source: ntrip/trunk/BNC/upload/bncuploadcaster.cpp@ 3207

Last change on this file since 3207 was 3207, checked in by mervart, 13 years ago
File size: 17.0 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bncUploadCaster
6 *
7 * Purpose: Connection to NTRIP Caster
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2011
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include "bncuploadcaster.h"
19#include "bncsettings.h"
20#include "bncversion.h"
21#include "bncapp.h"
22#include "bncclockrinex.h"
23#include "bncsp3.h"
24
25using namespace std;
26
27// Constructor
28////////////////////////////////////////////////////////////////////////////
29bncUploadCaster::bncUploadCaster(const QString& mountpoint,
30 const QString& outHost, int outPort,
31 const QString& password,
32 const QString& crdTrafo, bool CoM,
33 const QString& sp3FileName,
34 const QString& rnxFileName,
35 const QString& outFileName) {
36 bncSettings settings;
37
38 connect(this, SIGNAL(newMessage(QByteArray,bool)),
39 ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool)));
40
41 _mountpoint = mountpoint;
42 _outHost = outHost;
43 _outPort = outPort;
44 _password = password;
45 _crdTrafo = crdTrafo;
46 _CoM = CoM;
47
48 _outSocket = 0;
49 _sOpenTrial = 0;
50
51 _isToBeDeleted = false;
52
53 // Raw Output
54 // ----------
55 if (!outFileName.isEmpty()) {
56 _outFile = new bncoutf(outFileName, "", 0);
57 }
58 else {
59 _outFile = 0;
60 }
61
62 // RINEX writer
63 // ------------
64 if (!rnxFileName.isEmpty()) {
65 _rnx = new bncClockRinex(rnxFileName, "", 0);
66 }
67 else {
68 _rnx = 0;
69 }
70
71 // SP3 writer
72 // ----------
73 if (!sp3FileName.isEmpty()) {
74 _sp3 = new bncSP3(sp3FileName, "", 0);
75 }
76 else {
77 _sp3 = 0;
78 }
79
80 // Set Transformation Parameters
81 // -----------------------------
82 if (_crdTrafo == "ETRF2000") {
83 _dx = 0.0541;
84 _dy = 0.0502;
85 _dz = -0.0538;
86 _dxr = -0.0002;
87 _dyr = 0.0001;
88 _dzr = -0.0018;
89 _ox = 0.000891;
90 _oy = 0.005390;
91 _oz = -0.008712;
92 _oxr = 0.000081;
93 _oyr = 0.000490;
94 _ozr = -0.000792;
95 _sc = 0.40;
96 _scr = 0.08;
97 _t0 = 2000.0;
98 }
99 else if (_crdTrafo == "NAD83") {
100 _dx = 0.9963;
101 _dy = -1.9024;
102 _dz = -0.5210;
103 _dxr = 0.0005;
104 _dyr = -0.0006;
105 _dzr = -0.0013;
106 _ox = 0.025915;
107 _oy = 0.009426;
108 _oz = 0.011599;
109 _oxr = 0.000067;
110 _oyr = -0.000757;
111 _ozr = -0.000051;
112 _sc = 0.78;
113 _scr = -0.10;
114 _t0 = 1997.0;
115 }
116 else if (_crdTrafo == "GDA94") {
117 _dx = -0.07973;
118 _dy = -0.00686;
119 _dz = 0.03803;
120 _dxr = 0.00225;
121 _dyr = -0.00062;
122 _dzr = -0.00056;
123 _ox = 0.0000351;
124 _oy = -0.0021211;
125 _oz = -0.0021411;
126 _oxr = -0.0014707;
127 _oyr = -0.0011443;
128 _ozr = -0.0011701;
129 _sc = 6.636;
130 _scr = 0.294;
131 _t0 = 1994.0;
132 }
133 else if (_crdTrafo == "SIRGAS2000") {
134 _dx = -0.0051;
135 _dy = -0.0065;
136 _dz = -0.0099;
137 _dxr = 0.0000;
138 _dyr = 0.0000;
139 _dzr = 0.0000;
140 _ox = 0.000150;
141 _oy = 0.000020;
142 _oz = 0.000021;
143 _oxr = 0.000000;
144 _oyr = 0.000000;
145 _ozr = 0.000000;
146 _sc = 0.000;
147 _scr = 0.000;
148 _t0 = 0000.0;
149 }
150 else if (_crdTrafo == "SIRGAS95") {
151 _dx = 0.0077;
152 _dy = 0.0058;
153 _dz = -0.0138;
154 _dxr = 0.0000;
155 _dyr = 0.0000;
156 _dzr = 0.0000;
157 _ox = 0.000000;
158 _oy = 0.000000;
