source: ntrip/trunk/BNC/src/pppRun.cpp@ 6143

Last change on this file since 6143 was 6143, checked in by mervart, 8 years ago
File size: 14.3 KB
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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 _pppClient = new t_pppClient(_opt);
78
79 bncSettings settings;
80
81 if (_opt->_realTime) {
82 Qt::ConnectionType conType = Qt::AutoConnection;
83 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
84 conType = Qt::BlockingQueuedConnection;
85 }
86
87 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
88 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
89
90 connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)),
91 this, SLOT(slotNewEphGPS(gpsephemeris)),conType);
92
93 connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)),
94 this, SLOT(slotNewEphGlonass(glonassephemeris)),conType);
95
96 connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)),
97 this, SLOT(slotNewEphGalileo(galileoephemeris)),conType);
98
99 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
100 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
101
102 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
103 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
104 }
105 else {
106 _rnxObsFile = 0;
107 _rnxNavFile = 0;
108 _corrFile = 0;
109 _speed = settings.value("PPP/mapSpeedSlider").toInt();
110 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
111 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
112 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
113 this, SLOT(slotSetSpeed(int)));
114 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
115 }
116
117 _stopFlag = false;
118
119 QString roverName(_opt->_roverName.c_str());
120
121 QString logFileSkl = settings.value("PPP/logFile").toString();
122 if (logFileSkl.isEmpty()) {
123 _logFile = 0;
124 }
125 else {
126 if (logFileSkl.indexOf("${STATION}") == -1) {
127 logFileSkl = roverName + "_" + logFileSkl;
128 }
129 else {
130 logFileSkl.replace("${STATION}", roverName);
131 }
132 _logFile = new bncoutf(logFileSkl, "1 day", 0);
133 }
134
135 QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
136 if (nmeaFileSkl.isEmpty()) {
137 _nmeaFile = 0;
138 }
139 else {
140 if (nmeaFileSkl.indexOf("${STATION}") == -1) {
141 nmeaFileSkl = roverName + "_" + nmeaFileSkl;
142 }
143 else {
144 nmeaFileSkl.replace("${STATION}", roverName);
145 }
146 _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
147 }
148}
149
150// Destructor
151////////////////////////////////////////////////////////////////////////////
152t_pppRun::~t_pppRun() {
153 delete _logFile;
154 delete _nmeaFile;
155}
156
157//
158////////////////////////////////////////////////////////////////////////////
159void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) {
160 QMutexLocker locker(&_mutex);
161 t_ephGPS eph;
162 eph.set(&gpseph);
163 _pppClient->putEphemeris(&eph);
164}
165
166//
167////////////////////////////////////////////////////////////////////////////
168void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) {
169 QMutexLocker locker(&_mutex);
170 t_ephGlo eph;
171 eph.set(&gloeph);
172 _pppClient->putEphemeris(&eph);
173}
174
175//
176////////////////////////////////////////////////////////////////////////////
177void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) {
178 QMutexLocker locker(&_mutex);
179 t_ephGal eph;
180 eph.set(&galeph);
181 _pppClient->putEphemeris(&eph);
182}
183
184//
185////////////////////////////////////////////////////////////////////////////
186void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
187 QMutexLocker locker(&_mutex);
188
189 if (string(staID.data()) != _opt->_roverName) {
190 return;
191 }
192
193 // Loop over all obsevations (possible different epochs)
194 // -----------------------------------------------------
195 QListIterator<t_satObs> it(obsList);
196 while (it.hasNext()) {
197 const t_satObs& oldObs = it.next();
198 t_satObs* newObs = new t_satObs(oldObs);
199
200 // Find the corresponding data epoch or create a new one
201 // -----------------------------------------------------
