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source: ntrip/trunk/BNC/src/bncrinex.cpp@ 6120

Last change on this file since 6120 was 6120, checked in by mervart, 10 years ago

File size: 19.3 KB

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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._obsTypes.clear();
168	QTextStream in(outData);
169	_header.read(&in);
170	}
171
172	delete query;
173	}
174
175	return irc;
176	}
177
178	// Read Skeleton Header File
179	////////////////////////////////////////////////////////////////////////////
180	bool bncRinex::readSkeleton() {
181
182	bool readDone = false;
183
184	// Read the local file
185	// -------------------
186	QFile skl(_sklName);
187	if ( skl.exists() && skl.open(QIODevice::ReadOnly) ) {
188	readDone = true;
189	_header._obsTypes.clear();
190	QTextStream in(&skl);
191	_header.read(&in);
192	}
193
194	// Read downloaded file
195	// --------------------
196	else if ( _ntripVersion != "N" && _ntripVersion != "UN" &&
197	_ntripVersion != "S" ) {
198	QDate currDate = currentDateAndTimeGPS().date();
199	if ( !_skeletonDate.isValid() \|\| _skeletonDate != currDate ) {
200	if (downloadSkeleton() == success) {
201	readDone = true;
202	}
203	_skeletonDate = currDate;
204	}
205	}
206
207	return readDone;
208	}
209
210	// Next File Epoch (static)
211	////////////////////////////////////////////////////////////////////////////
212	QString bncRinex::nextEpochStr(const QDateTime& datTim,
213	const QString& intStr, QDateTime* nextEpoch) {
214
215	QString epoStr;
216
217	QTime nextTime;
218	QDate nextDate;
219
220	int indHlp = intStr.indexOf("min");
221
222	if ( indHlp != -1) {
223	int step = intStr.left(indHlp-1).toInt();
224	char ch = 'A' + datTim.time().hour();
225	epoStr = ch;
226	if (datTim.time().minute() >= 60-step) {
227	epoStr += QString("%1").arg(60-step, 2, 10, QChar('0'));
228	if (datTim.time().hour() < 23) {
229	nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
230	nextDate = datTim.date();
231	}
232	else {
233	nextTime.setHMS(0, 0, 0);
234	nextDate = datTim.date().addDays(1);
235	}
236	}
237	else {
238	for (int limit = step; limit <= 60-step; limit += step) {
239	if (datTim.time().minute() < limit) {
240	epoStr += QString("%1").arg(limit-step, 2, 10, QChar('0'));
241	nextTime.setHMS(datTim.time().hour(), limit, 0);
242	nextDate = datTim.date();
243	break;
244	}
245	}
246	}
247	}
248	else if (intStr == "1 hour") {
249	char ch = 'A' + datTim.time().hour();
250	epoStr = ch;
251	if (datTim.time().hour() < 23) {
252	nextTime.setHMS(datTim.time().hour() + 1 , 0, 0);
253	nextDate = datTim.date();
254	}
255	else {
256	nextTime.setHMS(0, 0, 0);
257	nextDate = datTim.date().addDays(1);
258	}
259	}
260	else {
261	epoStr = "0";
262	nextTime.setHMS(0, 0, 0);
263	nextDate = datTim.date().addDays(1);
264	}
265
266	if (nextEpoch) {
267	*nextEpoch = QDateTime(nextDate, nextTime);
268	}
269
270	return epoStr;
271	}
272
273	// File Name according to RINEX Standards
274	////////////////////////////////////////////////////////////////////////////
275	void bncRinex::resolveFileName(const QDateTime& datTim) {
276
277	bncSettings settings;
278	QString path = settings.value("rnxPath").toString();
279	expandEnvVar(path);
280
281	if ( path.length() > 0 && path[path.length()-1] != QDir::separator() ) {
282	path += QDir::separator();
283	}
284
285	QString hlpStr = nextEpochStr(datTim, settings.value("rnxIntr").toString(),
286	&_nextCloseEpoch);
287
288	QString ID4 = _statID.left(4);
289
290	// Check name conflict
291	// -------------------
292	QString distStr;
293	int num = 0;
294	QListIterator<QString> it(settings.value("mountPoints").toStringList());