159 _oz = -0.000030;
160 _oxr = 0.000000;
161 _oyr = 0.000000;
162 _ozr = 0.000000;
163 _sc = 1.570;
164 _scr = 0.000;
165 _t0 = 0000.0;
166 }
167 else if (_crdTrafo == "Custom") {
168 _dx = settings.value("trafo_dx").toDouble();
169 _dy = settings.value("trafo_dy").toDouble();
170 _dz = settings.value("trafo_dz").toDouble();
171 _dxr = settings.value("trafo_dxr").toDouble();
172 _dyr = settings.value("trafo_dyr").toDouble();
173 _dzr = settings.value("trafo_dzr").toDouble();
174 _ox = settings.value("trafo_ox").toDouble();
175 _oy = settings.value("trafo_oy").toDouble();
176 _oz = settings.value("trafo_oz").toDouble();
177 _oxr = settings.value("trafo_oxr").toDouble();
178 _oyr = settings.value("trafo_oyr").toDouble();
179 _ozr = settings.value("trafo_ozr").toDouble();
180 _sc = settings.value("trafo_sc").toDouble();
181 _scr = settings.value("trafo_scr").toDouble();
182 _t0 = settings.value("trafo_t0").toDouble();
183 }
184
185 // Deep copy of ephemerides
186 // ------------------------
187 _ephMap = 0;
188}
189
190// Safe Desctructor
191////////////////////////////////////////////////////////////////////////////
192void bncUploadCaster::deleteSafely() {
193 QMutexLocker locker(&_mutex);
194 _isToBeDeleted = true;
195}
196
197// Destructor
198////////////////////////////////////////////////////////////////////////////
199bncUploadCaster::~bncUploadCaster() {
200 if (_ephMap) {
201 QMapIterator<QString, t_eph*> it(*_ephMap);
202 while (it.hasNext()) {
203 it.next();
204 t_eph* eph = it.value();
205 delete eph;
206 }
207 delete _ephMap;
208 }
209 delete _outFile;
210 delete _rnx;
211 delete _sp3;
212}
213
214// Endless Loop
215////////////////////////////////////////////////////////////////////////////
216void bncUploadCaster::run() {
217 while (true) {
218 uploadClockOrbitBias();
219 msleep(10);
220 }
221}
222
223// Start the Communication with NTRIP Caster
224////////////////////////////////////////////////////////////////////////////
225void bncUploadCaster::open() {
226
227 if (_mountpoint.isEmpty()) {
228 return;
229 }
230
231 if (_outSocket != 0 &&
232 _outSocket->state() == QAbstractSocket::ConnectedState) {
233 return;
234 }
235
236 delete _outSocket; _outSocket = 0;
237
238 double minDt = pow(2.0,_sOpenTrial);
239 if (++_sOpenTrial > 4) {
240 _sOpenTrial = 4;
241 }
242 if (_outSocketOpenTime.isValid() &&
243 _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
244 return;
245 }
246 else {
247 _outSocketOpenTime = QDateTime::currentDateTime();
248 }
249
250 bncSettings settings;
251 _outSocket = new QTcpSocket();
252 _outSocket->connectToHost(_outHost, _outPort);
253
254 const int timeOut = 5000; // 5 seconds
255 if (!_outSocket->waitForConnected(timeOut)) {
256 delete _outSocket;
257 _outSocket = 0;
258 emit(newMessage("Broadcaster: Connect timeout", true));
259 return;
260 }
261
262 QByteArray msg = "SOURCE " + _password.toAscii() + " /" +
263 _mountpoint.toAscii() + "\r\n" +
264 "Source-Agent: NTRIP BNC/" BNCVERSION "\r\n\r\n";
265
266 _outSocket->write(msg);
267 _outSocket->waitForBytesWritten();
268
269 _outSocket->waitForReadyRead();
270 QByteArray ans = _outSocket->readLine();
271
272 if (ans.indexOf("OK") == -1) {
273 delete _outSocket;
274 _outSocket = 0;
275 emit(newMessage("Broadcaster: Connection broken", true));
276 }
277 else {
