1 |
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2 | // Part of BNC, a utility for retrieving decoding and
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3 | // converting GNSS data streams from NTRIP broadcasters.
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4 | //
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5 | // Copyright (C) 2007
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6 | // German Federal Agency for Cartography and Geodesy (BKG)
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7 | // http://www.bkg.bund.de
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8 | // Czech Technical University Prague, Department of Geodesy
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9 | // http://www.fsv.cvut.cz
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10 | //
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11 | // Email: euref-ip@bkg.bund.de
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12 | //
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13 | // This program is free software; you can redistribute it and/or
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14 | // modify it under the terms of the GNU General Public License
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15 | // as published by the Free Software Foundation, version 2.
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16 | //
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17 | // This program is distributed in the hope that it will be useful,
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18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
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19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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20 | // GNU General Public License for more details.
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21 | //
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22 | // You should have received a copy of the GNU General Public License
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23 | // along with this program; if not, write to the Free Software
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24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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25 |
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26 | /* -------------------------------------------------------------------------
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27 | * BKG NTRIP Client
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28 | * -------------------------------------------------------------------------
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29 | *
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30 | * Class: t_pppMain
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31 | *
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32 | * Purpose: Start of the PPP client(s)
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33 | *
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34 | * Author: L. Mervart
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35 | *
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36 | * Created: 29-Jul-2014
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37 | *
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38 | * Changes:
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39 | *
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40 | * -----------------------------------------------------------------------*/
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41 |
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42 | #include <iostream>
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43 |
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44 | #include "pppMain.h"
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45 | #include "pppCrdFile.h"
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46 | #include "bncsettings.h"
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47 |
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48 | using namespace BNC_PPP;
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49 | using namespace std;
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50 |
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51 | // Constructor
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52 | //////////////////////////////////////////////////////////////////////////////
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53 | t_pppMain::t_pppMain() {
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54 | _running = false;
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55 | }
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56 |
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57 | // Destructor
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58 | //////////////////////////////////////////////////////////////////////////////
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59 | t_pppMain::~t_pppMain() {
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60 | stop();
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61 | QListIterator<t_pppOptions*> iOpt(_options);
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62 | while (iOpt.hasNext()) {
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63 | delete iOpt.next();
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64 | }
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65 | }
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66 |
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67 | //
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68 | //////////////////////////////////////////////////////////////////////////////
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69 | void t_pppMain::start() {
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70 | if (_running) {
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71 | return;
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72 | }
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73 |
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74 | try {
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75 | readOptions();
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76 |
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77 | QListIterator<t_pppOptions*> iOpt(_options);
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78 | while (iOpt.hasNext()) {
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79 | const t_pppOptions* opt = iOpt.next();
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80 | t_pppThread* pppThread = new t_pppThread(opt);
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81 | pppThread->start();
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82 | _pppThreads << pppThread;
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83 | _running = true;
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84 | }
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85 | }
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86 | catch (t_except exc) {
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87 | _running = true;
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88 | stop();
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89 | }
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90 | }
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91 |
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92 | //
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93 | //////////////////////////////////////////////////////////////////////////////
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94 | void t_pppMain::stop() {
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95 |
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96 | if (!_running) {
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97 | return;
