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