source: ntrip/trunk/BNC/src/pppRun.cpp@ 6752

Last change on this file since 6752 was 6653, checked in by stuerze, 9 years ago

sinex tro file support added,
troposphere results in overall ppp logfile added

File size: 16.3 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 "bncsinextro.h"
56#include "rinex/rnxobsfile.h"
57#include "rinex/rnxnavfile.h"
58#include "rinex/corrfile.h"
59
60using namespace BNC_PPP;
61using namespace std;
62
63// Constructor
64////////////////////////////////////////////////////////////////////////////
65t_pppRun::t_pppRun(const t_pppOptions* opt) {
66
67 _opt = opt;
68
69 connect(this, SIGNAL(newMessage(QByteArray,bool)),
70 BNC_CORE, SLOT(slotMessage(const QByteArray,bool)));
71
72 connect(this, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)),
73 BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector<double>)));
74
75 connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)),
76 BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray)));
77
78 _pppClient = new t_pppClient(_opt);
79
80 bncSettings settings;
81
82 if (_opt->_realTime) {
83 Qt::ConnectionType conType = Qt::AutoConnection;
84 if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) {
85 conType = Qt::BlockingQueuedConnection;
86 }
87
88 connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList<t_satObs>)),
89 this, SLOT(slotNewObs(QByteArray, QList<t_satObs>)),conType);
90
91 connect(BNC_CORE, SIGNAL(newGPSEph(t_ephGPS)),
92 this, SLOT(slotNewGPSEph(t_ephGPS)),conType);
93
94 connect(BNC_CORE, SIGNAL(newGlonassEph(t_ephGlo)),
95 this, SLOT(slotNewGlonassEph(t_ephGlo)),conType);
96
97 connect(BNC_CORE, SIGNAL(newGalileoEph(t_ephGal)),
98 this, SLOT(slotNewGalileoEph(t_ephGal)),conType);
99
100 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
101 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
102
103 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
104 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
105
106 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
107 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
108 }
109 else {
110 _rnxObsFile = 0;
111 _rnxNavFile = 0;
112 _corrFile = 0;
113 _speed = settings.value("PPP/mapSpeedSlider").toInt();
114 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
115 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
116 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
117 this, SLOT(slotSetSpeed(int)));
118 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
119 }
120
121 _stopFlag = false;
122
123 QString roverName(_opt->_roverName.c_str());
124
125 QString logFileSkl = settings.value("PPP/logFile").toString();
126 if (logFileSkl.isEmpty()) {
127 _logFile = 0;
128 }
129 else {
130 if (logFileSkl.indexOf("${STATION}") == -1) {
131 logFileSkl = logFileSkl + "_" + roverName;
132 }
133 else {
134 logFileSkl.replace("${STATION}", roverName);
135 }
136 _logFile = new bncoutf(logFileSkl, "1 day", 0);
137 }
138
139 QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
140 if (nmeaFileSkl.isEmpty()) {
141 _nmeaFile = 0;
142 }
143 else {
144 if (nmeaFileSkl.indexOf("${STATION}") == -1) {
145 nmeaFileSkl = roverName + "_" + nmeaFileSkl;
146 }
147 else {
148 nmeaFileSkl.replace("${STATION}", roverName);
149 }
150 _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
151 }
152
153 QString snxtroFileSkl = settings.value("PPP/snxtroFile").toString();
154 if (snxtroFileSkl.isEmpty()) {
155 _snxtroFile = 0;
156 }
157 else {
158 if (snxtroFileSkl.indexOf("${STATION}") == -1) {
159 snxtroFileSkl = snxtroFileSkl + "_" + roverName;
160 }
161 else {
162 snxtroFileSkl.replace("${STATION}", roverName.left(4));
163 }
164 int samplSnxTro = settings.value("PPP/snxtroSampl").toInt();
165 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, "1 day", samplSnxTro);
166 }
167}
168
169
170
171// Destructor
172////////////////////////////////////////////////////////////////////////////
173t_pppRun::~t_pppRun() {
174 delete _logFile;
175 delete _nmeaFile;
176 delete _snxtroFile;
177}
178
179//
180////////////////////////////////////////////////////////////////////////////
181void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
182 QMutexLocker locker(&_mutex);
183 _pppClient->putEphemeris(&eph);
184}
185
186//
187////////////////////////////////////////////////////////////////////////////
188void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
189 QMutexLocker locker(&_mutex);
190 _pppClient->putEphemeris(&eph);
191}
192
193//
194////////////////////////////////////////////////////////////////////////////
195void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
196 QMutexLocker locker(&_mutex);
197 _pppClient->putEphemeris(&eph);
198}
199
200//
201////////////////////////////////////////////////////////////////////////////
202void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
203 QMutexLocker locker(&_mutex);
204
205 if (string(staID.data()) != _opt->_roverName) {
206 return;
207 }
208
209 // Loop over all obsevations (possible different epochs)
