Index: /trunk/BNC/upload/bncrtnetuploadcaster.cpp =================================================================== --- /trunk/BNC/upload/bncrtnetuploadcaster.cpp (revision 3222) +++ /trunk/BNC/upload/bncrtnetuploadcaster.cpp (revision 3222) @@ -0,0 +1,593 @@ +/* ------------------------------------------------------------------------- + * BKG NTRIP Server + * ------------------------------------------------------------------------- + * + * Class: bncUploadCaster + * + * Purpose: Connection to NTRIP Caster + * + * Author: L. Mervart + * + * Created: 29-Mar-2011 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include "bncuploadcaster.h" +#include "bncsettings.h" +#include "bncversion.h" +#include "bncapp.h" +#include "bncclockrinex.h" +#include "bncsp3.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +bncUploadCaster::bncUploadCaster(const QString& mountpoint, + const QString& outHost, int outPort, + const QString& password, + const QString& crdTrafo, bool CoM, + const QString& sp3FileName, + const QString& rnxFileName, + const QString& outFileName) { + bncSettings settings; + + connect(this, SIGNAL(newMessage(QByteArray,bool)), + ((bncApp*)qApp), SLOT(slotMessage(const QByteArray,bool))); + + _mountpoint = mountpoint; + _outHost = outHost; + _outPort = outPort; + _password = password; + _crdTrafo = crdTrafo; + _CoM = CoM; + + _outSocket = 0; + _sOpenTrial = 0; + + _isToBeDeleted = false; + + // Raw Output + // ---------- + if (!outFileName.isEmpty()) { + _outFile = new bncoutf(outFileName, "", 0); + } + else { + _outFile = 0; + } + + // RINEX writer + // ------------ + if (!rnxFileName.isEmpty()) { + _rnx = new bncClockRinex(rnxFileName, "", 0); + } + else { + _rnx = 0; + } + + // SP3 writer + // ---------- + if (!sp3FileName.isEmpty()) { + _sp3 = new bncSP3(sp3FileName, "", 0); + } + else { + _sp3 = 0; + } + + // Set Transformation Parameters + // ----------------------------- + if (_crdTrafo == "ETRF2000") { + _dx = 0.0541; + _dy = 0.0502; + _dz = -0.0538; + _dxr = -0.0002; + _dyr = 0.0001; + _dzr = -0.0018; + _ox = 0.000891; + _oy = 0.005390; + _oz = -0.008712; + _oxr = 0.000081; + _oyr = 0.000490; + _ozr = -0.000792; + _sc = 0.40; + _scr = 0.08; + _t0 = 2000.0; + } + else if (_crdTrafo == "NAD83") { + _dx = 0.9963; + _dy = -1.9024; + _dz = -0.5210; + _dxr = 0.0005; + _dyr = -0.0006; + _dzr = -0.0013; + _ox = 0.025915; + _oy = 0.009426; + _oz = 0.011599; + _oxr = 0.000067; + _oyr = -0.000757; + _ozr = -0.000051; + _sc = 0.78; + _scr = -0.10; + _t0 = 1997.0; + } + else if (_crdTrafo == "GDA94") { + _dx = -0.07973; + _dy = -0.00686; + _dz = 0.03803; + _dxr = 0.00225; + _dyr = -0.00062; + _dzr = -0.00056; + _ox = 0.0000351; + _oy = -0.0021211; + _oz = -0.0021411; + _oxr = -0.0014707; + _oyr = -0.0011443; + _ozr = -0.0011701; + _sc = 6.636; + _scr = 0.294; + _t0 = 1994.0; + } + else if (_crdTrafo == "SIRGAS2000") { + _dx = -0.0051; + _dy = -0.0065; + _dz = -0.0099; + _dxr = 0.0000; + _dyr = 0.0000; + _dzr = 0.0000; + _ox = 0.000150; + _oy = 0.000020; + _oz = 0.000021; + _oxr = 0.000000; + _oyr = 0.000000; + _ozr = 0.000000; + _sc = 0.000; + _scr = 0.000; + _t0 = 0000.0; + } + else if (_crdTrafo == "SIRGAS95") { + _dx = 0.0077; + _dy = 0.0058; + _dz = -0.0138; + _dxr = 0.0000; + _dyr = 0.0000; + _dzr = 0.0000; + _ox = 0.000000; + _oy = 0.000000; + _oz = -0.000030; + _oxr = 0.000000; + _oyr = 0.000000; + _ozr = 0.000000; + _sc = 1.570; + _scr = 0.000; + _t0 = 0000.0; + } + else if (_crdTrafo == "Custom") { + _dx = settings.value("trafo_dx").toDouble(); + _dy = settings.value("trafo_dy").toDouble(); + _dz = settings.value("trafo_dz").toDouble(); + _dxr = settings.value("trafo_dxr").toDouble(); + _dyr = settings.value("trafo_dyr").toDouble(); + _dzr = settings.value("trafo_dzr").toDouble(); + _ox = settings.value("trafo_ox").toDouble(); + _oy = settings.value("trafo_oy").toDouble(); + _oz = settings.value("trafo_oz").toDouble(); + _oxr = settings.value("trafo_oxr").toDouble(); + _oyr = settings.value("trafo_oyr").toDouble(); + _ozr = settings.value("trafo_ozr").toDouble(); + _sc = settings.value("trafo_sc").toDouble(); + _scr = settings.value("trafo_scr").toDouble(); + _t0 = settings.value("trafo_t0").toDouble(); + } + + // Member that receives the ephemeris + // ---------------------------------- + _ephUser = new bncEphUser(); +} + +// Safe Desctructor +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::deleteSafely() { + _isToBeDeleted = true; + if (!isRunning()) { + delete this; + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +bncUploadCaster::~bncUploadCaster() { + if (isRunning()) { + wait(); + } + delete _outFile; + delete _rnx; + delete _sp3; + delete _ephUser; +} + +// Endless Loop +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::run() { + while (true) { + if (_isToBeDeleted) { + QThread::quit(); + deleteLater(); + return; + } + open(); + uploadClockOrbitBias(); + msleep(10); + } +} + +// Start the Communication with NTRIP Caster +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::open() { + + if (_mountpoint.isEmpty()) { + return; + } + + if (_outSocket != 0 && + _outSocket->state() == QAbstractSocket::ConnectedState) { + return; + } + + delete _outSocket; _outSocket = 0; + + double minDt = pow(2.0,_sOpenTrial); + if (++_sOpenTrial > 4) { + _sOpenTrial = 4; + } + if (_outSocketOpenTime.isValid() && + _outSocketOpenTime.secsTo(QDateTime::currentDateTime()) < minDt) { + return; + } + else { + _outSocketOpenTime = QDateTime::currentDateTime(); + } + + bncSettings settings; + _outSocket = new QTcpSocket(); + _outSocket->connectToHost(_outHost, _outPort); + + const int timeOut = 5000; // 5 seconds + if (!_outSocket->waitForConnected(timeOut)) { + delete _outSocket; + _outSocket = 0; + emit(newMessage("Broadcaster: Connect timeout", true)); + return; + } + + QByteArray msg = "SOURCE " + _password.toAscii() + " /" + + _mountpoint.toAscii() + "\r\n" + + "Source-Agent: NTRIP BNC/" BNCVERSION "\r\n\r\n"; + + _outSocket->write(msg); + _outSocket->waitForBytesWritten(); + + _outSocket->waitForReadyRead(); + QByteArray ans = _outSocket->readLine(); + + if (ans.indexOf("OK") == -1) { + delete _outSocket; + _outSocket = 0; + emit(newMessage("Broadcaster: Connection broken", true)); + } + else { + emit(newMessage("Broadcaster: Connection opened", true)); + _sOpenTrial = 0; + } +} + +// Write buffer +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::write(char* buffer, unsigned len) { + if (_outSocket && _outSocket->state() == QAbstractSocket::ConnectedState) { + _outSocket->write(buffer, len); + _outSocket->flush(); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::decodeRtnetStream(char* buffer, int bufLen) { + + QMutexLocker locker(&_mutex); + + // Append to buffer + // ---------------- + const int MAXBUFFSIZE = 100000; + _rtnetStreamBuffer.append(QByteArray(buffer, bufLen)); + if (_rtnetStreamBuffer.size() > MAXBUFFSIZE) { + _rtnetStreamBuffer = _rtnetStreamBuffer.right(MAXBUFFSIZE); + } +} + +// Function called in separate thread +//////////////////////////////////////////////////////////////////////// +void bncUploadCaster::uploadClockOrbitBias() { + + QMutexLocker locker(&_mutex); + + // Prepare list of lines with satellite positions in SP3-like format + // ----------------------------------------------------------------- + QStringList lines; + int iLast = _rtnetStreamBuffer.lastIndexOf('\n'); + if (iLast != -1) { + QStringList hlpLines = _rtnetStreamBuffer.split('\n', QString::SkipEmptyParts); + _rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLast+1); + for (int ii = 0; ii < hlpLines.size(); ii++) { + if (hlpLines[ii].indexOf('*') != -1) { + lines.clear(); + QTextStream in(hlpLines[ii].toAscii()); + QString hlp; + int year, month, day, hour, min; + double sec; + in >> hlp >> year >> month >> day >> hour >> min >> sec; + _epoTime.set( year, month, day, hour, min, sec); + } + else if (_epoTime.valid()) { + lines << hlpLines[ii]; + } + } + } + + if (lines.size() == 0) { + return; + } + + unsigned year, month, day; + _epoTime.civil_date(year, month, day); + + struct ClockOrbit co; + memset(&co, 0, sizeof(co)); + co.GPSEpochTime = static_cast(_epoTime.gpssec()); + co.GLONASSEpochTime = static_cast(fmod(_epoTime.gpssec(), 86400.0)) + + 3 * 3600 - gnumleap(year, month, day); + co.ClockDataSupplied = 1; + co.OrbitDataSupplied = 1; + co.SatRefDatum = DATUM_ITRF; + + struct Bias bias; + memset(&bias, 0, sizeof(bias)); + bias.GPSEpochTime = co.GPSEpochTime; + bias.GLONASSEpochTime = co.GLONASSEpochTime; + + for (int ii = 0; ii < lines.size(); ii++) { + + QString prn; + ColumnVector xx(14); xx = 0.0; + + QTextStream in(lines[ii].toAscii()); + + in >> prn; + if (prn[0] == 'P') { + prn.remove(0,1); + } + + const bncEphUser::t_ephPair* ephPair = _ephUser->ephPair(prn); + if (ephPair) { + t_eph* eph = ephPair->last; + if (ephPair->prev && + eph->receptDateTime().secsTo(QDateTime::currentDateTime()) < 60) { + eph = ephPair->prev; + } + + in >> xx(1) >> xx(2) >> xx(3) >> xx(4) >> xx(5) + >> xx(6) >> xx(7) >> xx(8) >> xx(9) >> xx(10) + >> xx(11) >> xx(12) >> xx(13) >> xx(14); + xx(1) *= 1e3; // x-crd + xx(2) *= 1e3; // y-crd + xx(3) *= 1e3; // z-crd + xx(4) *= 1e-6; // clk + xx(5) *= 1e-6; // rel. corr. + // xx(6), xx(7), xx(8) ... PhaseCent - CoM + // xx(9) ... P1-C1 DCB in meters + // xx(10) ... P1-P2 DCB in meters + // xx(11) ... dT + xx(12) *= 1e3; // x-crd at time + dT + xx(13) *= 1e3; // y-crd at time + dT + xx(14) *= 1e3; // z-crd at time + dT + + 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) { + QString outLine; + processSatellite(eph, _epoTime.gpsw(), _epoTime.gpssec(), prn, + xx, sd, outLine); + if (_outFile) { + _outFile->write(_epoTime.gpsw(), _epoTime.gpssec(), outLine); + } + } + + struct