295	while (it.hasNext()) {
296	QString mp = it.next();
297	if (mp.indexOf(ID4) != -1) {
298	++num;
299	}
300	}
301	if (num > 1) {
302	distStr = "_" + _statID.mid(4);
303	}
304
305	QString sklExt = settings.value("rnxSkel").toString();
306	if (!sklExt.isEmpty()) {
307	_sklName = path + ID4 + distStr + "." + sklExt;
308	}
309
310	path += ID4 +
311	QString("%1").arg(datTim.date().dayOfYear(), 3, 10, QChar('0')) +
312	hlpStr + distStr + datTim.toString(".yyO");
313
314	_fName = path.toAscii();
315	}
316
317	// Write RINEX Header
318	////////////////////////////////////////////////////////////////////////////
319	void bncRinex::writeHeader(const QByteArray& format,
320	const QDateTime& datTimNom) {
321
322	bncSettings settings;
323
324	// Open the Output File
325	// --------------------
326	resolveFileName(datTimNom);
327
328	// Append to existing file and return
329	// ----------------------------------
330	if ( QFile::exists(_fName) &&
331	(_reconnectFlag \|\| Qt::CheckState(settings.value("rnxAppend").toInt()) == Qt::Checked) ) {
332	_out.open(_fName.data(), ios::app);
333	_out.setf(ios::showpoint \| ios::fixed);
334	_headerWritten = true;
335	_reconnectFlag = false;
336	}
337	else {
338	_out.open(_fName.data());
339	}
340
341	_out.setf(ios::showpoint \| ios::fixed);
342
343	// Read Skeleton Header
344	// --------------------
345	bool skelRead = readSkeleton();
346
347	// Set RINEX Version
348	// -----------------
349	if ( Qt::CheckState(settings.value("rnxV3").toInt()) == Qt::Checked) {
350	_header._version = t_rnxObsHeader::defaultRnxObsVersion3;
351	}
352	else {
353	_header._version = t_rnxObsHeader::defaultRnxObsVersion2;
354	}
355
356	// A Few Additional Comments
357	// -------------------------
358	if (skelRead \|\| _addComments.size() == 0) {
359	_addComments.clear();
360	_addComments << format.left(6) + " "
361	+ _mountPoint.host() + _mountPoint.path();
362	if (_header._obsTypes.size() == 0) {
363	_addComments << "Default set of observation types used";
364	}
365	if (_nmea == "yes") {
366	_addComments << "NMEA LAT=" + _latitude + " " + "LONG=" + _longitude;
367	}
368	}
369
370	// Set Marker Name
371	// ---------------
372	if (_header._markerName.isEmpty()) {
373	_header._markerName = _statID;
374	}
375
376	// Set Default Observation Types
377	// -----------------------------
378	if (_header._obsTypes.size() == 0) {
379	if (_header._version < 3.0) {
380	_header._obsTypes['G'] << "C1" << "P1" << "L1" << "S1"
381	<< "C2" << "P2" << "L2" << "S2";
382	_header._obsTypes['R'] = _header._obsTypes['G'];
383	_header._obsTypes['E'] = _header._obsTypes['G'];
384	_header._obsTypes['J'] = _header._obsTypes['G'];
385	_header._obsTypes['S'] = _header._obsTypes['G'];
386	_header._obsTypes['C'] = _header._obsTypes['G'];
387	}
388	else {
389	_header._obsTypes['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._obsTypes['R'] << "C1C" << "L1C" << "D1C" << "S1C"
396	<< "C1P" << "L1P" << "D1P" << "S1P"
397	<< "C2C" << "L2C" << "D2C" << "S2C"
398	<< "C2P" << "L2P" << "D2P" << "S2P";
399
400	_header._obsTypes['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._obsTypes['J'] << "C1" << "L1" << "D1" << "S1"
407	<< "C2" << "L2" << "D2" << "S2"
408	<< "C5" << "L5" << "D5" << "S5"
409	<< "C6" << "D6" << "L6" << "S6";
410
411	_header._obsTypes['S'] << "C1" << "L1" << "D1" << "S1"
412	<< "C5" << "L5" << "D5" << "S5";
413
414	_header._obsTypes['C'] << "C1" << "L1" << "D1" << "S1"
415	<< "C6" << "L6" << "D6" << "S6"
416	<< "C7" << "L7" << "D7" << "S7";
417	}
418	}
419
420	// Write the Header
421	// ----------------
422	QByteArray headerLines;
423	QTextStream outHlp(&headerLines);
424
425	QMap<QString, QString> txtMap;
