source: ntrip/trunk/BNC/upload/bncuploadcaster.cpp@ 3220

/* -------------------------------------------------------------------------
 * BKG NTRIP Server
 * -------------------------------------------------------------------------
 *
 * Class:      bncUploadCaster
 *
 * Purpose:    Connection to NTRIP Caster
 *
 * Author:     L. Mervart
 *
 * Created:    29-Mar-2011
 *
 * Changes:    
 *
 * -----------------------------------------------------------------------*/

#include <math.h>
#include "bncuploadcaster.h" 
#include "bncsettings.h"
#include "bncversion.h"
#include "bncapp.h"
#include "bncclockrinex.h"
#include "bncsp3.h"

using namespace std;

// Constructor
////////////////////////////////////////////////////////////////////////////
bncUploadCaster::bncUploadCaster(const QString& mountpoint,
                                 const QString& outHost, int outPort,
                                 const QString& password, 
                                 const QString& crdTrafo, bool  CoM, 
                                 const QString& sp3FileName,
                                 const QString& rnxFileName,
                                 const QString& outFileName) {
  bncSettings settings;

  connect(this, SIGNAL(newMessage(QByteArray,bool)), 
          ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));

  _mountpoint = mountpoint;
  _outHost    = outHost;
  _outPort    = outPort;
  _password   = password;
  _crdTrafo   = crdTrafo;
  _CoM        = CoM;

  _outSocket  = 0;
  _sOpenTrial = 0;

  _isToBeDeleted = false;

  // Raw Output
  // ----------
  if (!outFileName.isEmpty()) {
    _outFile = new bncoutf(outFileName, "", 0);
  }
  else {
    _outFile = 0;
  }

  // RINEX writer
  // ------------
  if (!rnxFileName.isEmpty()) {
    _rnx = new bncClockRinex(rnxFileName, "", 0);
  }
  else {
    _rnx = 0;
  }

  // SP3 writer
  // ----------
  if (!sp3FileName.isEmpty()) {
    _sp3 = new bncSP3(sp3FileName, "", 0);
  }
  else {
    _sp3 = 0;
  }

  // Set Transformation Parameters
  // -----------------------------
  if      (_crdTrafo == "ETRF2000") {
    _dx  =    0.0541;
    _dy  =    0.0502;
    _dz  =   -0.0538;
    _dxr =   -0.0002;
    _dyr =    0.0001;
    _dzr =   -0.0018;
    _ox  =  0.000891;
    _oy  =  0.005390;
    _oz  = -0.008712;
    _oxr =  0.000081;
    _oyr =  0.000490;
    _ozr = -0.000792;
    _sc  =      0.40;
    _scr =      0.08;
    _t0  =    2000.0;
  }
  else if (_crdTrafo == "NAD83") {
    _dx  =    0.9963;
    _dy  =   -1.9024;
    _dz  =   -0.5210;
    _dxr =    0.0005;
    _dyr =   -0.0006;
    _dzr =   -0.0013;
    _ox  =  0.025915;
    _oy  =  0.009426;
    _oz  =  0.011599;
    _oxr =  0.000067;
    _oyr = -0.000757;
    _ozr = -0.000051;
    _sc  =      0.78;
    _scr =     -0.10;
    _t0  =    1997.0;
  }
  else if (_crdTrafo == "GDA94") {
    _dx  =   -0.07973;
    _dy  =   -0.00686;
    _dz  =    0.03803;
    _dxr =    0.00225;
    _dyr =   -0.00062;
    _dzr =   -0.00056;
    _ox  =  0.0000351;
    _oy  = -0.0021211;
    _oz  = -0.0021411;
    _oxr = -0.0014707;
    _oyr = -0.0011443;
    _ozr = -0.0011701;
    _sc  =      6.636;
    _scr =      0.294;
    _t0  =     1994.0;
  }
  else if (_crdTrafo == "SIRGAS2000") {
    _dx  =   -0.0051;
    _dy  =   -0.0065;
    _dz  =   -0.0099;
    _dxr =    0.0000;
    _dyr =    0.0000;
    _dzr =    0.0000;
    _ox  =  0.000150;
    _oy  =  0.000020;
    _oz  =  0.000021;
    _oxr =  0.000000;
    _oyr =  0.000000;
    _ozr =  0.000000;
    _sc  =     0.000;
    _scr =     0.000;
    _t0  =    0000.0;
  }
  else if (_crdTrafo == "SIRGAS95") {
    _dx  =    0.0077;
    _dy  =    0.0058;
    _dz  =   -0.0138;
    _dxr =    0.0000;
    _dyr =    0.0000;
    _dzr =    0.0000;
    _ox  =  0.000000;
    _oy  =  0.000000;
    _oz  = -0.000030;
    _oxr =  0.000000;
    _oyr =  0.000000;
    _ozr =  0.000000;
    _sc  =     1.570;
    _scr =     0.000;
    _t0  =    0000.0;
  }
  else if (_crdTrafo == "Custom") {
    _dx  = settings.value("trafo_dx").toDouble();
    _dy  = settings.value("trafo_dy").toDouble();
    _dz  = settings.value("trafo_dz").toDouble();
    _dxr = settings.value("trafo_dxr").toDouble();
    _dyr = settings.value("trafo_dyr").toDouble();
    _dzr = settings.value("trafo_dzr").toDouble();
    _ox  = settings.value("trafo_ox").toDouble();
    _oy  = settings.value("trafo_oy").toDouble();
    _oz  = settings.value("trafo_oz").toDouble();
    _oxr = settings.value("trafo_oxr").toDouble();
    _oyr = settings.value("trafo_oyr").toDouble();
    _ozr = settings.value("trafo_ozr").toDouble();
    _sc  = settings.value("trafo_sc").toDouble();
    _scr = settings.value("trafo_scr").toDouble();
    _t0  = settings.value("trafo_t0").toDouble();
  }