202 t_epoData* epoch = 0;
203 deque<t_epoData*>::const_iterator it;
204 for (it = _epoData.begin(); it != _epoData.end(); it++) {
205 if (newObs->_time == (*it)->_time) {
206 epoch = *it;
207 break;
208 }
209 }
210 if (epoch == 0) {
211 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
212 epoch = new t_epoData;
213 epoch->_time = newObs->_time;
214 _epoData.push_back(epoch);
215 }
216 }
217
218 // Put data into the epoch
219 // -----------------------
220 if (epoch != 0) {
221 epoch->_satObs.push_back(newObs);
222 }
223 else {
224 delete newObs;
225 }
226 }
227
228 // Process the oldest epochs
229 // ------------------------
230 while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
231
232 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
233
234 t_output output;
235 _pppClient->processEpoch(satObs, &output);
236
237 if (!output._error) {
238 QVector<double> xx(6);
239 xx.data()[0] = output._xyzRover[0];
240 xx.data()[1] = output._xyzRover[1];
241 xx.data()[2] = output._xyzRover[2];
242 xx.data()[3] = output._neu[0];
243 xx.data()[4] = output._neu[1];
244 xx.data()[5] = output._neu[2];
245 emit newPosition(staID, output._epoTime, xx);
246 }
247
248 delete _epoData.front(); _epoData.pop_front();
249
250 ostringstream log;
251 if (output._error) {
252 log << output._log;
253 }
254 else {
255 log.setf(ios::fixed);
256 log << string(output._epoTime) << ' ' << staID.data()
257 << " X = " << setprecision(4) << output._xyzRover[0]
258 << " Y = " << setprecision(4) << output._xyzRover[1]
259 << " Z = " << setprecision(4) << output._xyzRover[2]
260 << " NEU: " << setprecision(4) << output._neu[0]
261 << " " << setprecision(4) << output._neu[1]
262 << " " << setprecision(4) << output._neu[2];
263 }
264
265 if (_logFile && output._epoTime.valid()) {
266 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
267 QString(output._log.c_str()));
268 }
269
270 if (!output._error) {
271 QString rmcStr = nmeaString('R', output);
272 QString ggaStr = nmeaString('G', output);
273 if (_nmeaFile) {
274 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
275 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
276 }
277 emit newNMEAstr(staID, rmcStr.toAscii());
278 emit newNMEAstr(staID, ggaStr.toAscii());
279 }
280
281 emit newMessage(QByteArray(log.str().c_str()), true);
282 }
283}
284
285//
286////////////////////////////////////////////////////////////////////////////
287void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
288 if (orbCorr.size() == 0) {
289 return;
290 }
291
292 if (_opt->_realTime) {
293 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
294 return;
295 }
296 }
297 vector<t_orbCorr*> corrections;
298 for (int ii = 0; ii < orbCorr.size(); ii++) {
299 corrections.push_back(new t_orbCorr(orbCorr[ii]));
300 _lastClkCorrTime = orbCorr[ii]._time;
301 }
302
303 _pppClient->putOrbCorrections(corrections);
304}
305
306//
307////////////////////////////////////////////////////////////////////////////
308void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
309 if (clkCorr.size() == 0) {
310 return;
311 }
312
313 if (_opt->_realTime) {
314 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
315 return;
316 }
317 }
318 vector<t_clkCorr*> corrections;
319 for (int ii = 0; ii < clkCorr.size(); ii++) {
320 corrections.push_back(new t_clkCorr(clkCorr[ii]));
321 }
322
323 _pppClient->putClkCorrections(corrections);
324}
325
326//
327////////////////////////////////////////////////////////////////////////////
328void t_pppRun::processFiles() {
329
330 try {
331 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
332 }
333 catch (...) {
334 delete _rnxObsFile; _rnxObsFile = 0;
335 emit finishedRnxPPP();
336 return;
337 }
338
339 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
340
341 if (!_opt->_corrFile.empty()) {
342 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
343 connect(_corrFile, SIGNAL(newCorrections(QStringList)),
344 this, SLOT(slotNewCorrections(QStringList)));
345 }
346
347 // Read/Process Observations
348 // -------------------------
349 int nEpo = 0;
350 const t_rnxObsFile::t_rnxEpo* epo = 0;
