source: ntrip/trunk/BNC/src/pppRun.cpp@ 6140

Last change on this file since 6140 was 6140, checked in by mervart, 10 years ago
File size: 16.6 KB
Line 
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_pppRun
31 *
32 * Purpose: Single Real-Time PPP Client
33 *
34 * Author: L. Mervart
35 *
36 * Created: 29-Jul-2014
37 *
38 * Changes:
39 *
40 * -----------------------------------------------------------------------*/
41
42
43#include <iostream>
44#include <iomanip>
45#include <sstream>
46#include <string.h>
47#include <map>
48
49#include "pppRun.h"
50#include "pppThread.h"
51#include "bnccore.h"
52#include "bncephuser.h"
53#include "bncsettings.h"
54#include "bncoutf.h"
55#include "rinex/rnxobsfile.h"
56#include "rinex/rnxnavfile.h"
57#include "rinex/corrfile.h"
58
59using namespace BNC_PPP;
60using namespace std;
61
62// Constructor
63////////////////////////////////////////////////////////////////////////////
64t_pppRun::t_pppRun(const t_pppOptions* opt) {
65
66 _opt = opt;
67
68 connect(this, SIGNAL(newMessage(QByteArray,bool)),
69 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
70
71 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
72 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
73
74 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
75 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
76
77 for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) {
78 _lastOrbCorrIOD[iPrn] = -1;
79 _lastClkCorrValue[iPrn] = 0.0;
80 }
81
82 _pppClient = new t_pppClient(_opt);
83
84 bncSettings settings;
85
86 if (_opt->_realTime) {
87 Qt::ConnectionType conType = Qt::AutoConnection;
88 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
89 conType = Qt::BlockingQueuedConnection;
90 }
91
92 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
93 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
94
95 connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
96 this, SLOT(slotNewEphGPS(gpsephemeris)),conType);
97
98 connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
99 this, SLOT(slotNewEphGlonass(glonassephemeris)),conType);
100
101 connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
102 this, SLOT(slotNewEphGalileo(galileoephemeris)),conType);
103
104 connect(BNC_CORE, SIGNAL(newCorrections(QStringList)),
105 this, SLOT(slotNewCorrections(QStringList)),conType);
106 }
107 else {
108 _rnxObsFile = 0;
109 _rnxNavFile = 0;
110 _corrFile = 0;
111 _speed = settings.value("PPP/mapSpeedSlider").toInt();
112 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
113 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
114 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
115 this, SLOT(slotSetSpeed(int)));
116 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
117 }
118
119 _stopFlag = false;
120
121 QString roverName(_opt->_roverName.c_str());
122
123 QString logFileSkl = settings.value("PPP/logFile").toString();
124 if (logFileSkl.isEmpty()) {
125 _logFile = 0;
126 }
127 else {
128 if (logFileSkl.indexOf("${STATION}") == -1) {
129 logFileSkl = roverName + "_" + logFileSkl;
130 }
131 else {
132 logFileSkl.replace("${STATION}", roverName);
133 }
134 _logFile = new bncoutf(logFileSkl, "1 day", 0);
135 }
136
137 QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
138 if (nmeaFileSkl.isEmpty()) {
139 _nmeaFile = 0;
140 }
141 else {
142 if (nmeaFileSkl.indexOf("${STATION}") == -1) {
143 nmeaFileSkl = roverName + "_" + nmeaFileSkl;
144 }
145 else {
146 nmeaFileSkl.replace("${STATION}", roverName);
147 }
148 _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
149 }
150}
151
152// Destructor
153////////////////////////////////////////////////////////////////////////////
154t_pppRun::~t_pppRun() {
155 delete _logFile;
156 delete _nmeaFile;
157}
158
159//
160////////////////////////////////////////////////////////////////////////////
