source: ntrip/trunk/BNS/bns.cpp@ 1197

Last change on this file since 1197 was 1197, checked in by mervart, 15 years ago

* empty log message *
File size: 13.4 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*, int)),
60 this, SLOT(slotNewEph(t_eph*, int)));
61 connect(_bnseph, SIGNAL(newMessage(QByteArray)),
62 this, SLOT(slotMessage(const QByteArray)));
63 connect(_bnseph, SIGNAL(error(QByteArray)),
64 this, SLOT(slotError(const QByteArray)));
65
66 // Server listening for rtnet results
67 // ----------------------------------
68 _clkSocket = 0;
69 _clkServer = new QTcpServer;
70 _clkServer->listen(QHostAddress::Any, settings.value("clkPort").toInt());
71 connect(_clkServer, SIGNAL(newConnection()),this, SLOT(slotNewConnection()));
72
73 // Socket and file for outputting the results
74 // -------------------------------------------
75 for (int ic = 1; ic <= 2; ic++) {
76
77 QString mountpoint = settings.value(QString("mountpoint_%1").arg(ic)).toString();
78 QString outFileName = settings.value(QString("outFile_%1").arg(ic)).toString();
79 if (!mountpoint.isEmpty() || !outFileName.isEmpty()) {
80 QString refSys = settings.value(QString("refSys_%1").arg(ic)).toString();
81
82 _caster.push_back(new t_bnscaster(mountpoint, outFileName, refSys));
83 connect(_caster.back(), SIGNAL(error(const QByteArray)),
84 this, SLOT(slotError(const QByteArray)));
85 connect(_caster.back(), SIGNAL(newMessage(const QByteArray)),
86 this, SLOT(slotMessage(const QByteArray)));
87 }
88 }
89
90 // Log File
91 // --------
92 QIODevice::OpenMode oMode;
93 if (Qt::CheckState(settings.value("fileAppend").toInt()) == Qt::Checked) {
94 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered | QIODevice::Append;
95 }
96 else {
97 oMode = QIODevice::WriteOnly | QIODevice::Unbuffered;
98 }
99
100 QString logFileName = settings.value("logFile").toString();
101 if (logFileName.isEmpty()) {
102 _logFile = 0;
103 _logStream = 0;
104 }
105 else {
106 _logFile = new QFile(logFileName);
107 if (_logFile->open(oMode)) {
108 _logStream = new QTextStream(_logFile);
109 }
110 else {
111 _logStream = 0;
112 }
113 }
114
115 // Echo input from RTNet into a file
116 // ---------------------------------
117 QString echoFileName = settings.value("inpEcho").toString();
118 if (echoFileName.isEmpty()) {
119 _echoFile = 0;
120 _echoStream = 0;
121 }
122 else {
123 _echoFile = new QFile(echoFileName);
124 if (_echoFile->open(oMode)) {
125 _echoStream = new QTextStream(_echoFile);
126 }
127 else {
128 _echoStream = 0;
129 }
130 }
131
132 // RINEX writer
133 // ------------
134 if ( settings.value("rnxPath").toString().isEmpty() ) {
135 _rnx = 0;
136 }
137 else {
138 QString prep = "BNS";
139 QString ext = ".clk";
140 QString path = settings.value("rnxPath").toString();
141 QString intr = settings.value("rnxIntr").toString();
142 int sampl = settings.value("rnxSampl").toInt();
143 _rnx = new bnsRinex(prep, ext, path, intr, sampl);
144 }
145
146 // SP3 writer
147 // ----------
148 if ( settings.value("sp3Path").toString().isEmpty() ) {
149 _sp3 = 0;
150 }
151 else {
152 QString prep = "BNS";
153 QString ext = ".sp3";
154 QString path = settings.value("sp3Path").toString();
155 QString intr = settings.value("sp3Intr").toString();
156 int sampl = settings.value("sp3Sampl").toInt();
157 _sp3 = new bnsSP3(prep, ext, path, intr, sampl);
158 }
159}
160
161// Destructor
162////////////////////////////////////////////////////////////////////////////
163t_bns::~t_bns() {
164 deleteBnsEph();
165 delete _clkServer;
166 delete _clkSocket;
167 for (int ic = 0; ic < _caster.size(); ic++) {
168 delete _caster.at(ic);
169 }
170 delete _logStream;
171 delete _logFile;
172 delete _echoStream;
173 delete _echoFile;
174 QMapIterator<QString, t_ephPair*> it(_ephList);
175 while (it.hasNext()) {
176 it.next();
177 delete it.value();
178 }
179 delete _rnx;
180 delete _sp3;
181}
182
183// Delete bns thread
184////////////////////////////////////////////////////////////////////////////
185void t_bns::deleteBnsEph() {
186 if (_bnseph) {