  // Member that receives the ephemeris
  // ----------------------------------
  _ephUser = new bncEphUser();
}

// Safe Desctructor
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::deleteSafely() {
  _isToBeDeleted = true;
  if (!isRunning()) {
    delete this;
  }
}

// Destructor
////////////////////////////////////////////////////////////////////////////
bncUploadCaster::~bncUploadCaster() {
  if (isRunning()) {
    wait();
  }
  delete _outFile;
  delete _rnx;
  delete _sp3;
  delete _ephUser;
}

// Endless Loop
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::run() {
  while (true) {
    if (_isToBeDeleted) {
      QThread::quit();
      deleteLater();
      return;
    }
    open();
    uploadClockOrbitBias();
    msleep(10);
  }
}

// Start the Communication with NTRIP Caster
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::open() {

  if (_mountpoint.isEmpty()) {
    return;
  }

  if (_outSocket != 0 && 
      _outSocket->state() == QAbstractSocket::ConnectedState) {
    return;
  }

  delete _outSocket; _outSocket = 0;

  double minDt = pow(2.0,_sOpenTrial);
  if (++_sOpenTrial > 4) {
    _sOpenTrial = 4;
  }
  if (_outSocketOpenTime.isValid() &&
      _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
    return;
  }
  else {
    _outSocketOpenTime = QDateTime::currentDateTime();
  }

  bncSettings settings;
  _outSocket = new QTcpSocket();
  _outSocket->connectToHost(_outHost, _outPort);

  const int timeOut = 5000;  // 5 seconds
  if (!_outSocket->waitForConnected(timeOut)) {
    delete _outSocket;
    _outSocket = 0;
    emit(newMessage("Broadcaster: Connect timeout", true));
    return;
  }

  QByteArray msg = "SOURCE " + _password.toAscii() + " /" + 
                   _mountpoint.toAscii() + "\r\n" +
                   "Source-Agent: NTRIP BNC/" BNCVERSION "\r\n\r\n";

  _outSocket->write(msg);
  _outSocket->waitForBytesWritten();

  _outSocket->waitForReadyRead();
  QByteArray ans = _outSocket->readLine();

  if (ans.indexOf("OK") == -1) {
    delete _outSocket;
    _outSocket = 0;
    emit(newMessage("Broadcaster: Connection broken", true));
  }
  else {
    emit(newMessage("Broadcaster: Connection opened", true));
    _sOpenTrial = 0;
  }
}

// Write buffer
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::write(char* buffer, unsigned len) {
  if (_outSocket && _outSocket->state() == QAbstractSocket::ConnectedState) {
    _outSocket->write(buffer, len);
    _outSocket->flush();
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
                                        
  QMutexLocker locker(&_mutex);