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98 | }
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99 |
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100 | if (_realTime) {
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101 | QListIterator<t_pppThread*> it(_pppThreads);
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102 | while (it.hasNext()) {
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103 | t_pppThread* pppThread = it.next();
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104 | pppThread->exit();
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105 | #ifdef BNC_DEBUG
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106 | if (BNC_CORE->mode() != t_bncCore::interactive) {
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107 | while(!pppThread->isFinished()) {
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108 | pppThread->wait();
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109 | }
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110 | delete pppThread;
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111 | }
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112 | #endif
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113 | }
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114 | _pppThreads.clear();
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115 | }
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116 |
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117 | _running = false;
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118 | }
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119 |
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120 | //
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121 | //////////////////////////////////////////////////////////////////////////////
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122 | void t_pppMain::readOptions() {
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123 |
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124 | QListIterator<t_pppOptions*> iOpt(_options);
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125 | while (iOpt.hasNext()) {
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126 | delete iOpt.next();
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127 | }
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128 | _options.clear();
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129 |
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130 | bncSettings settings;
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131 |
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132 | _realTime = false;
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133 | if (settings.value("PPP/dataSource").toString() == "Real-Time Streams") {
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134 | _realTime = true;
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135 | }
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136 | else if (settings.value("PPP/dataSource").toString() == "RINEX Files") {
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137 | _realTime = false;
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138 | }
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139 | else {
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140 | return;
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141 | }
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142 |
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143 | QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
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144 | while (iSta.hasNext()) {
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145 | QStringList hlp = iSta.next().split(",");
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146 |
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147 | if (hlp.size() < 10) {
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148 | throw t_except("pppMain: wrong option staTable");
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149 | }
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150 |
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151 | t_pppOptions* opt = new t_pppOptions();
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152 |
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153 | opt->_realTime = _realTime;
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154 | opt->_roverName = hlp[0].toStdString();
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155 | opt->_aprSigCrd[0] = hlp[1].toDouble()+1e-10;
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156 | opt->_aprSigCrd[1] = hlp[2].toDouble()+1e-10;
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157 | opt->_aprSigCrd[2] = hlp[3].toDouble()+1e-10;
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158 | opt->_noiseCrd[0] = hlp[4].toDouble()+1e-10;
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159 | opt->_noiseCrd[1] = hlp[5].toDouble()+1e-10;
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160 | opt->_noiseCrd[2] = hlp[6].toDouble()+1e-10;
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161 | opt->_aprSigTrp = hlp[7].toDouble();
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162 | opt->_noiseTrp = hlp[8].toDouble();
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163 | opt->_nmeaPort = hlp[9].toInt();
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164 |
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165 | if (_realTime) {
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166 | opt->_corrMount.assign(settings.value("PPP/corrMount").toString().toStdString());
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167 | }
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168 | else {
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169 | opt->_rinexObs.assign(settings.value("PPP/rinexObs").toString().toStdString());
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170 | opt->_rinexNav.assign(settings.value("PPP/rinexNav").toString().toStdString());
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171 | opt->_corrFile.assign(settings.value("PPP/corrFile").toString().toStdString());
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172 | }
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173 |
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174 | opt->_crdFile.assign(settings.value("PPP/crdFile").toString().toStdString());
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175 | opt->_antexFileName.assign(settings.value("PPP/antexFile").toString().toStdString());
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176 | #ifdef USE_PPP
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177 | opt->_blqFileName.assign(settings.value("PPP/blqFile").toString().toStdString());
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178 | #endif
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179 | opt->_sigmaC1 = settings.value("PPP/sigmaC1").toDouble(); if (opt->_sigmaC1 <= 0.0) opt->_sigmaC1 = 2.0;
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180 | opt->_sigmaL1 = settings.value("PPP/sigmaL1").toDouble(); if (opt->_sigmaL1 <= 0.0) opt->_sigmaL1 = 0.01;
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181 | opt->_corrWaitTime = settings.value("PPP/corrWaitTime").toDouble();
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182 | if (!_realTime || opt->_corrMount.empty()) {
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183 | opt->_corrWaitTime = 0;
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184 | }
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185 | opt->_obsModelType = t_pppOptions::IF;
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186 | opt->_pseudoObsIono = false;
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187 | opt->_pseudoObsTropo = false;
