source: ntrip/trunk/BNS/bns.cpp@ 1054

/* -------------------------------------------------------------------------
 * BKG NTRIP Server
 * -------------------------------------------------------------------------
 *
 * Class:      bns
 *
 * Purpose:    This class implements the main application behaviour
 *
 * Author:     L. Mervart
 *
 * Created:    29-Mar-2008
 *
 * Changes:    
 *
 * -----------------------------------------------------------------------*/

#include <math.h>
#include <iostream>
#include <newmatio.h>

#include "bns.h" 
#include "bnsutils.h" 
#include "bnsrinex.h" 
#include "bnssp3.h" 

using namespace std;

// Constructor
////////////////////////////////////////////////////////////////////////////
t_bns::t_bns(QObject* parent) : QThread(parent) {

  this->setTerminationEnabled(true);
 
  connect(this, SIGNAL(moveSocket(QThread*)), 
          this, SLOT(slotMoveSocket(QThread*)));

  QSettings settings;

  // Set Proxy (application-wide)
  // ----------------------------
  QString proxyHost = settings.value("proxyHost").toString();
  int     proxyPort = settings.value("proxyPort").toInt();

  QNetworkProxy proxy;
  if (proxyHost.isEmpty()) {
    proxy.setType(QNetworkProxy::NoProxy);
  }
  else {
    proxy.setType(QNetworkProxy::Socks5Proxy);
    proxy.setHostName(proxyHost);
    proxy.setPort(proxyPort);
  }
  QNetworkProxy::setApplicationProxy(proxy);

  // Thread that handles broadcast ephemeris
  // ---------------------------------------
  _bnseph = new t_bnseph(parent);

  connect(_bnseph, SIGNAL(newEph(t_eph*)), this, SLOT(slotNewEph(t_eph*)));
  connect(_bnseph, SIGNAL(newMessage(QByteArray)),
          this, SLOT(slotMessage(const QByteArray)));
  connect(_bnseph, SIGNAL(error(QByteArray)),
          this, SLOT(slotError(const QByteArray)));

  // Server listening for rtnet results
  // ----------------------------------
  _clkSocket = 0;
  _clkServer = new QTcpServer;
  _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
  connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));

  // Socket and file for outputting the results
  // -------------------------------------------
  _outSocket          = 0;
  _outSocketOpenTrial = 0;

  QIODevice::OpenMode oMode;
  if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
    oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
  }
  else {
    oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
  }

  QString outFileName = settings.value("outFile").toString();
  if (outFileName.isEmpty()) {
    _outFile   = 0;
    _outStream = 0;
  }
  else {
    _outFile = new QFile(outFileName);
    if (_outFile->open(oMode)) {
      _outStream = new QTextStream(_outFile);
    }
  }

  // Log File
  // --------
  QString logFileName = settings.value("logFile").toString();
  if (logFileName.isEmpty()) {
    _logFile   = 0;
    _logStream = 0;
  }
  else {
    _logFile = new QFile(logFileName);
    if (_logFile->open(oMode)) {
      _logStream = new QTextStream(_logFile);
    }
    else {
      _logStream = 0;
    }
  }

  // RINEX writer
  // ------------
  if ( settings.value("rnxPath").toString().isEmpty() ) { 
    _rnx = 0;
  }
  else {
    QString prep  = "BNS";
    QString ext   = ".clk";
    QString path  = settings.value("rnxPath").toString();
    QString intr  = settings.value("rnxIntr").toString();
    int     sampl = settings.value("rnxSampl").toInt();
    _rnx = new bnsRinex(prep, ext, path, intr, sampl);
  }

  // SP3 writer
  // ----------
  if ( settings.value("sp3Path").toString().isEmpty() ) { 
    _sp3 = 0;
  }
  else {
    QString prep  = "BNS";
    QString ext   = ".sp3";
    QString path  = settings.value("sp3Path").toString();
    QString intr  = settings.value("sp3Intr").toString();
    int     sampl = settings.value("sp3Sampl").toInt();
    _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
  }

  // Reference frame
  // ---------------
  _crdTrafo = false;
  if (settings.value("refSys").toString() == "ETRS89") {
    _crdTrafo = true;
  }
}

// Destructor
////////////////////////////////////////////////////////////////////////////
t_bns::~t_bns() {
  deleteBnsEph();
  delete _clkServer;
  delete _clkSocket;
  delete _outSocket;
  delete _outStream;
  delete _logStream;
  delete _outFile;
  delete _logFile;
  QMapIterator<QString, t_ephPair*> it(_ephList);
  while (it.hasNext()) {
    it.next();
    delete it.value();
  }
  delete _rnx;
  delete _sp3;
}