187 _bnseph->terminate();
188 _bnseph->wait(100);
189 delete _bnseph;
190 _bnseph = 0;
191 }
192}
193
194// Write a Program Message
195////////////////////////////////////////////////////////////////////////////
196void t_bns::slotMessage(const QByteArray msg) {
197 if (_logStream) {
198 *_logStream << msg << endl;
199 _logStream->flush();
200 }
201 emit(newMessage(msg));
202}
203
204// Write a Program Message
205////////////////////////////////////////////////////////////////////////////
206void t_bns::slotError(const QByteArray msg) {
207 if (_logStream) {
208 *_logStream << msg << endl;
209 _logStream->flush();
210 }
211 deleteBnsEph();
212 emit(error(msg));
213}
214
215// New Connection
216////////////////////////////////////////////////////////////////////////////
217void t_bns::slotNewConnection() {
218 slotMessage("t_bns::slotNewConnection");
219 delete _clkSocket;
220 _clkSocket = _clkServer->nextPendingConnection();
221}
222
223//
224////////////////////////////////////////////////////////////////////////////
225void t_bns::slotNewEph(t_eph* ep, int nBytes) {
226
227 QMutexLocker locker(&_mutex);
228
229 emit(newEphBytes(nBytes));
230
231 t_ephPair* pair;
232 if ( !_ephList.contains(ep->prn()) ) {
233 pair = new t_ephPair();
234 _ephList.insert(ep->prn(), pair);
235 }
236 else {
237 pair = _ephList[ep->prn()];
238 }
239
240 if (pair->eph == 0) {
241 pair->eph = ep;
242 }
243 else {
244 if (ep->isNewerThan(pair->eph)) {
245 delete pair->oldEph;
246 pair->oldEph = pair->eph;
247 pair->eph = ep;
248 }
249 else {
250 delete ep;
251 }
252 }
253}
254
255// Start
256////////////////////////////////////////////////////////////////////////////
257void t_bns::run() {
258
259 slotMessage("============ Start BNS ============");
260
261 // Start Thread that retrieves broadcast Ephemeris
262 // -----------------------------------------------
263 _bnseph->start();
264
265 // Endless loop
266 // ------------
267 while (true) {
268
269 if (_clkSocket && _clkSocket->thread() != currentThread()) {
270 emit(moveSocket(currentThread()));
271 }
272
273 if (_clkSocket && _clkSocket->state() == QAbstractSocket::ConnectedState) {
274 if ( _clkSocket->canReadLine()) {
275 readEpoch();
276 }
277 else {
278 _clkSocket->waitForReadyRead(10);
279 }
280 }
281 else {
282 msleep(10);
283 }
284 }
285}
286
287//
288////////////////////////////////////////////////////////////////////////////
289void t_bns::readEpoch() {
290
291 // Read the first line (if not already read)
292 // -----------------------------------------
293 if (_clkLine.indexOf('*') == -1) {
294 _clkLine = _clkSocket->readLine();
295 if (_echoStream) {
296 *_echoStream << _clkLine;
297 _echoStream->flush();
298 }
299 emit(newClkBytes(_clkLine.length()));
300 }
301
302 if (_clkLine.indexOf('*') == -1) {
303 return;
304 }
305
306 QTextStream in(_clkLine);
307
308 QString hlp;
309 int year, month, day, hour, min;
310 double sec;
311 in >> hlp >> year >> month >> day >> hour >> min >> sec;
312
313 int GPSweek;
314 double GPSweeks;
315
316 GPSweekFromYMDhms(year, month, day, hour, min, sec, GPSweek, GPSweeks);
317
318 QStringList prns;
319
320 // Loop over all satellites
321 // ------------------------
322 QStringList lines;
323 for (;;) {
324 if (!_clkSocket->canReadLine()) {
325 return;
326 }
327 _clkLine = _clkSocket->readLine();
328 if (_echoStream) {
329 *_echoStream << _clkLine;
330 _echoStream->flush();
331 }
332 if (_clkLine[0] == '*') {
333 return;
334 }
335 if (_clkLine[0] == 'P') {
336 _clkLine.remove(0,1);
337 lines.push_back(_clkLine);
338 }
339 }
340
341 if (lines.size() > 0) {
342
343 QStringList prns;
344
345 for (int ic = 0; ic < _caster.size(); ic++) {
346 _caster.at(ic)->open();
347
348 for (int oldEph = 0; oldEph <= 0; oldEph++) { // TODO: handle old ephemeris
349
350 struct ClockOrbit co;
351 memset(&co, 0, sizeof(co));
352 co.GPSEpochTime = (int)GPSweeks;
353 co.GLONASSEpochTime = (int)fmod(GPSweeks, 86400.0);
354 co.ClockDataSupplied = 1;
355 co.OrbitDataSupplied = 1;
356 co.SatRefPoint = POINT_CENTER;
