source: ntrip/trunk/BNC/src/pppRun.cpp@ 6608

Last change on this file since 6608 was 6608, checked in by stuerze, 9 years ago

preparation for sinex tro
File size: 15.9 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(newGPSEph(t_ephGPS)),
91 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
92
93 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
94 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
95
96 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
97 this, SLOT(slotNewGalileoEph(t_ephGal)),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 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
106 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
107 }
108 else {
109 _rnxObsFile = 0;
110 _rnxNavFile = 0;
111 _corrFile = 0;
112 _speed = settings.value("PPP/mapSpeedSlider").toInt();
113 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
114 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
115 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
116 this, SLOT(slotSetSpeed(int)));
117 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
118 }
119
120 _stopFlag = false;
121
122 QString roverName(_opt->_roverName.c_str());
123
124 QString logFileSkl = settings.value("PPP/logFile").toString();
125 if (logFileSkl.isEmpty()) {
126 _logFile = 0;
127 }
128 else {
129 if (logFileSkl.indexOf("${STATION}") == -1) {
130 logFileSkl = logFileSkl + "_" + roverName;
131 }
132 else {
133 logFileSkl.replace("${STATION}", roverName);
134 }
135 _logFile = new bncoutf(logFileSkl, "1 day", 0);
136 }
137
138 QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
139 if (nmeaFileSkl.isEmpty()) {
140 _nmeaFile = 0;
141 }
142 else {
143 if (nmeaFileSkl.indexOf("${STATION}") == -1) {
144 nmeaFileSkl = roverName + "_" + nmeaFileSkl;
145 }
146 else {
147 nmeaFileSkl.replace("${STATION}", roverName);
148 }
149 _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
150 }
151
152 QString snxtroFileSkl = settings.value("PPP/snxtroFile").toString();
153 if (snxtroFileSkl.isEmpty()) {
154 _snxtroFile = 0;
155 }
156 else {
157 if (snxtroFileSkl.indexOf("${STATION}") == -1) {
158 snxtroFileSkl = snxtroFileSkl + "_" + roverName;
159 }
160 else {
161 snxtroFileSkl.replace("${STATION}", roverName);
162 }
163 _snxtroFile = new bncoutf(snxtroFileSkl, "1 day", 0);
164 }
165}
166
167
168
169// Destructor
170////////////////////////////////////////////////////////////////////////////
171t_pppRun::~t_pppRun() {
172 delete _logFile;
173 delete _nmeaFile;
174 delete _snxtroFile;
175}
176
177//
178////////////////////////////////////////////////////////////////////////////
179void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
180 QMutexLocker locker(&_mutex);
181 _pppClient->putEphemeris(&eph);
182}
183
184//
185////////////////////////////////////////////////////////////////////////////
186void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
187 QMutexLocker locker(&_mutex);
188 _pppClient->putEphemeris(&eph);
189}
190
191//
192////////////////////////////////////////////////////////////////////////////
193void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
194 QMutexLocker locker(&_mutex);
195 _pppClient->putEphemeris(&eph);
196}
197
198//
199////////////////////////////////////////////////////////////////////////////
200void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
201 QMutexLocker locker(&_mutex);
202
203 if (string(staID.data()) != _opt->_roverName) {
204 return;
205 }
206
207 // Loop over all obsevations (possible different epochs)
208 // -----------------------------------------------------
209 QListIterator<t_satObs> it(obsList);
210 while (it.hasNext()) {
211 const t_satObs& oldObs = it.next();
212 t_satObs* newObs = new t_satObs(oldObs);
213
214 // Find the corresponding data epoch or create a new one
215 // -----------------------------------------------------
216 t_epoData* epoch = 0;
217 deque<t_epoData*>::const_iterator it;
218 for (it = _epoData.begin(); it != _epoData.end(); it++) {
219 if (newObs->_time == (*it)->_time) {
220 epoch = *it;
221 break;
222 }
223 }
224 if (epoch == 0) {
225 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
226 epoch = new t_epoData;
227 epoch->_time = newObs->_time;
228 _epoData.push_back(epoch);
229 }
230 }
231
232 // Put data into the epoch
233 // -----------------------
234 if (epoch != 0) {
235 epoch->_satObs.push_back(newObs);
236 }
237 else {
238 delete newObs;
239 }
240 }
