CGPS_NTRIP.cpp

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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    |
   +---------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"   // Precompiled headers

#include <mrpt/hwdrivers/CGPS_NTRIP.h>
#include <mrpt/utils/CConfigFilePrefixer.h>

using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::system;
using namespace mrpt::synch;
using namespace std;

IMPLEMENTS_GENERIC_SENSOR(CGPS_NTRIP,mrpt::hwdrivers)

/** Constructor. See mrpt::hwdrivers::CGPSInterface for the meaning of params. */
CGPS_NTRIP::CGPS_NTRIP() :
        gps(),
        ntrip()
{
}

/** Destructor */
CGPS_NTRIP::~CGPS_NTRIP()
{
}

void CGPS_NTRIP::initialize()
{
    gps.initialize();
    ntrip.initialize();
}

// See docs in parent class
void  CGPS_NTRIP::doProcess()
{
        // Process GPS:
        gps.doProcess();

        // Move sensed observations to this object:
        {
                TListObservations lst;
                gps.getObservations(lst);

                std::vector<mrpt::utils::CSerializablePtr> vect;
                vect.reserve(lst.size());
                for (TListObservations::const_iterator it=lst.begin();it!=lst.end();++it)
                        vect.push_back( it->second );
                this->appendObservations(vect);
        }

        // New GGA frames?
        std::string sLastGGA = gps.getLastGGA();
        if (!sLastGGA.empty())
        {
                if (m_verbose) cout << "[CGPS_NTRIP] Redirecting GGA frame from GPS->NTRIP: '" << sLastGGA << "'" << endl;

                ntrip.getNTRIPClient().sendBackToServer( sLastGGA + std::string("\r\n") );
        }

        // Process NTRIP server comms:
        ntrip.doProcess();
}

void CGPS_NTRIP::loadConfig_sensorSpecific( const mrpt::utils::CConfigFileBase &cfg, const std::string &section )
{
        // Load GPS params:
        gps.loadConfig( mrpt::utils::CConfigFilePrefixer(cfg,"","gps_"), section );
        // NTRIP params:
        ntrip.loadConfig( mrpt::utils::CConfigFilePrefixer(cfg,"","ntrip_"), section );

        // Own params:
        // (none yet)
}