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188 | opt->_refSatRequired = false;
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189 | #ifdef USE_PPP
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190 | // Pseudo Observations
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191 | if (settings.value("PPP/pseudoObs").toString() == "Ionosphere") {
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192 | opt->_pseudoObsIono = true;
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193 | opt->_pseudoObsTropo = false;
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194 | }
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195 | else if (settings.value("PPP/pseudoObs").toString() == "Iono+Tropo") {
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196 | opt->_pseudoObsIono = true;
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197 | opt->_pseudoObsTropo = true;
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198 | }
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199 | else if (settings.value("PPP/pseudoObs").toString() == "no") {
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200 | opt->_pseudoObsIono = false;
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201 | opt->_pseudoObsTropo = false;
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202 | }
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203 | // Observation Model
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204 | if (settings.value("PPP/modelObs").toString() == "Ionosphere-free PPP") {
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205 | opt->_obsModelType = t_pppOptions::IF;
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206 | opt->_pseudoObsIono = false;
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207 | opt->_pseudoObsTropo = false;
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208 | }
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209 | else if (settings.value("PPP/modelObs").toString() == "PPP-RTK") {
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210 | opt->_obsModelType = t_pppOptions::PPPRTK;
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211 | opt->_pseudoObsIono = false;
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212 | opt->_pseudoObsTropo = false;
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213 | }
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214 | else if (settings.value("PPP/modelObs").toString() == "Uncombined PPP") {
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215 | opt->_obsModelType = t_pppOptions::UncombPPP;
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216 | if (opt->_pseudoObsIono) {
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217 | opt->_refSatRequired = true;
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218 | }
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219 | }
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220 | else if (settings.value("PPP/modelObs").toString() == "DCM with Code Biases") {
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221 | opt->_obsModelType = t_pppOptions::DCMcodeBias;
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222 | opt->_refSatRequired = true;
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223 | }
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224 | else if (settings.value("PPP/modelObs").toString() == "DCM with Phase Biases") {
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225 | opt->_obsModelType = t_pppOptions::DCMphaseBias;
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226 | opt->_refSatRequired = true;
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227 | }
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228 | #endif
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229 | // GPS
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230 | if (settings.value("PPP/lcGPS").toString() == "Pi") {
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231 | if (opt->_obsModelType == t_pppOptions::IF) {
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232 | opt->_LCsGPS.push_back(t_lc::cIF);
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233 | }
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234 | else {
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235 | opt->_LCsGPS.push_back(t_lc::c1);
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236 | opt->_LCsGPS.push_back(t_lc::c2);
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237 | if (opt->_pseudoObsIono) {
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238 | opt->_LCsGPS.push_back(t_lc::GIM);
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239 | }
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240 | if (opt->_pseudoObsTropo) {
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241 | opt->_LCsGPS.push_back(t_lc::Tz0);
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242 | }
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243 | }
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244 | }
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245 | else if (settings.value("PPP/lcGPS").toString() == "Li") {
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246 | if (opt->_obsModelType == t_pppOptions::IF) {
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247 | opt->_LCsGPS.push_back(t_lc::lIF);
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248 | }
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249 | else {
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250 | opt->_LCsGPS.push_back(t_lc::l1);
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251 | opt->_LCsGPS.push_back(t_lc::l2);
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252 | if (opt->_pseudoObsIono) {
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253 | opt->_LCsGPS.push_back(t_lc::GIM);
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254 | }
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255 | if (opt->_pseudoObsTropo) {
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256 | opt->_LCsGPS.push_back(t_lc::Tz0);
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257 | }
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258 | }
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259 | }
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260 | else if (settings.value("PPP/lcGPS").toString() == "Pi&Li") {
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261 | if (opt->_obsModelType == t_pppOptions::IF) {
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262 | opt->_LCsGPS.push_back(t_lc::cIF);
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263 | opt->_LCsGPS.push_back(t_lc::lIF);
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264 | }
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265 | else {
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266 | opt->_LCsGPS.push_back(t_lc::c1);
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267 | opt->_LCsGPS.push_back(t_lc::c2);
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268 | opt->_LCsGPS.push_back(t_lc::l1);
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269 | opt->_LCsGPS.push_back(t_lc::l2);
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270 | if (opt->_pseudoObsIono) {
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271 | opt->_LCsGPS.push_back(t_lc::GIM);
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272 | }
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273 | if (opt->_pseudoObsTropo) {
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274 | opt->_LCsGPS.push_back(t_lc::Tz0);
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275 | }
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276 | }
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277 | }
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278 | // GLONASS
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279 | if (settings.value("PPP/lcGLONASS").toString() == "Pi") {
