1 |
|
---|
2 | // Part of BNC, a utility for retrieving decoding and
|
---|
3 | // converting GNSS data streams from NTRIP broadcasters.
|
---|
4 | //
|
---|
5 | // Copyright (C) 2007
|
---|
6 | // German Federal Agency for Cartography and Geodesy (BKG)
|
---|
7 | // http://www.bkg.bund.de
|
---|
8 | // Czech Technical University Prague, Department of Geodesy
|
---|
9 | // http://www.fsv.cvut.cz
|
---|
10 | //
|
---|
11 | // Email: euref-ip@bkg.bund.de
|
---|
12 | //
|
---|
13 | // This program is free software; you can redistribute it and/or
|
---|
14 | // modify it under the terms of the GNU General Public License
|
---|
15 | // as published by the Free Software Foundation, version 2.
|
---|
16 | //
|
---|
17 | // This program is distributed in the hope that it will be useful,
|
---|
18 | // but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
19 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
---|
20 | // GNU General Public License for more details.
|
---|
21 | //
|
---|
22 | // You should have received a copy of the GNU General Public License
|
---|
23 | // along with this program; if not, write to the Free Software
|
---|
24 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
---|
25 |
|
---|
26 | /* -------------------------------------------------------------------------
|
---|
27 | * BKG NTRIP Client
|
---|
28 | * -------------------------------------------------------------------------
|
---|
29 | *
|
---|
30 | * Class: t_pppMain
|
---|
31 | *
|
---|
32 | * Purpose: Start of the PPP client(s)
|
---|
33 | *
|
---|
34 | * Author: L. Mervart
|
---|
35 | *
|
---|
36 | * Created: 29-Jul-2014
|
---|
37 | *
|
---|
38 | * Changes:
|
---|
39 | *
|
---|
40 | * -----------------------------------------------------------------------*/
|
---|
41 |
|
---|
42 | #include <iostream>
|
---|
43 |
|
---|
44 | #include "pppMain.h"
|
---|
45 | #include "pppCrdFile.h"
|
---|
46 | #include "bncsettings.h"
|
---|
47 |
|
---|
48 | using namespace BNC_PPP;
|
---|
49 | using namespace std;
|
---|
50 |
|
---|
51 | // Constructor
|
---|
52 | //////////////////////////////////////////////////////////////////////////////
|
---|
53 | t_pppMain::t_pppMain() {
|
---|
54 | _running = false;
|
---|
55 | }
|
---|
56 |
|
---|
57 | // Destructor
|
---|
58 | //////////////////////////////////////////////////////////////////////////////
|
---|
59 | t_pppMain::~t_pppMain() {
|
---|
60 | stop();
|
---|
61 | QListIterator<t_pppOptions*> iOpt(_options);
|
---|
62 | while (iOpt.hasNext()) {
|
---|
63 | delete iOpt.next();
|
---|
64 | }
|
---|
65 | }
|
---|
66 |
|
---|
67 | //
|
---|
68 | //////////////////////////////////////////////////////////////////////////////
|
---|
69 | void t_pppMain::start() {
|
---|
70 | if (_running) {
|
---|
71 | return;
|
---|
72 | }
|
---|
73 |
|
---|
74 | try {
|
---|
75 | readOptions();
|
---|
76 |
|
---|
77 | QListIterator<t_pppOptions*> iOpt(_options);
|
---|
78 | while (iOpt.hasNext()) {