161void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) {
162 QMutexLocker locker(&_mutex);
163 t_ephGPS eph;
164 eph.set(&gpseph);
165 _pppClient->putEphemeris(&eph);
166}
167
168//
169////////////////////////////////////////////////////////////////////////////
170void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) {
171 QMutexLocker locker(&_mutex);
172 t_ephGlo eph;
173 eph.set(&gloeph);
174 _pppClient->putEphemeris(&eph);
175}
176
177//
178////////////////////////////////////////////////////////////////////////////
179void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) {
180 QMutexLocker locker(&_mutex);
181 t_ephGal eph;
182 eph.set(&galeph);
183 _pppClient->putEphemeris(&eph);
184}
185
186//
187////////////////////////////////////////////////////////////////////////////
188void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
189 QMutexLocker locker(&_mutex);
190
191 if (string(staID.data()) != _opt->_roverName) {
192 return;
193 }
194
195 // Loop over all obsevations (possible different epochs)
196 // -----------------------------------------------------
197 QListIterator<t_satObs> it(obsList);
198 while (it.hasNext()) {
199 const t_satObs& oldObs = it.next();
200 t_satObs* newObs = new t_satObs(oldObs);
201
202 // Find the corresponding data epoch or create a new one
203 // -----------------------------------------------------
204 t_epoData* epoch = 0;
205 deque<t_epoData*>::const_iterator it;
206 for (it = _epoData.begin(); it != _epoData.end(); it++) {
207 if (newObs->_time == (*it)->_time) {
208 epoch = *it;
209 break;
210 }
211 }
212 if (epoch == 0) {
213 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
214 epoch = new t_epoData;
215 epoch->_time = newObs->_time;
216 _epoData.push_back(epoch);
217 }
218 }
219
220 // Put data into the epoch
221 // -----------------------
222 if (epoch != 0) {
223 epoch->_satObs.push_back(newObs);
224 }
225 else {
226 delete newObs;
227 }
228 }
229
230 // Process the oldest epochs
231 // ------------------------
232 while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
233
234 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
235
236 t_output output;
237 _pppClient->processEpoch(satObs, &output);
238
239 if (!output._error) {
240 QVector<double> xx(6);
241 xx.data()[0] = output._xyzRover[0];
242 xx.data()[1] = output._xyzRover[1];
243 xx.data()[2] = output._xyzRover[2];
244 xx.data()[3] = output._neu[0];
245 xx.data()[4] = output._neu[1];
246 xx.data()[5] = output._neu[2];
247 emit newPosition(staID, output._epoTime, xx);
248 }
249
250 delete _epoData.front(); _epoData.pop_front();
251
252 ostringstream log;
253 if (output._error) {
254 log << output._log;
255 }
256 else {
257 log.setf(ios::fixed);
258 log << string(output._epoTime) << ' ' << staID.data()
259 << " X = " << setprecision(4) << output._xyzRover[0]
260 << " Y = " << setprecision(4) << output._xyzRover[1]
261 << " Z = " << setprecision(4) << output._xyzRover[2]
262 << " NEU: " << setprecision(4) << output._neu[0]
263 << " " << setprecision(4) << output._neu[1]
264 << " " << setprecision(4) << output._neu[2];
265 }
266
267 if (_logFile && output._epoTime.valid()) {
268 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
269 QString(output._log.c_str()));
270 }
271
272 if (!output._error) {
273 QString rmcStr = nmeaString('R', output);
274 QString ggaStr = nmeaString('G', output);
275 if (_nmeaFile) {
276 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
277 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
278 }
279 emit newNMEAstr(staID, rmcStr.toAscii());
280 emit newNMEAstr(staID, ggaStr.toAscii());
281 }
282
283 emit newMessage(QByteArray(log.str().c_str()), true);
284 }
285}
286
287//
288////////////////////////////////////////////////////////////////////////////
289void t_pppRun::slotNewCorrections(QStringList corrList) {
290 QMutexLocker locker(&_mutex);
291