351 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
352 ++nEpo;
353
354 if (_speed < 100) {
355 double sleepTime = 2.0 / _speed;
356 t_pppThread::msleep(sleepTime*1.e3);
357 }
358
359 // Get Corrections
360 // ---------------
361 if (_corrFile) {
362 _corrFile->syncRead(epo->tt);
363 }
364
365 // Get Ephemerides
366 // ----------------
367 t_eph* eph = 0;
368 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
369 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
370 _pppClient->putEphemeris(eph);
371 delete eph; eph = 0;
372 }
373
374 // Create list of observations and start epoch processing
375 // ------------------------------------------------------
376 QList<t_satObs> obsList;
377 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
378 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
379
380 t_satObs obs;
381 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
382 obsList << obs;
383 }
384 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
385
386
387 if (nEpo % 10 == 0) {
388 emit progressRnxPPP(nEpo);
389 }
390
391 QCoreApplication::processEvents();
392 }
393
394 emit finishedRnxPPP();
395
396 if (BNC_CORE->mode() != t_bncCore::interactive) {
397 qApp->exit(0);
398 }
399 else {
400 BNC_CORE->stopPPP();
401 }
402}
403
404//
405////////////////////////////////////////////////////////////////////////////
406void t_pppRun::slotSetSpeed(int speed) {
407 QMutexLocker locker(&_mutex);
408 _speed = speed;
409}
410
411//
412////////////////////////////////////////////////////////////////////////////
413void t_pppRun::slotSetStopFlag() {
414 QMutexLocker locker(&_mutex);
415 _stopFlag = true;
416}
417
418//
419////////////////////////////////////////////////////////////////////////////
420QString t_pppRun::nmeaString(char strType, const t_output& output) {
421
422 double ell[3];
423 xyz2ell(output._xyzRover, ell);
424 double phiDeg = ell[0] * 180 / M_PI;
425 double lamDeg = ell[1] * 180 / M_PI;
426
427 char phiCh = 'N';
428 if (phiDeg < 0) {
429 phiDeg = -phiDeg;
430 phiCh = 'S';
431 }
432 char lamCh = 'E';
433 if (lamDeg < 0) {
434 lamDeg = -lamDeg;
435 lamCh = 'W';
436 }
437
438 ostringstream out;
439 out.setf(ios::fixed);
440
441 if (strType == 'R') {
442 string datestr = output._epoTime.datestr(0); // yyyymmdd
443 out << "GPRMC,"
444 << output._epoTime.timestr(0,0) << ",A,"
445 << setw(2) << setfill('0') << int(phiDeg)
446 << setw(6) << setprecision(3) << setfill('0')
447 << fmod(60*phiDeg,60) << ',' << phiCh << ','
448 << setw(3) << setfill('0') << int(lamDeg)
449 << setw(6) << setprecision(3) << setfill('0')
450 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
451 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
452 << datestr[2] << datestr[3] << ",,";
453 }
454 else if (strType == 'G') {
455 out << "GPGGA,"
456 << output._epoTime.timestr(0,0) << ','
457 << setw(2) << setfill('0') << int(phiDeg)
458 << setw(10) << setprecision(7) << setfill('0')
459 << fmod(60*phiDeg,60) << ',' << phiCh << ','
460 << setw(3) << setfill('0') << int(lamDeg)
461 << setw(10) << setprecision(7) << setfill('0')
462 << fmod(60*lamDeg,60) << ',' << lamCh
463 << ",1," << setw(2) << setfill('0') << output._numSat << ','
464 << setw(3) << setprecision(1) << output._pDop << ','
465 << setprecision(3) << ell[2] << ",M,0.0,M,,";
466 }
467 else {
468 return "";
469 }
470
471 QString nmStr(out.str().c_str());
472 unsigned char XOR = 0;
473 for (int ii = 0; ii < nmStr.length(); ii++) {
474 XOR ^= (unsigned char) nmStr[ii].toAscii();
475 }
476
477 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
478}
479
480//
481////////////////////////////////////////////////////////////////////////////
482bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
483
484 if (!_opt->_realTime || _opt->_corrMount.empty()) {
485 return false;
486 }
487 else if (!_lastClkCorrTime.valid()) {
488 return true;
489 }
490 else {
491 double dt = epoTime - _lastClkCorrTime;
492 if (dt > 1.0 && dt < _opt->_corrWaitTime) {
493 return true;
494 }
495 else {
496 return false;
497 }
498 }
499 return false;
500}
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