|
---|
79 | const t_pppOptions* opt = iOpt.next();
|
---|
80 | t_pppThread* pppThread = new t_pppThread(opt);
|
---|
81 | pppThread->start();
|
---|
82 | _pppThreads << pppThread;
|
---|
83 | _running = true;
|
---|
84 | }
|
---|
85 | }
|
---|
86 | catch (t_except exc) {
|
---|
87 | _running = true;
|
---|
88 | stop();
|
---|
89 | }
|
---|
90 | }
|
---|
91 |
|
---|
92 | //
|
---|
93 | //////////////////////////////////////////////////////////////////////////////
|
---|
94 | void t_pppMain::stop() {
|
---|
95 |
|
---|
96 | if (!_running) {
|
---|
97 | return;
|
---|
98 | }
|
---|
99 |
|
---|
100 | if (_realTime) {
|
---|
101 | QListIterator<t_pppThread*> it(_pppThreads);
|
---|
102 | while (it.hasNext()) {
|
---|
103 | t_pppThread* pppThread = it.next();
|
---|
104 | pppThread->exit();
|
---|
105 | if (BNC_CORE->mode() != t_bncCore::interactive) {
|
---|
106 | while(!pppThread->isFinished()) {
|
---|
107 | pppThread->wait();
|
---|
108 | }
|
---|
109 | delete pppThread;
|
---|
110 | }
|
---|
111 | }
|
---|
112 | _pppThreads.clear();
|
---|
113 | }
|
---|
114 |
|
---|
115 | _running = false;
|
---|
116 | }
|
---|
117 |
|
---|
118 | //
|
---|
119 | //////////////////////////////////////////////////////////////////////////////
|
---|
120 | void t_pppMain::readOptions() {
|
---|
121 |
|
---|
122 | QListIterator<t_pppOptions*> iOpt(_options);
|
---|
123 | while (iOpt.hasNext()) {
|
---|
124 | delete iOpt.next();
|
---|
125 | }
|
---|
126 | _options.clear();
|
---|
127 |
|
---|
128 | bncSettings settings;
|
---|
129 |
|
---|
130 | _realTime = false;
|
---|
131 | if (settings.value("PPP/dataSource").toString() == "Real-Time Streams") {
|
---|
132 | _realTime = true;
|
---|
133 | }
|
---|
134 | else if (settings.value("PPP/dataSource").toString() == "RINEX Files") {
|
---|
135 | _realTime = false;
|
---|
136 | }
|
---|
137 | else {
|
---|
138 | return;
|
---|
139 | }
|
---|
140 |
|
---|
141 | QListIterator<QString> iSta(settings.value("PPP/staTable").toStringList());
|
---|
142 | while (iSta.hasNext()) {
|
---|
143 | QStringList hlp = iSta.next().split(",");
|
---|
144 |
|
---|
145 | if (hlp.size() < 10) {
|
---|
146 | throw t_except("pppMain: wrong option staTable");
|
---|
147 | }
|
---|
148 |
|
---|
149 | t_pppOptions* opt = new t_pppOptions();
|
---|
150 |
|
---|
151 | opt->_realTime = _realTime;
|
---|
152 | opt->_roverName = hlp[0].toStdString();
|
---|
153 | opt->_aprSigCrd[0] = hlp[1].toDouble()+1e-10;
|
---|
154 | opt->_aprSigCrd[1] = hlp[2].toDouble()+1e-10;
|
---|
155 | opt->_aprSigCrd[2] = hlp[3].toDouble()+1e-10;
|
---|
156 | opt->_noiseCrd[0] = hlp[4].toDouble()+1e-10;
|
---|
157 | opt->_noiseCrd[1] = hlp[5].toDouble()+1e-10;
|
---|
158 | opt->_noiseCrd[2] = hlp[6].toDouble()+1e-10;
|
---|
159 | opt->_aprSigTrp = hlp[7].toDouble();
|
---|
160 | opt->_noiseTrp = hlp[8].toDouble();
|
---|
161 | opt->_nmeaPort = hlp[9].toInt();
|
---|
162 |
|
---|
163 | if (_realTime) {
|
---|
