source: ntrip/trunk/BNC/src/pppRun.cpp@ 7276

Last change on this file since 7276 was 7231, checked in by stuerze, 9 years ago

some interfaces are added to be able to handle ssr vtec in PPP mode
File size: 17.1 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(newBDSEph(t_ephBDS)),
101 this, SLOT(slotNewBDSEph(t_ephBDS)),conType);
102
103 connect(BNC_CORE, SIGNAL(newTec(t_vTec)),
104 this, SLOT(slotNewTec(t_vTec)),conType);
105
106 connect(BNC_CORE, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
107 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)),conType);
108
109 connect(BNC_CORE, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
110 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)),conType);
111
112 connect(BNC_CORE, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
113 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)),conType);
114 }
115 else {
116 _rnxObsFile = 0;
117 _rnxNavFile = 0;
118 _corrFile = 0;
119 _speed = settings.value("PPP/mapSpeedSlider").toInt();
120 connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int)));
121 connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP()));
122 connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)),
123 this, SLOT(slotSetSpeed(int)));
124 connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag()));
125 }
126
127 _stopFlag = false;
128
129 QString roverName(_opt->_roverName.c_str());
130
131 QString logFileSkl = settings.value("PPP/logFilePPP").toString();
132 if (logFileSkl.isEmpty()) {
133 _logFile = 0;
134 }
135 else {
136 if (logFileSkl.indexOf("${STATION}") == -1) {
137 logFileSkl = logFileSkl + "_" + roverName;
138 }
139 else {
140 logFileSkl.replace("${STATION}", roverName);
141 }
142 _logFile = new bncoutf(logFileSkl, "1 day", 0);
143 }
144
145 QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString();
146 if (nmeaFileSkl.isEmpty()) {
147 _nmeaFile = 0;
148 }
149 else {
150 if (nmeaFileSkl.indexOf("${STATION}") == -1) {
151 nmeaFileSkl = roverName + "_" + nmeaFileSkl;
152 }
153 else {
154 nmeaFileSkl.replace("${STATION}", roverName);
155 }
156 _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0);
157 }
158
159 QString snxtroFileSkl = settings.value("PPP/snxtroFile").toString();
160 if (snxtroFileSkl.isEmpty()) {
161 _snxtroFile = 0;
162 }
163 else {
164 if (snxtroFileSkl.indexOf("${STATION}") == -1) {
165 snxtroFileSkl = snxtroFileSkl + "_" + roverName;
166 }
167 else {
168 snxtroFileSkl.replace("${STATION}", roverName.left(4));
169 }
170 int samplSnxTro = settings.value("PPP/snxtroSampl").toInt();
171 _snxtroFile = new bncSinexTro(_opt, snxtroFileSkl, "1 day", samplSnxTro);
172 }
173}
174
175
176
177// Destructor
178////////////////////////////////////////////////////////////////////////////
179t_pppRun::~t_pppRun() {
180 delete _logFile;
181 delete _nmeaFile;
182 delete _snxtroFile;
183}
184
185//
186////////////////////////////////////////////////////////////////////////////
187void t_pppRun::slotNewGPSEph(t_ephGPS eph) {
188 QMutexLocker locker(&_mutex);
189 _pppClient->putEphemeris(&eph);
190}
191
192//
193////////////////////////////////////////////////////////////////////////////
194void t_pppRun::slotNewGlonassEph(t_ephGlo eph) {
195 QMutexLocker locker(&_mutex);
196 _pppClient->putEphemeris(&eph);
197}
198
199//
200////////////////////////////////////////////////////////////////////////////
201void t_pppRun::slotNewGalileoEph(t_ephGal eph) {
202 QMutexLocker locker(&_mutex);
203 _pppClient->putEphemeris(&eph);
204}
205
206//
207////////////////////////////////////////////////////////////////////////////
208void t_pppRun::slotNewBDSEph(t_ephBDS eph) {
209 QMutexLocker locker(&_mutex);
210 _pppClient->putEphemeris(&eph);