278 emit(newMessage("Broadcaster: Connection opened", true));
279 _sOpenTrial = 0;
280 }
281}
282
283// Write buffer
284////////////////////////////////////////////////////////////////////////////
285void bncUploadCaster::write(char* buffer, unsigned len) {
286 if (_outSocket) {
287 _outSocket->write(buffer, len);
288 _outSocket->flush();
289 }
290}
291
292//
293////////////////////////////////////////////////////////////////////////////
294void bncUploadCaster::decodeRtnetStream(char* buffer, int bufLen,
295 const QMap<QString, bncEphUser::t_ephPair*>& ephPairMap) {
296
297 QMutexLocker locker(&_mutex);
298
299 // Delete old ephemeris
300 // --------------------
301 if (_ephMap) {
302 QMapIterator<QString, t_eph*> it(*_ephMap);
303 while (it.hasNext()) {
304 it.next();
305 t_eph* eph = it.value();
306 delete eph;
307 }
308 delete _ephMap;
309 }
310 _ephMap = new QMap<QString, t_eph*>;
311
312 // Make a deep copy of ephemeris
313 // -----------------------------
314 QMapIterator<QString, bncEphUser::t_ephPair*> it(ephPairMap);
315 while (it.hasNext()) {
316 it.next();
317 bncEphUser::t_ephPair* pair = it.value();
318 t_eph* ep = pair->last;
319 if (pair->prev && ep &&
320 ep->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) {
321 ep = pair->prev;
322 }
323 QString prn(ep->prn().c_str());
324 if (prn[0] == 'G') {
325 t_ephGPS* epGPS = static_cast<t_ephGPS*>(ep);
326 (*_ephMap)[prn] = new t_ephGPS(*epGPS);
327 }
328 else if (prn[0] == 'R') {
329 t_ephGlo* epGlo = static_cast<t_ephGlo*>(ep);
330 (*_ephMap)[prn] = new t_ephGlo(*epGlo);
331 }
332 else if (prn[0] == 'E') {
333 t_ephGal* epGal = static_cast<t_ephGal*>(ep);
334 (*_ephMap)[prn] = new t_ephGal(*epGal);
335 }
336 }
337
338 // Append to buffer
339 // ----------------
340 _rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
341}
342
343// Function called in separate thread
344////////////////////////////////////////////////////////////////////////
345void bncUploadCaster::uploadClockOrbitBias() {
346
347 QMutexLocker locker(&_mutex);
348
349 // Safely stop and delete
350 // ----------------------
351 if (_isToBeDeleted) {
352 QThread::quit();
353 deleteLater();
354 return;
355 }
356
357 // Prepare list of lines with satellite positions in SP3-like format
358 // -----------------------------------------------------------------
359 QStringList lines;
360 int iLast = _rtnetStreamBuffer.lastIndexOf('\n');
361 if (iLast != -1) {
362 QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts);
363 _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1);
364 for (int ii = 0; ii < hlpLines.size(); ii++) {
365 if (hlpLines[ii].indexOf('*') != -1) {
366 QTextStream in(hlpLines[ii].toAscii());
367 QString hlp;
368 int year, month, day, hour, min;
369 double sec;
370 in >> hlp >> year >> month >> day >> hour >> min >> sec;
371 _epoTime.set( year, month, day, hour, min, sec);
372 }
373 else if (_epoTime.valid()) {
374 lines << hlpLines[ii];
375 }
376 }
377 }
378
379 if (lines.size() == 0) {
380 return;
381 }
382
383 this->open();
384
385 unsigned year, month, day;
386 _epoTime.civil_date(year, month, day);
387
388 struct ClockOrbit co;
389 memset(&co, 0, sizeof(co));
390 co.GPSEpochTime = static_cast<int>(_epoTime.gpssec());
391 co.GLONASSEpochTime = static_cast<int>(fmod(_epoTime.gpssec(), 86400.0))
392 + 3 * 3600 - gnumleap(year, month, day);
