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CNTRIPEmitter.cpp
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #include "hwdrivers-precomp.h" // Precompiled headers
11 
12 #include <mrpt/hwdrivers/CNTRIPEmitter.h>
13 
14 #include <mrpt/system/filesystem.h>
15 #include <mrpt/system/string_utils.h>
16 
17 IMPLEMENTS_GENERIC_SENSOR(CNTRIPEmitter,mrpt::hwdrivers)
18 
19 using namespace std;
20 using namespace mrpt;
21 using namespace mrpt::utils;
22 using namespace mrpt::obs;
23 using namespace mrpt::hwdrivers;
24 
25 /*-------------------------------------------------------------
26  CNTRIPEmitter
27 -------------------------------------------------------------*/
28 CNTRIPEmitter::CNTRIPEmitter() :
29  m_client(),
30  m_com_port(""),
31  m_com_bauds(38400),
32  m_transmit_to_server(true),
33  m_rate_count(0)
34 {
35 
36 }
37 
38 /*-------------------------------------------------------------
39  ~CNTRIPEmitter
40 -------------------------------------------------------------*/
41 CNTRIPEmitter::~CNTRIPEmitter()
42 {
43  m_client.close();
44  if (m_out_COM.isOpen()) m_out_COM.close();
45  if (m_raw_output_file_stream.is_open()) m_raw_output_file_stream.close();
46 }
47 
48 /*-------------------------------------------------------------
49  doProcess
50 -------------------------------------------------------------*/
51 void CNTRIPEmitter::doProcess()
52 {
53  vector_byte buf;
54  m_client.stream_data.readAndClear(buf);
55 
56  if (!buf.empty())
57  {
58  if (m_verbose) {
59  const double At = m_rate_timer.Tac();
60  m_rate_count += buf.size();
61  if (At > 5.0) {
62  const double estim_rate_Bps = m_rate_count / At;
63  cout << format("[NTRIP %s] Rate: %.02f B/s\n", mrpt::system::timeLocalToString(mrpt::system::now()).c_str(), estim_rate_Bps);
64  m_rate_timer.Tic();
65  m_rate_count = 0;
66  }
67 
68  cout << format("[NTRIP %s] RX (%u bytes)\n", mrpt::system::timeLocalToString(mrpt::system::now()).c_str(), (unsigned int)buf.size());
69  }
70  if (m_out_COM.isOpen()) {
71  // Send through the serial port:
72  cout << format("[NTRIP %s] RX: %u bytes\n", mrpt::system::timeLocalToString(mrpt::system::now()).c_str(), (unsigned)buf.size());
73  m_out_COM.WriteBuffer(&buf[0], buf.size());
74  }
75 
76  if (m_raw_output_file_stream.is_open()) {
77  m_raw_output_file_stream.write( reinterpret_cast<const char*>(&buf[0]), buf.size());
78  }
79  }
80 
81  // Try to read a msg from the receiver -> NTRIP caster
82  if (m_transmit_to_server && m_out_COM.isOpen())
83  {
84  char rxbuf[50];
85  const size_t nReadActual = m_out_COM.Read(rxbuf,sizeof(rxbuf)-1);
86  if (nReadActual)
87  {
88  rxbuf[nReadActual] = 0;
89  if (m_verbose) cout << format("[NTRIP %s] TX (%u bytes)\n", mrpt::system::timeLocalToString(mrpt::system::now()).c_str(), (unsigned int)nReadActual);
90  }
91  }
92 
93  mrpt::system::sleep(1);
94 }
95 
96 /*-------------------------------------------------------------
97  initialize
98 -------------------------------------------------------------*/
99 void CNTRIPEmitter::initialize()
100 {
101  if (m_out_COM.isOpen()) m_out_COM.close();
102 
103  if (!m_com_port.empty())
104  {
105  cout << format("[NTRIP] Opening %s...\n",m_com_port.c_str() );
106  m_out_COM.open(m_com_port);
107  m_out_COM.setConfig(m_com_bauds);
108  m_out_COM.setTimeouts(0,0,10,0,1);
109  m_out_COM.purgeBuffers();
110  cout << format("[NTRIP] Open %s Ok.\n",m_com_port.c_str() );
111  }
112 
113  if (m_raw_output_file_stream.is_open()) {
114  m_raw_output_file_stream.close();
115  }
116 
117  if (!m_raw_output_file_prefix.empty())
118  {
119  const string fil = mrpt::system::fileNameStripInvalidChars(m_raw_output_file_prefix + mrpt::system::dateTimeLocalToString(mrpt::system::now()) + string(".bin"));
120  m_raw_output_file_stream.open(fil.c_str(), std::ofstream::out | std::ofstream::binary);
121  if (!m_raw_output_file_stream.is_open())
122  THROW_EXCEPTION_FMT("Error opening output raw file: `%s`",fil.c_str());
123  }
124 
125  string errstr;
126  if (!m_client.open(m_ntrip_args,errstr))
127  THROW_EXCEPTION_FMT("ERROR trying to connect to NTRIP caster: %s",errstr.c_str());
128 }
129 
130 
131 /* -----------------------------------------------------
132  loadConfig_sensorSpecific