164 | opt->_corrMount.assign(settings.value("PPP/corrMount").toString().toStdString());
|
---|
165 | opt->_isAPC = (opt->_corrMount.substr(0,4)=="SSRA");
|
---|
166 | opt->_ionoMount.assign(settings.value("PPP/ionoMount").toString().toStdString());
|
---|
167 | }
|
---|
168 | else {
|
---|
169 | opt->_rinexObs.assign(settings.value("PPP/rinexObs").toString().toStdString());
|
---|
170 | opt->_rinexNav.assign(settings.value("PPP/rinexNav").toString().toStdString());
|
---|
171 | opt->_corrFile.assign(settings.value("PPP/corrFile").toString().toStdString());
|
---|
172 | QFileInfo tmp = QFileInfo(QString::fromStdString(opt->_corrFile));
|
---|
173 | opt->_isAPC = (tmp.baseName().mid(0,4)=="SSRA");
|
---|
174 | opt->_ionoFile.assign(settings.value("PPP/ionoFile").toString().toStdString());
|
---|
175 | }
|
---|
176 |
|
---|
177 | opt->_crdFile.assign(settings.value("PPP/crdFile").toString().toStdString());
|
---|
178 | opt->_antexFileName.assign(settings.value("PPP/antexFile").toString().toStdString());
|
---|
179 | #ifdef USE_PPP
|
---|
180 | opt->_blqFileName.assign(settings.value("PPP/blqFile").toString().toStdString());
|
---|
181 | #endif
|
---|
182 | opt->_sigmaC1 = settings.value("PPP/sigmaC1").toDouble(); if (opt->_sigmaC1 <= 0.0) opt->_sigmaC1 = 2.00;
|
---|
183 | opt->_sigmaL1 = settings.value("PPP/sigmaL1").toDouble(); if (opt->_sigmaL1 <= 0.0) opt->_sigmaL1 = 0.01;
|
---|
184 | opt->_sigmaGIM = settings.value("PPP/sigmaGIM").toDouble();if (opt->_sigmaGIM <= 0.0) opt->_sigmaGIM = 5.00;
|
---|
185 | opt->_corrWaitTime = settings.value("PPP/corrWaitTime").toDouble();
|
---|
186 | if (!_realTime || opt->_corrMount.empty()) {
|
---|
187 | opt->_corrWaitTime = 0;
|
---|
188 | }
|
---|
189 | opt->_obsModelType = t_pppOptions::IF;
|
---|
190 | opt->_pseudoObsIono = false;
|
---|
191 | opt->_refSatRequired = false;
|
---|
192 | #ifdef USE_PPP
|
---|
193 | // Pseudo Observations
|
---|
194 | if (settings.value("PPP/pseudoObs").toString() == "no") {
|
---|
195 | opt->_pseudoObsIono = false;
|
---|
196 | }
|
---|
197 | else if (settings.value("PPP/pseudoObs").toString() == "Ionosphere") {
|
---|
198 | opt->_pseudoObsIono = true;
|
---|
199 | }
|
---|
200 | // Observation Model
|
---|
201 | if (settings.value("PPP/modelObs").toString() == "Ionosphere-free PPP") {
|
---|
202 | opt->_obsModelType = t_pppOptions::IF;
|
---|
203 | opt->_pseudoObsIono = false;
|
---|
204 | }
|
---|
205 | else if (settings.value("PPP/modelObs").toString() == "PPP-RTK") {
|
---|
206 | opt->_obsModelType = t_pppOptions::PPPRTK;
|
---|
207 | opt->_pseudoObsIono = false;
|
---|
208 | opt->_noiseIon = 0.1;
|
---|
209 | }
|
---|
210 | else if (settings.value("PPP/modelObs").toString() == "Uncombined PPP") {
|
---|
211 | opt->_obsModelType = t_pppOptions::UncombPPP;
|
---|
212 | opt->_noiseIon = 0.1;
|
---|
213 | if (opt->_pseudoObsIono) {
|
---|
214 | opt->_refSatRequired = true;
|
---|
215 | }
|
---|
216 | }
|
---|
