Index: trunk/BNC/src/PPP/pppMain.cpp =================================================================== --- trunk/BNC/src/PPP/pppMain.cpp (revision 6045) +++ (revision ) @@ -1,246 +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_pppMain - * - * Purpose: Start of the PPP client(s) - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - -#include - -#include "pppMain.h" -#include "pppCrdFile.h" -#include "bncsettings.h" - -using namespace BNC_PPP; -using namespace std; - -// Constructor -////////////////////////////////////////////////////////////////////////////// -t_pppMain::t_pppMain() { - _running = false; -} - -// Destructor -////////////////////////////////////////////////////////////////////////////// -t_pppMain::~t_pppMain() { - stop(); - QListIterator iOpt(_options); - while (iOpt.hasNext()) { - delete iOpt.next(); - } -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_pppMain::start() { - if (_running) { - return; - } - - try { - readOptions(); - - QListIterator iOpt(_options); - while (iOpt.hasNext()) { - const t_pppOptions* opt = iOpt.next(); - t_pppThread* pppThread = new t_pppThread(opt); - pppThread->start(); - _pppThreads << pppThread; - _running = true; - } - } - catch (t_except exc) { - _running = true; - stop(); - } -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_pppMain::stop() { - - if (!_running) { - return; - } - - if (_realTime) { - QListIterator it(_pppThreads); - while (it.hasNext()) { - t_pppThread* pppThread = it.next(); - pppThread->exit(); - } - _pppThreads.clear(); - } - - _running = false; -} - -// -////////////////////////////////////////////////////////////////////////////// -void t_pppMain::readOptions() { - - QListIterator iOpt(_options); - while (iOpt.hasNext()) { - delete iOpt.next(); - } - _options.clear(); - - bncSettings settings; - - _logFile = settings.value("PPP/logFile").toString(); - _nmeaFile = settings.value("PPP/nmeaFile").toString(); - _nmeaPort = settings.value("PPP/nmeaPort").toInt(); - - _realTime = false; - if (settings.value("PPP/dataSource").toString() == "Real-Time Streams") { - _realTime = true; - } - else if (settings.value("PPP/dataSource").toString() == "RINEX Files") { - _realTime = false; - } - else { - return; - } - - QListIterator iSta(settings.value("PPP/staTable").toStringList()); - while (iSta.hasNext()) { - QStringList hlp = iSta.next().split(","); - - if (hlp.size() < 9) { - throw t_except("pppMain: wrong option staTable"); - } - - t_pppOptions* opt = new t_pppOptions(); - - opt->_realTime = _realTime; - opt->_roverName = hlp[0].toAscii().data(); - opt->_aprSigCrd[0] = hlp[1].toDouble(); - opt->_aprSigCrd[1] = hlp[2].toDouble(); - opt->_aprSigCrd[2] = hlp[3].toDouble(); - opt->_noiseCrd[0] = hlp[4].toDouble(); - opt->_noiseCrd[1] = hlp[5].toDouble(); - opt->_noiseCrd[2] = hlp[6].toDouble(); - opt->_aprSigTrp = hlp[7].toDouble(); - opt->_noiseTrp = hlp[8].toDouble(); - - if (_realTime) { - opt->_corrMount = settings.value("PPP/corrMount").toString().toAscii().data(); - } - else { - opt->_rinexObs = settings.value("PPP/rinexObs").toString().toAscii().data(); - opt->_rinexNav = settings.value("PPP/rinexNav").toString().toAscii().data(); - opt->_corrFile = settings.value("PPP/corrFile").toString().toAscii().data(); - } - - opt->_crdFile = settings.value("PPP/crdFile").toString().toAscii().data(); - opt->_antexFileName = settings.value("PPP/antexFile").toString().toAscii().data(); - - opt->_sigmaC1 = settings.value("PPP/sigmaC1").toDouble(); if (opt->_sigmaC1 <= 0.0) opt->_sigmaC1 = 2.0; - opt->_sigmaL1 = settings.value("PPP/sigmaL1").toDouble(); if (opt->_sigmaL1 <= 0.0) opt->_sigmaL1 = 0.01; - opt->_corrWaitTime = settings.value("PPP/corrWaitTime").toDouble(); - - if (settings.value("PPP/lcGPS").toString() == "P3") { - opt->_LCsGPS.push_back(t_lc::cIF); - } - else if (settings.value("PPP/lcGPS").toString() == "L3") { - opt->_LCsGPS.push_back(t_lc::lIF); - } - else if (settings.value("PPP/lcGPS").toString() == "P3&L3") { - opt->_LCsGPS.push_back(t_lc::cIF); - opt->_LCsGPS.push_back(t_lc::lIF); - } - - if (settings.value("PPP/lcGLONASS").toString() == "P3") { - opt->_LCsGLONASS.push_back(t_lc::cIF); - } - else if (settings.value("PPP/lcGLONASS").toString() == "L3") { - opt->_LCsGLONASS.push_back(t_lc::lIF); - } - else if (settings.value("PPP/lcGLONASS").toString() == "P3&L3") { - opt->_LCsGLONASS.push_back(t_lc::cIF); - opt->_LCsGLONASS.push_back(t_lc::lIF); - } - - if (settings.value("PPP/lcGalileo").toString() == "P3") { - opt->_LCsGalileo.push_back(t_lc::cIF); - } - else if (settings.value("PPP/lcGalileo").toString() == "L3") { - opt->_LCsGalileo.push_back(t_lc::lIF); - } - else if (settings.value("PPP/lcGalileo").toString() == "P3&L3") { - opt->_LCsGalileo.push_back(t_lc::cIF); - opt->_LCsGalileo.push_back(t_lc::lIF); - } - - // Information from the coordinate file - // ------------------------------------ - string crdFileName(settings.value("PPP/crdFile").toString().toAscii().data()); - if (!crdFileName.empty()) { - vector staInfoVec; - t_pppCrdFile::readCrdFile(crdFileName, staInfoVec); - for (unsigned ii = 0; ii < staInfoVec.size(); ii++) { - const t_pppCrdFile::t_staInfo& staInfo = staInfoVec[ii]; - if (staInfo._name == opt->_roverName) { - opt->_xyzAprRover[0] = staInfo._xyz[0]; - opt->_xyzAprRover[1] = staInfo._xyz[1]; - opt->_xyzAprRover[2] = staInfo._xyz[2]; - opt->_neuEccRover[0] = staInfo._neuAnt[0]; - opt->_neuEccRover[1] = staInfo._neuAnt[1]; - opt->_neuEccRover[2] = staInfo._neuAnt[2]; - opt->_antNameRover = staInfo._antenna; - break; - } - } - } - - opt->_minObs = settings.value("PPP/minObs").toInt(); if (opt->_minObs < 4) opt->_minObs = 4; - opt->_minEle = settings.value("PPP/minEle").toDouble() * M_PI / 180.0; - opt->_maxResC1 = settings.value("PPP/maxResC1").toDouble(); if (opt->_maxResC1 <= 0.0) opt->_maxResC1 = 3.0; - opt->_maxResL1 = settings.value("PPP/maxResL1").toDouble(); if (opt->_maxResL1 <= 0.0) opt->_maxResL1 = 0.03; - opt->_eleWgtCode = (settings.value("PPP/eleWgtCode").toInt() != 0); - opt->_eleWgtPhase = (settings.value("PPP/eleWgtPhase").toInt() != 0); - opt->_seedingTime = settings.value("PPP/seedingTime").toDouble(); - - // Some default values - // ------------------- - opt->_aprSigAmb = 100.0; - opt->_noiseClk = 1000.0; - - _options << opt; - } -} - Index: trunk/BNC/src/PPP/pppMain.h =================================================================== --- trunk/BNC/src/PPP/pppMain.h (revision 6045) +++ (revision ) @@ -1,31 +1,0 @@ -#ifndef PPPMAIN_H -#define PPPMAIN_H - -#include -#include "pppOptions.h" -#include "pppThread.h" - -namespace BNC_PPP { - -class t_pppMain { - public: - t_pppMain(); - ~t_pppMain(); - void start(); - void stop(); - - private: - void readOptions(); - - QList _options; - QList _pppThreads; - QString _logFile; - QString _nmeaFile; - int _nmeaPort; - bool _running; - bool _realTime; -}; - -}; // namespace BNC_PPP - -#endif Index: trunk/BNC/src/PPP/pppRun.cpp =================================================================== --- trunk/BNC/src/PPP/pppRun.cpp (revision 6045) +++ (revision ) @@ -1,603 +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_pppRun - * - * Purpose: Single Real-Time PPP Client - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - - -#include -#include -#include -#include -#include - -#include "pppRun.h" -#include "pppThread.h" -#include "bnccore.h" -#include "bncephuser.h" -#include "bncsettings.h" -#include "bncoutf.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(QByteArray, bncTime, QVector)), - BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector))); - - connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)), - BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray))); - - for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) { - _lastOrbCorrIOD[iPrn] = -1; - _lastClkCorrValue[iPrn] = 0.0; - } - - _pppClient = new t_pppClient(_opt); - - bncSettings settings; - - if (_opt->_realTime) { - Qt::ConnectionType conType = Qt::AutoConnection; - if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) { - conType = Qt::BlockingQueuedConnection; - } - - connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList)), - this, SLOT(slotNewObs(QByteArray, QList)),conType); - - connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)), - this, SLOT(slotNewEphGPS(gpsephemeris)),conType); - - connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)), - this, SLOT(slotNewEphGlonass(glonassephemeris)),conType); - - connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)), - this, SLOT(slotNewEphGalileo(galileoephemeris)),conType); - - connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), - this, SLOT(slotNewCorrections(QStringList)),conType); - } - else { - _rnxObsFile = 0; - _rnxNavFile = 0; - _corrFile = 0; - _speed = settings.value("PPP/mapSpeedSlider").toInt(); - connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int))); - connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP())); - connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)), - this, SLOT(slotSetSpeed(int))); - connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag())); - } - - _stopFlag = false; - - QString roverName(_opt->_roverName.c_str()); - - QString logFileSkl = settings.value("PPP/logFile").toString(); - if (logFileSkl.isEmpty()) { - _logFile = 0; - } - else { - if (logFileSkl.indexOf("${STATION}") == -1) { - logFileSkl = roverName + "_" + logFileSkl; - } - else { - logFileSkl.replace("${STATION}", roverName); - } - _logFile = new bncoutf(logFileSkl, "1 day", 0); - } - - QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString(); - if (nmeaFileSkl.isEmpty()) { - _nmeaFile = 0; - } - else { - if (nmeaFileSkl.indexOf("${STATION}") == -1) { - nmeaFileSkl = roverName + "_" + nmeaFileSkl; - } - else { - nmeaFileSkl.replace("${STATION}", roverName); - } - _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0); - } -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_pppRun::~t_pppRun() { - delete _logFile; - delete _nmeaFile; -} - -// -//////////////////////////////////////////////////////////////////////////// -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() >= 2 && oldObs._measdata[iEntry] != 0.0) { - 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() && !waitForCorr(_epoData.front()->_time)) { - - const vector& satObs = _epoData.front()->_satObs; - - t_output output; - _pppClient->processEpoch(satObs, &output); - - if (!output._error) { - 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(staID, output._epoTime, xx); - } - - delete _epoData.front(); _epoData.pop_front(); - - ostringstream log; - if (output._error) { - log << output._log; - } - else { - log.setf(ios::fixed); - log << string(output._epoTime) << ' ' << staID.data() - << " X = " << setprecision(4) << output._xyzRover[0] - << " Y = " << setprecision(4) << output._xyzRover[1] - << " Z = " << setprecision(4) << output._xyzRover[2] - << " NEU: " << setprecision(4) << output._neu[0] - << " " << setprecision(4) << output._neu[1] - << " " << setprecision(4) << output._neu[2]; - } - - if (_logFile && output._epoTime.valid()) { - _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), - QString(output._log.c_str())); - } - - if (!output._error) { - QString rmcStr = nmeaString('R', output); - QString ggaStr = nmeaString('G', output); - if (_nmeaFile) { - _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr); - _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr); - } - emit newNMEAstr(staID, rmcStr.toAscii()); - emit newNMEAstr(staID, ggaStr.toAscii()); - } - - emit newMessage(QByteArray(log.str().c_str()), true); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotNewCorrections(QStringList corrList) { - QMutexLocker locker(&_mutex); - - // Check the Mountpoint (source of corrections) - // -------------------------------------------- - if (_opt->_realTime) { - if (_opt->_corrMount.empty()) { - return; - } - 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); - _lastClkCorrValue[cc->_prn.toInt()] = cc->_dClk; - 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(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input); - } - catch (...) { - delete _rnxObsFile; _rnxObsFile = 0; - emit finishedRnxPPP(); - return; - } - - _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input); - - if (!_opt->_corrFile.empty()) { - _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str())); - connect(_corrFile, SIGNAL(newCorrections(QStringList)), - this, SLOT(slotNewCorrections(QStringList))); - } - - // Read/Process Observations - // ------------------------- - int nEpo = 0; - const t_rnxObsFile::t_rnxEpo* epo = 0; - while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) { - ++nEpo; - - if (_speed < 100) { - double sleepTime = 2.0 / _speed; - t_pppThread::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 ) { - _pppClient->putEphemeris(eph); - delete eph; eph = 0; - } - - // Create list of observations and start epoch processing - // ------------------------------------------------------ - QList obsList; - for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { - const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; - - t_obs obs; - t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); - obsList << obs; - } - slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList); - - - if (nEpo % 10 == 0) { - emit progressRnxPPP(nEpo); - } - - QCoreApplication::processEvents(); - } - - emit finishedRnxPPP(); - - if (BNC_CORE->mode() != t_bncCore::interactive) { - qApp->exit(0); - } - else { - BNC_CORE->stopPPP(); - } -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotSetSpeed(int speed) { - QMutexLocker locker(&_mutex); - _speed = speed; -} - -// -//////////////////////////////////////////////////////////////////////////// -void t_pppRun::slotSetStopFlag() { - QMutexLocker locker(&_mutex); - _stopFlag = true; -} - -// -//////////////////////////////////////////////////////////////////////////// -QString t_pppRun::nmeaString(char strType, const t_output& output) { - - double ell[3]; - xyz2ell(output._xyzRover, ell); - double phiDeg = ell[0] * 180 / M_PI; - double lamDeg = ell[1] * 180 / M_PI; - - char phiCh = 'N'; - if (phiDeg < 0) { - phiDeg = -phiDeg; - phiCh = 'S'; - } - char lamCh = 'E'; - if (lamDeg < 0) { - lamDeg = -lamDeg; - lamCh = 'W'; - } - - ostringstream out; - out.setf(ios::fixed); - - if (strType == 'R') { - string datestr = output._epoTime.datestr(0); // yyyymmdd - out << "GPRMC," - << output._epoTime.timestr(0,0) << ",A," - << setw(2) << setfill('0') << int(phiDeg) - << setw(6) << setprecision(3) << setfill('0') - << fmod(60*phiDeg,60) << ',' << phiCh << ',' - << setw(3) << setfill('0') << int(lamDeg) - << setw(6) << setprecision(3) << setfill('0') - << fmod(60*lamDeg,60) << ',' << lamCh << ",,," - << datestr[6] << datestr[7] << datestr[4] << datestr[5] - << datestr[2] << datestr[3] << ",,"; - } - else if (strType == 'G') { - out << "GPGGA," - << output._epoTime.timestr(0,0) << ',' - << setw(2) << setfill('0') << int(phiDeg) - << setw(10) << setprecision(7) << setfill('0') - << fmod(60*phiDeg,60) << ',' << phiCh << ',' - << setw(3) << setfill('0') << int(lamDeg) - << setw(10) << setprecision(7) << setfill('0') - << fmod(60*lamDeg,60) << ',' << lamCh - << ",1," << setw(2) << setfill('0') << output._numSat << ',' - << setw(3) << setprecision(1) << output._pDop << ',' - << setprecision(3) << ell[2] << ",M,0.0,M,,"; - } - else { - return ""; - } - - QString nmStr(out.str().c_str()); - unsigned char XOR = 0; - for (int ii = 0; ii < nmStr.length(); ii++) { - XOR ^= (unsigned char) nmStr[ii].toAscii(); - } - - return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper(); -} - -// -//////////////////////////////////////////////////////////////////////////// -bool t_pppRun::waitForCorr(const bncTime& epoTime) const { - - if (!_opt->_realTime || _opt->_corrMount.empty()) { - return false; - } - else if (!_lastClkCorrTime.valid()) { - return true; - } - else { - double dt = epoTime - _lastClkCorrTime; - if (dt > 1.0 && dt < _opt->_corrWaitTime) { - return true; - } - else { - return false; - } - } - return false; -} Index: trunk/BNC/src/PPP/pppRun.h =================================================================== --- trunk/BNC/src/PPP/pppRun.h (revision 6045) +++ (revision ) @@ -1,78 +1,0 @@ -#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; -class bncoutf; - -namespace BNC_PPP { - -class t_pppRun : public QObject { - Q_OBJECT - public: - t_pppRun(const t_pppOptions* opt); - ~t_pppRun(); - - void processFiles(); - - static QString nmeaString(char strType, const t_output& output); - - signals: - void newMessage(QByteArray msg, bool showOnScreen); - void newPosition(QByteArray staID, bncTime time, QVector xx); - void newNMEAstr(QByteArray staID, QByteArray str); - void progressRnxPPP(int); - void finishedRnxPPP(); - - public slots: - void slotNewEphGPS(gpsephemeris gpseph); - void slotNewEphGlonass(glonassephemeris gloeph); - void slotNewEphGalileo(galileoephemeris galeph); - void slotNewCorrections(QStringList corrList); - void slotNewObs(QByteArray staID, QList obsList); - void slotSetSpeed(int speed); - void slotSetStopFlag(); - - 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; - }; - - bool waitForCorr(const bncTime& epoTime) const; - - 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 _speed; - bool _stopFlag; - bncoutf* _logFile; - bncoutf* _nmeaFile; -}; - -} - -#endif Index: trunk/BNC/src/PPP/pppThread.cpp =================================================================== --- trunk/BNC/src/PPP/pppThread.cpp (revision 6045) +++ (revision ) @@ -1,92 +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_pppThread, t_pppRun - * - * Purpose: Single PPP Client (running in its own thread) - * - * Author: L. Mervart - * - * Created: 29-Jul-2014 - * - * Changes: - * - * -----------------------------------------------------------------------*/ - - -#include -#include -#include -#include - -#include "pppThread.h" -#include "bnccore.h" -#include "bncephuser.h" - -using namespace BNC_PPP; -using namespace std; - -// Constructor -//////////////////////////////////////////////////////////////////////////// -t_pppThread::t_pppThread(const t_pppOptions* opt) : QThread(0) { - - _opt = opt; - _pppRun = 0; - - connect(this, SIGNAL(finished()), this, SLOT(deleteLater())); - - connect(this, SIGNAL(newMessage(QByteArray,bool)), - BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); -} - -// Destructor -//////////////////////////////////////////////////////////////////////////// -t_pppThread::~t_pppThread() { - delete _pppRun; -} - -// Run (virtual) -//////////////////////////////////////////////////////////////////////////// -void t_pppThread::run() { - - try { - _pppRun = new t_pppRun(_opt); - if (_opt->_realTime) { - QThread::exec(); - } - else { - _pppRun->processFiles(); - } - } - catch (t_except exc) { - _pppRun = 0; - emit newMessage(QByteArray(exc.what().c_str()), true); - } -} - Index: trunk/BNC/src/PPP/pppThread.h =================================================================== --- trunk/BNC/src/PPP/pppThread.h (revision 6045) +++ (revision ) @@ -1,33 +1,0 @@ -#ifndef PPPTHREAD_H -#define PPPTHREAD_H - -#include -#include -#include - -#include "GPSDecoder.h" -#include "pppOptions.h" -#include "pppClient.h" -#include "pppRun.h" - -namespace BNC_PPP { - -class t_pppThread : public QThread { - Q_OBJECT - public: - t_pppThread(const t_pppOptions* opt); - ~t_pppThread(); - virtual void run(); - static void msleep(unsigned long msecs){QThread::msleep(msecs);} - - signals: - void newMessage(QByteArray msg, bool showOnScreen); - - private: - const t_pppOptions* _opt; - t_pppRun* _pppRun; -}; - -} - -#endif Index: trunk/BNC/src/pppMain.cpp =================================================================== --- trunk/BNC/src/pppMain.cpp (revision 6046) +++ trunk/BNC/src/pppMain.cpp (revision 6046) @@ -0,0 +1,246 @@ + +// 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_pppMain + * + * Purpose: Start of the PPP client(s) + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + +#include + +#include "pppMain.h" +#include "pppCrdFile.h" +#include "bncsettings.h" + +using namespace BNC_PPP; +using namespace std; + +// Constructor +////////////////////////////////////////////////////////////////////////////// +t_pppMain::t_pppMain() { + _running = false; +} + +// Destructor +////////////////////////////////////////////////////////////////////////////// +t_pppMain::~t_pppMain() { + stop(); + QListIterator iOpt(_options); + while (iOpt.hasNext()) { + delete iOpt.next(); + } +} + +// +////////////////////////////////////////////////////////////////////////////// +void t_pppMain::start() { + if (_running) { + return; + } + + try { + readOptions(); + + QListIterator iOpt(_options); + while (iOpt.hasNext()) { + const t_pppOptions* opt = iOpt.next(); + t_pppThread* pppThread = new t_pppThread(opt); + pppThread->start(); + _pppThreads << pppThread; + _running = true; + } + } + catch (t_except exc) { + _running = true; + stop(); + } +} + +// +////////////////////////////////////////////////////////////////////////////// +void t_pppMain::stop() { + + if (!_running) { + return; + } + + if (_realTime) { + QListIterator it(_pppThreads); + while (it.hasNext()) { + t_pppThread* pppThread = it.next(); + pppThread->exit(); + } + _pppThreads.clear(); + } + + _running = false; +} + +// +////////////////////////////////////////////////////////////////////////////// +void t_pppMain::readOptions() { + + QListIterator iOpt(_options); + while (iOpt.hasNext()) { + delete iOpt.next(); + } + _options.clear(); + + bncSettings settings; + + _logFile = settings.value("PPP/logFile").toString(); + _nmeaFile = settings.value("PPP/nmeaFile").toString(); + _nmeaPort = settings.value("PPP/nmeaPort").toInt(); + + _realTime = false; + if (settings.value("PPP/dataSource").toString() == "Real-Time Streams") { + _realTime = true; + } + else if (settings.value("PPP/dataSource").toString() == "RINEX Files") { + _realTime = false; + } + else { + return; + } + + QListIterator iSta(settings.value("PPP/staTable").toStringList()); + while (iSta.hasNext()) { + QStringList hlp = iSta.next().split(","); + + if (hlp.size() < 9) { + throw t_except("pppMain: wrong option staTable"); + } + + t_pppOptions* opt = new t_pppOptions(); + + opt->_realTime = _realTime; + opt->_roverName = hlp[0].toAscii().data(); + opt->_aprSigCrd[0] = hlp[1].toDouble(); + opt->_aprSigCrd[1] = hlp[2].toDouble(); + opt->_aprSigCrd[2] = hlp[3].toDouble(); + opt->_noiseCrd[0] = hlp[4].toDouble(); + opt->_noiseCrd[1] = hlp[5].toDouble(); + opt->_noiseCrd[2] = hlp[6].toDouble(); + opt->_aprSigTrp = hlp[7].toDouble(); + opt->_noiseTrp = hlp[8].toDouble(); + + if (_realTime) { + opt->_corrMount = settings.value("PPP/corrMount").toString().toAscii().data(); + } + else { + opt->_rinexObs = settings.value("PPP/rinexObs").toString().toAscii().data(); + opt->_rinexNav = settings.value("PPP/rinexNav").toString().toAscii().data(); + opt->_corrFile = settings.value("PPP/corrFile").toString().toAscii().data(); + } + + opt->_crdFile = settings.value("PPP/crdFile").toString().toAscii().data(); + opt->_antexFileName = settings.value("PPP/antexFile").toString().toAscii().data(); + + opt->_sigmaC1 = settings.value("PPP/sigmaC1").toDouble(); if (opt->_sigmaC1 <= 0.0) opt->_sigmaC1 = 2.0; + opt->_sigmaL1 = settings.value("PPP/sigmaL1").toDouble(); if (opt->_sigmaL1 <= 0.0) opt->_sigmaL1 = 0.01; + opt->_corrWaitTime = settings.value("PPP/corrWaitTime").toDouble(); + + if (settings.value("PPP/lcGPS").toString() == "P3") { + opt->_LCsGPS.push_back(t_lc::cIF); + } + else if (settings.value("PPP/lcGPS").toString() == "L3") { + opt->_LCsGPS.push_back(t_lc::lIF); + } + else if (settings.value("PPP/lcGPS").toString() == "P3&L3") { + opt->_LCsGPS.push_back(t_lc::cIF); + opt->_LCsGPS.push_back(t_lc::lIF); + } + + if (settings.value("PPP/lcGLONASS").toString() == "P3") { + opt->_LCsGLONASS.push_back(t_lc::cIF); + } + else if (settings.value("PPP/lcGLONASS").toString() == "L3") { + opt->_LCsGLONASS.push_back(t_lc::lIF); + } + else if (settings.value("PPP/lcGLONASS").toString() == "P3&L3") { + opt->_LCsGLONASS.push_back(t_lc::cIF); + opt->_LCsGLONASS.push_back(t_lc::lIF); + } + + if (settings.value("PPP/lcGalileo").toString() == "P3") { + opt->_LCsGalileo.push_back(t_lc::cIF); + } + else if (settings.value("PPP/lcGalileo").toString() == "L3") { + opt->_LCsGalileo.push_back(t_lc::lIF); + } + else if (settings.value("PPP/lcGalileo").toString() == "P3&L3") { + opt->_LCsGalileo.push_back(t_lc::cIF); + opt->_LCsGalileo.push_back(t_lc::lIF); + } + + // Information from the coordinate file + // ------------------------------------ + string