210 // -----------------------------------------------------
211 QListIterator<t_satObs> it(obsList);
212 while (it.hasNext()) {
213 const t_satObs& oldObs = it.next();
214 t_satObs* newObs = new t_satObs(oldObs);
215
216 // Find the corresponding data epoch or create a new one
217 // -----------------------------------------------------
218 t_epoData* epoch = 0;
219 deque<t_epoData*>::const_iterator it;
220 for (it = _epoData.begin(); it != _epoData.end(); it++) {
221 if (newObs->_time == (*it)->_time) {
222 epoch = *it;
223 break;
224 }
225 }
226 if (epoch == 0) {
227 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
228 epoch = new t_epoData;
229 epoch->_time = newObs->_time;
230 _epoData.push_back(epoch);
231 }
232 }
233
234 // Put data into the epoch
235 // -----------------------
236 if (epoch != 0) {
237 epoch->_satObs.push_back(newObs);
238 }
239 else {
240 delete newObs;
241 }
242 }
243
244 // Process the oldest epochs
245 // ------------------------
246 while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
247
248 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
249
250 t_output output;
251 _pppClient->processEpoch(satObs, &output);
252
253 if (!output._error) {
254 QVector<double> xx(6);
255 xx.data()[0] = output._xyzRover[0];
256 xx.data()[1] = output._xyzRover[1];
257 xx.data()[2] = output._xyzRover[2];
258 xx.data()[3] = output._neu[0];
259 xx.data()[4] = output._neu[1];
260 xx.data()[5] = output._neu[2];
261 emit newPosition(staID, output._epoTime, xx);
262 }
263
264 delete _epoData.front(); _epoData.pop_front();
265
266 ostringstream log;
267 if (output._error) {
268 log << output._log;
269 }
270 else {
271 log.setf(ios::fixed);
272 log << string(output._epoTime) << ' ' << staID.data()
273 << " X = " << setprecision(4) << output._xyzRover[0]
274 << " Y = " << setprecision(4) << output._xyzRover[1]
275 << " Z = " << setprecision(4) << output._xyzRover[2]
276 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
277 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
278 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
279 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
280 << " " << showpos << setw(8) << setprecision(4) << output._trp;
281 }
282
283 if (_logFile && output._epoTime.valid()) {
284 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
285 QString(output._log.c_str()));
286 }
287
288 if (!output._error) {
289 QString rmcStr = nmeaString('R', output);
290 QString ggaStr = nmeaString('G', output);
291 if (_nmeaFile) {
292 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
293 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
294 }
295 emit newNMEAstr(staID, rmcStr.toAscii());
296 emit newNMEAstr(staID, ggaStr.toAscii());
297 }
298
299 if (_snxtroFile && output._epoTime.valid()) {
300 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
301 output._trp0 + output._trp, output._trpStdev);
302 }
303
304 emit newMessage(QByteArray(log.str().c_str()), true);
305 }
306}
307
308//
309////////////////////////////////////////////////////////////////////////////
310void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
311 if (orbCorr.size() == 0) {
312 return;
313 }
314
315 if (_opt->_realTime) {
316 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
317 return;
318 }
319 }
320 vector<t_orbCorr*> corrections;
321 for (int ii = 0; ii < orbCorr.size(); ii++) {
322 corrections.push_back(new t_orbCorr(orbCorr[ii]));
323 _lastClkCorrTime = orbCorr[ii]._time;
324 }
325
326 _pppClient->putOrbCorrections(corrections);
327}
328
329//
330////////////////////////////////////////////////////////////////////////////
331void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
332 if (clkCorr.size() == 0) {
333 return;
334 }
335
336 if (_opt->_realTime) {
337 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
338 return;
339 }
340 }
341 vector<t_clkCorr*> corrections;
342 for (int ii = 0; ii < clkCorr.size(); ii++) {
343 corrections.push_back(new t_clkCorr(clkCorr[ii]));
344 }
345
346 _pppClient->putClkCorrections(corrections);
347}
348
349//
350////////////////////////////////////////////////////////////////////////////
351void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
352 if (codeBiases.size() == 0) {
353 return;
354 }
355
356 if (_opt->_realTime) {
357 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
358 return;
359 }
360 }
361 vector<t_satCodeBias*> biases;
362 for (int ii = 0; ii < codeBiases.size(); ii++) {
363 biases.push_back(new t_satCodeBias(codeBiases[ii]));
364 }
365
366 _pppClient->putCodeBiases(biases);
367}
368
369//
370////////////////////////////////////////////////////////////////////////////
371void t_pppRun::processFiles() {
372
373 try {
374 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
375 }
376 catch (...) {
377 delete _rnxObsFile; _rnxObsFile = 0;
378 emit finishedRnxPPP();
379 return;
380 }
381
382 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
383
384 if (!_opt->_corrFile.empty()) {