217 | else if (settings.value("PPP/modelObs").toString() == "DCM with Code Biases") {
|
---|
218 | opt->_obsModelType = t_pppOptions::DCMcodeBias;
|
---|
219 | opt->_refSatRequired = true;
|
---|
220 | opt->_noiseCodeBias = 10.0;
|
---|
221 | opt->_noiseIon = 0.1;
|
---|
222 | }
|
---|
223 | else if (settings.value("PPP/modelObs").toString() == "DCM with Phase Biases") {
|
---|
224 | opt->_obsModelType = t_pppOptions::DCMphaseBias;
|
---|
225 | opt->_refSatRequired = true;
|
---|
226 | opt->_noisePhaseBias = 10.0;
|
---|
227 | opt->_noiseIon = 0.1;
|
---|
228 | }
|
---|
229 | #endif
|
---|
230 | // GPS
|
---|
231 | if (settings.value("PPP/lcGPS").toString() == "Pi&Li") {
|
---|
232 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
233 | opt->_LCsGPS.push_back(t_lc::cIF);
|
---|
234 | opt->_LCsGPS.push_back(t_lc::lIF);
|
---|
235 | }
|
---|
236 | else {
|
---|
237 | opt->_LCsGPS.push_back(t_lc::c1);
|
---|
238 | opt->_LCsGPS.push_back(t_lc::c2);
|
---|
239 | opt->_LCsGPS.push_back(t_lc::l1);
|
---|
240 | opt->_LCsGPS.push_back(t_lc::l2);
|
---|
241 | if (opt->_pseudoObsIono) {
|
---|
242 | opt->_LCsGPS.push_back(t_lc::GIM);
|
---|
243 | }
|
---|
244 | }
|
---|
245 | }
|
---|
246 | if (settings.value("PPP/lcGPS").toString() == "Pi") {
|
---|
247 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
248 | opt->_LCsGPS.push_back(t_lc::cIF);
|
---|
249 | }
|
---|
250 | else {
|
---|
251 | opt->_LCsGPS.push_back(t_lc::c1);
|
---|
252 | opt->_LCsGPS.push_back(t_lc::c2);
|
---|
253 | if (opt->_pseudoObsIono) {
|
---|
254 | opt->_LCsGPS.push_back(t_lc::GIM);
|
---|
255 | }
|
---|
256 | }
|
---|
257 | }
|
---|
258 | if (settings.value("PPP/lcGPS").toString() == "Li") {
|
---|
259 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
260 | opt->_LCsGPS.push_back(t_lc::lIF);
|
---|
261 | }
|
---|
262 | else {
|
---|
263 | opt->_LCsGPS.push_back(t_lc::l1);
|
---|
264 | opt->_LCsGPS.push_back(t_lc::l2);
|
---|
265 | if (opt->_pseudoObsIono) {
|
---|
266 | opt->_LCsGPS.push_back(t_lc::GIM);
|
---|
267 | }
|
---|
268 | }
|
---|
269 | }
|
---|
270 | // GLONASS
|
---|
271 | if (settings.value("PPP/lcGLONASS").toString() == "Pi&Li") {
|
---|
272 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
273 | opt->_LCsGLONASS.push_back(t_lc::cIF);
|
---|
274 | opt->_LCsGLONASS.push_back(t_lc::lIF);
|
---|
275 | }
|
---|
276 | else {
|
---|
277 | opt->_LCsGLONASS.push_back(t_lc::c1);
|
---|
278 | opt->_LCsGLONASS.push_back(t_lc::c2);
|
---|
279 | opt->_LCsGLONASS.push_back(t_lc::l1);
|
---|
280 | opt->_LCsGLONASS.push_back(t_lc::l2);
|
---|
281 | if (opt->_pseudoObsIono) {
|
---|
282 | opt->_LCsGLONASS.push_back(t_lc::GIM);
|
---|
283 | }
|
---|
284 | }
|
---|
285 | }
|
---|
286 | if (settings.value("PPP/lcGLONASS").toString() == "Pi") {
|
---|
287 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
288 | opt->_LCsGLONASS.push_back(t_lc::cIF);
|
---|
289 | }
|
---|
290 | else {
|
---|
291 | opt->_LCsGLONASS.push_back(t_lc::c1);
|
---|