211}
212
213//
214////////////////////////////////////////////////////////////////////////////
215void t_pppRun::slotNewObs(QByteArray staID, QList<t_satObs> obsList) {
216 QMutexLocker locker(&_mutex);
217
218 if (string(staID.data()) != _opt->_roverName) {
219 return;
220 }
221
222 // Loop over all obsevations (possible different epochs)
223 // -----------------------------------------------------
224 QListIterator<t_satObs> it(obsList);
225 while (it.hasNext()) {
226 const t_satObs& oldObs = it.next();
227 t_satObs* newObs = new t_satObs(oldObs);
228
229 // Find the corresponding data epoch or create a new one
230 // -----------------------------------------------------
231 t_epoData* epoch = 0;
232 deque<t_epoData*>::const_iterator it;
233 for (it = _epoData.begin(); it != _epoData.end(); it++) {
234 if (newObs->_time == (*it)->_time) {
235 epoch = *it;
236 break;
237 }
238 }
239 if (epoch == 0) {
240 if (_epoData.empty() || newObs->_time > _epoData.back()->_time) {
241 epoch = new t_epoData;
242 epoch->_time = newObs->_time;
243 _epoData.push_back(epoch);
244 }
245 }
246
247 // Put data into the epoch
248 // -----------------------
249 if (epoch != 0) {
250 epoch->_satObs.push_back(newObs);
251 }
252 else {
253 delete newObs;
254 }
255 }
256
257 // Process the oldest epochs
258 // ------------------------
259 while (_epoData.size() && !waitForCorr(_epoData.front()->_time)) {
260
261 const vector<t_satObs*>& satObs = _epoData.front()->_satObs;
262
263 t_output output;
264 _pppClient->processEpoch(satObs, &output);
265
266 if (!output._error) {
267 QVector<double> xx(6);
268 xx.data()[0] = output._xyzRover[0];
269 xx.data()[1] = output._xyzRover[1];
270 xx.data()[2] = output._xyzRover[2];
271 xx.data()[3] = output._neu[0];
272 xx.data()[4] = output._neu[1];
273 xx.data()[5] = output._neu[2];
274 emit newPosition(staID, output._epoTime, xx);
275 }
276
277 delete _epoData.front(); _epoData.pop_front();
278
279 ostringstream log;
280 if (output._error) {
281 log << output._log;
282 }
283 else {
284 log.setf(ios::fixed);
285 log << string(output._epoTime) << ' ' << staID.data()
286 << " X = " << setprecision(4) << output._xyzRover[0]
287 << " Y = " << setprecision(4) << output._xyzRover[1]
288 << " Z = " << setprecision(4) << output._xyzRover[2]
289 << " NEU: " << showpos << setw(8) << setprecision(4) << output._neu[0]
290 << " " << showpos << setw(8) << setprecision(4) << output._neu[1]
291 << " " << showpos << setw(8) << setprecision(4) << output._neu[2]
292 << " TRP: " << showpos << setw(8) << setprecision(4) << output._trp0
293 << " " << showpos << setw(8) << setprecision(4) << output._trp;
294 }
295
296 if (_logFile && output._epoTime.valid()) {
297 _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(),
298 QString(output._log.c_str()));
299 }
300
301 if (!output._error) {
302 QString rmcStr = nmeaString('R', output);
303 QString ggaStr = nmeaString('G', output);
304 if (_nmeaFile) {
305 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr);
306 _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr);
307 }
308 emit newNMEAstr(staID, rmcStr.toAscii());
309 emit newNMEAstr(staID, ggaStr.toAscii());
310 }
311
312 if (_snxtroFile && output._epoTime.valid()) {
313 _snxtroFile->write(staID, int(output._epoTime.gpsw()), output._epoTime.gpssec(),
314 output._trp0 + output._trp, output._trpStdev);
315 }
316
317 emit newMessage(QByteArray(log.str().c_str()), true);
318 }
319}
320
321//
322////////////////////////////////////////////////////////////////////////////
323void t_pppRun::slotNewTec(t_vTec vTec) {
324 if (vTec._layers.size() == 0) {
325 return;
326 }
327
328 if (_opt->_realTime) {
