Index: trunk/BNC/rinex/bncpostprocess.cpp =================================================================== --- trunk/BNC/rinex/bncpostprocess.cpp (revision 3721) +++ trunk/BNC/rinex/bncpostprocess.cpp (revision 3721) @@ -0,0 +1,185 @@ +// 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: t_postProcessing + * + * Purpose: Precise Point Positioning in Post-Processing Mode + * + * Author: L. Mervart + * + * Created: 22-Jan-2012 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include "bncpostprocess.h" +#include "bncapp.h" +#include "bncsettings.h" +#include "pppopt.h" +#include "bncpppclient.h" +#include "rinex/rnxobsfile.h" +#include "rnxnavfile.h" +#include "corrfile.h" +#include "bncsettings.h" +#include "bncutils.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_postProcessing::t_postProcessing(QObject* parent) : QThread(parent) { + _opt = new t_pppOpt(); + _rnxObsFile = 0; + _rnxNavFile = 0; + _corrFile = 0; + _pppClient = 0; + + bncSettings settings; + + QString outFileName = settings.value("postOutFile").toString(); + if (outFileName.isEmpty()) { + _outFile = 0; + _outStream = 0; + } + else { + expandEnvVar(outFileName); + _outFile = new QFile(outFileName); + _outFile->open(QIODevice::WriteOnly | QIODevice::Text); + _outStream = new QTextStream(); + _outStream->setDevice(_outFile); + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_postProcessing::~t_postProcessing() { + delete _pppClient; + delete _rnxNavFile; + delete _rnxObsFile; + delete _corrFile; + delete _opt; + delete _outStream; + delete _outFile; +} + +// Write a Program Message +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::slotMessage(QByteArray msg, bool /* showOnScreen */) { + if (_outStream) { + *_outStream << endl << msg; + _outStream->flush(); + } + else { + ((bncApp*) qApp)->slotMessage(msg, false); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_postProcessing::run() { + + if (_pppClient) { + return; + } + else { + _rnxObsFile = new t_rnxObsFile(_opt->obsFileName); + _rnxNavFile = new t_rnxNavFile(_opt->navFileName); + _pppClient = new bncPPPclient("POST", _opt, false); + + if (!_opt->corrFileName.isEmpty()) { + _corrFile = new t_corrFile(_opt->corrFileName); + connect(_corrFile, SIGNAL(newCorrections(QList)), + _pppClient, SLOT(slotNewCorrections(QList))); + } + + connect(_pppClient, SIGNAL(newMessage(QByteArray,bool)), + this, SLOT(slotMessage(const QByteArray,bool))); + } + + // Read Ephemerides + // ---------------- + t_eph* eph = 0; + while ( (eph = _rnxNavFile->getNextEph()) != 0 ) { + if (_pppClient->putNewEph(eph) != success) { + delete eph; eph = 0; + } + } + + // Read/Process Observations + // ------------------------- + int nEpo = 0; + const t_rnxObsFile::t_rnxEpo* epo = 0; + while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) { + ++nEpo; + + if (_corrFile) { + _corrFile->syncRead(epo->tt); + } + + for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { + const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; + t_obs obs; + strncpy(obs.StatID, _rnxObsFile->markerName().toAscii().constData(), + sizeof(obs.StatID)); + obs.satSys = rnxSat.satSys; + obs.satNum = rnxSat.satNum; + obs.GPSWeek = epo->tt.gpsw(); + obs.GPSWeeks = epo->tt.gpssec(); + for (int iType = 0; iType < _rnxObsFile->nTypes(obs.satSys); iType++) { + QByteArray type = _rnxObsFile->obsType(obs.satSys,iType).toAscii(); + if (type.indexOf("C1") == 0 && obs.C1 == 0.0) { + obs.C1 = rnxSat.obs[iType]; + } + else if (type.indexOf("P1") == 0 && obs.P1 == 0.0) { + obs.P1 = rnxSat.obs[iType]; + } + else if (type.indexOf("L1") == 0 && obs.L1C == 0.0) { + obs.L1C = rnxSat.obs[iType]; + } + else if (type.indexOf("C2") == 0 && obs.C2 == 0.0) { + obs.C2 = rnxSat.obs[iType]; + } + else if (type.indexOf("P2") == 0 && obs.P2 == 0.0) { + obs.P2 = rnxSat.obs[iType]; + } + else if (type.indexOf("L2") == 0 && obs.L2C == 0.0) { + obs.L2C = rnxSat.obs[iType]; + } + } + _pppClient->putNewObs(obs); + } + if (nEpo % 10 == 0) { + emit progress(nEpo); + } + } + + emit finished(); + deleteLater(); +} Index: trunk/BNC/rinex/bncpostprocess.h =================================================================== --- trunk/BNC/rinex/bncpostprocess.h (revision 3721) +++ trunk/BNC/rinex/bncpostprocess.h (revision 3721) @@ -0,0 +1,69 @@ +// 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 BNCPOSTPROCESS_H +#define BNCPOSTPROCESS_H + +#include +#include "bncconst.h" +extern "C" { +#include "rtcm3torinex.h" +} + +class t_pppOpt; +class bncPPPclient; +class t_rnxObsFile; +class t_rnxNavFile; +class t_corrFile; + +class t_postProcessing : public QThread { +Q_OBJECT + + public: + t_postProcessing(QObject* parent); + + protected: + ~t_postProcessing(); + + signals: + void progress(int); + void finished(); + + public slots: + void slotMessage(QByteArray msg, bool showOnScreen); + + public: + virtual void run(); + + private: + t_pppOpt* _opt; + bncPPPclient* _pppClient; + t_rnxObsFile* _rnxObsFile; + t_rnxNavFile* _rnxNavFile; + t_corrFile* _corrFile; + QFile* _outFile; + QTextStream* _outStream; +}; + +#endif Index: trunk/BNC/rinex/corrfile.cpp =================================================================== --- trunk/BNC/rinex/corrfile.cpp (revision 3721) +++ trunk/BNC/rinex/corrfile.cpp (revision 3721) @@ -0,0 +1,118 @@ +// 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: t_corrFile + * + * Purpose: Reads DGPS Correction File + * + * Author: L. Mervart + * + * Created: 12-Feb-2012 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include "corrfile.h" +#include "bncutils.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_corrFile::t_corrFile(QString fileName) { + expandEnvVar(fileName); + _file = new QFile(fileName); + _file->open(QIODevice::ReadOnly | QIODevice::Text); + _stream = new QTextStream(); + _stream->setDevice(_file); +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_corrFile::~t_corrFile() { + delete _stream; + delete _file; +} + +// Read till a given time +//////////////////////////////////////////////////////////////////////////// +void t_corrFile::syncRead(const bncTime& tt) { + + if (stopRead(tt)) { + return; + } + + QList corrs; + + if (!_lastLine.isEmpty()) { + corrs << _lastLine; + } + + while (_stream->status() == QTextStream::Ok && !_stream->atEnd()) { + QString line = _stream->readLine(); + if (line.isEmpty() || line[0] == '!') { + continue; + } + _lastLine = line; + + if (stopRead(tt)) { + if (corrs.size()) { + emit newCorrections(corrs); + } + return; + } + else { + corrs << _lastLine; + } + } +} + +// Read till a given time +//////////////////////////////////////////////////////////////////////////// +bool t_corrFile::stopRead(const bncTime& tt) { + + if (_lastLine.isEmpty()) { + return false; + } + + QTextStream in(_lastLine.toAscii(), QIODevice::ReadOnly); + int messageType, updateInterval, GPSweek; + double GPSweeks; + in >> messageType >> updateInterval >> GPSweek >> GPSweeks; + + bncTime tNew(GPSweek, GPSweeks); + + if (tNew >= tt) { + return true; + } + else { + return false; + } +} Index: trunk/BNC/rinex/corrfile.h =================================================================== --- trunk/BNC/rinex/corrfile.h (revision 3721) +++ trunk/BNC/rinex/corrfile.h (revision 3721) @@ -0,0 +1,50 @@ +// 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 CORRFILE_H +#define CORRFILE_H + +#include +#include "bncconst.h" +#include "bnctime.h" + +class t_corrFile : public QObject { + Q_OBJECT + + public: + t_corrFile(QString fileName); + ~t_corrFile(); + void syncRead(const bncTime& tt); + + signals: + void newCorrections(QList); + + private: + bool stopRead(const bncTime& tt); + QFile* _file; + QTextStream* _stream; + QString _lastLine; +}; + +#endif Index: trunk/BNC/rinex/rnxnavfile.cpp =================================================================== --- trunk/BNC/rinex/rnxnavfile.cpp (revision 3721) +++ trunk/BNC/rinex/rnxnavfile.cpp (revision 3721) @@ -0,0 +1,158 @@ +// 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: t_rnxNavFile + * + * Purpose: Reads RINEX Navigation File + * + * Author: L. Mervart + * + * Created: 24-Jan-2012 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include +#include +#include "rnxnavfile.h" +#include "bncutils.h" +#include "RTCM3/ephemeris.h" + +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_rnxNavFile::t_rnxNavHeader::t_rnxNavHeader() { + _version = 0.0; + _glonass = false; +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_rnxNavFile::t_rnxNavHeader::~t_rnxNavHeader() { +} + +// Read Header +//////////////////////////////////////////////////////////////////////////// +t_irc t_rnxNavFile::t_rnxNavHeader::read(QTextStream* stream) { + while (stream->status() == QTextStream::Ok && !stream->atEnd()) { + QString line = stream->readLine(); + if (line.isEmpty()) { + continue; + } + QString value = line.left(60).trimmed(); + QString key = line.mid(60).trimmed(); + if (key == "END OF HEADER") { + break; + } + else if (key == "RINEX VERSION / TYPE") { + QTextStream in(value.toAscii(), QIODevice::ReadOnly); + in >> _version; + if (value.indexOf("GLONASS") != -1) { + _glonass = true; + } + } + } + + return success; +} + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_rnxNavFile::t_rnxNavFile(QString fileName) { + expandEnvVar(fileName); + _file = new QFile(fileName); + _file->open(QIODevice::ReadOnly | QIODevice::Text); + _stream = new QTextStream(); + _stream->setDevice(_file); + _header.read(_stream); +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_rnxNavFile::~t_rnxNavFile() { + delete _stream; + delete _file; +} + +// Read Next Ephemeris +//////////////////////////////////////////////////////////////////////////// +t_eph* t_rnxNavFile::getNextEph() { + + t_eph* eph = 0; + + while (_stream->status() == QTextStream::Ok && !_stream->atEnd()) { + QString line = _stream->readLine(); + if (line.isEmpty()) { + continue; + } + QStringList hlp = line.split(QRegExp("\\s+"), QString::SkipEmptyParts); + QString prn; + if (version() >= 3.0) { + prn = hlp.at(0); + } + else { + if (glonass()) { + prn = QString("R%1").arg(hlp.at(0).toInt(), 2, 10, QChar('0')); + } + else { + prn = QString("G%1").arg(hlp.at(0).toInt(), 2, 10, QChar('0')); + } + } + QStringList lines; lines << line; + if (prn[0] == 'G') { + for (int ii = 1; ii < 8; ii++) { + lines << _stream->readLine(); + } + eph = new t_ephGPS(version(), lines); + } + else if (prn[0] == 'R') { + for (int ii = 1; ii < 4; ii++) { + lines << _stream->readLine(); + } + eph = new t_ephGlo(version(), lines); + } + else if (prn[0] == 'E') { + for (int ii = 1; ii < 8; ii++) { + lines << _stream->readLine(); + } + eph = new t_ephGal(version(), lines); + } + if (eph && eph->ok()) { + // ColumnVector xc(4); + // ColumnVector vv(3); + // eph->position(eph->GPSweek(), eph->GPSweeks(), xc.data(), vv.data()); + // cout << eph->prn().toAscii().data() << " " << xc.t(); + return eph; + } + } + + delete eph; + return 0; +} Index: trunk/BNC/rinex/rnxnavfile.h =================================================================== --- trunk/BNC/rinex/rnxnavfile.h (revision 3721) +++ trunk/BNC/rinex/rnxnavfile.h (revision 3721) @@ -0,0 +1,62 @@ +// 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 RNXNAVFILE_H +#define RNXNAVFILE_H + +#include +#include "bncconst.h" + +class t_pppOpt; +class bncPPPclient; +class t_eph; + +class t_rnxNavFile { + + class t_rnxNavHeader { + public: + t_rnxNavHeader(); + ~t_rnxNavHeader(); + t_irc read(QTextStream* stream); + float version() const {return _version;} + bool glonass() const {return _glonass;} + private: + float _version; + bool _glonass; + }; + + public: + t_rnxNavFile(QString fileName); + ~t_rnxNavFile(); + t_eph* getNextEph(); + float version() const {return _header.version();} + bool glonass() const {return _header.glonass();} + + private: + t_rnxNavHeader _header; + QFile* _file; + QTextStream* _stream; +}; + +#endif