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280 | if (opt->_obsModelType == t_pppOptions::IF) {
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281 | opt->_LCsGLONASS.push_back(t_lc::cIF);
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282 | }
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283 | else {
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284 | opt->_LCsGLONASS.push_back(t_lc::c1);
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285 | opt->_LCsGLONASS.push_back(t_lc::c2);
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286 | if (opt->_pseudoObsIono) {
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287 | opt->_LCsGLONASS.push_back(t_lc::GIM);
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288 | }
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289 | if (opt->_pseudoObsTropo) {
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290 | opt->_LCsGPS.push_back(t_lc::Tz0);
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291 | }
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292 | }
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293 | }
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294 | else if (settings.value("PPP/lcGLONASS").toString() == "Li") {
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295 | if (opt->_obsModelType == t_pppOptions::IF) {
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296 | opt->_LCsGLONASS.push_back(t_lc::lIF);
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297 | }
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298 | else {
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299 | opt->_LCsGLONASS.push_back(t_lc::l1);
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300 | opt->_LCsGLONASS.push_back(t_lc::l2);
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301 | if (opt->_obsModelType == t_pppOptions::IF) {
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302 | opt->_LCsGLONASS.push_back(t_lc::GIM);
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303 | }
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304 | if (opt->_pseudoObsTropo) {
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305 | opt->_LCsGPS.push_back(t_lc::Tz0);
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306 | }
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307 | }
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308 | }
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309 | else if (settings.value("PPP/lcGLONASS").toString() == "Pi&Li") {
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310 | if (opt->_obsModelType == t_pppOptions::IF) {
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311 | opt->_LCsGLONASS.push_back(t_lc::cIF);
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312 | opt->_LCsGLONASS.push_back(t_lc::lIF);
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313 | }
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314 | else {
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315 | opt->_LCsGLONASS.push_back(t_lc::c1);
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316 | opt->_LCsGLONASS.push_back(t_lc::c2);
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317 | opt->_LCsGLONASS.push_back(t_lc::l1);
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318 | opt->_LCsGLONASS.push_back(t_lc::l2);
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319 | if (opt->_pseudoObsIono) {
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320 | opt->_LCsGLONASS.push_back(t_lc::GIM);
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321 | }
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322 | if (opt->_pseudoObsTropo) {
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323 | opt->_LCsGPS.push_back(t_lc::Tz0);
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324 | }
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325 | }
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326 | }
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327 | // Galileo
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328 | if (settings.value("PPP/lcGalileo").toString() == "Pi") {
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329 | if (opt->_obsModelType == t_pppOptions::IF) {
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330 | opt->_LCsGalileo.push_back(t_lc::cIF);
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331 | }
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332 | else {
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333 | opt->_LCsGalileo.push_back(t_lc::c1);
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334 | opt->_LCsGalileo.push_back(t_lc::c2);
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335 | if (opt->_pseudoObsIono) {
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336 | opt->_LCsGalileo.push_back(t_lc::GIM);
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337 | }
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338 | if (opt->_pseudoObsTropo) {
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339 | opt->_LCsGPS.push_back(t_lc::Tz0);
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340 | }
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341 | }
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342 | }
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343 | else if (settings.value("PPP/lcGalileo").toString() == "Li") {
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344 | if (opt->_obsModelType == t_pppOptions::IF) {
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345 | opt->_LCsGalileo.push_back(t_lc::lIF);
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346 | }
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347 | else {
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348 | opt->_LCsGalileo.push_back(t_lc::l1);
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349 | opt->_LCsGalileo.push_back(t_lc::l2);
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350 | if (opt->_pseudoObsIono) {
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351 | opt->_LCsGalileo.push_back(t_lc::GIM);
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352 | }
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353 | if (opt->_pseudoObsTropo) {
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354 | opt->_LCsGPS.push_back(t_lc::Tz0);
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355 | }
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356 | }
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357 | }
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358 | else if (settings.value("PPP/lcGalileo").toString() == "Pi&Li") {
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359 | if (opt->_obsModelType == t_pppOptions::IF) {
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360 | opt->_LCsGalileo.push_back(t_lc::cIF);
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361 | opt->_LCsGalileo.push_back(t_lc::lIF);
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362 | }
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363 | else {
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364 | opt->_LCsGalileo.push_back(t_lc::c1);
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365 | opt->_LCsGalileo.push_back(t_lc::c2);
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366 | opt->_LCsGalileo.push_back(t_lc::l1);
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367 | opt->_LCsGalileo.push_back(t_lc::l2);
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368 | if (opt->_pseudoObsIono) {
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369 | opt->_LCsGalileo.push_back(t_lc::GIM);
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370 | }
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371 | if (opt->_pseudoObsTropo) {
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372 | opt->_LCsGPS.push_back(t_lc::Tz0);
