source: ntrip/trunk/BNS/bns.cpp@ 1019

Last change on this file since 1019 was 1017, checked in by weber, 16 years ago

* empty log message *
File size: 13.2 KB
Line 
1/* -------------------------------------------------------------------------
2 * BKG NTRIP Server
3 * -------------------------------------------------------------------------
4 *
5 * Class: bns
6 *
7 * Purpose: This class implements the main application behaviour
8 *
9 * Author: L. Mervart
10 *
11 * Created: 29-Mar-2008
12 *
13 * Changes:
14 *
15 * -----------------------------------------------------------------------*/
16
17#include <math.h>
18#include <iostream>
19#include <newmatio.h>
20
21#include "bns.h"
22#include "bnsutils.h"
23#include "bnsrinex.h"
24#include "bnssp3.h"
25
26using namespace std;
27
28// Constructor
29////////////////////////////////////////////////////////////////////////////
30t_bns::t_bns(QObject* parent) : QThread(parent) {
31
32 this->setTerminationEnabled(true);
33
34 connect(this, SIGNAL(moveSocket(QThread*)),
35 this, SLOT(slotMoveSocket(QThread*)));
36
37 QSettings settings;
38
39 // Set Proxy (application-wide)
40 // ----------------------------
41 QString proxyHost = settings.value("proxyHost").toString();
42 int proxyPort = settings.value("proxyPort").toInt();
43
44 QNetworkProxy proxy;
45 if (proxyHost.isEmpty()) {
46 proxy.setType(QNetworkProxy::NoProxy);
47 }
48 else {
49 proxy.setType(QNetworkProxy::Socks5Proxy);
50 proxy.setHostName(proxyHost);
51 proxy.setPort(proxyPort);
52 }
53 QNetworkProxy::setApplicationProxy(proxy);
54
55 // Thread that handles broadcast ephemeris
56 // ---------------------------------------
57 _bnseph = new t_bnseph(parent);
58
59 connect(_bnseph, SIGNAL(newEph(t_eph*)), this, SLOT(slotNewEph(t_eph*)));
60 connect(_bnseph, SIGNAL(newMessage(QByteArray)),
61 this, SLOT(slotMessage(const QByteArray)));
62 connect(_bnseph, SIGNAL(error(QByteArray)),
63 this, SLOT(slotError(const QByteArray)));
64
65 // Server listening for rtnet results
66 // ----------------------------------
67 _clkSocket = 0;
68 _clkServer = new QTcpServer;
69 _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
70 connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
71
72 // Socket and file for outputting the results
73 // -------------------------------------------
74 _outSocket = 0;
75 _outSocketOpenTrial = 0;
76
77 QIODevice::OpenMode oMode;
78 if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
79 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
80 }
81 else {
82 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
83 }
84
85 QString outFileName = settings.value("outFile").toString();
86 if (outFileName.isEmpty()) {
87 _outFile = 0;
88 _outStream = 0;
89 }
90 else {
91 _outFile = new QFile(outFileName);
92 if (_outFile->open(oMode)) {
93 _outStream = new QTextStream(_outFile);
94 }
95 }
96
97 // Log File
98 // --------
99 QString logFileName = settings.value("logFile").toString();
100 if (logFileName.isEmpty()) {
101 _logFile = 0;
102 _logStream = 0;
103 }
104 else {
105 _logFile = new QFile(logFileName);
106 if (_logFile->open(oMode)) {
107 _logStream = new QTextStream(_logFile);
108 }
109 else {
110 _logStream = 0;
111 }
112 }
113
114 // RINEX writer
115 // ------------
116 if ( settings.value("rnxPath").toString().isEmpty() ) {
117 _rnx = 0;
118 }
119 else {
120 QString prep = "BNS";
121 QString ext = ".clk";