Bias::BiasSat* biasSat = 0; + if (prn[0] == 'G') { + biasSat = bias.Sat + bias.NumberOfGPSSat; + ++bias.NumberOfGPSSat; + } + else if (prn[0] == 'R') { + biasSat = bias.Sat + CLOCKORBIT_NUMGPS + bias.NumberOfGLONASSSat; + ++bias.NumberOfGLONASSSat; + } + + // Coefficient of Ionosphere-Free LC + // --------------------------------- + const static double a_L1_GPS = 2.54572778; + const static double a_L2_GPS = -1.54572778; + const static double a_L1_Glo = 2.53125000; + const static double a_L2_Glo = -1.53125000; + + if (biasSat) { + biasSat->ID = prn.mid(1).toInt(); + biasSat->NumberOfCodeBiases = 3; + if (prn[0] == 'G') { + biasSat->Biases[0].Type = CODETYPEGPS_L1_Z; + biasSat->Biases[0].Bias = - a_L2_GPS * xx(10); + biasSat->Biases[1].Type = CODETYPEGPS_L1_CA; + biasSat->Biases[1].Bias = - a_L2_GPS * xx(10) + xx(9); + biasSat->Biases[2].Type = CODETYPEGPS_L2_Z; + biasSat->Biases[2].Bias = a_L1_GPS * xx(10); + } + else if (prn[0] == 'R') { + biasSat->Biases[0].Type = CODETYPEGLONASS_L1_P; + biasSat->Biases[0].Bias = - a_L2_Glo * xx(10); + biasSat->Biases[1].Type = CODETYPEGLONASS_L1_CA; + biasSat->Biases[1].Bias = - a_L2_Glo * xx(10) + xx(9); + biasSat->Biases[2].Type = CODETYPEGLONASS_L2_P; + biasSat->Biases[2].Bias = a_L1_Glo * xx(10); + } + } + } + } + + if (co.NumberOfGPSSat > 0 || co.NumberOfGLONASSSat > 0) { + char obuffer[CLOCKORBIT_BUFFERSIZE]; + + int len = MakeClockOrbit(&co, COTYPE_AUTO, 0, obuffer, sizeof(obuffer)); + if (len > 0) { + this->write(obuffer, len); + } + } + + if (bias.NumberOfGPSSat > 0 || bias.NumberOfGLONASSSat > 0) { + char obuffer[CLOCKORBIT_BUFFERSIZE]; + int len = MakeBias(&bias, BTYPE_AUTO, 0, obuffer, sizeof(obuffer)); + if (len > 0) { + this->write(obuffer, len); + } + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::processSatellite(t_eph* eph, int GPSweek, + double GPSweeks, const QString& prn, + const ColumnVector& xx, + struct ClockOrbit::SatData* sd, + QString& outLine) { + + const double secPerWeek = 7.0 * 86400.0; + + ColumnVector rsw(3); + ColumnVector rsw2(3); + double dClk; + + for (int ii = 1; ii <= 2; ++ii) { + + int GPSweek12 = GPSweek; + double GPSweeks12 = GPSweeks; + if (ii == 2) { + GPSweeks12 += xx(11); + if (GPSweeks12 > secPerWeek) { + GPSweek12 += 1; + GPSweeks12 -= secPerWeek; + } + } + + ColumnVector xB(4); + ColumnVector vv(3); + + eph->position(GPSweek12, GPSweeks12, xB.data(), vv.data()); + + ColumnVector xyz; + if (ii == 1) { + xyz = xx.Rows(1,3); + } + else { + xyz = xx.Rows(12,14); + } + + // Correction Center of Mass -> Antenna Phase Center + // ------------------------------------------------- + if (! _CoM) { + xyz(1) += xx(6); + xyz(2) += xx(7); + xyz(3) += xx(8); + } + + if (_crdTrafo != "IGS05") { + crdTrafo(GPSweek12, xyz); + } + + ColumnVector dx = xB.Rows(1,3) - xyz ; + + if (ii == 1) { + XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw); + dClk = (xx(4) + xx(5) - xB(4)) * 299792458.0; + } + else { + XYZ_to_RSW(xB.Rows(1,3), vv, dx, rsw2); + } + } + + if (sd) { + sd->ID = prn.mid(1).toInt(); + sd->IOD = eph->IOD(); + sd->Clock.DeltaA0 = dClk; + sd->Orbit.DeltaRadial = rsw(1); + sd->Orbit.DeltaAlongTrack = rsw(2); + sd->Orbit.DeltaCrossTrack = rsw(3); + sd->Orbit.DotDeltaRadial = (rsw2(1) - rsw(1)) / xx(11); + sd->Orbit.DotDeltaAlongTrack = (rsw2(2) - rsw(2)) / xx(11); + sd->Orbit.DotDeltaCrossTrack = (rsw2(3) - rsw(3)) / xx(11); + } + + outLine.sprintf("%d %.1f %s %3d %10.3f %8.3f %8.3f %8.3f\n", + GPSweek, GPSweeks, eph->prn().c_str(), + eph->IOD(), dClk, rsw(1), rsw(2), rsw(3)); + + if (_rnx) { + _rnx->write(GPSweek, GPSweeks, prn, xx); + } + if (_sp3) { + _sp3->write(GPSweek, GPSweeks, prn, xx); + } +} + +// Transform Coordinates +//////////////////////////////////////////////////////////////////////////// +void bncUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz) { + + // Current epoch minus 2000.0 in years + // ------------------------------------ + double dt = (GPSWeek - (1042.0+6.0/7.0)) / 365.2422 * 7.0 + 2000.0 - _t0; + + ColumnVector dx(3); + + dx(1) = _dx + dt * _dxr; + dx(2) = _dy + dt * _dyr; + dx(3) = _dz + dt * _dzr; + + static const double arcSec = 180.0 * 3600.0 / M_PI; + + double ox = (_ox + dt * _oxr) / arcSec; + double oy = (_oy + dt * _oyr) / arcSec; + double oz = (_oz + dt * _ozr) / arcSec; + + double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9; + + Matrix rMat(3,3); + rMat(1,1) = 1.0; + rMat(1,2) = -oz; + rMat(1,3) = oy; + rMat(2,1) = oz; + rMat(2,2) = 1.0; + rMat(2,3) = -ox; + rMat(3,1) = -oy; + rMat(3,2) = ox; + rMat(3,3) = 1.0; + + xyz = sc * rMat * xyz + dx; +} + Index: /trunk/BNC/upload/bncrtnetuploadcaster.h =================================================================== --- /trunk/BNC/upload/bncrtnetuploadcaster.h (revision 3222) +++ /trunk/BNC/upload/bncrtnetuploadcaster.h (revision 3222) @@ -0,0 +1,77 @@ +#ifndef BNCUPLOADCASTER_H +#define BNCUPLOADCASTER_H + +#include +#include "bncephuser.h" +#include "bnctime.h" + +class bncoutf; +class bncClockRinex; +class bncSP3; + +class bncUploadCaster : public QThread { + Q_OBJECT + public: + bncUploadCaster(const QString& mountpoint, + const QString& outHost, int outPort, + const QString& password, + const QString& crdTrafo, bool CoM, + const QString& sp3FileName, + const QString& rnxFileName, + const QString& outFileName); + protected: + virtual ~bncUploadCaster(); + public: + void deleteSafely(); + virtual void run(); + void decodeRtnetStream(char* buffer, int bufLen); + + signals: + void newMessage(const QByteArray msg, bool showOnScreen); + + private: + void open(); + void write(char* buffer, unsigned len); + void uploadClockOrbitBias(); + void processSatellite(t_eph* eph, int GPSweek, + double GPSweeks, const QString& prn, + const ColumnVector& xx, + struct ClockOrbit::SatData* sd, + QString& outLine); + void crdTrafo(int GPSWeek, ColumnVector& xyz); + + bncEphUser* _ephUser; + bool _isToBeDeleted; + QMutex _mutex; + QString _rtnetStreamBuffer; + bncTime _epoTime; + QString _mountpoint; + QString _outHost; + int _outPort; + QString _password; + QString _crdTrafo; + bool _CoM; + QTcpSocket* _outSocket; + int _sOpenTrial; + QDateTime _outSocketOpenTime; + double _dx; + double _dy; + double _dz; + double _dxr; + double _dyr; + double _dzr; + double _ox; + double _oy; + double _oz; + double _oxr; + double _oyr; + double _ozr; + double _sc; + double _scr; + double _t0; + bncoutf* _outFile; + bncClockRinex* _rnx; + bncSP3* _sp3; +}; + +#endif