Index: /trunk/BNC/src/PPP/pppRun.cpp =================================================================== --- /trunk/BNC/src/PPP/pppRun.cpp (revision 5883) +++ /trunk/BNC/src/PPP/pppRun.cpp (revision 5883) @@ -0,0 +1,426 @@ + +// 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_pppRun + * + * Purpose: Single Real-Time PPP Client + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + + +#include +#include +#include +#include + +#include "pppRun.h" +#include "bnccore.h" +#include "bncephuser.h" +#include "rinex/rnxobsfile.h" +#include "rinex/rnxnavfile.h" +#include "rinex/corrfile.h" + +using namespace BNC_PPP; +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_pppRun::t_pppRun(const t_pppOptions* opt) { + + _opt = opt; + + connect(this, SIGNAL(newMessage(QByteArray,bool)), + BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); + + connect(this, SIGNAL(newPosition(bncTime, QVector)), + BNC_CORE, SIGNAL(newPosition(bncTime, QVector))); + + for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) { + _lastOrbCorrIOD[iPrn] = -1; + _lastClkCorrValue[iPrn] = 0.0; + } + + _pppClient = new t_pppClient(_opt); + + if (_opt->_realTime) { + connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList)), + this, SLOT(slotNewObs(QByteArray, QList))); + + connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)), + this, SLOT(slotNewEphGPS(gpsephemeris))); + + connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)), + this, SLOT(slotNewEphGlonass(glonassephemeris))); + + connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)), + this, SLOT(slotNewEphGalileo(galileoephemeris))); + + connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), + this, SLOT(slotNewCorrections(QStringList))); + } + else { + processFiles(); + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_pppRun::~t_pppRun() { +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotNewEphGPS(gpsephemeris gpseph) { + QMutexLocker locker(&_mutex); + t_ephGPS eph; + eph.set(&gpseph); + _pppClient->putEphemeris(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotNewEphGlonass(glonassephemeris gloeph) { + QMutexLocker locker(&_mutex); + t_ephGlo eph; + eph.set(&gloeph); + _pppClient->putEphemeris(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotNewEphGalileo(galileoephemeris galeph) { + QMutexLocker locker(&_mutex); + t_ephGal eph; + eph.set(&galeph); + _pppClient->putEphemeris(&eph); +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotNewObs(QByteArray staID, QList obsList) { + QMutexLocker locker(&_mutex); + + if (string(staID.data()) != _opt->_roverName) { + return; + } + + // Loop over all obsevations (possible different epochs) + // ----------------------------------------------------- + QListIterator it(obsList); + while (it.hasNext()) { + const t_obs& oldObs = it.next(); + t_satObs* newObs = new t_satObs; + + newObs->_prn.set(oldObs.satSys, oldObs.satNum); + newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks); + + // Find the corresponding data epoch or create a new one + // ----------------------------------------------------- + t_epoData* epoch = 0; + deque::const_iterator it; + for (it = _epoData.begin(); it != _epoData.end(); it++) { + if (newObs->_time == (*it)->_time) { + epoch = *it; + break; + } + } + if (epoch == 0) { + if (_epoData.empty() || newObs->_time > _epoData.back()->_time) { + epoch = new t_epoData; + epoch->_time = newObs->_time; + _epoData.push_back(epoch); + } + } + + // Fill the new observation and add it to the corresponding epoch + // -------------------------------------------------------------- + if (epoch != 0) { + epoch->_satObs.push_back(newObs); + map frqObsMap; + for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) { + string hlp(oldObs.rnxStr(iEntry).toAscii().data()); + if (hlp.length() == 3) { + char obsType = hlp[0]; + string rnxType2ch = hlp.substr(1); + if (obsType == 'C' || obsType == 'L') { + t_frqObs* frqObs = 0; + if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) { + frqObs = new t_frqObs(); + frqObsMap[rnxType2ch] = frqObs; + frqObs->_rnxType2ch = rnxType2ch; + newObs->_obs.push_back(frqObs); + } + else { + frqObs = frqObsMap[rnxType2ch]; + } + if (obsType == 'C') { + frqObs->_code = oldObs._measdata[iEntry]; + frqObs->_codeValid = true; + } + else if (obsType == 'L') { + frqObs->_phase = oldObs._measdata[iEntry]; + frqObs->_phaseValid = true; + } + } + } + } + } + } + + // Process the oldest epochs + // ------------------------ + while (_epoData.size() && _epoData.front()->_time < _lastClkCorrTime + 10.0) { + + const vector& satObs = _epoData.front()->_satObs; + + t_output output; + _pppClient->processEpoch(satObs, &output); + + if (!output._error && _opt->xyzAprRoverSet()) { + QVector xx(6); + xx.data()[0] = output._xyzRover[0]; + xx.data()[1] = output._xyzRover[1]; + xx.data()[2] = output._xyzRover[2]; + xx.data()[3] = output._neu[0]; + xx.data()[4] = output._neu[1]; + xx.data()[5] = output._neu[2]; + emit newPosition(output._epoTime, xx); + } + + delete _epoData.front(); _epoData.pop_front(); + + emit newMessage(QByteArray(output._log.c_str()), true); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotNewCorrections(QStringList corrList) { + QMutexLocker locker(&_mutex); + + if (_opt->_corrMount.empty()) { + return; + } + + // Check the Mountpoint (source of corrections) + // -------------------------------------------- + QMutableListIterator itm(corrList); + while (itm.hasNext()) { + QStringList hlp = itm.next().split(" "); + if (hlp.size() > 0) { + QString mountpoint = hlp[hlp.size()-1]; + if (mountpoint != QString(_opt->_corrMount.c_str())) { + itm.remove(); + } + } + } + + if (corrList.size() == 0) { + return; + } + + vector orbCorr; + vector clkCorr; + vector satBias; + + QListIterator it(corrList); + while (it.hasNext()) { + QString line = it.next(); + + QTextStream in(&line); + int messageType; + int updateInterval; + int GPSweek; + double GPSweeks; + QString prn; + in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; + + if ( t_corr::relevantMessageType(messageType) ) { + t_corr corr; + corr.readLine(line); + if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || + messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) { + t_orbCorr* cc = new t_orbCorr(); + cc->_prn.set(corr.prn.toAscii().data()); + cc->_iod = corr.iod; + cc->_time = corr.tRao; + cc->_system = 'R'; + cc->_xr[0] = corr.rao[0]; + cc->_xr[1] = corr.rao[1]; + cc->_xr[2] = corr.rao[2]; + cc->_dotXr[0] = corr.dotRao[0]; + cc->_dotXr[0] = corr.dotRao[1]; + cc->_dotXr[0] = corr.dotRao[2]; + orbCorr.push_back(cc); + + _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod; + } + else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || + messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) { + t_clkCorr* cc = new t_clkCorr(); + cc->_prn.set(corr.prn.toAscii().data()); + cc->_iod = corr.iod; + cc->_time = corr.tClk; + cc->_dClk = corr.dClk; + cc->_dotDClk = corr.dotDClk; + cc->_dotDotDClk = corr.dotDotDClk; + cc->_clkPartial = 0.0; + if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) { + int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()]; + if (lastIOD != -1) { + cc->_iod = lastIOD; + } + else { + delete cc; + cc = 0; + } + } + if (cc) { + clkCorr.push_back(cc); + if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) { + _lastClkCorrTime = cc->_time; + } + } + } + } + else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) { + t_bias bias; + bias.readLine(line); + } + } + + _pppClient->putOrbCorrections(orbCorr); + _pppClient->putClkCorrections(clkCorr); + _pppClient->putBiases(satBias); + + for (unsigned ii = 0; ii < orbCorr.size(); ii++) { + delete orbCorr[ii]; + } + for (unsigned ii = 0; ii < clkCorr.size(); ii++) { + delete clkCorr[ii]; + } + for (unsigned ii = 0; ii < satBias.size(); ii++) { + delete satBias[ii]; + } +} + + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::processFiles() { + + try { + _rnxObsFile = new t_rnxObsFile(_opt->obsFileName, t_rnxObsFile::input); + } + catch (...) { + delete _rnxObsFile; _rnxObsFile = 0; + emit finished(); + return; + } + + _rnxNavFile = new t_rnxNavFile(_opt->navFileName, t_rnxNavFile::input); + _pppClient = new bncPPPclient("POST", _opt, false); + + if (!