393 co.ClockDataSupplied = 1;
394 co.OrbitDataSupplied = 1;
395 co.SatRefDatum = DATUM_ITRF;
396
397 struct Bias bias;
398 memset(&bias, 0, sizeof(bias));
399 bias.GPSEpochTime = co.GPSEpochTime;
400 bias.GLONASSEpochTime = co.GLONASSEpochTime;
401
402 for (int ii = 0; ii < lines.size(); ii++) {
403
404 QString prn;
405 ColumnVector xx(14); xx = 0.0;
406
407 QTextStream in(lines[ii].toAscii());
408
409 in >> prn;
410 if (prn[0] == 'P') {
411 prn.remove(0,1);
412 }
413
414 if ( _ephMap->contains(prn) ) {
415 t_eph* ep = (*_ephMap)[prn];
416
417 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5)
418 >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10)
419 >> xx(11) >> xx(12) >> xx(13) >> xx(14);
420 xx(1) *= 1e3; // x-crd
421 xx(2) *= 1e3; // y-crd
422 xx(3) *= 1e3; // z-crd
423 xx(4) *= 1e-6; // clk
424 xx(5) *= 1e-6; // rel. corr.
425 // xx(6), xx(7), xx(8) ... PhaseCent - CoM
426 // xx(9) ... P1-C1 DCB in meters
427 // xx(10) ... P1-P2 DCB in meters
428 // xx(11) ... dT
429 xx(12) *= 1e3; // x-crd at time + dT
430 xx(13) *= 1e3; // y-crd at time + dT
431 xx(14) *= 1e3; // z-crd at time + dT
432
433 struct ClockOrbit::SatData* sd = 0;
434 if (prn[0] == 'G') {
435 sd = co.Sat + co.NumberOfGPSSat;
436 ++co.NumberOfGPSSat;
437 }
438 else if (prn[0] == 'R') {
439 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
440 ++co.NumberOfGLONASSSat;
441 }
442 if (sd) {
443 QString outLine;
444 processSatellite(ep, _epoTime.gpsw(), _epoTime.gpssec(), prn, xx, sd, outLine);
445 if (_outFile) {
446 _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine);
447 }
448 }
449
450 struct Bias::BiasSat* biasSat = 0;
451 if (prn[0] == 'G') {
452 biasSat = bias.Sat + bias.NumberOfGPSSat;
453 ++bias.NumberOfGPSSat;
454 }
455 else if (prn[0] == 'R') {
456 biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat;
457 ++bias.NumberOfGLONASSSat;
458 }
459
460 // Coefficient of Ionosphere-Free LC
461 // ---------------------------------
462 const static double a_L1_GPS = 2.54572778;
463 const static double a_L2_GPS = -1.54572778;
464 const static double a_L1_Glo = 2.53125000;
465 const static double a_L2_Glo = -1.53125000;
466
467 if (biasSat) {
468 biasSat->ID = prn.mid(1).toInt();
469 biasSat->NumberOfCodeBiases = 3;
470 if (prn[0] == 'G') {
471 biasSat->Biases[0].Type = CODETYPEGPS_L1_Z;
472 biasSat->Biases[0].Bias = - a_L2_GPS * xx(10);
473 biasSat->Biases[1].Type = CODETYPEGPS_L1_CA;
474 biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9);
475 biasSat->Biases[2].Type = CODETYPEGPS_L2_Z;
476 biasSat->Biases[2].Bias = a_L1_GPS * xx(10);
477 }
478 else if (prn[0] == 'R') {
479 biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P;
480 biasSat->Biases[0].Bias = - a_L2_Glo * xx(10);
481 biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA;
482 biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9);
483 biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P;
484 biasSat->Biases[2].Bias = a_L1_Glo * xx(10);
485 }
486 }
487 }
488 }
489
490 if (_outSocket && (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0)) {
491 char obuffer[CLOCKORBIT_BUFFERSIZE];
492
493 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
494 if (len > 0) {
495 this->write(obuffer, len);
496 }
497 }
498
499 if (_outSocket && (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0)) {
500 char obuffer[CLOCKORBIT_BUFFERSIZE];