329 if (_opt->_corrMount.empty() || _opt->_corrMount != vTec._staID) {
330 return;
331 }
332 }
333
334 _pppClient->putTec(&vTec);
335}
336
337//
338////////////////////////////////////////////////////////////////////////////
339void t_pppRun::slotNewOrbCorrections(QList<t_orbCorr> orbCorr) {
340 if (orbCorr.size() == 0) {
341 return;
342 }
343
344 if (_opt->_realTime) {
345 if (_opt->_corrMount.empty() || _opt->_corrMount != orbCorr[0]._staID) {
346 return;
347 }
348 }
349 vector<t_orbCorr*> corrections;
350 for (int ii = 0; ii < orbCorr.size(); ii++) {
351 corrections.push_back(new t_orbCorr(orbCorr[ii]));
352 }
353
354 _pppClient->putOrbCorrections(corrections);
355}
356
357//
358////////////////////////////////////////////////////////////////////////////
359void t_pppRun::slotNewClkCorrections(QList<t_clkCorr> clkCorr) {
360 if (clkCorr.size() == 0) {
361 return;
362 }
363
364 if (_opt->_realTime) {
365 if (_opt->_corrMount.empty() || _opt->_corrMount != clkCorr[0]._staID) {
366 return;
367 }
368 }
369 vector<t_clkCorr*> corrections;
370 for (int ii = 0; ii < clkCorr.size(); ii++) {
371 corrections.push_back(new t_clkCorr(clkCorr[ii]));
372 _lastClkCorrTime = clkCorr[ii]._time;
373 }
374 _pppClient->putClkCorrections(corrections);
375}
376
377//
378////////////////////////////////////////////////////////////////////////////
379void t_pppRun::slotNewCodeBiases(QList<t_satCodeBias> codeBiases) {
380 if (codeBiases.size() == 0) {
381 return;
382 }
383
384 if (_opt->_realTime) {
385 if (_opt->_corrMount.empty() || _opt->_corrMount != codeBiases[0]._staID) {
386 return;
387 }
388 }
389 vector<t_satCodeBias*> biases;
390 for (int ii = 0; ii < codeBiases.size(); ii++) {
391 biases.push_back(new t_satCodeBias(codeBiases[ii]));
392 }
393
394 _pppClient->putCodeBiases(biases);
395}
396
397//
398////////////////////////////////////////////////////////////////////////////
399void t_pppRun::processFiles() {
400
401 try {
402 _rnxObsFile = new t_rnxObsFile(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input);
403 }
404 catch (...) {
405 delete _rnxObsFile; _rnxObsFile = 0;
406 emit finishedRnxPPP();
407 return;
408 }
409
410 _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input);
411
412 if (!_opt->_corrFile.empty()) {
413 _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str()));
414 connect(_corrFile, SIGNAL(newTec(t_vTec)),
415 this, SLOT(slotNewTec(t_vTec)));
416 connect(_corrFile, SIGNAL(newOrbCorrections(QList<t_orbCorr>)),
417 this, SLOT(slotNewOrbCorrections(QList<t_orbCorr>)));
418 connect(_corrFile, SIGNAL(newClkCorrections(QList<t_clkCorr>)),
419 this, SLOT(slotNewClkCorrections(QList<t_clkCorr>)));
420 connect(_corrFile, SIGNAL(newCodeBiases(QList<t_satCodeBias>)),
421 this, SLOT(slotNewCodeBiases(QList<t_satCodeBias>)));
422 }
423
424 // Read/Process Observations
425 // -------------------------
426 int nEpo = 0;
427 const t_rnxObsFile::t_rnxEpo* epo = 0;
428 while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) {
429 ++nEpo;
430
431 if (_speed < 100) {
432 double sleepTime = 2.0 / _speed;
433 t_pppThread::msleep(int(sleepTime*1.e3));
434 }
435
436 // Get Corrections
437 // ---------------
438 if (_corrFile) {
439 try {
440 _corrFile->syncRead(epo->tt);
441 }
442 catch (const char* msg) {
443 emit newMessage(QByteArray(msg), true);
444 break;
445 }
446 catch (const string& msg) {
447 emit newMessage(QByteArray(msg.c_str()), true);
448 break;
449 }
450 catch (...) {
451 emit newMessage("unknown exceptions in corrFile", true);
452 break;
453 }
454 }
455
456 // Get Ephemerides
457 // ----------------
458 t_eph* eph = 0;
459 const QMap<QString, unsigned int>* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0;