// Delete bns thread
////////////////////////////////////////////////////////////////////////////
void t_bns::deleteBnsEph() {
  if (_bnseph) {
    _bnseph->terminate();
    _bnseph->wait(100);
    delete _bnseph; 
    _bnseph = 0;
  }
}

// Write a Program Message
////////////////////////////////////////////////////////////////////////////
void t_bns::slotMessage(const QByteArray msg) {
  if (_logStream) {
    *_logStream << msg << endl;
    _logStream->flush();
  }
  emit(newMessage(msg));
}

// Write a Program Message
////////////////////////////////////////////////////////////////////////////
void t_bns::slotError(const QByteArray msg) {
  if (_logStream) {
    *_logStream << msg << endl;
    _logStream->flush();
  }
  deleteBnsEph();
  emit(error(msg));
}

// New Connection
////////////////////////////////////////////////////////////////////////////
void t_bns::slotNewConnection() {
  slotMessage("t_bns::slotNewConnection");
  delete _clkSocket;
  _clkSocket = _clkServer->nextPendingConnection();
}

// Start the Communication with NTRIP Caster
////////////////////////////////////////////////////////////////////////////
void t_bns::openCaster() {

  delete _outSocket; _outSocket = 0;

  double minDt = exp2(_outSocketOpenTrial);
  if (++_outSocketOpenTrial > 8) {
    _outSocketOpenTrial = 8;
  }
  if (_outSocketOpenTime.isValid() &&
      _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
    return;
  }
  else {
    _outSocketOpenTime = QDateTime::currentDateTime();
  }

  QSettings settings;
  _outSocket = new QTcpSocket();
  _outSocket->connectToHost(settings.value("outHost").toString(),
                            settings.value("outPort").toInt());

  const int timeOut = 100;  // 0.1 seconds
  if (!_outSocket->waitForConnected(timeOut)) {
    delete _outSocket;
    _outSocket = 0;
    emit(error("bns::openCaster Connect Timeout"));
    return;
  }

  QString mountpoint = settings.value("mountpoint").toString();
  QString password   = settings.value("password").toString();

  QByteArray msg = "SOURCE " + password.toAscii() + " /" + 
                   mountpoint.toAscii() + "\r\n" +
                   "Source-Agent: NTRIP BNS/1.0\r\n\r\n";

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

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

  if (ans.indexOf("OK") == -1) {
    delete _outSocket;
    _outSocket = 0;
    slotMessage("bns::openCaster socket deleted");
  }
  else {
    slotMessage("bns::openCaster socket OK");
    _outSocketOpenTrial = 0;
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::slotNewEph(t_eph* ep) {

  QMutexLocker locker(&_mutex);

  t_ephPair* pair;
  if ( !_ephList.contains(ep->prn()) ) {
    pair = new t_ephPair();
    _ephList.insert(ep->prn(), pair);
  }
  else {
    pair = _ephList[ep->prn()];
  }

  if (pair->eph == 0) {
    pair->eph = ep;
  }
  else {
    if (ep->isNewerThan(pair->eph)) {
      delete pair->oldEph;
      pair->oldEph = pair->eph;
      pair->eph    = ep;
    }
    else {
      delete ep;
    }
  }
}

// Start 
////////////////////////////////////////////////////////////////////////////
void t_bns::run() {

  slotMessage("============ Start BNS ============");

  // Start Thread that retrieves broadcast Ephemeris
  // -----------------------------------------------
  _bnseph->start();

  // Endless loop
  // ------------
  while (true) {

    if (_clkSocket && _clkSocket->thread() != currentThread()) {
      emit(moveSocket(currentThread()));
    }

    if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
      if ( _clkSocket->canReadLine()) {
        if (_outSocket == 0 || 
            _outSocket->state() != QAbstractSocket::ConnectedState) {
          openCaster();
        }
        readEpoch();
      }
      else {
        _clkSocket->waitForReadyRead(10);
      }
    }
    else {
      msleep(10);
    }
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::readEpoch() {

  QByteArray line = _clkSocket->readLine();

  if (line.indexOf('*') == -1) {
    return;
  }

  QTextStream in(line);

  QString hlp;
  int     GPSweek, numSat;
  double  GPSweeks;

  in >> hlp >> GPSweek >> GPSweeks >> numSat;

  if (numSat > 0) {

    QStringList prns;