241
242 // Process the oldest epochs
243 // ------------------------
244 while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
245
246 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
247
248 t_output output;
249 _pppClient->processEpoch(satObs, &output);
250
251 if (!output._error) {
252 QVector<double> xx(6);
253 xx.data()[0] = output._xyzRover[0];
254 xx.data()[1] = output._xyzRover[1];
255 xx.data()[2] = output._xyzRover[2];
256 xx.data()[3] = output._neu[0];
257 xx.data()[4] = output._neu[1];
258 xx.data()[5] = output._neu[2];
259 emit newPosition(staID, output._epoTime, xx);
260 }
261
262 delete _epoData.front(); _epoData.pop_front();
263
264 ostringstream log;
265 if (output._error) {
266 log << output._log;
267 }
268 else {
269 log.setf(ios::fixed);
270 log << string(output._epoTime) << ' ' << staID.data()
271 << " X = " << setprecision(4) << output._xyzRover[0]
272 << " Y = " << setprecision(4) << output._xyzRover[1]
273 << " Z = " << setprecision(4) << output._xyzRover[2]
274 << " NEU: " << setprecision(4) << output._neu[0]
275 << " " << setprecision(4) << output._neu[1]
276 << " " << setprecision(4) << output._neu[2];
277 }
278
279 if (_logFile && output._epoTime.valid()) {
280 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
281 QString(output._log.c_str()));
282 }
283
284 if (!output._error) {
285 QString rmcStr = nmeaString('R', output);
286 QString ggaStr = nmeaString('G', output);
287 if (_nmeaFile) {
288 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
289 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
290 }
291 emit newNMEAstr(staID, rmcStr.toAscii());
292 emit newNMEAstr(staID, ggaStr.toAscii());
293 }
294
295 if (_snxtroFile && output._epoTime.valid()) {
296 // _snxtroFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),QString("TEST"));
297 }
298
299 emit newMessage(QByteArray(log.str().c_str()), true);
300 }
301}
302
303//
304////////////////////////////////////////////////////////////////////////////
305void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
306 if (orbCorr.size() == 0) {
307 return;
308 }
309
310 if (_opt->_realTime) {
311 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
312 return;
313 }
314 }
315 vector<t_orbCorr*> corrections;
316 for (int ii = 0; ii < orbCorr.size(); ii++) {
317 corrections.push_back(new t_orbCorr(orbCorr[ii]));
318 _lastClkCorrTime = orbCorr[ii]._time;
319 }
320
321 _pppClient->putOrbCorrections(corrections);
322}
323
324//
325////////////////////////////////////////////////////////////////////////////
326void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
327 if (clkCorr.size() == 0) {
328 return;
329 }
330
331 if (_opt->_realTime) {
332 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
333 return;
334 }
335 }
336 vector<t_clkCorr*> corrections;
337 for (int ii = 0; ii < clkCorr.size(); ii++) {
338 corrections.push_back(new t_clkCorr(clkCorr[ii]));
339 }
340
341 _pppClient->putClkCorrections(corrections);
342}
343
344//
345////////////////////////////////////////////////////////////////////////////
346void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
347 if (codeBiases.size() == 0) {
348 return;
349 }
350
351 if (_opt->_realTime) {
352 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
353 return;
354 }
355 }
356 vector<t_satCodeBias*> biases;
357 for (int ii = 0; ii < codeBiases.size(); ii++) {
358 biases.push_back(new t_satCodeBias(codeBiases[ii]));
359 }
360
361 _pppClient->putCodeBiases(biases);
362}
363
364//
365////////////////////////////////////////////////////////////////////////////
366void t_pppRun::processFiles() {
367
368 try {
369 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
370 }
371 catch (...) {
372 delete _rnxObsFile; _rnxObsFile = 0;
373 emit finishedRnxPPP();
374 return;
375 }
376
377 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
378
379 if (!_opt->_corrFile.empty()) {
380 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
381 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
382 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
383 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
384 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
385 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
386 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
387 }
388
389 // Read/Process Observations
390 // -------------------------
391 int nEpo = 0;
392 const t_rnxObsFile::t_rnxEpo* epo = 0;