292 // Check the Mountpoint (source of corrections)
293 // --------------------------------------------
294 if (_opt->_realTime) {
295 if (_opt->_corrMount.empty()) {
296 return;
297 }
298 QMutableListIterator<QString> itm(corrList);
299 while (itm.hasNext()) {
300 QStringList hlp = itm.next().split(" ");
301 if (hlp.size() > 0) {
302 QString mountpoint = hlp[hlp.size()-1];
303 if (mountpoint != QString(_opt->_corrMount.c_str())) {
304 itm.remove();
305 }
306 }
307 }
308 }
309
310 if (corrList.size() == 0) {
311 return;
312 }
313
314 vector<t_orbCorr*> orbCorr;
315 vector<t_clkCorr*> clkCorr;
316 vector<t_satBias*> satBias;
317
318 QListIterator<QString> it(corrList);
319 while (it.hasNext()) {
320 QString line = it.next();
321
322 QTextStream in(&line);
323 int messageType;
324 int updateInterval;
325 int GPSweek;
326 double GPSweeks;
327 QString prn;
328 in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn;
329
330 if ( t_corr::relevantMessageType(messageType) ) {
331 t_corr corr;
332 corr.readLine(line);
333 if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
334 messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) {
335 t_orbCorr* cc = new t_orbCorr();
336 cc->_prn.set(corr.prn.toAscii().data());
337 cc->_iod = corr.iod;
338 cc->_time = corr.tRao;
339 cc->_system = 'R';
340 cc->_xr[0] = corr.rao[0];
341 cc->_xr[1] = corr.rao[1];
342 cc->_xr[2] = corr.rao[2];
343 cc->_dotXr[0] = corr.dotRao[0];
344 cc->_dotXr[0] = corr.dotRao[1];
345 cc->_dotXr[0] = corr.dotRao[2];
346 orbCorr.push_back(cc);
347
348 _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod;
349 }
350 else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED ||
351 messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) {
352 t_clkCorr* cc = new t_clkCorr();
353 cc->_prn.set(corr.prn.toAscii().data());
354 cc->_iod = corr.iod;
355 cc->_time = corr.tClk;
356 cc->_dClk = corr.dClk;
357 cc->_dotDClk = corr.dotDClk;
358 cc->_dotDotDClk = corr.dotDotDClk;
359 cc->_clkPartial = 0.0;
360 if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) {
361 int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()];
362 if (lastIOD != -1) {
363 cc->_iod = lastIOD;
364 }
365 else {
366 delete cc;
367 cc = 0;
368 }
369 }
370 if (cc) {
371 clkCorr.push_back(cc);
372 _lastClkCorrValue[cc->_prn.toInt()] = cc->_dClk;
373 if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) {
374 _lastClkCorrTime = cc->_time;
375 }
376 }
377 }
378 }
379 else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) {
380 }
381 }
382
383 _pppClient->putOrbCorrections(orbCorr);
384 _pppClient->putClkCorrections(clkCorr);
385 _pppClient->putBiases(satBias);
386
387 for (unsigned ii = 0; ii < orbCorr.size(); ii++) {
388 delete orbCorr[ii];
389 }
390 for (unsigned ii = 0; ii < clkCorr.size(); ii++) {
391 delete clkCorr[ii];
392 }
393 for (unsigned ii = 0; ii < satBias.size(); ii++) {
394 delete satBias[ii];
395 }
396}
397
398
399//
400////////////////////////////////////////////////////////////////////////////
401void t_pppRun::processFiles() {
402
403 try {
404 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
405 }
406 catch (...) {
407 delete _rnxObsFile; _rnxObsFile = 0;
408 emit finishedRnxPPP();
409 return;
410 }
411
412 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
413
414 if (!_opt->_corrFile.empty()) {
415 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
416 connect(_corrFile, SIGNAL(newCorrections(QStringList)),
417 this, SLOT(slotNewCorrections(QStringList)));
418 }
419
420 // Read/Process Observations
421 // -------------------------
422 int nEpo = 0;
423 const t_rnxObsFile::t_rnxEpo* epo = 0;
424 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
425 ++nEpo;
426
427 if (_speed < 100) {
428 double sleepTime = 2.0 / _speed;
429 t_pppThread::msleep(sleepTime*1.e3);
430 }
431
432 // Get Corrections
433 // ---------------
434 if (_corrFile) {
