Index: trunk/GnssCenter/thrift/test_rtnet/Makefile =================================================================== --- trunk/GnssCenter/thrift/test_rtnet/Makefile (revision 4938) +++ trunk/GnssCenter/thrift/test_rtnet/Makefile (revision 4938) @@ -0,0 +1,33 @@ + +BOOST_DIR = /usr/local/include +THRIFT_DIR = /usr/local/include/thrift +LIB_DIR = /usr/local/lib +DEFS = -DHAVE_INTTYPES_H -DHAVE_NETINET_IN_H + +INC = -I$(THRIFT_DIR) -I$(BOOST_DIR) + +GEN_SRC = client.cpp \ + gen-cpp/RtnetData.cpp \ + gen-cpp/rtnet_constants.cpp gen-cpp/rtnet_types.cpp \ + gen-cpp/rtnet_data_constants.cpp gen-cpp/rtnet_data_types.cpp + +GEN_OBJ = $(patsubst %.cpp,%.o, $(GEN_SRC)) + +.PHONY: all clean + +all: gen-cpp client + +gen-cpp: rtnet.thrift + thrift -r -gen cpp rtnet.thrift + +%.o: %.cpp + $(CXX) -Wall -DHAVE_INTTYPES_H -DHAVE_NETINET_IN_H $(INC) -c $< -o $@ + +## client: client.o $(GEN_OBJ) +## $(CXX) $^ -o $@ -L/usr/local/lib -lthrift + +client: client.o $(GEN_OBJ) + $(CXX) $^ -o $@ /usr/local/lib/libthrift.a + +clean: + $(RM) *.o gen-cpp/*.o client Index: trunk/GnssCenter/thrift/test_rtnet/client.cpp =================================================================== --- trunk/GnssCenter/thrift/test_rtnet/client.cpp (revision 4938) +++ trunk/GnssCenter/thrift/test_rtnet/client.cpp (revision 4938) @@ -0,0 +1,75 @@ + +#include +#include +#include + +#include +#include +#include + +#include "gen-cpp/RtnetData.h" + +using namespace apache::thrift; +using namespace apache::thrift::protocol; +using namespace apache::thrift::transport; + +using namespace com::gpssolutions::rtnet; +using namespace std; +using namespace boost; + +class RtnetClientHandler : public RtnetDataIf { + public: + RtnetClientHandler() {} + ~RtnetClientHandler() {} + void startDataStream() {} + void registerRtnet(const RtnetInformation& info) {} + void handleZDAmb(const vector& ambList) {} + void handleDDAmbresBaselines(const vector& ambList) {} + void handleStationInfo(const vector& stationList) {} + void handleStationAuxInfo(const vector& stationAuxList) {} + void handleDGPSCorr(const vector& dgpsList) {} + void handleSatelliteClock(const vector& svList) {} + void handleEpochResults(const RtnetEpoch& epoch) {} + + void handleSatelliteXYZ(const vector< SatelliteXYZ>& svXYZList); +}; + +void RtnetClientHandler:: +handleSatelliteXYZ(const vector& svXYZList) { + cout.setf(ios::fixed); + for (unsigned ii = 0; ii < svXYZList.size(); ii++) { + const SatelliteXYZ& sat = svXYZList[ii]; + cout << unsigned(sat.ID) << ' ' + << setprecision(3) << sat.xyz.x << ' ' + << setprecision(3) << sat.xyz.y << ' ' + << setprecision(3) << sat.xyz.z << endl; + } + cout << endl; +} + +int main(int argc, char **argv) { + + shared_ptr socket(new TSocket("localhost", 6666)); + shared_ptr transport(new TBufferedTransport(socket)); + shared_ptr protocol(new TBinaryProtocol(transport)); + shared_ptr dataHandler(new RtnetClientHandler()); + shared_ptr processor(new RtnetDataProcessor(dataHandler)); + + try { + transport->open(); + + while (processor->process(protocol,protocol,0)) {} + + transport->close(); + } + catch (TException& e) { + cerr << "Caught an exception generated by Thrift: " << e.what() << endl; + return 1; + } + catch (...) { + cerr << "Unknown exception" << endl; + return 1; + } + + return 0; +} Index: trunk/GnssCenter/thrift/test_rtnet/rtnet.thrift =================================================================== --- trunk/GnssCenter/thrift/test_rtnet/rtnet.thrift (revision 4938) +++ trunk/GnssCenter/thrift/test_rtnet/rtnet.thrift (revision 4938) @@ -0,0 +1,22 @@ +include "rtnet_data.thrift" + +namespace cpp com.gpssolutions.rtnet +namespace java com.gpssolutions.rtnet +namespace perl gpss + +service RtnetData { + // used for plots + oneway void startDataStream(), + oneway void registerRtnet(1: rtnet_data.RtnetInformation info), + oneway void handleZDAmb(1: list ambList), + oneway void handleDDAmbresBaselines(1: list ambList), + oneway void handleSatelliteXYZ(1: list svXYZList), + oneway void handleStationInfo(1: list stationList), + oneway void handleStationAuxInfo(1: list