426	txtMap["COMMENT"] = _addComments.join("\\n");
427
428	_header.write(&outHlp, &txtMap);
429
430	outHlp.flush();
431
432	if (!_headerWritten) {
433	_out << headerLines.data();
434	}
435
436	_headerWritten = true;
437	}
438
439	// Stores Observation into Internal Array
440	////////////////////////////////////////////////////////////////////////////
441	void bncRinex::deepCopy(t_obs obs) {
442	_obs.push_back(obs);
443	}
444
445	// Write One Epoch into the RINEX File
446	////////////////////////////////////////////////////////////////////////////
447	void bncRinex::dumpEpoch(const QByteArray& format, long maxTime) {
448
449	// Select observations older than maxTime
450	// --------------------------------------
451	QList<t_obs> dumpList;
452	QMutableListIterator<t_obs> mIt(_obs);
453	while (mIt.hasNext()) {
454	t_obs obs = mIt.next();
455	if (obs.GPSWeek * 7243600 + obs.GPSWeeks < maxTime - 0.05) {
456	dumpList.push_back(obs);
457	mIt.remove();
458	}
459	}
460
461	// Easy Return
462	// -----------
463	if (dumpList.isEmpty()) {
464	return;
465	}
466
467	// Time of Epoch
468	// -------------
469	const t_obs& fObs = dumpList.first();
470	QDateTime datTim = dateAndTimeFromGPSweek(fObs.GPSWeek, fObs.GPSWeeks);
471	QDateTime datTimNom = dateAndTimeFromGPSweek(fObs.GPSWeek,
472	floor(fObs.GPSWeeks+0.5));
473
474	// Close the file
475	// --------------
476	if (_nextCloseEpoch.isValid() && datTimNom >= _nextCloseEpoch) {
477	closeFile();
478	_headerWritten = false;
479	}
480
481	// Write RINEX Header
482	// ------------------
483	if (!_headerWritten) {
484	_header._startTime.set(fObs.GPSWeek, fObs.GPSWeeks);
485	writeHeader(format, datTimNom);
486	}
487
488	// Check whether observation types available
489	// -----------------------------------------
490	QMutableListIterator<t_obs> mItDump(dumpList);
491	while (mItDump.hasNext()) {
492	t_obs& obs = mItDump.next();
493	if (!_header._obsTypes.contains(obs.satSys) && !_header._obsTypes.contains(obs.satSys)) {
494	mItDump.remove();
495	}
496	}
497	if (dumpList.isEmpty()) {
498	return;
499	}
500
501	double sec = double(datTim.time().second()) + fmod(fObs.GPSWeeks,1.0);
502
503	// Epoch header line: RINEX Version 3
504	// ----------------------------------
505	if (_header._version >= 3.0) {
506	_out << datTim.toString("> yyyy MM dd hh mm ").toAscii().data()
507	<< setw(10) << setprecision(7) << sec
508	<< " " << 0 << setw(3) << dumpList.size() << endl;
509	}
510	// Epoch header line: RINEX Version 2
511	// ----------------------------------
512	else {
513	_out << datTim.toString(" yy MM dd hh mm ").toAscii().data()
514	<< setw(10) << setprecision(7) << sec
515	<< " " << 0 << setw(3) << dumpList.size();
516
517	QListIterator<t_obs> it(dumpList); int iSat = 0;
518	while (it.hasNext()) {
519	iSat++;
520	const t_obs& obs = it.next();
521	_out << obs.satSys << setw(2) << obs.satNum;
522	if (iSat == 12 && it.hasNext()) {
523	_out << endl << " ";
524	iSat = 0;
525	}
526	}
527	_out << endl;
528	}
529
530	QListIterator<t_obs> it(dumpList);
531	while (it.hasNext()) {
532	const t_obs& obs = it.next();
533
534	// Cycle slips detection
535	// ---------------------
536	QString prn = QString("%1%2").arg(obs.satSys)
537	.arg(obs.satNum, 2, 10, QChar('0'));
538
539	char lli1 = ' ';
540	char lli2 = ' ';
541	char lli5 = ' ';
542	if ( obs.slip_cnt_L1 >= 0 ) {
543	if ( _slip_cnt_L1.find(prn) != _slip_cnt_L1.end() &&
544	_slip_cnt_L1.find(prn).value() != obs.slip_cnt_L1 ) {
545	lli1 = '1';
546	}
547	}
548
549	if ( obs.slip_cnt_L2 >= 0 ) {
550	if ( _slip_cnt_L2.find(prn) != _slip_cnt_L2.end() &&
551	_slip_cnt_L2.find(prn).value() != obs.slip_cnt_L2 ) {
552	lli2 = '1';
553	}
554	}
555