122 QString path = settings.value("rnxPath").toString();
123 QString intr = settings.value("rnxIntr").toString();
124 int sampl = settings.value("rnxSampl").toInt();
125 _rnx = new bnsRinex(prep, ext, path, intr, sampl);
126 }
127
128 // SP3 writer
129 // ----------
130 if ( settings.value("sp3Path").toString().isEmpty() ) {
131 _sp3 = 0;
132 }
133 else {
134 QString prep = "BNS";
135 QString ext = ".sp3";
136 QString path = settings.value("sp3Path").toString();
137 QString intr = settings.value("sp3Intr").toString();
138 int sampl = settings.value("sp3Sampl").toInt();
139 _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
140 }
141
142 // Reference frame
143 // ---------------
144 _crdTrafo = false;
145 if (settings.value("refSys").toString() == "ETRS89") {
146 _crdTrafo = true;
147 }
148}
149
150// Destructor
151////////////////////////////////////////////////////////////////////////////
152t_bns::~t_bns() {
153 deleteBnsEph();
154 delete _clkServer;
155 delete _clkSocket;
156 delete _outSocket;
157 delete _outStream;
158 delete _logStream;
159 delete _outFile;
160 delete _logFile;
161 QMapIterator<QString, t_ephPair*> it(_ephList);
162 while (it.hasNext()) {
163 it.next();
164 delete it.value();
165 }
166 delete _rnx;
167 delete _sp3;
168}
169
170// Delete bns thread
171////////////////////////////////////////////////////////////////////////////
172void t_bns::deleteBnsEph() {
173 if (_bnseph) {
174 _bnseph->terminate();
175 _bnseph->wait(100);
176 delete _bnseph;
177 _bnseph = 0;
178 }
179}
180
181// Write a Program Message
182////////////////////////////////////////////////////////////////////////////
183void t_bns::slotMessage(const QByteArray msg) {
184 if (_logStream) {
185 *_logStream << msg << endl;
186 _logStream->flush();
187 }
188 emit(newMessage(msg));
189}
190
191// Write a Program Message
192////////////////////////////////////////////////////////////////////////////
193void t_bns::slotError(const QByteArray msg) {
194 if (_logStream) {
195 *_logStream << msg << endl;
196 _logStream->flush();
197 }
198 deleteBnsEph();
199 emit(error(msg));
200}
201
202// New Connection
203////////////////////////////////////////////////////////////////////////////
204void t_bns::slotNewConnection() {
205 slotMessage("t_bns::slotNewConnection");
206 delete _clkSocket;
207 _clkSocket = _clkServer->nextPendingConnection();
208}
209
210// Start the Communication with NTRIP Caster
211////////////////////////////////////////////////////////////////////////////
212void t_bns::openCaster() {
213
214 delete _outSocket; _outSocket = 0;
215
216 double minDt = exp2(_outSocketOpenTrial);
217 if (++_outSocketOpenTrial > 8) {
218 _outSocketOpenTrial = 8;
219 }
220 if (_outSocketOpenTime.isValid() &&
221 _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) {
222 return;
223 }
224 else {
225 _outSocketOpenTime = QDateTime::currentDateTime();
226 }
227
228 QSettings settings;
229 _outSocket = new QTcpSocket();
230 _outSocket->connectToHost(settings.value("outHost").toString(),
231 settings.value("outPort").toInt());
232
233 const int timeOut = 100; // 0.1 seconds
234 if (!_outSocket->waitForConnected(timeOut)) {
235 delete _outSocket;
236 _outSocket = 0;
237 emit(error("bns::openCaster Connect Timeout"));
238 return;
239 }
240
241 QString mountpoint = settings.value("mountpoint").toString();
242 QString password = settings.value("password").toString();