385 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
386 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
387 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
388 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
389 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
390 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
391 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
392 }
393
394 // Read/Process Observations
395 // -------------------------
396 int nEpo = 0;
397 const t_rnxObsFile::t_rnxEpo* epo = 0;
398 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
399 ++nEpo;
400
401 if (_speed < 100) {
402 double sleepTime = 2.0 / _speed;
403 t_pppThread::msleep(int(sleepTime*1.e3));
404 }
405
406 // Get Corrections
407 // ---------------
408 if (_corrFile) {
409 try {
410 _corrFile->syncRead(epo->tt);
411 }
412 catch (const char* msg) {
413 emit newMessage(QByteArray(msg), true);
414 break;
415 }
416 catch (const string& msg) {
417 emit newMessage(QByteArray(msg.c_str()), true);
418 break;
419 }
420 catch (...) {
421 emit newMessage("unknown exceptions in corrFile", true);
422 break;
423 }
424 }
425
426 // Get Ephemerides
427 // ----------------
428 t_eph* eph = 0;
429 const QMap<QString, int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
430 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
431 _pppClient->putEphemeris(eph);
432 delete eph; eph = 0;
433 }
434
435 // Create list of observations and start epoch processing
436 // ------------------------------------------------------
437 QList<t_satObs> obsList;
438 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
439 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
440
441 t_satObs obs;
442 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
443 obsList << obs;
444 }
445 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
446
447
448 if (nEpo % 10 == 0) {
449 emit progressRnxPPP(nEpo);
450 }
451
452 QCoreApplication::processEvents();
453 }
454
455 emit finishedRnxPPP();
456
457 if (BNC_CORE->mode() != t_bncCore::interactive) {
458 qApp->exit(0);
459 }
460 else {
461 BNC_CORE->stopPPP();
462 }
463}
464
465//
466////////////////////////////////////////////////////////////////////////////
467void t_pppRun::slotSetSpeed(int speed) {
468 QMutexLocker locker(&_mutex);
469 _speed = speed;
470}
471
472//
473////////////////////////////////////////////////////////////////////////////
474void t_pppRun::slotSetStopFlag() {
475 QMutexLocker locker(&_mutex);
476 _stopFlag = true;
477}
478
479//
480////////////////////////////////////////////////////////////////////////////
481QString t_pppRun::nmeaString(char strType, const t_output& output) {
482
483 double ell[3];
484 xyz2ell(output._xyzRover, ell);
485 double phiDeg = ell[0] * 180 / M_PI;
486 double lamDeg = ell[1] * 180 / M_PI;
487
488 char phiCh = 'N';
489 if (phiDeg < 0) {
490 phiDeg = -phiDeg;
491 phiCh = 'S';
492 }
493 char lamCh = 'E';
494 if (lamDeg < 0) {
495 lamDeg = -lamDeg;
496 lamCh = 'W';
497 }
498
499 ostringstream out;
500 out.setf(ios::fixed);
501
502 if (strType == 'R') {
503 string datestr = output._epoTime.datestr(0); // yyyymmdd
504 out << "GPRMC,"
505 << output._epoTime.timestr(0,0) << ",A,"
506 << setw(2) << setfill('0') << int(phiDeg)
507 << setw(6) << setprecision(3) << setfill('0')
508 << fmod(60*phiDeg,60) << ',' << phiCh << ','
509 << setw(3) << setfill('0') << int(lamDeg)
510 << setw(6) << setprecision(3) << setfill('0')
511 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
512 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
513 << datestr[2] << datestr[3] << ",,";
514 }
515 else if (strType == 'G') {
516 out << "GPGGA,"
517 << output._epoTime.timestr(0,0) << ','
518 << setw(2) << setfill('0') << int(phiDeg)
519 << setw(10) << setprecision(7) << setfill('0')
520 << fmod(60*phiDeg,60) << ',' << phiCh << ','
521 << setw(3) << setfill('0') << int(lamDeg)
522 << setw(10) << setprecision(7) << setfill('0')
523 << fmod(60*lamDeg,60) << ',' << lamCh
524 << ",1," << setw(2) << setfill('0') << output._numSat << ','
525 << setw(3) << setprecision(1) << output._pDop << ','
526 << setprecision(3) << ell[2] << ",M,0.0,M,,";
527 }
528 else {
529 return "";
530 }
531
532 QString nmStr(out.str().c_str());
533 unsigned char XOR = 0;
534 for (int ii = 0; ii < nmStr.length(); ii++) {
535 XOR ^= (unsigned char) nmStr[ii].toAscii();
536 }
537
538 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
539}
540
541//
542////////////////////////////////////////////////////////////////////////////
543bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
544
545 if (!_opt->_realTime || _opt->_corrMount.empty()) {
546 return false;
547 }
548 else if (!_lastClkCorrTime.valid()) {
549 return true;
550 }
551 else {
552 double dt = epoTime - _lastClkCorrTime;
553 if (dt > 1.0 && dt < _opt->_corrWaitTime) {
554 return true;
555 }
556 else {
557 return false;
558 }
559 }
560 return false;
561}
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