    ///    for (int oldEph = 0; oldEph <= 1; oldEph++) {
    for (int oldEph = 0; oldEph <= 0; oldEph++) {
    
      struct ClockOrbit co;
      memset(&co, 0, sizeof(co));
      co.GPSEpochTime      = (int)GPSweeks;
      co.GLONASSEpochTime  = (int)fmod(GPSweeks, 86400.0);
      co.ClockDataSupplied = 1;
      co.OrbitDataSupplied = 1;
      co.SatRefPoint       = POINT_CENTER;
      co.SatRefDatum       = DATUM_ITRF;
    
      for (int ii = 1; ii <= numSat; ii++) {
    
        QString      prn;
        ColumnVector xx(5);
        t_eph*       ep = 0;
    
        if (oldEph == 0) {
          line = _clkSocket->readLine();
          QTextStream in(line);
          in >> prn;
          prns << prn;
          if ( _ephList.contains(prn) ) {
            in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5); xx(4) *= 1e-6;

            //// beg test (zero clock correction for Gerhard Wuebbena)
            ////            xx(4) -= xx(5) / 299792458.0;
            //// end test

            t_ephPair* pair = _ephList[prn];
            pair->xx = xx;
            ep = pair->eph;
          }
        }
        else {
          prn = prns[ii-1];
          if ( _ephList.contains(prn) ) {
            t_ephPair* pair = _ephList[prn];
            prn = pair->eph->prn();
            xx  = pair->xx;
            ep  = pair->oldEph;
          }
        }
    
        if (ep != 0) {
          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) {
            processSatellite(oldEph, ep, GPSweek, GPSweeks, prn, xx, sd);
          }
        }
      }
    
      if ( (_outSocket || _outFile) && 
           (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
        char obuffer[CLOCKORBIT_BUFFERSIZE];
        int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
        if (len > 0) {
          if (_outSocket) {
            _outSocket->write(obuffer, len);
            _outSocket->flush();
          }
          if (_outFile) {
            _outFile->write(obuffer, len);
            _outFile->flush();
          }
        }
      }
    }
  }
}

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

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

  ep->position(GPSweek, GPSweeks, xB, vv);

  ColumnVector xyz = xx.Rows(1,3);
  if (_crdTrafo) {
    crdTrafo(GPSweek, xyz);
  }

  ColumnVector dx   = xyz - xB.Rows(1,3);

  double       dClk = (xx(4) - xB(4)) * 299792458.0; 
  ColumnVector rsw(3);

  XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);

  if (sd) {
    sd->ID                    = prn.mid(1).toInt();
    sd->IOD                   = ep->IOD();
    sd->Clock.DeltaA0         = dClk;
    sd->Orbit.DeltaRadial     = rsw(1);
    sd->Orbit.DeltaAlongTrack = rsw(2);
    sd->Orbit.DeltaCrossTrack = rsw(3);
  }

  if (_outStream) {
    QString line;
    char oldCh = (oldEph ? '!' : ' ');
    line.sprintf("%c %d %.1f %s  %3d  %10.3f  %8.3f %8.3f %8.3f\n", 
                 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
                 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
    *_outStream << line;
    _outStream->flush();
  }
  if (!oldEph) {
    if (_rnx) {
      _rnx->write(GPSweek, GPSweeks, prn, xx);
    }
    if (_sp3) {
      _sp3->write(GPSweek, GPSweeks, prn, xx);
    }
  }
}

// 
////////////////////////////////////////////////////////////////////////////
void t_bns::slotMoveSocket(QThread* tt) {
  _clkSocket->setParent(0);
  _clkSocket->moveToThread(tt);
  slotMessage("bns::slotMoveSocket");
}

// Transform Coordinates IGS -> ETRF
////////////////////////////////////////////////////////////////////////////
void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) {

  ColumnVector dx(3);
  dx(1) =  0.054;
  dx(2) =  0.051;
  dx(3) = -0.048;
  const static double arcSec = 180.0 * 3600.0 / M_PI;
  const static double ox =  0.000081 / arcSec;
  const static double oy =  0.000490 / arcSec;
  const static double oz = -0.000792 / arcSec;

  Matrix rMat(3,3); rMat = 0.0;
  rMat(1,2) = -oz;
  rMat(1,3) =  oy;
  rMat(2,1) =  oz;
  rMat(2,3) = -ox;
  rMat(3,1) = -oy;
  rMat(3,2) =  ox;

  // Current epoch minus 1989.0 in years
  // ------------------------------------
  double dt = (GPSWeek - 469.0) / 365.2422 * 7.0;

  xyz += dx + dt * rMat * xyz;
}