435 _corrFile->syncRead(epo->tt);
436 }
437
438 // Get Ephemerides
439 // ----------------
440 t_eph* eph = 0;
441 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
442 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
443 _pppClient->putEphemeris(eph);
444 delete eph; eph = 0;
445 }
446
447 // Create list of observations and start epoch processing
448 // ------------------------------------------------------
449 QList<t_satObs> obsList;
450 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
451 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
452
453 t_satObs obs;
454 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
455 obsList << obs;
456 }
457 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
458
459
460 if (nEpo % 10 == 0) {
461 emit progressRnxPPP(nEpo);
462 }
463
464 QCoreApplication::processEvents();
465 }
466
467 emit finishedRnxPPP();
468
469 if (BNC_CORE->mode() != t_bncCore::interactive) {
470 qApp->exit(0);
471 }
472 else {
473 BNC_CORE->stopPPP();
474 }
475}
476
477//
478////////////////////////////////////////////////////////////////////////////
479void t_pppRun::slotSetSpeed(int speed) {
480 QMutexLocker locker(&_mutex);
481 _speed = speed;
482}
483
484//
485////////////////////////////////////////////////////////////////////////////
486void t_pppRun::slotSetStopFlag() {
487 QMutexLocker locker(&_mutex);
488 _stopFlag = true;
489}
490
491//
492////////////////////////////////////////////////////////////////////////////
493QString t_pppRun::nmeaString(char strType, const t_output& output) {
494
495 double ell[3];
496 xyz2ell(output._xyzRover, ell);
497 double phiDeg = ell[0] * 180 / M_PI;
498 double lamDeg = ell[1] * 180 / M_PI;
499
500 char phiCh = 'N';
501 if (phiDeg < 0) {
502 phiDeg = -phiDeg;
503 phiCh = 'S';
504 }
505 char lamCh = 'E';
506 if (lamDeg < 0) {
507 lamDeg = -lamDeg;
508 lamCh = 'W';
509 }
510
511 ostringstream out;
512 out.setf(ios::fixed);
513
514 if (strType == 'R') {
515 string datestr = output._epoTime.datestr(0); // yyyymmdd
516 out << "GPRMC,"
517 << output._epoTime.timestr(0,0) << ",A,"
518 << setw(2) << setfill('0') << int(phiDeg)
519 << setw(6) << setprecision(3) << setfill('0')
520 << fmod(60*phiDeg,60) << ',' << phiCh << ','
521 << setw(3) << setfill('0') << int(lamDeg)
522 << setw(6) << setprecision(3) << setfill('0')
523 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
524 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
525 << datestr[2] << datestr[3] << ",,";
526 }
527 else if (strType == 'G') {
528 out << "GPGGA,"
529 << output._epoTime.timestr(0,0) << ','
530 << setw(2) << setfill('0') << int(phiDeg)
531 << setw(10) << setprecision(7) << setfill('0')
532 << fmod(60*phiDeg,60) << ',' << phiCh << ','
533 << setw(3) << setfill('0') << int(lamDeg)
534 << setw(10) << setprecision(7) << setfill('0')
535 << fmod(60*lamDeg,60) << ',' << lamCh
536 << ",1," << setw(2) << setfill('0') << output._numSat << ','
537 << setw(3) << setprecision(1) << output._pDop << ','
538 << setprecision(3) << ell[2] << ",M,0.0,M,,";
539 }
540 else {
541 return "";
542 }
543
544 QString nmStr(out.str().c_str());
545 unsigned char XOR = 0;
546 for (int ii = 0; ii < nmStr.length(); ii++) {
547 XOR ^= (unsigned char) nmStr[ii].toAscii();
548 }
549
550 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
551}
552
553//
554////////////////////////////////////////////////////////////////////////////
555bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
556
557 if (!_opt->_realTime || _opt->_corrMount.empty()) {
558 return false;
559 }
560 else if (!_lastClkCorrTime.valid()) {
561 return true;
562 }
563 else {
564 double dt = epoTime - _lastClkCorrTime;
565 if (dt > 1.0 && dt < _opt->_corrWaitTime) {
566 return true;
567 }
568 else {
569 return false;
570 }
571 }
572 return false;
573}
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