Index: trunk/BNC/bnc.pro =================================================================== --- trunk/BNC/bnc.pro (revision 2034) +++ trunk/BNC/bnc.pro (revision 2035) @@ -38,5 +38,5 @@ bncnetqueryudp0.h bncudpport.h t_time.h \ bncserialport.h bncnetquerys.h bncfigure.h \ - bncfigurelate.h bncpppthread.h bncversion.h \ + bncfigurelate.h bncpppclient.h bncversion.h \ RTCM/GPSDecoder.h RTCM/RTCM2.h RTCM/RTCM2Decoder.h \ RTCM/RTCM2_2021.h RTCM/rtcm_utils.h \ @@ -65,5 +65,5 @@ bncnetqueryudp0.cpp bncudpport.cpp \ bncserialport.cpp bncnetquerys.cpp bncfigure.cpp \ - bncfigurelate.cpp bncpppthread.cpp t_time.cpp \ + bncfigurelate.cpp bncpppclient.cpp t_time.cpp \ RTCM/RTCM2.cpp RTCM/RTCM2Decoder.cpp \ RTCM/RTCM2_2021.cpp RTCM/rtcm_utils.cpp \ Index: trunk/BNC/bnccaster.cpp =================================================================== --- trunk/BNC/bnccaster.cpp (revision 2034) +++ trunk/BNC/bnccaster.cpp (revision 2035) @@ -47,5 +47,4 @@ #include "bncutils.h" #include "bncsettings.h" -#include "bncpppthread.h" #include "RTCM/GPSDecoder.h" Index: trunk/BNC/bncgetthread.cpp =================================================================== --- trunk/BNC/bncgetthread.cpp (revision 2034) +++ trunk/BNC/bncgetthread.cpp (revision 2035) @@ -63,5 +63,5 @@ #include "bncsettings.h" #include "latencychecker.h" -#include "bncpppthread.h" +#include "bncpppclient.h" #include "RTCM/RTCM2Decoder.h" @@ -123,5 +123,5 @@ _nextSleep = 0; _rawOutFile = 0; - _PPPthread = 0; + _PPPclient = 0; bncSettings settings; @@ -284,9 +284,12 @@ // _rawOutFile->open(QIODevice::WriteOnly); - // Initialize PPP Clinet? + // Initialize PPP Client? // ---------------------- - bool pppClient = false; if (settings.value("pppMount").toString() == _staID) { - pppClient = true; + _PPPclient = new bncPPPclient(_staID); + connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)), + _PPPclient, SLOT(slotNewEphGPS(gpsephemeris))); + connect(((bncApp*)qApp), SIGNAL(newCorrections(QList)), + _PPPclient, SLOT(slotNewCorrections(QList))); } @@ -297,7 +300,4 @@ emit(newMessage(_staID + ": Get data in RTCM 2.x format", true)); _decoder = new RTCM2Decoder(_staID.data()); - if (pppClient) { - _PPPthread = new bncPPPthread(_staID); - } } else if (_format.indexOf("RTCM_3") != -1 || _format.indexOf("RTCM3") != -1 || @@ -307,14 +307,8 @@ connect((RTCM3Decoder*) _decoder, SIGNAL(newMessage(QByteArray,bool)), this, SIGNAL(newMessage(QByteArray,bool))); - if (pppClient) { - _PPPthread = new bncPPPthread(_staID); - } } else if (_format.indexOf("RTIGS") != -1) { emit(newMessage(_staID + ": Get data in RTIGS format", true)); _decoder = new RTIGSDecoder(); - if (pppClient) { - _PPPthread = new bncPPPthread(_staID); - } } else if (_format.indexOf("GPSS") != -1 || _format.indexOf("BNC") != -1) { @@ -333,12 +327,4 @@ _latencyChecker = new latencyChecker(_staID); - if (_PPPthread) { - connect(((bncApp*)qApp), SIGNAL(newEphGPS(gpsephemeris)), - _PPPthread, SLOT(slotNewEphGPS(gpsephemeris))); - connect(((bncApp*)qApp), SIGNAL(newCorrections(QList)), - _PPPthread, SLOT(slotNewCorrections(QList))); - //// _PPPthread->start(); // currently processing in the same thread - } - msleep(100); //sleep 0.1 sec } @@ -347,17 +333,12 @@ //////////////////////////////////////////////////////////////////////////// bncGetThread::~bncGetThread() { - - if (_PPPthread) { - _PPPthread->terminate(); - } - if (isRunning()) { wait(); } - if (_query) { _query->stop(); _query->deleteLater(); } + delete _PPPclient; delete _decoder; delete _rnx; @@ -501,6 +482,6 @@ // PPP Client // ---------- - if (_PPPthread) { - _PPPthread->putNewObs(obs); + if (_PPPclient) { + _PPPclient->putNewObs(obs); } Index: trunk/BNC/bncgetthread.h =================================================================== --- trunk/BNC/bncgetthread.h (revision 2034) +++ trunk/BNC/bncgetthread.h (revision 2035) @@ -39,5 +39,5 @@ class QextSerialPort; class latencyChecker; -class bncPPPthread; +class bncPPPclient; class bncGetThread : public QThread { @@ -122,5 +122,5 @@ t_serialNMEA _serialNMEA; QMutex _mutex; - bncPPPthread* _PPPthread; + bncPPPclient* _PPPclient; }; Index: trunk/BNC/bncpppclient.cpp =================================================================== --- trunk/BNC/bncpppclient.cpp (revision 2035) +++ trunk/BNC/bncpppclient.cpp (revision 2035) @@ -0,0 +1,209 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +/* ------------------------------------------------------------------------- + * BKG NTRIP Client + * ------------------------------------------------------------------------- + * + * Class: bncPPPclient + * + * Purpose: Precise Point Positioning + * + * Author: L. Mervart + * + * Created: 21-Nov-2009 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include + +#include "bncpppclient.h" + +extern "C" { +#include "clock_orbit_rtcm.h" +} + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +bncPPPclient::bncPPPclient(QByteArray staID) { + _staID = staID; + _data = 0; + _dataHlp = 0; +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +bncPPPclient::~bncPPPclient() { + delete _data; + delete _dataHlp; + QMapIterator it(_eph); + while (it.hasNext()) { + it.next(); + delete it.value(); + } + QMapIterator ic(_corr); + while (ic.hasNext()) { + ic.next(); + delete ic.value(); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncPPPclient::putNewObs(p_obs pp) { + { + QMutexLocker locker(&_mutex); + + t_obsInternal* obs = &(pp->_o); + + t_time tt(obs->GPSWeek, obs->GPSWeeks); + + if (!_dataHlp) { + _dataHlp = new t_data(); + _dataHlp->tt = tt; + } + else if (tt != _dataHlp->tt) { + _data = _dataHlp; + _dataHlp = new t_data(); + _dataHlp->tt = tt; + } + + ++_dataHlp->numSat; + + if (_dataHlp->numSat > t_data::MAXOBS) { + cerr << "putNewObs: numSat > MAXOBS\n"; + exit(1); + } + + _dataHlp->prn[_dataHlp->numSat] = + QString("%1%2").arg(obs->satSys).arg(obs->satNum, 2, 10, QChar('0')); + + _dataHlp->C1[_dataHlp->numSat] = obs->C1; + _dataHlp->C2[_dataHlp->numSat] = obs->C2; + _dataHlp->P1[_dataHlp->numSat] = obs->P1; + _dataHlp->P2[_dataHlp->numSat] = obs->P2; + _dataHlp->L1[_dataHlp->numSat] = obs->L1; + _dataHlp->L2[_dataHlp->numSat] = obs->L2; + } // end of mutex + + processEpoch(); // currently in the same thread as bncgetthread +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncPPPclient::slotNewEphGPS(gpsephemeris gpseph) { + QMutexLocker locker(&_mutex); + + QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0')); + + if (_eph.contains(prn)) { + (static_cast(_eph.value(prn)))->set(&gpseph); + } + else { + t_ephGPS* ee = new t_ephGPS(); + ee->set(&gpseph); + _eph[prn] = ee; + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncPPPclient::slotNewCorrections(QList corrList) { + QMutexLocker locker(&_mutex); + QListIterator it(corrList); + while (it.hasNext()) { + QTextStream in(it.next().toAscii()); + int messageType; + int updateInterval; + int GPSweek; + double GPSweeks; + QString prn; + in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; + if ( messageType == COTYPE_GPSCOMBINED || + messageType == COTYPE_GLONASSCOMBINED ) { + t_corr* cc = 0; + if (_corr.contains(prn)) { + cc = _corr.value(prn); + } + else { + cc = new t_corr(); + _corr[prn] = cc; + } + cc->tt.set(GPSweek, GPSweeks); + in >> cc->iod >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]; + } + } +} + +// Satellite Position +//////////////////////////////////////////////////////////////////////////// +t_irc bncPPPclient::getSatPos(const t_time& tt, const QString& prn, + ColumnVector& xc, ColumnVector& vv) { + + if (_eph.contains(prn)) { + _eph.value(prn)->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()); + return success; + } + + return failure; +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncPPPclient::processEpoch() { + QMutexLocker locker(&_mutex); + + if (!_data) { + return; + } + + for (int is = 1; is <= _data->numSat; is++) { + QString prn = _data->prn[is]; + + ColumnVector xc(4); + ColumnVector vv(3); + + cout.setf(ios::fixed); + + if (getSatPos(_data->tt, prn, xc, vv) == success) { + cout << _data->tt.timestr(1) << " " << prn.toAscii().data() << " " + << setw(14) << setprecision(3) << xc(1) << " " + << setw(14) << setprecision(3) << xc(2) << " " + << setw(14) << setprecision(3) << xc(3) << " " + << setw(14) << setprecision(6) << xc(4)*1.e6 << endl; + } + } + + cout << endl; + cout.flush(); + + delete _data; + _data = 0; +} + Index: trunk/BNC/bncpppclient.h =================================================================== --- trunk/BNC/bncpppclient.h (revision 2035) +++ trunk/BNC/bncpppclient.h (revision 2035) @@ -0,0 +1,90 @@ +// Part of BNC, a utility for retrieving decoding and +// converting GNSS data streams from NTRIP broadcasters. +// +// Copyright (C) 2007 +// German Federal Agency for Cartography and Geodesy (BKG) +// http://www.bkg.bund.de +// Czech Technical University Prague, Department of Geodesy +// http://www.fsv.cvut.cz +// +// Email: euref-ip@bkg.bund.de +// +// This program is free software; you can redistribute it and/or +// modify it under the terms of the GNU General Public License +// as published by the Free Software Foundation, version 2. +// +// This program is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU General Public License for more details. +// +// You should have received a copy of the GNU General Public License +// along with this program; if not, write to the Free Software +// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + +#ifndef BNCPPPCLIENT_H +#define BNCPPPCLIENT_H + +#include + +#include + +#include "bncconst.h" +#include "t_time.h" +#include "RTCM/GPSDecoder.h" +#include "RTCM3/ephemeris.h" + +#define MAXPRN = + +class t_data { + public: + static const int MAXOBS = 56; + t_data() {numSat = 0;} + ~t_data() {} + t_time tt; + int numSat; + QString prn[MAXOBS+1]; + double C1[MAXOBS+1]; + double C2[MAXOBS+1]; + double P1[MAXOBS+1]; + double P2[MAXOBS+1]; + double L1[MAXOBS+1]; + double L2[MAXOBS+1]; +}; + +class t_corr { + public: + t_time tt; + int iod; + double dClk; + double rao[3]; +}; + +class bncPPPclient { + Q_OBJECT + + public: + bncPPPclient(QByteArray staID); + ~bncPPPclient(); + void putNewObs(p_obs pp); + + signals: + void newMessage(QByteArray msg, bool showOnScreen); + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); + void slotNewCorrections(QList corrList); + + private: + t_irc getSatPos(const t_time& tt, const QString& prn, + ColumnVector& xc, ColumnVector& vv); + void processEpoch(); + QByteArray _staID; + QMutex _mutex; + QMap _eph; + QMap _corr; + t_data* _data; + t_data* _dataHlp; +}; + +#endif Index: trunk/BNC/bncpppthread.cpp =================================================================== --- trunk/BNC/bncpppthread.cpp (revision 2034) +++ (revision ) @@ -1,241 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -/* ------------------------------------------------------------------------- - * BKG NTRIP Client - * ------------------------------------------------------------------------- - * - * Class: bncPPPthread - * - * Purpose: Precise Point Positioning - * - * Author: L. Mervart - * - * Created: 21-Nov-2009 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include - -#include "bncpppthread.h" - -extern "C" { -#include "clock_orbit_rtcm.h" -} - -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -bncPPPthread::bncPPPthread(QByteArray staID) { - _staID = staID; - _isToBeDeleted = false; - _data = 0; - _dataHlp = 0; -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -bncPPPthread::~bncPPPthread() { - if (isRunning()) { - wait(); - } - delete _data; - delete _dataHlp; - QMapIterator it(_eph); - while (it.hasNext()) { - it.next(); - delete it.value(); - } - QMapIterator ic(_corr); - while (ic.hasNext()) { - ic.next(); - delete ic.value(); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPthread::terminate() { - _isToBeDeleted = true; - if (!isRunning()) { - delete this; - } -} - -// Run -//////////////////////////////////////////////////////////////////////////// -void bncPPPthread::run() { - while (true) { - try { - if (_isToBeDeleted) { - QThread::exit(0); - this->deleteLater(); - return; - } - processEpoch(); - } - catch (...) { - emit(newMessage(_staID + "bncPPPthread exception", true)); - _isToBeDeleted = true; - } - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPthread::putNewObs(p_obs pp) { - { - QMutexLocker locker(&_mutex); - - t_obsInternal* obs = &(pp->_o); - - t_time tt(obs->GPSWeek, obs->GPSWeeks); - - if (!_dataHlp) { - _dataHlp = new t_data(); - _dataHlp->tt = tt; - } - else if (tt != _dataHlp->tt) { - _data = _dataHlp; - _dataHlp = new t_data(); - _dataHlp->tt = tt; - } - - ++_dataHlp->numSat; - - if (_dataHlp->numSat > t_data::MAXOBS) { - cerr << "putNewObs: numSat > MAXOBS\n"; - exit(1); - } - - _dataHlp->prn[_dataHlp->numSat] = - QString("%1%2").arg(obs->satSys).arg(obs->satNum, 2, 10, QChar('0')); - - _dataHlp->C1[_dataHlp->numSat] = obs->C1; - _dataHlp->C2[_dataHlp->numSat] = obs->C2; - _dataHlp->P1[_dataHlp->numSat] = obs->P1; - _dataHlp->P2[_dataHlp->numSat] = obs->P2; - _dataHlp->L1[_dataHlp->numSat] = obs->L1; - _dataHlp->L2[_dataHlp->numSat] = obs->L2; - } // end of mutex - - processEpoch(); // currently in the same thread as bncgetthread -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPthread::slotNewEphGPS(gpsephemeris gpseph) { - QMutexLocker locker(&_mutex); - - QString prn = QString("G%1").arg(gpseph.satellite, 2, 10, QChar('0')); - - if (_eph.contains(prn)) { - (static_cast(_eph.value(prn)))->set(&gpseph); - } - else { - t_ephGPS* ee = new t_ephGPS(); - ee->set(&gpseph); - _eph[prn] = ee; - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPthread::slotNewCorrections(QList corrList) { - QMutexLocker locker(&_mutex); - QListIterator it(corrList); - while (it.hasNext()) { - QTextStream in(it.next().toAscii()); - int messageType; - int updateInterval; - int GPSweek; - double GPSweeks; - QString prn; - in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; - if ( messageType == COTYPE_GPSCOMBINED || - messageType == COTYPE_GLONASSCOMBINED ) { - t_corr* cc = 0; - if (_corr.contains(prn)) { - cc = _corr.value(prn); - } - else { - cc = new t_corr(); - _corr[prn] = cc; - } - cc->tt.set(GPSweek, GPSweeks); - in >> cc->iod >> cc->dClk >> cc->rao[0] >> cc->rao[1] >> cc->rao[2]; - } - } -} - -// Satellite Position -//////////////////////////////////////////////////////////////////////////// -t_irc bncPPPthread::getSatPos(const t_time& tt, const QString& prn, - ColumnVector& xc, ColumnVector& vv) { - - if (_eph.contains(prn)) { - _eph.value(prn)->position(tt.gpsw(), tt.gpssec(), xc.data(), vv.data()); - return success; - } - - return failure; -} - -// -//////////////////////////////////////////////////////////////////////////// -void bncPPPthread::processEpoch() { - QMutexLocker locker(&_mutex); - - if (!_data) { - return; - } - - for (int is = 1; is <= _data->numSat; is++) { - QString prn = _data->prn[is]; - - ColumnVector xc(4); - ColumnVector vv(3); - - cout.setf(ios::fixed); - - if (getSatPos(_data->tt, prn, xc, vv) == success) { - cout << _data->tt.timestr(1) << " " << prn.toAscii().data() << " " - << setw(14) << setprecision(3) << xc(1) << " " - << setw(14) << setprecision(3) << xc(2) << " " - << setw(14) << setprecision(3) << xc(3) << " " - << setw(14) << setprecision(6) << xc(4)*1.e6 << endl; - } - } - - cout << endl; - cout.flush(); - - delete _data; - _data = 0; -} - Index: trunk/BNC/bncpppthread.h =================================================================== --- trunk/BNC/bncpppthread.h (revision 2034) +++ (revision ) @@ -1,101 +1,0 @@ -// Part of BNC, a utility for retrieving decoding and -// converting GNSS data streams from NTRIP broadcasters. -// -// Copyright (C) 2007 -// German Federal Agency for Cartography and Geodesy (BKG) -// http://www.bkg.bund.de -// Czech Technical University Prague, Department of Geodesy -// http://www.fsv.cvut.cz -// -// Email: euref-ip@bkg.bund.de -// -// This program is free software; you can redistribute it and/or -// modify it under the terms of the GNU General Public License -// as published by the Free Software Foundation, version 2. -// -// This program is distributed in the hope that it will be useful, -// but WITHOUT ANY WARRANTY; without even the implied warranty of -// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -// GNU General Public License for more details. -// -// You should have received a copy of the GNU General Public License -// along with this program; if not, write to the Free Software -// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - -#ifndef BNCPPPTHREAD_H -#define BNCPPPTHREAD_H - -#include -#include - -#include - -#include "bncconst.h" -#include "t_time.h" -#include "RTCM/GPSDecoder.h" -#include "RTCM3/ephemeris.h" - -#define MAXPRN = - -class t_data { - public: - static const int MAXOBS = 56; - t_data() {numSat = 0;} - ~t_data() {} - t_time tt; - int numSat; - QString prn[MAXOBS+1]; - double C1[MAXOBS+1]; - double C2[MAXOBS+1]; - double P1[MAXOBS+1]; - double P2[MAXOBS+1]; - double L1[MAXOBS+1]; - double L2[MAXOBS+1]; -}; - -class t_corr { - public: - t_time tt; - int iod; - double dClk; - double rao[3]; -}; - -class bncPPPthread : public QThread { - Q_OBJECT - - public: - bncPPPthread(QByteArray staID); - - protected: - ~bncPPPthread(); - - public: - void terminate(); - void putNewObs(p_obs pp); - - signals: - void newMessage(QByteArray msg, bool showOnScreen); - - - protected: - virtual void run(); - - public slots: - void slotNewEphGPS(gpsephemeris gpseph); - void slotNewCorrections(QList corrList); - - private: - t_irc getSatPos(const t_time& tt, const QString& prn, - ColumnVector& xc, ColumnVector& vv); - void processEpoch(); - QByteArray _staID; - bool _isToBeDeleted; - QMutex _mutex; - QMap _eph; - QMap _corr; - t_data* _data; - t_data* _dataHlp; -}; - -#endif