_opt->corrFileName.isEmpty()) { + _corrFile = new t_corrFile(_opt->corrFileName); + connect(_corrFile, SIGNAL(newCorrections(QStringList)), + _pppClient, SLOT(slotNewCorrections(QStringList))); + } + + // Read/Process Observations + // ------------------------- + int nEpo = 0; + const t_rnxObsFile::t_rnxEpo* epo = 0; + while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) { + ++nEpo; + + if (_maxSpeed != 0) { + QMutexLocker locker(&_mutex); + if (_speed < _maxSpeed) { + double sleepTime = 0.02 * _maxSpeed / _speed; + msleep(sleepTime*1.e3); + } + } + + // Get Corrections + // --------------- + if (_corrFile) { + _corrFile->syncRead(epo->tt); + } + + // Get Ephemerides + // ---------------- + t_eph* eph = 0; + const QMap* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0; + while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) { + if (_pppClient->putNewEph(eph) != success) { + delete eph; eph = 0; + } + } + + for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { + + if (_isToBeDeleted) { + QThread::exit(0); + return; + } + + const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; + + t_obs obs; + t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); + + _pppClient->putNewObs(obs); + } + if (nEpo % 10 == 0) { + emit progress(nEpo); + } + } + + if (BNC_CORE->mode() != t_bncCore::interactive) { + qApp->exit(0); + } + else { + emit finished(); + deleteLater(); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotSetSpeed(int speed) { + QMutexLocker locker(&_mutex); + _speed = speed; +} Index: /trunk/BNC/src/PPP/pppRun.h =================================================================== --- /trunk/BNC/src/PPP/pppRun.h (revision 5883) +++ /trunk/BNC/src/PPP/pppRun.h (revision 5883) @@ -0,0 +1,68 @@ +#ifndef PPPRUN_H +#define PPPRUN_H + +#include +#include +#include + +#include "GPSDecoder.h" +#include "pppOptions.h" +#include "pppClient.h" + +class t_rnxObsFile; +class t_rnxNavFile; +class t_corrFile; + +namespace BNC_PPP { + +class t_pppRun : public QObject { + Q_OBJECT + public: + t_pppRun(const t_pppOptions* opt); + ~t_pppRun(); + + void processFiles(); + + signals: + void newMessage(QByteArray msg, bool showOnScreen); + void newPosition(bncTime time, QVector xx); + void newNMEAstr(QByteArray str); + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); + void slotNewEphGlonass(glonassephemeris gloeph); + void slotNewEphGalileo(galileoephemeris galeph); + void slotNewCorrections(QStringList corrList); + void slotNewObs(QByteArray staID, QList obsList); + + private: + class t_epoData { + public: + t_epoData() {} + ~t_epoData() { + for (unsigned ii = 0; ii < _satObs.size(); ii++) { + delete _satObs[ii]; + } + } + bncTime _time; + std::vector _satObs; + }; + + QMutex _mutex; + const t_pppOptions* _opt; + t_pppClient* _pppClient; + std::deque _epoData; + int _lastOrbCorrIOD[t_prn::MAXPRN+1]; + double _lastClkCorrValue[t_prn::MAXPRN+1]; + bncTime _lastClkCorrTime; + + t_rnxObsFile* _rnxObsFile; + t_rnxNavFile* _rnxNavFile; + t_corrFile* _corrFile; + int _maxSpeed; + int _speed; +}; + +} + +#endif Index: unk/BNC/src/PPP/pppRunPostProc.cpp =================================================================== --- /trunk/BNC/src/PPP/pppRunPostProc.cpp (revision 5882) +++ (revision ) @@ -1,233 +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: t_postProcessing - * - * Purpose: Precise Point Positioning in Post-Processing Mode - * - * Author: L. Mervart - * - * Created: 22-Jan-2012 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include -#include "bncpostprocess.h" -#include "bnccore.