CGPS_NTRIP.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/hwdrivers/CGPSInterface.h>
#include <mrpt/hwdrivers/CNTRIPEmitter.h>
#include <mrpt/hwdrivers/CGenericSensor.h>

namespace mrpt
{
        namespace hwdrivers
        {
                /** A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0.
                  * This class holds instances of two classes, publicly exposed as member variables:
                  *  - mrpt::hwdrivers::CGPSInterface  gps;
                  *  - mrpt::hwdrivers::CNTRIPEmitter  ntrip;
                  *
                  * and acts as a "joint sensor", calling both objects' doProcess() inside the doProcess() loop, etc.
                  *
                  * The goal of this class is automatically gather GGA frames from the gps sensor and upload them to the NTRIP server.
                  *
                  * Configuration file format is a combination of the original parameters for both classes, each with
                  * a prefix: "gps_" for CGPSInterface params and "ntrip_" for CNTRIPEmitter.
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *    gps_COM_port_WIN = COM3
                  *    gps_COM_port_LIN = ttyS0
                  *    gps_baudRate     = 4800   // The baudrate of the communications (typ. 4800 bauds)
                  *    gps_pose_x       = 0      // 3D position of the sensed point relative to the robot (meters)
                  *    gps_pose_y       = 0
                  *    gps_pose_z       = 0
                  *    # Other params (see CGPSInterface)
                  *
                  *    ntrip_COM_port_WIN = COM1         // Serial port where the NTRIP stream will be dumped to.
                  *    ntrip_COM_port_LIN = ttyUSB0
                  *    ntrip_baudRate     = 38400
                  *
                  *    ntrip_server   = 143.123.9.129    // NTRIP caster IP
                  *    ntrip_port     = 2101
                  *    ntrip_mountpoint = MYPOINT23
                  *    #ntrip_user = pepe            // User & password optional.
                  *    #ntrip_password = loco
                  *
                  *  \endcode
                  *
                  *  The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):
                  *
                  *  <div align=center> <img src="mrpt_gps_classes_usage.png"> </div>
                  *
                  *  \note Verbose debug info will be dumped to cout if the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1", or if you call CGenericSensor::enableVerbose(true)
                  *
                  * \ingroup mrpt_hwdrivers_grp
                  * \sa CGPSInterface, CNTRIPEmitter
                  */
                class HWDRIVERS_IMPEXP CGPS_NTRIP : public CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CGPS_NTRIP)

                public:
                        mrpt::hwdrivers::CGPSInterface  gps;
                        mrpt::hwdrivers::CNTRIPEmitter  ntrip;

                        CGPS_NTRIP();            //!< Constructor
                        virtual ~CGPS_NTRIP();   //!< Destructor

                        void  doProcess();  // See docs in parent class

                        virtual void initialize();
                protected:
                        /** See the class documentation at the top for expected parameters */
                        void  loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection );
                }; // end class

        } // end namespace
} // end namespace