357 co.SatRefDatum = DATUM_ITRF;
358
359 for (int ii = 0; ii < lines.size(); ii++) {
360
361 QString prn;
362 ColumnVector xx(5);
363 t_eph* ep = 0;
364
365 if (oldEph == 0 && ic == 0) {
366 QTextStream in(lines[ii].toAscii());
367 in >> prn;
368 prns << prn;
369 if ( _ephList.contains(prn) ) {
370 in >> xx(1) >> xx(2) >> xx(3) >> xx(4);
371 xx(1) *= 1e3;
372 xx(2) *= 1e3;
373 xx(3) *= 1e3;
374 xx(4) *= 1e-6;
375
376 t_ephPair* pair = _ephList[prn];
377 pair->xx = xx;
378 ep = pair->eph;
379 }
380 }
381 else {
382 prn = prns[ii];
383 if ( _ephList.contains(prn) ) {
384 t_ephPair* pair = _ephList[prn];
385 prn = pair->eph->prn();
386 xx = pair->xx;
387 if (oldEph) {
388 ep = pair->oldEph;
389 }
390 else {
391 ep = pair->eph;
392 }
393 }
394 }
395
396 if (ep != 0) {
397 struct ClockOrbit::SatData* sd = 0;
398 if (prn[0] == 'G') {
399 sd = co.Sat + co.NumberOfGPSSat;
400 ++co.NumberOfGPSSat;
401 }
402 else if (prn[0] == 'R') {
403 sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfGLONASSSat;
404 ++co.NumberOfGLONASSSat;
405 }
406 if (sd) {
407 QString outLine;
408 processSatellite(oldEph, ic, _caster.at(ic)->crdTrafo(), ep,
409 GPSweek, GPSweeks, prn, xx, sd, outLine);
410 _caster.at(ic)->printAscii(outLine);
411 }
412 }
413 }
414
415 if ( _caster.at(ic)->usedSocket() &&
416 (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) ) {
417 char obuffer[CLOCKORBIT_BUFFERSIZE];
418 int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
419 if (len > 0) {
420 emit(newOutBytes(len));
421 _caster.at(ic)->write(obuffer, len);
422 }
423 }
424 }
425 }
426 }
427}
428
429//
430////////////////////////////////////////////////////////////////////////////
431void t_bns::processSatellite(int oldEph, int iCaster, bool trafo, t_eph* ep,
432 int GPSweek, double GPSweeks, const QString& prn,
433 const ColumnVector& xx,
434 struct ClockOrbit::SatData* sd,
435 QString& outLine) {
436
437 ColumnVector xB(4);
438 ColumnVector vv(3);
439
440 ep->position(GPSweek, GPSweeks, xB, vv);
441
442 ColumnVector xyz = xx.Rows(1,3);
443 if (trafo) {
444 crdTrafo(GPSweek, xyz);
445 }
446
447 ColumnVector dx = xyz - xB.Rows(1,3);
448
449 double dClk = (xx(4) - xB(4)) * 299792458.0;
450 ColumnVector rsw(3);
451
452 XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw);
453
454 if (sd) {
455 sd->ID = prn.mid(1).toInt();
456 sd->IOD = ep->IOD();
457 sd->Clock.DeltaA0 = dClk;
458 sd->Orbit.DeltaRadial = rsw(1);
459 sd->Orbit.DeltaAlongTrack = rsw(2);
460 sd->Orbit.DeltaCrossTrack = rsw(3);
461 }
462
463 char oldCh = (oldEph ? '!' : ' ');
464 outLine.sprintf("%c %d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n",
465 oldCh, GPSweek, GPSweeks, ep->prn().toAscii().data(),
466 ep->IOD(), dClk, rsw(1), rsw(2), rsw(3));
467
468 if (!oldEph && iCaster == 0) {
469 if (_rnx) {
470 _rnx->write(GPSweek, GPSweeks, prn, xx);
471 }
472 if (_sp3) {
473 _sp3->write(GPSweek, GPSweeks, prn, xx);
474 }
475 }
476}
477
478//
479////////////////////////////////////////////////////////////////////////////
480void t_bns::slotMoveSocket(QThread* tt) {
481 _clkSocket->setParent(0);
482 _clkSocket->moveToThread(tt);
483 slotMessage("bns::slotMoveSocket");
484}
485
486// Transform Coordinates IGS -> ETRF
487////////////////////////////////////////////////////////////////////////////
488void t_bns::crdTrafo(int GPSWeek, ColumnVector& xyz) {
489
490 ColumnVector dx(3);
491 dx(1) = 0.054;
492 dx(2) = 0.051;
493 dx(3) = -0.048;
494 static const double arcSec = 180.0 * 3600.0 / M_PI;
495 static const double ox = 0.000081 / arcSec;
496 static const double oy = 0.000490 / arcSec;
497 static const double oz = -0.000792 / arcSec;
498
499 Matrix rMat(3,3); rMat = 0.0;
500 rMat(1,2) = -oz;
501 rMat(1,3) = oy;
502 rMat(2,1) = oz;
503 rMat(2,3) = -ox;
504 rMat(3,1) = -oy;
505 rMat(3,2) = ox;
506
507 // Current epoch minus 1989.0 in years
508 // ------------------------------------
509 double dt = (GPSWeek - 469.0) / 365.2422 * 7.0;
510
511 xyz += dx + dt * rMat * xyz;
512}
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