393 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
394 ++nEpo;
395
396 if (_speed < 100) {
397 double sleepTime = 2.0 / _speed;
398 t_pppThread::msleep(int(sleepTime*1.e3));
399 }
400
401 // Get Corrections
402 // ---------------
403 if (_corrFile) {
404 try {
405 _corrFile->syncRead(epo->tt);
406 }
407 catch (const char* msg) {
408 emit newMessage(QByteArray(msg), true);
409 break;
410 }
411 catch (const string& msg) {
412 emit newMessage(QByteArray(msg.c_str()), true);
413 break;
414 }
415 catch (...) {
416 emit newMessage("unknown exceptions in corrFile", true);
417 break;
418 }
419 }
420
421 // Get Ephemerides
422 // ----------------
423 t_eph* eph = 0;
424 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
425 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
426 _pppClient->putEphemeris(eph);
427 delete eph; eph = 0;
428 }
429
430 // Create list of observations and start epoch processing
431 // ------------------------------------------------------
432 QList<t_satObs> obsList;
433 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
434 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
435
436 t_satObs obs;
437 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
438 obsList << obs;
439 }
440 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
441
442
443 if (nEpo % 10 == 0) {
444 emit progressRnxPPP(nEpo);
445 }
446
447 QCoreApplication::processEvents();
448 }
449
450 emit finishedRnxPPP();
451
452 if (BNC_CORE->mode() != t_bncCore::interactive) {
453 qApp->exit(0);
454 }
455 else {
456 BNC_CORE->stopPPP();
457 }
458}
459
460//
461////////////////////////////////////////////////////////////////////////////
462void t_pppRun::slotSetSpeed(int speed) {
463 QMutexLocker locker(&_mutex);
464 _speed = speed;
465}
466
467//
468////////////////////////////////////////////////////////////////////////////
469void t_pppRun::slotSetStopFlag() {
470 QMutexLocker locker(&_mutex);
471 _stopFlag = true;
472}
473
474//
475////////////////////////////////////////////////////////////////////////////
476QString t_pppRun::nmeaString(char strType, const t_output& output) {
477
478 double ell[3];
479 xyz2ell(output._xyzRover, ell);
480 double phiDeg = ell[0] * 180 / M_PI;
481 double lamDeg = ell[1] * 180 / M_PI;
482
483 char phiCh = 'N';
484 if (phiDeg < 0) {
485 phiDeg = -phiDeg;
486 phiCh = 'S';
487 }
488 char lamCh = 'E';
489 if (lamDeg < 0) {
490 lamDeg = -lamDeg;
491 lamCh = 'W';
492 }
493
494 ostringstream out;
495 out.setf(ios::fixed);
496
497 if (strType == 'R') {
498 string datestr = output._epoTime.datestr(0); // yyyymmdd
499 out << "GPRMC,"
500 << output._epoTime.timestr(0,0) << ",A,"
501 << setw(2) << setfill('0') << int(phiDeg)
502 << setw(6) << setprecision(3) << setfill('0')
503 << fmod(60*phiDeg,60) << ',' << phiCh << ','
504 << setw(3) << setfill('0') << int(lamDeg)
505 << setw(6) << setprecision(3) << setfill('0')
506 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
507 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
508 << datestr[2] << datestr[3] << ",,";
509 }
510 else if (strType == 'G') {
511 out << "GPGGA,"
512 << output._epoTime.timestr(0,0) << ','
513 << setw(2) << setfill('0') << int(phiDeg)
514 << setw(10) << setprecision(7) << setfill('0')
515 << fmod(60*phiDeg,60) << ',' << phiCh << ','
516 << setw(3) << setfill('0') << int(lamDeg)
517 << setw(10) << setprecision(7) << setfill('0')
518 << fmod(60*lamDeg,60) << ',' << lamCh
519 << ",1," << setw(2) << setfill('0') << output._numSat << ','
520 << setw(3) << setprecision(1) << output._pDop << ','
521 << setprecision(3) << ell[2] << ",M,0.0,M,,";
522 }
523 else {
524 return "";
525 }
526
527 QString nmStr(out.str().c_str());
528 unsigned char XOR = 0;
529 for (int ii = 0; ii < nmStr.length(); ii++) {
530 XOR ^= (unsigned char) nmStr[ii].toAscii();
531 }
532
533 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
534}
535
536//
537////////////////////////////////////////////////////////////////////////////
538bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
539
540 if (!_opt->_realTime || _opt->_corrMount.empty()) {
541 return false;
542 }
543 else if (!_lastClkCorrTime.valid()) {
544 return true;
545 }
546 else {
547 double dt = epoTime - _lastClkCorrTime;
548 if (dt > 1.0 && dt < _opt->_corrWaitTime) {
549 return true;
550 }
551 else {
552 return false;
553 }
554 }
555 return false;
556}
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