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, int maxSpeed, int speed) : QThread(parent) { - - _maxSpeed = maxSpeed; - _speed = speed; - _opt = new t_pppOpt(); - _rnxObsFile = 0; - _rnxNavFile = 0; - _corrFile = 0; - _pppClient = 0; - _isToBeDeleted = false; - - 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 { - BNC_CORE->slotMessage(msg, false); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::terminate() { - _isToBeDeleted = true; - if (!isRunning()) { - delete this; - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::run() { - - if (_pppClient) { - return; - } - else { - try { - _rnxObsFile = new t_rnxObsFile(_opt->obsFileName, t_rnxObsFile::input); - } - catch (...) { - delete _rnxObsFile; _rnxObsFile = 0; - emit finished(); - return; - } - _rnxNavFile = new t_rnxNavFile(_opt->navFileName, t_rnxNavFile::input); - _pppClient = new bncPPPclient("POST", _opt, false); - - if (!_opt->corrFileName.isEmpty()) { - _corrFile = new t_corrFile(_opt->corrFileName); - connect(_corrFile, SIGNAL(newCorrections(QStringList)), - _pppClient, SLOT(slotNewCorrections(QStringList)), - Qt::DirectConnection); - } - - connect(_pppClient, SIGNAL(newMessage(QByteArray,bool)), - this, SLOT(slotMessage(const QByteArray,bool))); - qRegisterMetaType("bncTime"); - connect(_pppClient, SIGNAL(newPosition(bncTime, QVector)), - this, SIGNAL(newPosition(bncTime, QVector))); - } - - // Read/Process Observations - // ------------------------- - int nEpo = 0; - const t_rnxObsFile::t_rnxEpo* epo = 0; - while ( (epo = _rnxObsFile->nextEpoch()) != 0 ) { - ++nEpo; - - if (_maxSpeed != 0) { - QMutexLocker locker(&_mutex); - if (_speed < _maxSpeed) { - double sleepTime = 0.02 * _maxSpeed / _speed; - msleep(sleepTime*1.e3); - } - } - - // Get Corrections - // --------------- - if (_corrFile) { - _corrFile->syncRead(epo->tt); - } - - // Get Ephemerides - // ---------------- - t_eph* eph = 0; - const QMap* corrIODs = _corrFile ? &_corrFile->corrIODs() : 0; - while ( (eph = _rnxNavFile->getNextEph(epo->tt, corrIODs)) != 0 ) { - if (_pppClient->putNewEph(eph) != success) { - delete eph; eph = 0; - } - } - - for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { - - if (_isToBeDeleted) { - QThread::exit(0); - return; - } - - const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; - - t_obs obs; - t_postProcessing::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); - - // Get Glonass Channel Number - // ------------------------- - bool obsOK = true; - if (obs.satSys == 'R') { - QString prn = QString("%1%2").arg(obs.satSys) - .arg(obs.satNum, 2, 10, QChar('0')); - const bncEphUser::t_ephPair* ephPair = _pppClient->ephPair(prn); - if (ephPair && ephPair->last) { - obs.slotNum = ((t_ephGlo*) ephPair->last)->slotNum(); - } - else { - obsOK = false; - } - } - - // Put the new Observation to the Client - // ------------------------------------- - if (obsOK) { - _pppClient->putNewObs(obs); - } - } - if (nEpo % 10 == 0) { - emit progress(nEpo); - } - } - - if (BNC_CORE->mode() != t_bncCore::interactive) { - qApp->exit(0); - } - else { - emit finished(); - deleteLater(); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_postProcessing::slotSetSpeed(int speed) { - QMutexLocker locker(&_mutex); - _speed = speed; -} Index: unk/BNC/src/PPP/pppRunPostProc.h =================================================================== --- /trunk/BNC/src/PPP/pppRunPostProc.h (revision 5882) +++ (revision ) @@ -1,75 +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 BNCPOSTPROCESS_H -#define BNCPOSTPROCESS_H - -#include -#include "bncconst.h" -#include "rnxobsfile.h" -extern "C" { -#include "rtcm3torinex.h" -} - -class t_pppOpt; -class