  // Append to buffer
  // ----------------
  const int MAXBUFFSIZE = 100000;
  _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
  if (_rtnetStreamBuffer.size() > MAXBUFFSIZE) {
    _rtnetStreamBuffer = _rtnetStreamBuffer.right(MAXBUFFSIZE);
  }
}

// Function called in separate thread
//////////////////////////////////////////////////////////////////////// 
void bncUploadCaster::uploadClockOrbitBias() {

  QMutexLocker locker(&_mutex);

  // Prepare list of lines with satellite positions in SP3-like format
  // -----------------------------------------------------------------
  QStringList lines;
  int iLast = _rtnetStreamBuffer.lastIndexOf('\n');
  if (iLast != -1) {
    QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
    _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1);
    for (int ii = 0; ii < hlpLines.size(); ii++) {
      if      (hlpLines[ii].indexOf('*') != -1) {
        lines.clear();
        QTextStream in(hlpLines[ii].toAscii());
        QString hlp;
        int     year, month, day, hour, min;
        double  sec;
        in >> hlp >> year >> month >> day >> hour >> min >> sec;
        _epoTime.set( year, month, day, hour, min, sec);
      }
      else if (_epoTime.valid()) {
        lines << hlpLines[ii];
      }
    }
  }

  if (lines.size() == 0) {
    return;
  }

  unsigned year, month, day;
  _epoTime.civil_date(year, month, day);
  
  struct ClockOrbit co;
  memset(&co, 0, sizeof(co));
  co.GPSEpochTime      = static_cast<int>(_epoTime.gpssec());
  co.GLONASSEpochTime  = static_cast<int>(fmod(_epoTime.gpssec(), 86400.0))
                       + 3 * 3600 - gnumleap(year, month, day);
  co.ClockDataSupplied = 1;
  co.OrbitDataSupplied = 1;
  co.SatRefDatum       = DATUM_ITRF;
  
  struct Bias bias;
  memset(&bias, 0, sizeof(bias));
  bias.GPSEpochTime      = co.GPSEpochTime;
  bias.GLONASSEpochTime  = co.GLONASSEpochTime;
  
  for (int ii = 0; ii < lines.size(); ii++) {
  
    QString      prn;
    ColumnVector xx(14); xx = 0.0;
  
    QTextStream in(lines[ii].toAscii());

    in >> prn;
    if (prn[0] == 'P') {
      prn.remove(0,1);
    }

    const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn);
    if (ephPair) {
      t_eph* eph = ephPair->last;
      if (ephPair->prev && 
           eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
        eph = ephPair->prev;
      }

      in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5) 
         >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
         >> xx(11) >> xx(12) >> xx(13) >> xx(14);
      xx(1) *= 1e3;          // x-crd
      xx(2) *= 1e3;          // y-crd
      xx(3) *= 1e3;          // z-crd
      xx(4) *= 1e-6;         // clk
      xx(5) *= 1e-6;         // rel. corr.
                             // xx(6), xx(7), xx(8) ... PhaseCent - CoM
                             // xx(9)  ... P1-C1 DCB in meters
                             // xx(10) ... P1-P2 DCB in meters
                             // xx(11) ... dT
      xx(12) *= 1e3;         // x-crd at time + dT
      xx(13) *= 1e3;         // y-crd at time + dT
      xx(14) *= 1e3;         // z-crd at time + dT
  
      struct ClockOrbit::SatData* sd = 0;
      if      (prn[0] == 'G') {
        sd = co.Sat + co.NumberOfGPSSat;
        ++co.NumberOfGPSSat;
      }
      else if (prn[0] == 'R') {
        sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
        ++co.NumberOfGLONASSSat;
      }
      if (sd) {
        QString outLine;
        processSatellite(eph, _epoTime.gpsw(), _epoTime.gpssec(), prn, 
                         xx, sd, outLine);
        if (_outFile) {
          _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine);
        }
      }
  
      struct Bias::BiasSat* biasSat = 0;
      if      (prn[0] == 'G') {
        biasSat = bias.Sat + bias.NumberOfGPSSat;
        ++bias.NumberOfGPSSat;
      }
      else if (prn[0] == 'R') {
        biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
        ++bias.NumberOfGLONASSSat;
      }
  