243
244 QByteArray msg = "SOURCE " + password.toAscii() + " /" +
245 mountpoint.toAscii() + "\r\n" +
246 "Source-Agent: NTRIP BNS/1.0\r\n\r\n";
247
248 _outSocket->write(msg);
249 _outSocket->waitForBytesWritten();
250
251 _outSocket->waitForReadyRead();
252 QByteArray ans = _outSocket->readLine();
253
254 if (ans.indexOf("OK") == -1) {
255 delete _outSocket;
256 _outSocket = 0;
257 slotMessage("bns::openCaster socket deleted");
258 }
259 else {
260 slotMessage("bns::openCaster socket OK");
261 _outSocketOpenTrial = 0;
262 }
263}
264
265//
266////////////////////////////////////////////////////////////////////////////
267void t_bns::slotNewEph(t_eph* ep) {
268
269 QMutexLocker locker(&_mutex);
270
271 t_ephPair* pair;
272 if ( !_ephList.contains(ep->prn()) ) {
273 pair = new t_ephPair();
274 _ephList.insert(ep->prn(), pair);
275 }
276 else {
277 pair = _ephList[ep->prn()];
278 }
279
280 if (pair->eph == 0) {
281 pair->eph = ep;
282 }
283 else {
284 if (ep->isNewerThan(pair->eph)) {
285 delete pair->oldEph;
286 pair->oldEph = pair->eph;
287 pair->eph = ep;
288 }
289 else {
290 delete ep;
291 }
292 }
293}
294
295// Start
296////////////////////////////////////////////////////////////////////////////
297void t_bns::run() {
298
299 slotMessage("============ Start BNS ============");
300
301 // Start Thread that retrieves broadcast Ephemeris
302 // -----------------------------------------------
303 _bnseph->start();
304
305 // Endless loop
306 // ------------
307 while (true) {
308
309 if (_clkSocket && _clkSocket->thread() != currentThread()) {
310 emit(moveSocket(currentThread()));
311 }
312
313 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
314 if ( _clkSocket->canReadLine()) {
315 if (_outSocket == 0 ||
316 _outSocket->state() != QAbstractSocket::ConnectedState) {
317 openCaster();
318 }
319 readEpoch();
320 }
321 else {
322 _clkSocket->waitForReadyRead(10);
323 }
324 }
325 else {
326 msleep(10);
327 }
328 }
329}
330
331//
332////////////////////////////////////////////////////////////////////////////
333void t_bns::readEpoch() {
334
335 QByteArray line = _clkSocket->readLine();
336
337 if (line.indexOf('*') == -1) {
338 return;
339 }
340
341 QTextStream in(line);
342
343 QString hlp;
344 int GPSweek, numSat;
345 double GPSweeks;
346
347 in >> hlp >> GPSweek >> GPSweeks >> numSat;
348
349 if (numSat > 0) {
350
351 QStringList prns;
352
353 /// for (int oldEph = 0; oldEph <= 1; oldEph++) {
354 for (int oldEph = 0; oldEph <= 0; oldEph++) {
355
356 struct ClockOrbit co;
357 memset(&co, 0, sizeof(co));
358 co.GPSEpochTime = (int)GPSweeks;
359 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0);
360 co.ClockDataSupplied = 1;
361 co.OrbitDataSupplied = 1;
362 co.SatRefPoint = POINT_CENTER;
363 co.SatRefDatum = DATUM_ITRF;
364
365 for (int ii = 1; ii <= numSat; ii++) {
366
367 QString prn;
368 ColumnVector xx(5);
369 t_eph* ep = 0;
370
371 if (oldEph == 0) {
372 line = _clkSocket->readLine();
373 QTextStream in(line);
374 in >> prn;
375 prns << prn;
376 if ( _ephList.contains(prn) ) {
377 in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5); xx(4) *= 1e-6;
378
379 //// beg test (zero clock correction for Gerhard Wuebbena)
380 //// xx(4) -= xx(5) / 299792458.0;
381 //// end test
382
383 t_ephPair* pair = _ephList[prn];
384 pair->xx = xx;
385 ep = pair->eph;
386 }
387 }
388 else {
389 prn = prns[ii-1];
390 if ( _ephList.contains(prn) ) {