556	if ( obs.slip_cnt_L5 >= 0 ) {
557	if ( _slip_cnt_L5.find(prn) != _slip_cnt_L5.end() &&
558	_slip_cnt_L5.find(prn).value() != obs.slip_cnt_L5 ) {
559	lli5 = '1';
560	}
561	}
562
563	_slip_cnt_L1[prn] = obs.slip_cnt_L1;
564	_slip_cnt_L2[prn] = obs.slip_cnt_L2;
565	_slip_cnt_L5[prn] = obs.slip_cnt_L5;
566
567	// Write the data
568	// --------------
569	_out << rinexSatLine(obs, lli1, lli2, lli5) << endl;
570	}
571
572	_out.flush();
573	}
574
575	// Close the Old RINEX File
576	////////////////////////////////////////////////////////////////////////////
577	void bncRinex::closeFile() {
578	if (_header._version == 3) {
579	_out << "> 4 1" << endl;
580	_out << "END OF FILE" << endl;
581	}
582	_out.close();
583	if (!_rnxScriptName.isEmpty()) {
584	qApp->thread()->wait(100);
585	#ifdef WIN32
586	QProcess::startDetached(_rnxScriptName, QStringList() << _fName) ;
587	#else
588	QProcess::startDetached("nohup", QStringList() << _rnxScriptName << _fName) ;
589	#endif
590
591	}
592	}
593
594	// One Line in RINEX v2 or v3
595	////////////////////////////////////////////////////////////////////////////
596	string bncRinex::rinexSatLine(const t_obs& obs, char lli1, char lli2,
597	char lli5) {
598	ostringstream str;
599	str.setf(ios::showpoint \| ios::fixed);
600
601	if (_header._version >= 3.0) {
602	str << obs.satSys
603	<< setw(2) << setfill('0') << obs.satNum << setfill(' ');
604	}
605
606	const QVector<QString>& types = _header._obsTypes[obs.satSys];
607	for (int ii = 0; ii < types.size(); ii++) {
608	if (_header._version < 3.0 && ii > 0 && ii % 5 == 0) {
609	str << endl;
610	}
611	double value = obs.measdata(types[ii], _header._version);
612	str << setw(14) << setprecision(3) << value;
613	if (value != 0.0 && types[ii].indexOf("L1") == 0) {
614	str << lli1 << ' ';
615	}
616	else if (value != 0.0 && types[ii].indexOf("L2") == 0) {
617	str << lli2 << ' ';
618	}
619	else if (value != 0.0 && types[ii].indexOf("L5") == 0) {
620	str << lli5 << ' ';
621	}
622	else {
623	str << " ";
624	}
625	}
626
627	return str.str();
628	}
629
630	//
631	////////////////////////////////////////////////////////////////////////////
632	string bncRinex::obsToStr(double val, int width, int precision) {
633	if (val != 0.0) {
634	ostringstream str;
635	str.setf(ios::showpoint \| ios::fixed);
636	str << setw(width) << setprecision(precision) << val;
637	return str.str();
638	}
639	else {
640	return "0.0";
641	}
642	}
643
644	// One Line in ASCII (Internal) Format
645	////////////////////////////////////////////////////////////////////////////
646	string bncRinex::asciiSatLine(const t_obs& obs) {
647
648	ostringstream str;
649	str.setf(ios::showpoint \| ios::fixed);
650
651	str << obs.satSys << setw(2) << setfill('0') << obs.satNum << setfill(' ');
652
653	if (obs.satSys == 'R') { // Glonass
654	str << ' ' << setw(2) << obs.slotNum << ' ';
655	}
656	else {
657	str << " ";
658	}
659
660	float rnxVers = 3.0;
661
662	for (int ie = 0; ie < GNSSENTRY_NUMBER; ie++) {
663	QString rnxStr = obs.rnxStr(ie);
664	if (rnxStr.length() >= 2) {
665	double data = obs.measdata(rnxStr, rnxVers);
666	if (data != 0.0) {
667	int width = (rnxStr[0] == 'S') ? 8 : 14;
668	int prec = 3;
669	str << ' ' << rnxStr.toAscii().data()
670	<< ' ' << obsToStr(data, width, prec);
671	if (rnxStr[0] == 'L') {
672	int slipCnt = 0;
673	if (rnxStr[1] == '1') {
674	slipCnt = obs.slip_cnt_L1;
675	}
676	else if (rnxStr[1] == '2') {
677	slipCnt = obs.slip_cnt_L2;
678	}
679	else if (rnxStr[1] == '5') {
680	slipCnt = obs.slip_cnt_L5;
681	}
682	str << ' ' << setw(3) << slipCnt;
683	}
684	}
685	}
686	}
687
688	return str.str();
689	}

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