460 while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) {
461 _pppClient->putEphemeris(eph);
462 delete eph; eph = 0;
463 }
464
465 // Create list of observations and start epoch processing
466 // ------------------------------------------------------
467 QList<t_satObs> obsList;
468 for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) {
469 const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs];
470
471 t_satObs obs;
472 t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs);
473 obsList << obs;
474 }
475 slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList);
476
477
478 if (nEpo % 10 == 0) {
479 emit progressRnxPPP(nEpo);
480 }
481
482 QCoreApplication::processEvents();
483 }
484
485 emit finishedRnxPPP();
486
487 if (BNC_CORE->mode() != t_bncCore::interactive) {
488 qApp->exit(0);
489 }
490 else {
491 BNC_CORE->stopPPP();
492 }
493}
494
495//
496////////////////////////////////////////////////////////////////////////////
497void t_pppRun::slotSetSpeed(int speed) {
498 QMutexLocker locker(&_mutex);
499 _speed = speed;
500}
501
502//
503////////////////////////////////////////////////////////////////////////////
504void t_pppRun::slotSetStopFlag() {
505 QMutexLocker locker(&_mutex);
506 _stopFlag = true;
507}
508
509//
510////////////////////////////////////////////////////////////////////////////
511QString t_pppRun::nmeaString(char strType, const t_output& output) {
512
513 double ell[3];
514 xyz2ell(output._xyzRover, ell);
515 double phiDeg = ell[0] * 180 / M_PI;
516 double lamDeg = ell[1] * 180 / M_PI;
517
518 char phiCh = 'N';
519 if (phiDeg < 0) {
520 phiDeg = -phiDeg;
521 phiCh = 'S';
522 }
523 char lamCh = 'E';
524 if (lamDeg < 0) {
525 lamDeg = -lamDeg;
526 lamCh = 'W';
527 }
528
529 ostringstream out;
530 out.setf(ios::fixed);
531
532 if (strType == 'R') {
533 string datestr = output._epoTime.datestr(0); // yyyymmdd
534 out << "GPRMC,"
535 << output._epoTime.timestr(0,0) << ",A,"
536 << setw(2) << setfill('0') << int(phiDeg)
537 << setw(6) << setprecision(3) << setfill('0')
538 << fmod(60*phiDeg,60) << ',' << phiCh << ','
539 << setw(3) << setfill('0') << int(lamDeg)
540 << setw(6) << setprecision(3) << setfill('0')
541 << fmod(60*lamDeg,60) << ',' << lamCh << ",,,"
542 << datestr[6] << datestr[7] << datestr[4] << datestr[5]
543 << datestr[2] << datestr[3] << ",,";
544 }
545 else if (strType == 'G') {
546 out << "GPGGA,"
547 << output._epoTime.timestr(0,0) << ','
548 << setw(2) << setfill('0') << int(phiDeg)
549 << setw(10) << setprecision(7) << setfill('0')
550 << fmod(60*phiDeg,60) << ',' << phiCh << ','
551 << setw(3) << setfill('0') << int(lamDeg)
552 << setw(10) << setprecision(7) << setfill('0')
553 << fmod(60*lamDeg,60) << ',' << lamCh
554 << ",1," << setw(2) << setfill('0') << output._numSat << ','
555 << setw(3) << setprecision(1) << output._pDop << ','
556 << setprecision(3) << ell[2] << ",M,0.0,M,,";
557 }
558 else {
559 return "";
560 }
561
562 QString nmStr(out.str().c_str());
563 unsigned char XOR = 0;
564 for (int ii = 0; ii < nmStr.length(); ii++) {
565 XOR ^= (unsigned char) nmStr[ii].toAscii();
566 }
567
568 return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper();
569}
570
571//
572////////////////////////////////////////////////////////////////////////////
573bool t_pppRun::waitForCorr(const bncTime& epoTime) const {
574
575 if (!_opt->_realTime || _opt->_corrMount.empty()) {
576 return false;
577 }
578 else if (!_lastClkCorrTime.valid()) {
579 return true;
580 }
581 else {
582 double dt = epoTime - _lastClkCorrTime;
583 if (dt > 1.0 && dt < _opt->_corrWaitTime) {
584 return true;
585 }
586 else {
587 return false;
588 }
589 }
590 return false;
591}
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