bncPPPclient; -class t_rnxNavFile; -class t_corrFile; -class t_obs; - -class t_postProcessing : public QThread { -Q_OBJECT - - public: - t_postProcessing(QObject* parent, int maxSpeed, int speed); - ~t_postProcessing(); - - signals: - void progress(int); - void finished(); - void newPosition(bncTime time, QVector xx); - - public slots: - void slotMessage(QByteArray msg, bool showOnScreen); - void slotSetSpeed(int speed); - - public: - virtual void run(); - void terminate(); - - private: - t_pppOpt* _opt; - bncPPPclient* _pppClient; - t_rnxObsFile* _rnxObsFile; - t_rnxNavFile* _rnxNavFile; - t_corrFile* _corrFile; - QFile* _outFile; - QTextStream* _outStream; - bool _isToBeDeleted; - int _maxSpeed; - int _speed; - QMutex _mutex; -}; - -#endif Index: unk/BNC/src/PPP/pppRunRealTime.cpp =================================================================== --- /trunk/BNC/src/PPP/pppRunRealTime.cpp (revision 5882) +++ (revision ) @@ -1,331 +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: t_pppRunRealTime - * - * Purpose: Single Real-Time PPP Client - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - - -#include -#include -#include -#include - -#include "pppRunRealTime.h" -#include "bnccore.h" -#include "bncephuser.h" - -using namespace BNC_PPP; -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_pppRunRealTime::t_pppRunRealTime(const t_pppOptions* opt) { - _opt = opt; - connect(this, SIGNAL(newMessage(QByteArray,bool)), - BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); - if (_opt->_realTime) { - connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList)), - this, SLOT(slotNewObs(QByteArray, QList))); - - connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)), - this, SLOT(slotNewEphGPS(gpsephemeris))); - - connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)), - this, SLOT(slotNewEphGlonass(glonassephemeris))); - - connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)), - this, SLOT(slotNewEphGalileo(galileoephemeris))); - - connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), - this, SLOT(slotNewCorrections(QStringList))); - - connect(this, SIGNAL(newPosition(bncTime, QVector)), - BNC_CORE, SIGNAL(newPosition(bncTime, QVector))); - - for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) { - _lastOrbCorrIOD[iPrn] = -1; - _lastClkCorrValue[iPrn] = 0.0; - } - - _pppClient = new t_pppClient(_opt); - } - else { - throw t_except("t_pppRunRealTime: post-processing not yet implemented"); - } -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_pppRunRealTime::~t_pppRunRealTime() { -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRunRealTime::slotNewEphGPS(gpsephemeris gpseph) { - QMutexLocker locker(&_mutex); - t_ephGPS eph; - eph.set(&gpseph); - _pppClient->putEphemeris(&eph); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRunRealTime::slotNewEphGlonass(glonassephemeris gloeph) { - QMutexLocker locker(&_mutex); - t_ephGlo eph; - eph.set(&gloeph); - _pppClient->putEphemeris(&eph); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRunRealTime::slotNewEphGalileo(galileoephemeris galeph) { - QMutexLocker locker(&_mutex); - t_ephGal eph; - eph.set(&galeph); - _pppClient->putEphemeris(&eph); -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRunRealTime::slotNewObs(QByteArray staID, QList obsList) { - QMutexLocker locker(&_mutex); - - if (string(staID.data()) != _opt->_roverName) { - return; - } - - // Loop over all obsevations (possible different epochs) - // ----------------------------------------------------- - QListIterator it(obsList); - while (it.hasNext()) { - const t_obs& oldObs = it.next(); - t_satObs* newObs = new t_satObs; - - newObs->_prn.set(oldObs.satSys, oldObs.satNum); - newObs->_time.set(oldObs.GPSWeek, oldObs.GPSWeeks); - - // Find the corresponding data epoch or create a new one - // ----------------------------------------------------- - t_epoData* epoch = 0; - deque::const_iterator it; - for (it = _epoData.begin(); it != _epoData.end(); it++) { - if (newObs->_time == (*it)->_time) { - epoch = *it; - break; - } - } - if (epoch == 0) { - if (_epoData.empty() || newObs->_time > _epoData.back()->_time) { - epoch = new t_epoData; - epoch->_time = newObs->_time; - _epoData.push_back(epoch); - } - } - - // Fill the new observation and add it to the corresponding epoch - // -------------------------------------------------------------- - if (epoch != 0) { - epoch->_satObs.push_back(newObs); - map frqObsMap; - for (unsigned iEntry = 0; iEntry < GNSSENTRY_NUMBER; iEntry++) { - string hlp(oldObs.rnxStr(iEntry).toAscii().data()); - if (hlp.length() == 3) { - char obsType = hlp[0]; - string rnxType2ch = hlp.substr(1); - if (obsType == 'C' || obsType == 'L') { - t_frqObs* frqObs = 0; - if (frqObsMap.find(rnxType2ch) == frqObsMap.end()) { - frqObs = new t_frqObs(); - frqObsMap[rnxType2ch] = frqObs; - frqObs->_rnxType2ch = rnxType2ch; - newObs->_obs.push_back(frqObs); - } - else { - frqObs = frqObsMap[rnxType2ch]; - } - if (obsType == 'C') { - frqObs->_code = oldObs._measdata[iEntry]; - frqObs->_codeValid = true; - } - else if (obsType == 'L') { - frqObs->_phase = oldObs._measdata[iEntry]; - frqObs->_phaseValid = true; - } - } - } - } - } - } - - // Process the oldest epochs - // ------------------------ - while (_epoData.size() && _epoData.front()->_time < _lastClkCorrTime + 10.0) { - - const vector& satObs = _epoData.front()->_satObs; - - t_output output; - _pppClient->processEpoch(satObs, &output); - - if (!output._error && _opt->xyzAprRoverSet()) { - QVector xx(6); - xx.data()[0] = output._xyzRover[0]; - xx.data()[1] = output._xyzRover[1]; - xx.data()[2] = output._xyzRover[2]; - xx.data()[3] = output._neu[0]; - xx.data()[4] = output._neu[1]; - xx.data()[5] = output._neu[2]; - emit newPosition(output._epoTime, xx); - } - - delete _epoData.front(); _epoData.pop_front(); - - emit newMessage(QByteArray(output._log.c_str()), true); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRunRealTime::slotNewCorrections(QStringList corrList) { - QMutexLocker locker(&_mutex); - - if (_opt->_corrMount.empty()) { - return; - } - - // Check the Mountpoint (source of corrections) - // -------------------------------------------- - QMutableListIterator itm(corrList); - while (itm.hasNext()) { - QStringList hlp = itm.next().split(" "); - if (hlp.size() > 0) { - QString mountpoint = hlp[hlp.size()-1]; - if (mountpoint != QString(_opt->_corrMount.c_str())) { - itm.remove(); - } - } - } - - if (corrList.size() == 0) { - return; - } - - vector orbCorr; - vector clkCorr; - vector satBias; - - QListIterator it(corrList); - while (it.hasNext()) { - QString line = it.next(); - - QTextStream in(&line); - int messageType; - int updateInterval; - int GPSweek; - double GPSweeks; - QString prn; - in >> messageType >> updateInterval >> GPSweek >> GPSweeks >> prn; - - if ( t_corr::relevantMessageType(messageType) ) { - t_corr corr; - corr.readLine(line); - if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || - messageType == COTYPE_GPSORBIT || messageType == COTYPE_GLONASSORBIT ) { - t_orbCorr* cc = new t_orbCorr(); - cc->_prn.set(corr.prn.toAscii().data()); - cc->_iod = corr.iod; - cc->_time = corr.tRao; - cc->_system = 'R'; - cc->_xr[0] = corr.rao[0]; - cc->_xr[1] = corr.rao[1]; - cc->_xr[2] = corr.rao[2]; - cc->_dotXr[0] = corr.dotRao[0]; - cc->_dotXr[0] = corr.dotRao[1]; - cc->_dotXr[0] = corr.dotRao[2]; - orbCorr.push_back(cc); - - _lastOrbCorrIOD[cc->_prn.toInt()] = cc->_iod; - } - else if (messageType == COTYPE_GPSCOMBINED || messageType == COTYPE_GLONASSCOMBINED || - messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK ) { - t_clkCorr* cc = new t_clkCorr(); - cc->_prn.set(corr.prn.toAscii().data()); - cc->_iod = corr.iod; - cc->_time = corr.tClk; - cc->_dClk = corr.dClk; - cc->_dotDClk = corr.dotDClk; - cc->_dotDotDClk = corr.dotDotDClk; - cc->_clkPartial = 0.0; - if (messageType == COTYPE_GPSCLOCK || messageType == COTYPE_GLONASSCLOCK) { - int lastIOD = _lastOrbCorrIOD[cc->_prn.toInt()]; - if (lastIOD != -1) { - cc->_iod = lastIOD; - } - else { - delete cc; - cc = 0; - } - } - if (cc) { - clkCorr.push_back(cc); - if (_lastClkCorrTime.undef() || cc->_time > _lastClkCorrTime) { - _lastClkCorrTime = cc->_time; - } - } - } - } - else if ( messageType == BTYPE_GPS || messageType == BTYPE_GLONASS ) { - t_bias bias; - bias.readLine(line); - } - } - - _pppClient->putOrbCorrections(orbCorr); - _pppClient->putClkCorrections(clkCorr); - _pppClient->putBiases(satBias); - - for (unsigned ii = 0; ii < orbCorr.size(); ii++) { - delete orbCorr[ii]; - } - for (unsigned ii = 0; ii < clkCorr.size(); ii++) { - delete clkCorr[ii]; - } - for (unsigned ii = 0; ii < satBias.size(); ii++) { - delete satBias[ii]; - } -} Index: unk/BNC/src/PPP/pppRunRealTime.h =================================================================== --- /trunk/BNC/src/PPP/pppRunRealTime.h (revision 5882) +++ (revision ) @@ -1,56 +1,0 @@ -#ifndef PPPRUNREALTIME_H -#define PPPRUNREALTIME_H - -#include -#include -#include - -#include "GPSDecoder.h" -#include "pppOptions.h" -#include "pppClient.h" - -namespace BNC_PPP { - -class t_pppRunRealTime : public QObject { - Q_OBJECT - public: - t_pppRunRealTime(const t_pppOptions* opt); - ~t_pppRunRealTime(); - - signals: - void newMessage(QByteArray msg, bool showOnScreen); - void newPosition(bncTime time, QVector xx); - void newNMEAstr(QByteArray str); - - public slots: - void slotNewEphGPS(gpsephemeris gpseph); - void slotNewEphGlonass(glonassephemeris gloeph); - void slotNewEphGalileo(galileoephemeris galeph); - void slotNewCorrections(QStringList corrList); - void slotNewObs(QByteArray staID, QList obsList); - - private: - class t_epoData { - public: - t_epoData() {} - ~t_epoData() { - for (unsigned ii = 0; ii < _satObs.size(); ii++) { - delete _satObs[ii]; - } - } - bncTime _time; - std::vector _satObs; - }; - - QMutex _mutex; - const t_pppOptions* _opt; - t_pppClient* _pppClient; - std::deque _epoData; - int _lastOrbCorrIOD[t_prn::MAXPRN+1]; - double _lastClkCorrValue[t_prn::MAXPRN+1]; - bncTime _lastClkCorrTime; -}; - -} - -#endif Index: /trunk/BNC/src/PPP/pppThread.cpp =================================================================== --- /trunk/BNC/src/PPP/pppThread.cpp (revision 5882) +++ /trunk/BNC/src/PPP/pppThread.cpp (revision 5883) @@ -56,6 +56,7 @@ //////////////////////////////////////////////////////////////////////////// t_pppThread::t_pppThread(const t_pppOptions* opt) : QThread(0) { - _opt = opt; - _pppRunRealTime = 0; + _opt = opt; + _pppRun = 0; + connect(this, SIGNAL(finished()), this, SLOT(deleteLater())); @@ -67,5 +68,5 @@ //////////////////////////////////////////////////////////////////////////// t_pppThread::~t_pppThread() { - delete _pppRunRealTime; + delete _pppRun; } @@ -74,9 +75,14 @@ void t_pppThread::run() { try { - _pppRunRealTime = new t_pppRunRealTime(_opt); - QThread::exec(); + _pppRun = new t_pppRun(_opt); + if (_opt->_realTime) { + QThread::exec(); + } + else { + _ppRun->processFiles(); + } } catch (t_except exc) { - _pppRunRealTime = 0; + _pppRun = 0; emit newMessage(QByteArray(exc.what().c_str()), true); } Index: /trunk/BNC/src/PPP/pppThread.h =================================================================== --- /trunk/BNC/src/PPP/pppThread.h (revision 5882) +++ /trunk/BNC/src/PPP/pppThread.h (revision 5883) @@ -9,5 +9,5 @@ #include "pppOptions.h" #include "pppClient.h" -#include "pppRunRealTime.h" +#include "pppRun.h" namespace BNC_PPP { @@ -25,5 +25,5 @@ private: const t_pppOptions* _opt; - t_pppRunRealTime* _pppRunRealTime; + t_pppRun* _pppRun; }; Index: /trunk/BNC/src/rinex/reqcanalyze.cpp =================================================================== --- /trunk/BNC/src/rinex/reqcanalyze.cpp (revision 5882) +++ /trunk/BNC/src/rinex/reqcanalyze.cpp (revision 5883) @@ -57,37 +57,4 @@ const double SLIPTRESH = 10.0; // cycle-slip threshold (meters) - -// Set Observations from RINEX File -//////////////////////////////////////////////////////////////////////////// -void t_reqcAnalyze::setObsFromRnx(const t_rnxObsFile* rnxObsFile, - const t_rnxObsFile::t_rnxEpo* epo, - const t_rnxObsFile::t_rnxSat& rnxSat, - 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++) { - QString type = rnxObsFile->obsType(obs.satSys,iType).toAscii(); - obs.setMeasdata(type, rnxObsFile->version(), rnxSat.obs[iType]); - if (type.indexOf("L1") == 0) { - obs.snrL1 = rnxSat.snr[iType]; - obs.slipL1 = (rnxSat.lli[iType] & 1); - } - else if (type.indexOf("L2") == 0) { - obs.snrL2 = rnxSat.snr[iType]; - obs.slipL2 = (rnxSat.lli[iType] & 1); - } - else if (type.indexOf("L5") == 0) { - obs.snrL5 = rnxSat.snr[iType]; - obs.slipL5 = (rnxSat.lli[iType] & 1); - } - } -} // Constructor Index: /trunk/BNC/src/rinex/reqcanalyze.h =================================================================== --- /trunk/BNC/src/rinex/reqcanalyze.h (revision 5882) +++ /trunk/BNC/src/rinex/reqcanalyze.h (revision 5883) @@ -169,9 +169,4 @@ QVector* dataSNR2); - void setObsFromRnx(const t_rnxObsFile* rnxObsFile, - const t_rnxObsFile::t_rnxEpo* epo, - const t_rnxObsFile::t_rnxSat& rnxSat, - t_obs& obs); - QString _logFileName; QFile* _logFile; Index: /trunk/BNC/src/rinex/rnxobsfile.cpp =================================================================== --- /trunk/BNC/src/rinex/rnxobsfile.cpp (revision 5882) +++ /trunk/BNC/src/rinex/rnxobsfile.cpp (revision 5883) @@ -1104,2 +1104,36 @@ } } + +// Set Observations from RINEX File +//////////////////////////////////////////////////////////////////////////// +void t_rnxObsFile::setObsFromRnx(const t_rnxObsFile* rnxObsFile, + const t_rnxObsFile::t_rnxEpo* epo, + const t_rnxObsFile::t_rnxSat& rnxSat, + 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++) { + QString type = rnxObsFile->obsType(obs.satSys,iType).toAscii(); + obs.setMeasdata(type, rnxObsFile->version(), rnxSat.obs[iType]); + if (type.indexOf("L1") == 0) { + obs.snrL1 = rnxSat.snr[iType]; + obs.slipL1 = (rnxSat.lli[iType] & 1); + } + else if (type.indexOf("L2") == 0) { + obs.snrL2 = rnxSat.snr[iType]; + obs.slipL2 = (rnxSat.lli[iType] & 1); + } + else if (type.indexOf("L5") == 0) { + obs.snrL5 = rnxSat.snr[iType]; + obs.slipL5 = (rnxSat.lli[iType] & 1); + } + } +} + Index: /trunk/BNC/src/rinex/rnxobsfile.h =================================================================== --- /trunk/BNC/src/rinex/rnxobsfile.h (revision 5882) +++ /trunk/BNC/src/rinex/rnxobsfile.h (revision 5883) @@ -36,4 +36,5 @@ #include "bnctime.h" #include "t_prn.h" +#include "GPSDecoder.h" class t_rnxObsHeader { @@ -144,4 +145,9 @@ QTextStream* stream() {return _stream;} + static void setObsFromRnx(const t_rnxObsFile* rnxObsFile, + const t_rnxObsFile::t_rnxEpo* epo, + const t_rnxObsFile::t_rnxSat& rnxSat, + t_obs& obs); + private: enum e_trafo {trafoNone, trafo2to3, trafo3to2}; Index: /trunk/BNC/src/src.pri =================================================================== --- /trunk/BNC/src/src.pri (revision 5882) +++ /trunk/BNC/src/src.pri (revision 5883) @@ -62,5 +62,5 @@ PPP/pppObsPool.h PPP/pppStation.h PPP/pppFilter.h \ PPP/pppEphPool.h PPP/pppModel.h PPP/pppParlist.h \ - PPP/pppSatObs.h PPP/pppRunRealTime.h + PPP/pppSatObs.h PPP/pppRun.h HEADERS += serial/qextserialbase.h serial/qextserialport.h @@ -94,5 +94,5 @@ PPP/pppObsPool.cpp PPP/pppStation.cpp PPP/pppFilter.cpp \ PPP/pppEphPool.cpp PPP/pppModel.cpp PPP/pppParlist.cpp \ - PPP/pppSatObs.cpp PPP/pppRunRealTime.cpp + PPP/pppSatObs.cpp PPP/pppRun.cpp SOURCES += serial/qextserialbase.cpp serial/qextserialport.cpp