292 | opt->_LCsGLONASS.push_back(t_lc::c2);
|
---|
293 | if (opt->_pseudoObsIono) {
|
---|
294 | opt->_LCsGLONASS.push_back(t_lc::GIM);
|
---|
295 | }
|
---|
296 | }
|
---|
297 | }
|
---|
298 | if (settings.value("PPP/lcGLONASS").toString() == "Li") {
|
---|
299 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
300 | opt->_LCsGLONASS.push_back(t_lc::lIF);
|
---|
301 | }
|
---|
302 | else {
|
---|
303 | opt->_LCsGLONASS.push_back(t_lc::l1);
|
---|
304 | opt->_LCsGLONASS.push_back(t_lc::l2);
|
---|
305 | if (opt->_pseudoObsIono) {
|
---|
306 | opt->_LCsGLONASS.push_back(t_lc::GIM);
|
---|
307 | }
|
---|
308 | }
|
---|
309 | }
|
---|
310 | // Galileo
|
---|
311 | if (settings.value("PPP/lcGalileo").toString() == "Pi&Li") {
|
---|
312 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
313 | opt->_LCsGalileo.push_back(t_lc::cIF);
|
---|
314 | opt->_LCsGalileo.push_back(t_lc::lIF);
|
---|
315 | }
|
---|
316 | else {
|
---|
317 | opt->_LCsGalileo.push_back(t_lc::c1);
|
---|
318 | opt->_LCsGalileo.push_back(t_lc::c2);
|
---|
319 | opt->_LCsGalileo.push_back(t_lc::l1);
|
---|
320 | opt->_LCsGalileo.push_back(t_lc::l2);
|
---|
321 | if (opt->_pseudoObsIono) {
|
---|
322 | opt->_LCsGalileo.push_back(t_lc::GIM);
|
---|
323 | }
|
---|
324 | }
|
---|
325 | }
|
---|
326 | if (settings.value("PPP/lcGalileo").toString() == "Pi") {
|
---|
327 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
328 | opt->_LCsGalileo.push_back(t_lc::cIF);
|
---|
329 | }
|
---|
330 | else {
|
---|
331 | opt->_LCsGalileo.push_back(t_lc::c1);
|
---|
332 | opt->_LCsGalileo.push_back(t_lc::c2);
|
---|
333 | if (opt->_pseudoObsIono) {
|
---|
334 | opt->_LCsGalileo.push_back(t_lc::GIM);
|
---|
335 | }
|
---|
336 | }
|
---|
337 | }
|
---|
338 | if (settings.value("PPP/lcGalileo").toString() == "Li") {
|
---|
339 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
340 | opt->_LCsGalileo.push_back(t_lc::lIF);
|
---|
341 | }
|
---|
342 | else {
|
---|
343 | opt->_LCsGalileo.push_back(t_lc::l1);
|
---|
344 | opt->_LCsGalileo.push_back(t_lc::l2);
|
---|
345 | if (opt->_pseudoObsIono) {
|
---|
346 | opt->_LCsGalileo.push_back(t_lc::GIM);
|
---|
347 | }
|
---|
348 | }
|
---|
349 | }
|
---|
350 | // BDS
|
---|
351 | if (settings.value("PPP/lcBDS").toString() == "Pi&Li") {
|
---|
352 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
353 | opt->_LCsBDS.push_back(t_lc::cIF);
|
---|
354 | opt->_LCsBDS.push_back(t_lc::lIF);
|
---|
355 | }
|
---|
356 | else {
|
---|
357 | opt->_LCsBDS.push_back(t_lc::c1);
|
---|
358 | opt->_LCsBDS.push_back(t_lc::c2);
|
---|
359 | opt->_LCsBDS.push_back(t_lc::l1);
|
---|
360 | opt->_LCsBDS.push_back(t_lc::l2);
|
---|
361 | if (opt->_pseudoObsIono) {
|
---|
362 | opt->_LCsBDS.push_back(t_lc::GIM);
|
---|
363 | }
|
---|
364 | }
|
---|
365 | }
|
---|
366 | if (settings.value("PPP/lcBDS").toString() == "Pi") {
|
---|
367 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
368 | opt->_LCsBDS.push_back(t_lc::cIF);