crdFileName(settings.value("PPP/crdFile").toString().toAscii().data()); + if (!crdFileName.empty()) { + vector staInfoVec; + t_pppCrdFile::readCrdFile(crdFileName, staInfoVec); + for (unsigned ii = 0; ii < staInfoVec.size(); ii++) { + const t_pppCrdFile::t_staInfo& staInfo = staInfoVec[ii]; + if (staInfo._name == opt->_roverName) { + opt->_xyzAprRover[0] = staInfo._xyz[0]; + opt->_xyzAprRover[1] = staInfo._xyz[1]; + opt->_xyzAprRover[2] = staInfo._xyz[2]; + opt->_neuEccRover[0] = staInfo._neuAnt[0]; + opt->_neuEccRover[1] = staInfo._neuAnt[1]; + opt->_neuEccRover[2] = staInfo._neuAnt[2]; + opt->_antNameRover = staInfo._antenna; + break; + } + } + } + + opt->_minObs = settings.value("PPP/minObs").toInt(); if (opt->_minObs < 4) opt->_minObs = 4; + opt->_minEle = settings.value("PPP/minEle").toDouble() * M_PI / 180.0; + opt->_maxResC1 = settings.value("PPP/maxResC1").toDouble(); if (opt->_maxResC1 <= 0.0) opt->_maxResC1 = 3.0; + opt->_maxResL1 = settings.value("PPP/maxResL1").toDouble(); if (opt->_maxResL1 <= 0.0) opt->_maxResL1 = 0.03; + opt->_eleWgtCode = (settings.value("PPP/eleWgtCode").toInt() != 0); + opt->_eleWgtPhase = (settings.value("PPP/eleWgtPhase").toInt() != 0); + opt->_seedingTime = settings.value("PPP/seedingTime").toDouble(); + + // Some default values + // ------------------- + opt->_aprSigAmb = 100.0; + opt->_noiseClk = 1000.0; + + _options << opt; + } +} + Index: trunk/BNC/src/pppMain.h =================================================================== --- trunk/BNC/src/pppMain.h (revision 6046) +++ trunk/BNC/src/pppMain.h (revision 6046) @@ -0,0 +1,31 @@ +#ifndef PPPMAIN_H +#define PPPMAIN_H + +#include +#include "pppOptions.h" +#include "pppThread.h" + +namespace BNC_PPP { + +class t_pppMain { + public: + t_pppMain(); + ~t_pppMain(); + void start(); + void stop(); + + private: + void readOptions(); + + QList _options; + QList _pppThreads; + QString _logFile; + QString _nmeaFile; + int _nmeaPort; + bool _running; + bool _realTime; +}; + +}; // namespace BNC_PPP + +#endif Index: trunk/BNC/src/pppRun.cpp =================================================================== --- trunk/BNC/src/pppRun.cpp (revision 6046) +++ trunk/BNC/src/pppRun.cpp (revision 6046) @@ -0,0 +1,603 @@ + +// 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 + +#include "pppRun.h" +#include "pppThread.h" +#include "bnccore.h" +#include "bncephuser.h" +#include "bncsettings.h" +#include "bncoutf.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(QByteArray, bncTime, QVector)), + BNC_CORE, SIGNAL(newPosition(QByteArray, bncTime, QVector))); + + connect(this, SIGNAL(newNMEAstr(QByteArray, QByteArray)), + BNC_CORE, SIGNAL(newNMEAstr(QByteArray, QByteArray))); + + for (unsigned iPrn = 0; iPrn <= t_prn::MAXPRN; iPrn++) { + _lastOrbCorrIOD[iPrn] = -1; + _lastClkCorrValue[iPrn] = 0.0; + } + + _pppClient = new t_pppClient(_opt); + + bncSettings settings; + + if (_opt->_realTime) { + Qt::ConnectionType conType = Qt::AutoConnection; + if (BNC_CORE->mode() == t_bncCore::batchPostProcessing) { + conType = Qt::BlockingQueuedConnection; + } + + connect(BNC_CORE->caster(), SIGNAL(newObs(QByteArray, QList)), + this, SLOT(slotNewObs(QByteArray, QList)),conType); + + connect(BNC_CORE, SIGNAL(newEphGPS(gpsephemeris)), + this, SLOT(slotNewEphGPS(gpsephemeris)),conType); + + connect(BNC_CORE, SIGNAL(newEphGlonass(glonassephemeris)), + this, SLOT(slotNewEphGlonass(glonassephemeris)),conType); + + connect(BNC_CORE, SIGNAL(newEphGalileo(galileoephemeris)), + this, SLOT(slotNewEphGalileo(galileoephemeris)),conType); + + connect(BNC_CORE, SIGNAL(newCorrections(QStringList)), + this, SLOT(slotNewCorrections(QStringList)),conType); + } + else { + _rnxObsFile = 0; + _rnxNavFile = 0; + _corrFile = 0; + _speed = settings.value("PPP/mapSpeedSlider").toInt(); + connect(this, SIGNAL(progressRnxPPP(int)), BNC_CORE, SIGNAL(progressRnxPPP(int))); + connect(this, SIGNAL(finishedRnxPPP()), BNC_CORE, SIGNAL(finishedRnxPPP())); + connect(BNC_CORE, SIGNAL(mapSpeedSliderChanged(int)), + this, SLOT(slotSetSpeed(int))); + connect(BNC_CORE, SIGNAL(stopRinexPPP()), this, SLOT(slotSetStopFlag())); + } + + _stopFlag = false; + + QString roverName(_opt->_roverName.c_str()); + + QString logFileSkl = settings.value("PPP/logFile").toString(); + if (logFileSkl.isEmpty()) { + _logFile = 0; + } + else { + if (logFileSkl.indexOf("${STATION}") == -1) { + logFileSkl = roverName + "_" + logFileSkl; + } + else { + logFileSkl.replace("${STATION}", roverName); + } + _logFile = new bncoutf(logFileSkl, "1 day", 0); + } + + QString nmeaFileSkl = settings.value("PPP/nmeaFile").toString(); + if (nmeaFileSkl.isEmpty()) { + _nmeaFile = 0; + } + else { + if (nmeaFileSkl.indexOf("${STATION}") == -1) { + nmeaFileSkl = roverName + "_" + nmeaFileSkl; + } + else { + nmeaFileSkl.replace("${STATION}", roverName); + } + _nmeaFile = new bncoutf(nmeaFileSkl, "1 day", 0); + } +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_pppRun::~t_pppRun() { + delete _logFile; + delete _nmeaFile; +} + +// +//////////////////////////////////////////////////////////////////////////// +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() >= 2 && oldObs._measdata[iEntry] != 0.0) { + 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() && !waitForCorr(_epoData.front()->_time)) { + + const vector& satObs = _epoData.front()->_satObs; + + t_output output; + _pppClient->processEpoch(satObs, &output); + + if (!output._error) { + 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(staID, output._epoTime, xx); + } + + delete _epoData.front(); _epoData.pop_front(); + + ostringstream log; + if (output._error) { + log << output._log; + } + else { + log.setf(ios::fixed); + log << string(output._epoTime) << ' ' << staID.data() + << " X = " << setprecision(4) << output._xyzRover[0] + << " Y = " << setprecision(4) << output._xyzRover[1] + << " Z = " << setprecision(4) << output._xyzRover[2] + << " NEU: " << setprecision(4) << output._neu[0] + << " " << setprecision(4) << output._neu[1] + << " " << setprecision(4) << output._neu[2]; + } + + if (_logFile && output._epoTime.valid()) { + _logFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), + QString(output._log.c_str())); + } + + if (!output._error) { + QString rmcStr = nmeaString('R', output); + QString ggaStr = nmeaString('G', output); + if (_nmeaFile) { + _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), rmcStr); + _nmeaFile->write(output._epoTime.gpsw(), output._epoTime.gpssec(), ggaStr); + } + emit newNMEAstr(staID, rmcStr.toAscii()); + emit newNMEAstr(staID, ggaStr.toAscii()); + } + + emit newMessage(QByteArray(log.str().c_str()), true); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotNewCorrections(QStringList corrList) { + QMutexLocker locker(&_mutex); + + // Check the Mountpoint (source of corrections) + // -------------------------------------------- + if (_opt->_realTime) { + if (_opt->_corrMount.empty()) { + return; + } + 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); + _lastClkCorrValue[cc->_prn.toInt()] = cc->_dClk; + 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(QString(_opt->_rinexObs.c_str()), t_rnxObsFile::input); + } + catch (...) { + delete _rnxObsFile; _rnxObsFile = 0; + emit finishedRnxPPP(); + return; + } + + _rnxNavFile = new t_rnxNavFile(QString(_opt->_rinexNav.c_str()), t_rnxNavFile::input); + + if (!_opt->_corrFile.empty()) { + _corrFile = new t_corrFile(QString(_opt->_corrFile.c_str())); + connect(_corrFile, SIGNAL(newCorrections(QStringList)), + this, SLOT(slotNewCorrections(QStringList))); + } + + // Read/Process Observations + // ------------------------- + int nEpo = 0; + const t_rnxObsFile::t_rnxEpo* epo = 0; + while ( !_stopFlag && (epo = _rnxObsFile->nextEpoch()) != 0 ) { + ++nEpo; + + if (_speed < 100) { + double sleepTime = 2.0 / _speed; + t_pppThread::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 ) { + _pppClient->putEphemeris(eph); + delete eph; eph = 0; + } + + // Create list of observations and start epoch processing + // ------------------------------------------------------ + QList obsList; + for (unsigned iObs = 0; iObs < epo->rnxSat.size(); iObs++) { + const t_rnxObsFile::t_rnxSat& rnxSat = epo->rnxSat[iObs]; + + t_obs obs; + t_rnxObsFile::setObsFromRnx(_rnxObsFile, epo, rnxSat, obs); + obsList << obs; + } + slotNewObs(QByteArray(_opt->_roverName.c_str()), obsList); + + + if (nEpo % 10 == 0) { + emit progressRnxPPP(nEpo); + } + + QCoreApplication::processEvents(); + } + + emit finishedRnxPPP(); + + if (BNC_CORE->mode() != t_bncCore::interactive) { + qApp->exit(0); + } + else { + BNC_CORE->stopPPP(); + } +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotSetSpeed(int speed) { + QMutexLocker locker(&_mutex); + _speed = speed; +} + +// +//////////////////////////////////////////////////////////////////////////// +void t_pppRun::slotSetStopFlag() { + QMutexLocker locker(&_mutex); + _stopFlag = true; +} + +// +//////////////////////////////////////////////////////////////////////////// +QString t_pppRun::nmeaString(char strType, const t_output& output) { + + double ell[3]; + xyz2ell(output._xyzRover, ell); + double phiDeg = ell[0] * 180 / M_PI; + double lamDeg = ell[1] * 180 / M_PI; + + char phiCh = 'N'; + if (phiDeg < 0) { + phiDeg = -phiDeg; + phiCh = 'S'; + } + char lamCh = 'E'; + if (lamDeg < 0) { + lamDeg = -lamDeg; + lamCh = 'W'; + } + + ostringstream out; + out.setf(ios::fixed); + + if (strType == 'R') { + string datestr = output._epoTime.datestr(0); // yyyymmdd + out << "GPRMC," + << output._epoTime.timestr(0,0) << ",A," + << setw(2) << setfill('0') << int(phiDeg) + << setw(6) << setprecision(3) << setfill('0') + << fmod(60*phiDeg,60) << ',' << phiCh << ',' + << setw(3) << setfill('0') << int(lamDeg) + << setw(6) << setprecision(3) << setfill('0') + << fmod(60*lamDeg,60) << ',' << lamCh << ",,," + << datestr[6] << datestr[7] << datestr[4] << datestr[5] + << datestr[2] << datestr[3] << ",,"; + } + else