501 int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer));
502 if (len > 0) {
503 this->write(obuffer, len);
504 }
505 }
506}
507
508//
509////////////////////////////////////////////////////////////////////////////
510void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek,
511 double GPSweeks, const QString& prn,
512 const ColumnVector& xx,
513 struct ClockOrbit::SatData* sd,
514 QString& outLine) {
515
516 const double secPerWeek = 7.0 * 86400.0;
517
518 ColumnVector rsw(3);
519 ColumnVector rsw2(3);
520 double dClk;
521
522 for (int ii = 1; ii <= 2; ++ii) {
523
524 int GPSweek12 = GPSweek;
525 double GPSweeks12 = GPSweeks;
526 if (ii == 2) {
527 GPSweeks12 += xx(11);
528 if (GPSweeks12 > secPerWeek) {
529 GPSweek12 += 1;
530 GPSweeks12 -= secPerWeek;
531 }
532 }
533
534 ColumnVector xB(4);
535 ColumnVector vv(3);
536
537 eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data());
538
539 ColumnVector xyz;
540 if (ii == 1) {
541 xyz = xx.Rows(1,3);
542 }
543 else {
544 xyz = xx.Rows(12,14);
545 }
546
547 // Correction Center of Mass -> Antenna Phase Center
548 // -------------------------------------------------
549 if (! _CoM) {
550 xyz(1) += xx(6);
551 xyz(2) += xx(7);
552 xyz(3) += xx(8);
553 }
554
555 if (_crdTrafo != "IGS05") {
556 crdTrafo(GPSweek12, xyz);
557 }
558
559 ColumnVector dx = xB.Rows(1,3) - xyz ;
560
561 if (ii == 1) {
562 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
563 dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0;
564 }
565 else {
566 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2);
567 }
568 }
569
570 if (sd) {
571 sd->ID = prn.mid(1).toInt();
572 sd->IOD = eph->IOD();
573 sd->Clock.DeltaA0 = dClk;
574 sd->Orbit.DeltaRadial = rsw(1);
575 sd->Orbit.DeltaAlongTrack = rsw(2);
576 sd->Orbit.DeltaCrossTrack = rsw(3);
577 sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11);
578 sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11);
579 sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11);
580 }
581
582 outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
583 GPSweek, GPSweeks, eph->prn().c_str(),
584 eph->IOD(), dClk, rsw(1), rsw(2), rsw(3));
585
586 if (_rnx) {
587 _rnx->write(GPSweek, GPSweeks, prn, xx);
588 }
589 if (_sp3) {
590 _sp3->write(GPSweek, GPSweeks, prn, xx);
591 }
592}
593
594// Transform Coordinates
595////////////////////////////////////////////////////////////////////////////
596void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) {
597
598 // Current epoch minus 2000.0 in years
599 // ------------------------------------
600 double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
601
602 ColumnVector dx(3);
603
604 dx(1) = _dx + dt * _dxr;
605 dx(2) = _dy + dt * _dyr;
606 dx(3) = _dz + dt * _dzr;
607
608 static const double arcSec = 180.0 * 3600.0 / M_PI;
609
610 double ox = (_ox + dt * _oxr) / arcSec;
611 double oy = (_oy + dt * _oyr) / arcSec;
612 double oz = (_oz + dt * _ozr) / arcSec;
613
614 double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
615
616 Matrix rMat(3,3);
617 rMat(1,1) = 1.0;
618 rMat(1,2) = -oz;
619 rMat(1,3) = oy;
620 rMat(2,1) = oz;
621 rMat(2,2) = 1.0;
622 rMat(2,3) = -ox;
623 rMat(3,1) = -oy;
624 rMat(3,2) = ox;
625 rMat(3,3) = 1.0;
626
627 xyz = sc * rMat * xyz + dx;
628}
629
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