|
---|
369 | }
|
---|
370 | else {
|
---|
371 | opt->_LCsBDS.push_back(t_lc::c1);
|
---|
372 | opt->_LCsBDS.push_back(t_lc::c2);
|
---|
373 | if (opt->_pseudoObsIono) {
|
---|
374 | opt->_LCsBDS.push_back(t_lc::GIM);
|
---|
375 | }
|
---|
376 | }
|
---|
377 | }
|
---|
378 | if (settings.value("PPP/lcBDS").toString() == "Li") {
|
---|
379 | if (opt->_obsModelType == t_pppOptions::IF) {
|
---|
380 | opt->_LCsBDS.push_back(t_lc::lIF);
|
---|
381 | }
|
---|
382 | else {
|
---|
383 | opt->_LCsBDS.push_back(t_lc::l1);
|
---|
384 | opt->_LCsBDS.push_back(t_lc::l2);
|
---|
385 | if (opt->_pseudoObsIono) {
|
---|
386 | opt->_LCsBDS.push_back(t_lc::GIM);
|
---|
387 | }
|
---|
388 | }
|
---|
389 | }
|
---|
390 | // Information from the coordinate file
|
---|
391 | // ------------------------------------
|
---|
392 | string crdFileName(settings.value("PPP/crdFile").toString().toStdString());
|
---|
393 | if (!crdFileName.empty()) {
|
---|
394 | vector<t_pppCrdFile::t_staInfo> staInfoVec;
|
---|
395 | t_pppCrdFile::readCrdFile(crdFileName, staInfoVec);
|
---|
396 | for (unsigned ii = 0; ii < staInfoVec.size(); ii++) {
|
---|
397 | const t_pppCrdFile::t_staInfo& staInfo = staInfoVec[ii];
|
---|
398 | if (staInfo._name == opt->_roverName) {
|
---|
399 | opt->_xyzAprRover[0] = staInfo._xyz[0];
|
---|
400 | opt->_xyzAprRover[1] = staInfo._xyz[1];
|
---|
401 | opt->_xyzAprRover[2] = staInfo._xyz[2];
|
---|
402 | opt->_neuEccRover[0] = staInfo._neuAnt[0];
|
---|
403 | opt->_neuEccRover[1] = staInfo._neuAnt[1];
|
---|
404 | opt->_neuEccRover[2] = staInfo._neuAnt[2];
|
---|
405 | opt->_antNameRover = staInfo._antenna;
|
---|
406 | opt->_recNameRover = staInfo._receiver;
|
---|
407 | break;
|
---|
408 | }
|
---|
409 | }
|
---|
410 | }
|
---|
411 |
|
---|
412 | opt->_minObs = settings.value("PPP/minObs").toInt(); if (opt->_minObs < 4) opt->_minObs = 4;
|
---|
413 | opt->_minEle = settings.value("PPP/minEle").toDouble() * M_PI / 180.0;
|
---|
414 | opt->_maxResC1 = settings.value("PPP/maxResC1").toDouble(); if (opt->_maxResC1 <= 0.0) opt->_maxResC1 = 4.0;
|
---|
415 | opt->_maxResL1 = settings.value("PPP/maxResL1").toDouble(); if (opt->_maxResL1 <= 0.0) opt->_maxResL1 = 0.03;
|
---|
416 | opt->_maxResGIM = settings.value("PPP/maxResGIM").toDouble(); if (opt->_maxResGIM <= 0.0) opt->_maxResGIM = 6.0;
|
---|
417 | opt->_eleWgtCode = (settings.value("PPP/eleWgtCode").toInt() != 0);
|
---|
418 | opt->_eleWgtPhase = (settings.value("PPP/eleWgtPhase").toInt() != 0);
|
---|
419 | opt->_seedingTime = settings.value("PPP/seedingTime").toDouble();
|
---|
420 |
|
---|
421 | // Some default values
|
---|
422 | // -------------------
|
---|
423 | opt->_aprSigAmb = 1000.0;
|
---|
424 | opt->_aprSigClk = 1000.0;
|
---|
425 | opt->_aprSigIon = 100.0;
|
---|
426 | opt->_aprSigCodeBias = 100.0;
|
---|
427 | opt->_aprSigPhaseBias = 100.0;
|
---|
428 |
|
---|
429 | _options << opt;
|
---|
430 | }
|
---|
431 | }
|
---|
432 |
|
---|