if (strType == 'G') { + out << "GPGGA," + << output._epoTime.timestr(0,0) << ',' + << setw(2) << setfill('0') << int(phiDeg) + << setw(10) << setprecision(7) << setfill('0') + << fmod(60*phiDeg,60) << ',' << phiCh << ',' + << setw(3) << setfill('0') << int(lamDeg) + << setw(10) << setprecision(7) << setfill('0') + << fmod(60*lamDeg,60) << ',' << lamCh + << ",1," << setw(2) << setfill('0') << output._numSat << ',' + << setw(3) << setprecision(1) << output._pDop << ',' + << setprecision(3) << ell[2] << ",M,0.0,M,,"; + } + else { + return ""; + } + + QString nmStr(out.str().c_str()); + unsigned char XOR = 0; + for (int ii = 0; ii < nmStr.length(); ii++) { + XOR ^= (unsigned char) nmStr[ii].toAscii(); + } + + return '$' + nmStr + QString("*%1\n").arg(int(XOR), 0, 16).toUpper(); +} + +// +//////////////////////////////////////////////////////////////////////////// +bool t_pppRun::waitForCorr(const bncTime& epoTime) const { + + if (!_opt->_realTime || _opt->_corrMount.empty()) { + return false; + } + else if (!_lastClkCorrTime.valid()) { + return true; + } + else { + double dt = epoTime - _lastClkCorrTime; + if (dt > 1.0 && dt < _opt->_corrWaitTime) { + return true; + } + else { + return false; + } + } + return false; +} Index: trunk/BNC/src/pppRun.h =================================================================== --- trunk/BNC/src/pppRun.h (revision 6046) +++ trunk/BNC/src/pppRun.h (revision 6046) @@ -0,0 +1,78 @@ +#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; +class bncoutf; + +namespace BNC_PPP { + +class t_pppRun : public QObject { + Q_OBJECT + public: + t_pppRun(const t_pppOptions* opt); + ~t_pppRun(); + + void processFiles(); + + static QString nmeaString(char strType, const t_output& output); + + signals: + void newMessage(QByteArray msg, bool showOnScreen); + void newPosition(QByteArray staID, bncTime time, QVector xx); + void newNMEAstr(QByteArray staID, QByteArray str); + void progressRnxPPP(int); + void finishedRnxPPP(); + + public slots: + void slotNewEphGPS(gpsephemeris gpseph); + void slotNewEphGlonass(glonassephemeris gloeph); + void slotNewEphGalileo(galileoephemeris galeph); + void slotNewCorrections(QStringList corrList); + void slotNewObs(QByteArray staID, QList obsList); + void slotSetSpeed(int speed); + void slotSetStopFlag(); + + 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; + }; + + bool waitForCorr(const bncTime& epoTime) const; + + 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 _speed; + bool _stopFlag; + bncoutf* _logFile; + bncoutf* _nmeaFile; +}; + +} + +#endif Index: trunk/BNC/src/pppThread.cpp =================================================================== --- trunk/BNC/src/pppThread.cpp (revision 6046) +++ trunk/BNC/src/pppThread.cpp (revision 6046) @@ -0,0 +1,92 @@ + +// 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_pppThread, t_pppRun + * + * Purpose: Single PPP Client (running in its own thread) + * + * Author: L. Mervart + * + * Created: 29-Jul-2014 + * + * Changes: + * + * -----------------------------------------------------------------------*/ + + +#include +#include +#include +#include + +#include "pppThread.h" +#include "bnccore.h" +#include "bncephuser.h" + +using namespace BNC_PPP; +using namespace std; + +// Constructor +//////////////////////////////////////////////////////////////////////////// +t_pppThread::t_pppThread(const t_pppOptions* opt) : QThread(0) { + + _opt = opt; + _pppRun = 0; + + connect(this, SIGNAL(finished()), this, SLOT(deleteLater())); + + connect(this, SIGNAL(newMessage(QByteArray,bool)), + BNC_CORE, SLOT(slotMessage(const QByteArray,bool))); +} + +// Destructor +//////////////////////////////////////////////////////////////////////////// +t_pppThread::~t_pppThread() { + delete _pppRun; +} + +// Run (virtual) +//////////////////////////////////////////////////////////////////////////// +void t_pppThread::run() { + + try { + _pppRun = new t_pppRun(_opt); + if (_opt->_realTime) { + QThread::exec(); + } + else { + _pppRun->processFiles(); + } + } + catch (t_except exc) { + _pppRun = 0; + emit newMessage(QByteArray(exc.what().c_str()), true); + } +} + Index: trunk/BNC/src/pppThread.h =================================================================== --- trunk/BNC/src/pppThread.h (revision 6046) +++ trunk/BNC/src/pppThread.h (revision 6046) @@ -0,0 +1,33 @@ +#ifndef PPPTHREAD_H +#define PPPTHREAD_H + +#include +#include +#include + +#include "GPSDecoder.h" +#include "pppOptions.h" +#include "pppClient.h" +#include "pppRun.h" + +namespace BNC_PPP { + +class t_pppThread : public QThread { + Q_OBJECT + public: + t_pppThread(const t_pppOptions* opt); + ~t_pppThread(); + virtual void run(); + static void msleep(unsigned long msecs){QThread::msleep(msecs);} + + signals: + void newMessage(QByteArray msg, bool showOnScreen); + + private: + const t_pppOptions* _opt; + t_pppRun* _pppRun; +}; + +} + +#endif