stationAuxList), + + // used for everything else + oneway void handleDGPSCorr(1: list dgpsList), + oneway void handleSatelliteClock(1: list svList), + oneway void handleEpochResults(1: rtnet_data.RtnetEpoch epoch) +} + Index: trunk/GnssCenter/thrift/test_rtnet/rtnet_data.thrift =================================================================== --- trunk/GnssCenter/thrift/test_rtnet/rtnet_data.thrift (revision 4938) +++ trunk/GnssCenter/thrift/test_rtnet/rtnet_data.thrift (revision 4938) @@ -0,0 +1,384 @@ +namespace cpp com.gpssolutions.rtnet +namespace java com.gpssolutions.rtnet +namespace perl gpss + +struct PosNEU { + 1: double n, // north (meters) + 2: double e, // east (meters) + 3: double u // up (meters) +} + +struct PosXYZ { + 1: double x, // x (meters) + 2: double y, // y (meters) + 3: double z // z (meters) +} + +struct StationInfo { + 1: string ID, + 2: PosNEU sigma0, + 3: PosNEU sigmaNoise, + 4: PosXYZ xyz, +} + +struct StationAuxInfo { + 1: string ID, + 2: string receiverID, + 3: string antennaID, + 4: PosNEU eccentricity, +} + +enum ConstellationType { + GPS = 1, + GLONASS = 2, + SBAS = 3, + GALILEO = 4, + QZSS = 5, + COMPASS = 6, +} + +// consider adding health flags +struct SatelliteXYZ { + 1: byte ID, + 2: ConstellationType constellation, + 3: PosXYZ xyz, +// 4: double lon, // SC: Not needed +// 5: double lat, // SC: Not needed + 6: bool used, // was satellite used in processing anywhere? +} + +enum FrequencyType { + // GPS phase + Gp1=1, + Gp2=2, + Gp5=3, + GpIF=4, + GpGF=5, + GpWL=6, + GpMW=7, + + // Galileo phase + Ep1=8, + Ep5=9, + Ep6=10, + Ep7=11, + Ep8=12, + EpIF=13, + EpGF=14, + EpWL=15, + EpMW=16, + + // GLONASS phase + Rp1=17, + Rp2=18, + RpIF=19, + RpGF=20, + RpWL=21, + RpMW=22, + + // GPS code + Gc1=23, + Gc2=24, + Gc5=25, + GcIF=26, + GcGF=27, + + // Galileo code + Ec1=28, + Ec5=29, + Ec6=30, + Ec7=31, + Ec8=32, + EcIF=33, + EcGF=34, + + // GLONASS code + Rc1=35, + Rc2=36, + RcIF=37, + RcGF=38, + + // GPS doppler + Gd1=39, + Gd2=40, +} + +struct ZDAmb { + 1: byte satelliteID, + 2: ConstellationType constellation, + 3: string stationID, + 4: FrequencyType frequency, + 5: bool constrainedFlag, + 6: i16 duration, + 7: bool hasObsFlag, + 10: bool isNewAmb, + 11: bool isResetAmbL1p, + 12: bool isResetAmbClock, + 8: optional double azimuth, + 9: optional double elevation, +} + +enum AmbresStatus +{ + AmbFloat = 1, + AmbFixed = 2, + AmbDumped = 3 +} + +struct DDAmbres +{ + 1: byte satelliteID, + 2: ConstellationType constellation, + 3: AmbresStatus statusFlag, + 4: bool hasObsFlag, +} + +struct DDAmbresBaseline +{ + 1: string stationID_1, + 2: string stationID_2, + 3: bool redundant, + 4: optional list wideLaneStatisticList, + 5: optional list narrowLaneStatisticList, + 6: optional list l1StatisticList, + 7: optional list l2StatisticList, +} + +/*struct DDAmbresStatistic { + 1: list baselineList +}*/ + +/** + * Stores information about rtnet job. + * For now, it only stores the rtnet job's name (should be unique). + * Eventually, may store other useful information such as the + * input file contents, the name of who started the job, etc. + */ +struct RtnetInformation { + 1: string jobName +} + +// Data needed for plots + +struct SatelliteClock { + 1: byte satelliteID, + 2: ConstellationType constellation, + 3: double clock, // satellite clock estimate (s) + 4: double clock_err, // satellite clock error (s) +} + +struct DGPSCorr { + 1: byte satelliteID, + 2: ConstellationType constellation, + 5: double fkpN, // FKP non-dispersive correction, N-S gradient + 6: double fkpE, // FKP non-dispersive correction, E-W gradient + 10: i16 nsdfix, // number of stations with fixed ZD ambiguity + 11: i16 nsta, // number of stations + 12: i16 cjumpCnt, // correction jump counter + 13: double deltaMW, // MW bias + 14: double deltaP3, // P3 bias + 15: double te0, // vertical TEC + 16: double teN, // vertical TEC, N-S gradient + 17: double teE, // vertical TEC, E-W gradient + 18: double teNN, // vertical TEC, gradient, 2nd order + 19: double teEE, // vertical TEC, gradient, 2nd order + 20: double teNE, // vertical