391 t_ephPair* pair = _ephList[prn];
392 prn = pair->eph->prn();
393 xx = pair->xx;
394 ep = pair->oldEph;
395 }
396 }
397
398 if (ep != 0) {
399 struct ClockOrbit::SatData* sd = 0;
400 if (prn[0] == 'G') {
401 sd = co.Sat + co.NumberOfGPSSat;
402 ++co.NumberOfGPSSat;
403 }
404 else if (prn[0] == 'R') {
405 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
406 ++co.NumberOfGLONASSSat;
407 }
408 if (sd) {
409 processSatellite(oldEph, ep, GPSweek, GPSweeks, prn, xx, sd);
410 }
411 }
412 }
413
414 if ( (_outSocket || _outFile) &&
415 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
416 char obuffer[CLOCKORBIT_BUFFERSIZE];
417 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
418 if (len > 0) {
419 if (_outSocket) {
420 _outSocket->write(obuffer, len);
421 _outSocket->flush();
422 }
423 if (_outFile) {
424 _outFile->write(obuffer, len);
425 _outFile->flush();
426 }
427 }
428 }
429 }
430 }
431}
432
433//
434////////////////////////////////////////////////////////////////////////////
435void t_bns::processSatellite(int oldEph, t_eph* ep, int GPSweek, double GPSweeks,
436 const QString& prn, const ColumnVector& xx,
437 struct ClockOrbit::SatData* sd) {
438
439 ColumnVector xB(4);
440 ColumnVector vv(3);
441
442 ep->position(GPSweek, GPSweeks, xB, vv);
443
444 ColumnVector xyz = xx.Rows(1,3);
445 if (_crdTrafo) {
446 crdTrafo(GPSweek, xyz);
447 }
448
449 ColumnVector dx = xyz - xB.Rows(1,3);
450
451 double dClk = (xx(4) - xB(4)) * 299792458.0;
452 ColumnVector rsw(3);
453
454 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
455
456 if (sd) {
457 sd->ID = prn.mid(1).toInt();
458 sd->IOD = ep->IOD();
459 sd->Clock.DeltaA0 = dClk;
460 sd->Orbit.DeltaRadial = rsw(1);
461 sd->Orbit.DeltaAlongTrack = rsw(2);
462 sd->Orbit.DeltaCrossTrack = rsw(3);
463 }
464
465 if (_outStream) {
466 QString line;
467 char oldCh = (oldEph ? '!' : ' ');
468 line.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
469 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
470 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
471 *_outStream << line;
472 _outStream->flush();
473 }
474 if (!oldEph) {
475 if (_rnx) {
476 _rnx->write(GPSweek, GPSweeks, prn, xx);
477 }
478 if (_sp3) {
479 _sp3->write(GPSweek, GPSweeks, prn, xx);
480 }
481 }
482}
483
484//
485////////////////////////////////////////////////////////////////////////////
486void t_bns::slotMoveSocket(QThread* tt) {
487 _clkSocket->setParent(0);
488 _clkSocket->moveToThread(tt);
489 slotMessage("bns::slotMoveSocket");
490}
491
492// Transform Coordinates IGS -> ETRF
493////////////////////////////////////////////////////////////////////////////
494void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) {
495
496 ColumnVector dx(3);
497 dx(1) = 0.054;
498 dx(2) = 0.051;
499 dx(3) = -0.048;
500 const static double arcSec = 180.0 * 3600.0 / M_PI;
501 const static double ox = 0.000081 / arcSec;
502 const static double oy = 0.000490 / arcSec;
503 const static double oz = -0.000792 / arcSec;
504
505 Matrix rMat(3,3); rMat = 0.0;
506 rMat(1,2) = -oz;
507 rMat(1,3) = oy;
508 rMat(2,1) = oz;
509 rMat(2,3) = -ox;
510 rMat(3,1) = -oy;
511 rMat(3,2) = ox;
512
513 // Current epoch minus 1989.0 in years
514 // ------------------------------------
515 double dt = (GPSWeek - 469.0) / 365.2422 * 7.0;
516
517 xyz += dx + dt * rMat * xyz;
518}
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