      // Coefficient of Ionosphere-Free LC
      // ---------------------------------
      const static double a_L1_GPS =  2.54572778;
      const static double a_L2_GPS = -1.54572778;
      const static double a_L1_Glo =  2.53125000;
      const static double a_L2_Glo = -1.53125000;
  
      if (biasSat) {
        biasSat->ID = prn.mid(1).toInt();
        biasSat->NumberOfCodeBiases = 3;
        if      (prn[0] == 'G') {
          biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
          biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
          biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
          biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
          biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
          biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
        }
        else if (prn[0] == 'R') {
          biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
          biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
          biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
          biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
          biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
          biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
        }
      }
    }
  }
  
  if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) {
    char obuffer[CLOCKORBIT_BUFFERSIZE];
  
    int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
    if (len > 0) {
      this->write(obuffer, len);
    }
  }
  
  if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) {
    char obuffer[CLOCKORBIT_BUFFERSIZE];
    int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
    if (len > 0) {
      this->write(obuffer, len);
    }
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek, 
                                       double GPSweeks, const QString& prn, 
                                       const ColumnVector& xx, 
                                       struct ClockOrbit::SatData* sd,
                                       QString& outLine) {

  const double secPerWeek = 7.0 * 86400.0;

  ColumnVector rsw(3);
  ColumnVector rsw2(3);
  double dClk;

  for (int ii = 1; ii <= 2; ++ii) {

    int    GPSweek12  = GPSweek;
    double GPSweeks12 = GPSweeks;
    if (ii == 2) {
      GPSweeks12 += xx(11);
      if (GPSweeks12 > secPerWeek) {
        GPSweek12  += 1;
        GPSweeks12 -= secPerWeek;
      }
    }

    ColumnVector xB(4);
    ColumnVector vv(3);

    eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
    
    ColumnVector xyz;
    if (ii == 1) {
      xyz = xx.Rows(1,3);
    }
    else {
      xyz = xx.Rows(12,14);
    }
    
    // Correction Center of Mass -> Antenna Phase Center
    // -------------------------------------------------
    if (! _CoM) {
      xyz(1) += xx(6);
      xyz(2) += xx(7);
      xyz(3) += xx(8);
    }
    
    if (_crdTrafo != "IGS05") {
      crdTrafo(GPSweek12, xyz);
    }
    
    ColumnVector dx = xB.Rows(1,3) - xyz ;
    
    if (ii == 1) {
      XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
      dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
    }
    else {
      XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
    }
  }

  if (sd) {
    sd->ID                    = prn.mid(1).toInt();
    sd->IOD                   = eph->IOD();
    sd->Clock.DeltaA0         = dClk;
    sd->Orbit.DeltaRadial     = rsw(1);
    sd->Orbit.DeltaAlongTrack = rsw(2);
    sd->Orbit.DeltaCrossTrack = rsw(3);
    sd->Orbit.DotDeltaRadial     = (rsw2(1) - rsw(1)) / xx(11);
    sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
    sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
  }

  outLine.sprintf("%d %.1f %s  %3d  %10.3f  %8.3f %8.3f %8.3f\n", 
                  GPSweek, GPSweeks, eph->prn().c_str(),
                  eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));

  if (_rnx) {
    _rnx->write(GPSweek, GPSweeks, prn, xx);
  }
  if (_sp3) {
    _sp3->write(GPSweek, GPSweeks, prn, xx);
  }
}

// Transform Coordinates
////////////////////////////////////////////////////////////////////////////
void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {

  // Current epoch minus 2000.0 in years
  // ------------------------------------
  double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;

  ColumnVector dx(3);

  dx(1) = _dx + dt * _dxr;
  dx(2) = _dy + dt * _dyr;
  dx(3) = _dz + dt * _dzr;

  static const double arcSec = 180.0 * 3600.0 / M_PI;

  double ox = (_ox + dt * _oxr) / arcSec;
  double oy = (_oy + dt * _oyr) / arcSec;
  double oz = (_oz + dt * _ozr) / arcSec;

  double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;

  Matrix rMat(3,3);
  rMat(1,1) = 1.0;
  rMat(1,2) = -oz;
  rMat(1,3) =  oy;
  rMat(2,1) =  oz;
  rMat(2,2) = 1.0;
  rMat(2,3) = -ox;
  rMat(3,1) = -oy;
  rMat(3,2) =  ox;
  rMat(3,3) = 1.0;

  xyz = sc * rMat * xyz + dx;
}