TEC, gradient, 2nd order + } + +enum SolutionQuality { + NoData=0, // No data for receiver for the epoch. In network mode, may also mean + // unable to create a baseline to a fixed station. + LowNsv=1, // Not enough SVs or solution has very high formal error + NoCorrection=2, // Have a solution but no correction values (legacy from P4) + HighRMS=3, // Have a solution with correction values, but the RMS is high + LowRMS=4, // Have a solution with correction values with a good RMS +} + +struct StationPosition { + 1: double x, // x position (m) (a-priori + estimate) + 2: double xe, // x error (m) + 3: double y, // y position (m) (a-priori + estimate) + 4: double ye, // y error (m) + 5: double z, // z position (m) (a-priori + estimate) + 6: double ze, // z error (m) + 7: double eh, // ellipsoid height (m) + 8: double ehe, // ellipsoid height error (m) + 9: double dn, // north position (m) + 10: double dne, // north position error (m) + 11: double de, // east position (m) + 12: double dee, // east position error (m) + 13: double dh, // height position (m) + 14: double dhe, // height position error (m) + 15: double GDOP, // (m) + 16: double PDOP, // (m) + 17: byte nsv_gps_used, // number of GPS satellites used in position calculation + 18: byte nsv_glonass_used, // number of GLONASS satellites used in position calculation + 20: byte nsv_galileo_used, // number of Galileo satellites used in position calculation + 21: byte nsv_qzss_used, // number of QZSS satellites used in position calculation + 19: SolutionQuality qFlag, // flag used to estimate quality of solution +} + +struct SatelliteEleAzi { + 1: byte ID, // satellite PRN/slot number + 2: ConstellationType constellation, + 3: double elevation, // elevation in degrees + 4: double azimuth // azimuth in degrees +} + +enum LinearCombination { + L1 = 1, + L2 = 2, + L3 = 3, + L1L2 = 4, + IF = 5, + GF = 6, + MW = 7, + MWIF = 8, + PL = 9, // (P1+L1)/2 (ionospheric-free) + WL = 10, +} + +enum ProcessedLC { + Gp1, Gp2, Gp5, GpIF, GpGF, GpWL, GpMW, // GPS Phase + Ep1, Ep5, Ep6, Ep7, Ep8, EpIF, EpGF, EpWL, EpMW, // Galileo Phase + Rp1, Rp2, RpIF, RpGF, RpWL, RpMW, // Glonass Phase + Gc1, Gc2, Gc5, GcIF, GcGF, // GPS Code + Ec1, Ec5, Ec6, Ec7, Ec8, EcIF, EcGF, // Galileo Code + Rc1, Rc2, RcIF, RcGF, // Glonass Code + Gd1, Gd2, // GPS Doppler + GpPL, // GPS (P1+L1)/2 + RpPL, // GLONASS (P1+L1)/2 + invalidLC +} + +struct ObservationMarkCount { + 1: byte n_mark_none, // 0 (not marked) + 2: byte n_mark_mis, // 1 (missing marked -- if processing dual-frequency data, marked if one frequency is missing) + 3: byte n_mark_ele, // 2 (elevation marked) + 4: byte n_mark_cor, // 3 (DGPS correction marked) + 5: byte n_mark_orb, // 4 (orbit marked) + 6: byte n_mark_unp, // 5 (unpaired observable between LC1 and LC2) + 7: byte n_mark_ca, // 6 (CA marked) + 8: byte n_mark_out, // 7 (outlier) + 9: byte n_mark_crx, // 8 (SATCRUX marked) + 10: byte n_mark_iod, // 9 (not used by current version of rtnet) + 11: byte n_mark_dcb, // 10 (satellite DCB marked) + 12: byte n_mark_few, // 11 (not used by current version of rtnet) + 13: byte n_mark_blu, // 12 (blunder marked -- something to do with outlier detection. Perhaps if set, internal logic error in rtnet?) + 14: byte n_mark_ban, // 13 (not enough satellites for Bancroft solution) + 15: byte n_mark_l1m, // 14 (L1 missing) + 16: byte n_mark_l1i, // 15 (not used by current version of rtnet) + 17: byte n_mark_ion, // 16 (ionospheric delay marked) + 18: byte n_mark_trp, // 17 (troposphere marked) + 19: byte n_mark_glo, // 18 (GLONASS phase marked because channel number is unknown) + 20: byte n_mark_exc, // 19 (satellite excluded from processing by user or because satellite is unhealthy) + 21: byte n_mark_hlt, // 20 (not used by current version of rtnet) + 22: byte n_mark_old, // 21 (marked because orbit is too old) + 23: byte n_mark_rho, // 22 (computing range to satellite failed--solution did not converge) + 24: byte n_mark_oth, // 23 (other marked) +} + +struct SvResidualInfo { + 1: byte ID, // satellite PRN/slot number + 2: ConstellationType constellation, + 3: double residual, // meters +} + +struct ResidualInfo { + 1: ProcessedLC lc, + 2: double meanResid, + 3: double pv, + 4: list svResid, +} + +struct StationResults { + 1: string stationName, + 2: LinearCombination lc, // linear combination of solution + // number of observations + 3: byte n_p1, // # of P1 observations + 4: byte n_l1, // # of L1 observations + 5: byte n_p2, // # of P2 observations + 6: byte n_l2, // # of L2 observations + 7: byte n_g1, // # of G1 observations (GLONASS P1) + 8: byte n_g2, // # of G2 observations (GLONASS P2) + 9: list svPosList, // list of satellites used in calculation + 10: double rcv_clk, // receiver clock (m) + 11: double rcv_clke, // receiver clock error (m) + 12: double GDOP, // GDOP obtained with satellites used in processing + 13: double PDOP, // PDOP obtained with satellites used in processing + 24: byte nsv_gps_used, // number of GPS satellites used in processing + 25: byte nsv_glonass_used, // number of GLONASS satellites used in processing + 26: byte nsv_galileo_used, // number of Galileo satellites used in processing + 27: byte nsv_qzss_used, // number of QZSS satellites used in processing + // number of observations for each mark (including mark_none, ie, not marked) + 14: ObservationMarkCount n_mark_p1, + 15: ObservationMarkCount n_mark_l1, + 16: ObservationMarkCount n_mark_p2, + 17: ObservationMarkCount n_mark_l2, + 18: ObservationMarkCount n_mark_l3, + // station position and estimates + 19: optional StationPosition filtered_result, // primary position solution (optional because station could be fixed) + 20: optional StationPosition se_result, // single epoch result + // troposphere data + 21: optional double ztd, // zenith delay (m) + 22: optional double ztde, // zenith delay error (m) + 23: list residList, // residual information for each LC +} +// satellite elevation and azimuth (list) + +enum MissingEpochData +{ + NoError = 0, // solution was generated + MissingAllStationObservation = 1, // no station observations available + MissingOrbit = 2, // no orbit information available + MissingCorrection = 3, // correction is unavailable + KalmanFilterFailed = 4, // Kalman filter step failed +} + +enum MissingStationData +{ + NoError = 0, // station could be processed + StationFixed = 1, // no position result because station is fixed + MissingStationObservation = 2, // no observations available for station + TooFewBancroft = 3, // not enough satellites to generate Bancroft solution + MissingStationInfo = 4, // station missing from coordinate file + MissingAntennaInfo = 5, // station's antenna not present in ATX file + // (if this is an immediate error by rtnet, this flag isn't needed) + StationUserMarked = 6, // station was removed from processing by user +} + +struct RtnetEpoch { + 1: i16 mjlDay, // MJL day of epoch + 2: i32 msecDay, // time of day (msec) + 3: list stationResultList, // set for each linear combination + 4: MissingEpochData missing, // set to NoError if data is present, + // otherwise solution could not be generated because of specified reason + 5: map dataAvailableList, // flag for each station in STALIST + 6: i32 processTime, // process time (dt), msec + 7: i32 compTime, // computation time (dt_proc), msec + 8: i32 latency, // latency, msec +} + +// Needed for plots +//Per station data: +//X Troposphere: quality flag, ztda, ztd, ztde +//X Number of observations per station (ie, # P1, # L1, # L2, # G1, etc) +//X GDOP, PDOP, # sv_used +//X mres, pv, res_code_flag +//X x, xi, xe, y, yi, ye, z, zi, ze, dn, dne, de, dee, dh, dhe +//X receiver clk, clki, clke +//List of satellites used +//# new ambiguities, # clock resets, # L1 ambiguity resets + +//# of each mark flag for P1, L1 and L2 +//-- so perhaps 10 mark 0s for P1, 2 mark 3s for P1, 10 mark 0s for L1, etc. + +// other ideas: +// Send basic input file information or entire input file. +// Send current file used for orbits (or host/port if using external orbits). + + +//---- +//Data latency per epoch. Processing time per step. +//slant delay (maybe same as mres) (per station, per satellite, per LC, per epoch) +