterator<t_obs> mItDump(dumpList);
487	while (mItDump.hasNext()) {
488	t_obs& obs = mItDump.next();
489	if (!_header._obsTypesV3.contains(obs.satSys) && !_header._obsTypesV3.contains(obs.satSys)) {
490	mItDump.remove();
491	}
492	}
493	if (dumpList.isEmpty()) {
494	return;
495	}
496
497	double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
498
499	// Epoch header line: RINEX Version 3
500	// ----------------------------------
501	if (_header._version >= 3.0) {
502	_out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
503	<< setw(10) << setprecision(7) << sec
504	<< " " << 0 << setw(3) << dumpList.size() << endl;
505	}
506	// Epoch header line: RINEX Version 2
507	// ----------------------------------
508	else {
509	_out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
510	<< setw(10) << setprecision(7) << sec
511	<< " " << 0 << setw(3) << dumpList.size();
512
513	QListIterator<t_obs> it(dumpList); int iSat = 0;
514	while (it.hasNext()) {
515	iSat++;
516	const t_obs& obs = it.next();
517	_out << obs.satSys << setw(2) << obs.satNum;
518	if (iSat == 12 && it.hasNext()) {
519	_out << endl << " ";
520	iSat = 0;
521	}
522	}
523	_out << endl;
524	}
525
526	QListIterator<t_obs> it(dumpList);
527	while (it.hasNext()) {
528	const t_obs& obs = it.next();
529
530	// Cycle slips detection
531	// ---------------------
532	QString prn = QString("%1%2").arg(obs.satSys)
533	.arg(obs.satNum, 2, 10, QChar('0'));
534
535	char lli1 = ' ';
536	char lli2 = ' ';
537	char lli5 = ' ';
538	if ( obs.slip_cnt_L1 >= 0 ) {
539	if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
540	_slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
541	lli1 = '1';
542	}
543	}
544
545	if ( obs.slip_cnt_L2 >= 0 ) {
546	if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
547	_slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
548	lli2 = '1';
549	}
550	}
551
552	if ( obs.slip_cnt_L5 >= 0 ) {
553	if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
554	_slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
555	lli5 = '1';
556	}
557	}
558
559	_slip_cnt_L1[prn] = obs.slip_cnt_L1;
560	_slip_cnt_L2[prn] = obs.slip_cnt_L2;
561	_slip_cnt_L5[prn] = obs.slip_cnt_L5;
562
563	// Write the data
564	// --------------
565	_out << rinexSatLine(obs, lli1, lli2, lli5) << endl;
566	}
567
568	_out.flush();
569	}
570
571	// Close the Old RINEX File
572	////////////////////////////////////////////////////////////////////////////
573	void bncRinex::closeFile() {
574	if (_header._version == 3) {
575	_out << "> 4 1" << endl;
576	_out << "END OF FILE" << endl;
577	}
578	_out.close();
579	if (!_rnxScriptName.isEmpty()) {
580	qApp->thread()->wait(100);
581	#ifdef WIN32
582	QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
583	#else
584	QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
585	#endif
586
587	}
588	}
589
590	// One Line in RINEX v2 or v3
591	////////////////////////////////////////////////////////////////////////////
592	string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
593	char lli5) {
594	ostringstream str;
595	str.setf(ios::showpoint \| ios::fixed);
596
597	if (_header._version >= 3.0) {
598	str << obs.satSys
599	<< setw(2) << setfill('0') << obs.satNum << setfill(' ');
600	}
601
602	const QVector<QString>& types = (_header._version > 3.0) ?
603	_header._obsTypesV3[obs.satSys] : _header._obsTypesV2;
604	for (int ii = 0; ii < types.size(); ii++) {
605	if (_header._version < 3.0 && ii > 0 && ii % 5 == 0) {
606	str << endl;
607	}
608	double value = obs.measdata(types[ii], _header._version);
609	str << setw(14) << setprecision(3) << value;
610	if (value != 0.0 && types[ii].indexOf("L1") == 0) {
611	str << lli1 << ' ';
612	}
613	else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
614	str << lli2 << ' ';
615	}
616	else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
617	str << lli5 << ' ';
618	}
619	else {
620	str << " ";
621	}
622	}
623
624	return str.str();
625	}
626
627	//
628	////////////////////////////////////////////////////////////////////////////
629	string bncRinex::obsToStr(double val, int width, int precision) {
630	if (val != 0.0) {
631	ostringstream str;
632	str.setf(ios::showpoint \| ios::fixed);
633	str << setw(width) << setprecision(precision) << val;
634	return str.str();
635	}
636	else {
637	return "0.0";
638	}
639	}
640
641	// One Line in ASCII (Internal) Format
642	////////////////////////////////////////////////////////////////////////////
643	string bncRinex::asciiSatLine(const t_obs& obs) {
644
645	ostringstream str;
646	str.setf(ios::showpoint \| ios::fixed);
647
648	str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
649
650	if (obs.satSys == 'R') { // Glonass
651	str << ' ' << setw(2) << obs.slotNum << ' ';
652	}
653	else {
654	str << " ";
655	}
656
657	float rnxVers = 3.0;
658
659	for (int ie = 0; ie < GNSSENTRY_NUMBER; ie++) {
660	QString rnxStr = obs.rnxStr(ie);
661	if (rnxStr.length() >= 2) {
662	double data = obs.measdata(rnxStr, rnxVers);
663	if (data != 0.0) {
664	int width = (rnxStr[0] == 'S') ? 8 : 14;
665	int prec = 3;
666	str << ' ' << rnxStr.toAscii().data()
667	<< ' ' << obsToStr(data, width, prec);
668	if (rnxStr[0] == 'L') {
669	int slipCnt = 0;
670	if (rnxStr[1] == '1') {
671	slipCnt = obs.slip_cnt_L1;
672	}
673	else if (rnxStr[1] == '2') {
674	slipCnt = obs.slip_cnt_L2;
675	}
676	else if (rnxStr[1] == '5') {
677	slipCnt = obs.slip_cnt_L5;
678	}
679	str << ' ' << setw(2) << slipCnt;
680	}
681	}
682	}
683	}
684
685	return str.str();
686	}

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