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373 | }
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374 | }
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375 | }
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376 | // BDS
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377 | if (settings.value("PPP/lcBDS").toString() == "Pi") {
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378 | if (opt->_obsModelType == t_pppOptions::IF) {
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379 | opt->_LCsBDS.push_back(t_lc::cIF);
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380 | }
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381 | else {
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382 | opt->_LCsBDS.push_back(t_lc::c1);
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383 | opt->_LCsBDS.push_back(t_lc::c2);
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384 | if (opt->_pseudoObsIono) {
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385 | opt->_LCsBDS.push_back(t_lc::GIM);
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386 | }
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387 | if (opt->_pseudoObsTropo) {
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388 | opt->_LCsGPS.push_back(t_lc::Tz0);
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389 | }
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390 | }
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391 | }
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392 | else if (settings.value("PPP/lcBDS").toString() == "Li") {
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393 | if (opt->_obsModelType == t_pppOptions::IF) {
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394 | opt->_LCsBDS.push_back(t_lc::lIF);
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395 | }
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396 | else {
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397 | opt->_LCsBDS.push_back(t_lc::l1);
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398 | opt->_LCsBDS.push_back(t_lc::l2);
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399 | if (opt->_pseudoObsIono) {
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400 | opt->_LCsBDS.push_back(t_lc::GIM);
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401 | }
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402 | if (opt->_pseudoObsTropo) {
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403 | opt->_LCsGPS.push_back(t_lc::Tz0);
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404 | }
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405 | }
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406 | }
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407 | else if (settings.value("PPP/lcBDS").toString() == "Pi&Li") {
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408 | if (opt->_obsModelType == t_pppOptions::IF) {
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409 | opt->_LCsBDS.push_back(t_lc::cIF);
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410 | opt->_LCsBDS.push_back(t_lc::lIF);
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411 | }
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412 | else {
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413 | opt->_LCsBDS.push_back(t_lc::c1);
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414 | opt->_LCsBDS.push_back(t_lc::c2);
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415 | opt->_LCsBDS.push_back(t_lc::l1);
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416 | opt->_LCsBDS.push_back(t_lc::l2);
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417 | if (opt->_pseudoObsIono) {
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418 | opt->_LCsBDS.push_back(t_lc::GIM);
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419 | }
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420 | if (opt->_pseudoObsTropo) {
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421 | opt->_LCsGPS.push_back(t_lc::Tz0);
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422 | }
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423 | }
|
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424 | }
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425 |
|
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426 | // Information from the coordinate file
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427 | // ------------------------------------
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428 | string crdFileName(settings.value("PPP/crdFile").toString().toStdString());
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429 | if (!crdFileName.empty()) {
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430 | vector<t_pppCrdFile::t_staInfo> staInfoVec;
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431 | t_pppCrdFile::readCrdFile(crdFileName, staInfoVec);
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432 | for (unsigned ii = 0; ii < staInfoVec.size(); ii++) {
|
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433 | const t_pppCrdFile::t_staInfo& staInfo = staInfoVec[ii];
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434 | if (staInfo._name == opt->_roverName) {
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435 | opt->_xyzAprRover[0] = staInfo._xyz[0];
|
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436 | opt->_xyzAprRover[1] = staInfo._xyz[1];
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437 | opt->_xyzAprRover[2] = staInfo._xyz[2];
|
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438 | opt->_neuEccRover[0] = staInfo._neuAnt[0];
|
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439 | opt->_neuEccRover[1] = staInfo._neuAnt[1];
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440 | opt->_neuEccRover[2] = staInfo._neuAnt[2];
|
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441 | opt->_antNameRover = staInfo._antenna;
|
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442 | opt->_recNameRover = staInfo._receiver;
|
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443 | break;
|
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444 | }
|
---|
445 | }
|
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446 | }
|
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447 |
|
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448 | opt->_minObs = settings.value("PPP/minObs").toInt(); if (opt->_minObs < 4) opt->_minObs = 4;
|
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449 | opt->_minEle = settings.value("PPP/minEle").toDouble() * M_PI / 180.0;
|
---|
450 | opt->_maxResC1 = settings.value("PPP/maxResC1").toDouble(); if (opt->_maxResC1 <= 0.0) opt->_maxResC1 = 3.0;
|
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451 | opt->_maxResL1 = settings.value("PPP/maxResL1").toDouble(); if (opt->_maxResL1 <= 0.0) opt->_maxResL1 = 0.03;
|
---|
452 | opt->_eleWgtCode = (settings.value("PPP/eleWgtCode").toInt() != 0);
|
---|
453 | opt->_eleWgtPhase = (settings.value("PPP/eleWgtPhase").toInt() != 0);
|
---|
454 | opt->_seedingTime = settings.value("PPP/seedingTime").toDouble();
|
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455 |
|
---|
456 | // Some default values
|
---|
457 | // -------------------
|
---|
458 | opt->_aprSigAmb = 1000.0;
|
---|
459 | opt->_aprSigIon = 1000.0;
|
---|
460 | opt->_noiseClk = 1000.0;
|
---|
461 | opt->_aprSigCodeBias = 1000.0;
|
---|
462 | opt->_aprSigPhaseBias = 1000.0;
|
---|
463 | // TODO: Find realistic values!!!!!!
|
---|
464 | opt->_noiseIon = 5.00; // Todo: add all to table
|
---|
465 | opt->_noiseCodeBias = 5.00;
|
---|
466 | opt->_noisePhaseBias = 5.00;
|
---|
467 | // pseudo observations
|
---|
468 | opt->_sigmaGIMdiff = 5.00; // Todo: add to bncWindow
|
---|
469 | opt->_sigmaTz0 = 0.10;
|
---|
470 |
|
---|
471 | _options << opt;
|
---|
472 | }
|
---|
473 | }
|
---|
474 |
|
---|