133  ----------------------------------------------------- */
134 void CNTRIPEmitter::loadConfig_sensorSpecific(
135  const mrpt::utils::CConfigFileBase &c,
136  const std::string &s )
137 {
138 #ifdef MRPT_OS_WINDOWS
139  m_com_port = c.read_string(s, "COM_port_WIN", "");
140 #else
141  m_com_port = c.read_string(s, "COM_port_LIN", "");
142 #endif
143 
144  m_raw_output_file_prefix = c.read_string(s, "raw_output_file_prefix","");
145 
146  ASSERTMSG_(!m_raw_output_file_prefix.empty() || !m_com_port.empty(), "At least one of either raw file output or serial COM file must be specified in configuration file!");
147 
148  if (!m_com_port.empty()) {
149  m_com_bauds = c.read_int(s, "baudRate", m_com_bauds, true);
150  }
151 
152  m_transmit_to_server = c.read_bool( s, "transmit_to_server",m_transmit_to_server);
153 
154  m_ntrip_args.mountpoint = mrpt::system::trim( c.read_string(s, "mountpoint","",true) );
155  m_ntrip_args.server = mrpt::system::trim( c.read_string(s, "server","",true) );
156  m_ntrip_args.port = c.read_int(s, "port",2101,true);
157 
158  m_ntrip_args.user = mrpt::system::trim( c.read_string(s, "user","") );
159  m_ntrip_args.password = mrpt::system::trim( c.read_string(s, "password","") );
160 }
161 
mrpt::hwdrivers::CNTRIPEmitter::initialize
void initialize()
Set up the NTRIP communications, raising an exception on fatal errors.
Definition: CNTRIPEmitter.cpp:99
mrpt::hwdrivers::CNTRIPClient::open
bool open(const NTRIPArgs &params, std::string &out_errmsg)
Tries to open a given NTRIP stream and, if successful, launches a thread for continuously reading fro...
Definition: CNTRIPClient.cpp:75
mrpt::utils
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
mrpt::hwdrivers::CNTRIPEmitter::m_rate_timer
mrpt::utils::CTicTac m_rate_timer
Definition: CNTRIPEmitter.h:69
mrpt::hwdrivers::CSerialPort::isOpen
bool isOpen() const
Returns if port has been correctly open.
Definition: CSerialPort.cpp:183
mrpt::vector_byte
std::vector< uint8_t > vector_byte
Definition: types_simple.h:26
mrpt::hwdrivers::CSerialPort::setTimeouts
void setTimeouts(int ReadIntervalTimeout, int ReadTotalTimeoutMultiplier, int ReadTotalTimeoutConstant, int WriteTotalTimeoutMultiplier, int WriteTotalTimeoutConstant)
Changes the timeouts of the port, in milliseconds.
Definition: CSerialPort.cpp:477
mrpt::hwdrivers::CNTRIPEmitter::m_com_port
std::string m_com_port
If set to non-empty, the serial port will be attempted to be opened automatically when this class is ...
Definition: CNTRIPEmitter.h:64
mrpt::hwdrivers::CNTRIPEmitter::m_client
CNTRIPClient m_client
The NTRIP comms object.
Definition: CNTRIPEmitter.h:61
THROW_EXCEPTION_FMT
#define THROW_EXCEPTION_FMT(_FORMAT_STRING,...)
Definition: maps/CColouredPointsMap.h:163
mrpt::utils::CStream::WriteBuffer
void WriteBuffer(const void *Buffer, size_t Count)
Writes a block of bytes to the stream from Buffer.
Definition: CStream.cpp:67
mrpt::system::now
mrpt::system::TTimeStamp now()
A shortcut for system::getCurrentTime.
Definition: datetime.h:70
mrpt::hwdrivers
Contains classes for various device interfaces.
Definition: C2DRangeFinderAbstract.h:24
std
STL namespace.
mrpt::system::fileNameStripInvalidChars
std::string BASE_IMPEXP fileNameStripInvalidChars(const std::string &filename, const char replacement_to_invalid_chars='_')
Replace invalid filename chars by underscores (&#39;_&#39;) or any other user-given char. ...
Definition: filesystem.cpp:315
CNTRIPEmitter.h
mrpt::hwdrivers::CNTRIPClient::close
void close()
Closes the connection.
Definition: CNTRIPClient.cpp:64
s
GLdouble s
Definition: glext.h:3602
mrpt::synch::MT_buffer::readAndClear
void readAndClear(vector_byte &d)
Definition: MT_buffer.h:58
mrpt::utils::CTicTac::Tic
void Tic()
Starts the stopwatch.
Definition: CTicTac.cpp:77
mrpt::utils::CConfigFileBase
This class allows loading and storing values and vectors of different types from a configuration text...
Definition: CConfigFileBase.h:33
string_utils.h
c
const GLubyte * c
Definition: glext.h:5590
mrpt::system::sleep
void BASE_IMPEXP sleep(int time_ms) MRPT_NO_THROWS
An OS-independent method for sending the current thread to "sleep" for a given period of time...
Definition: threads.cpp:57
mrpt::hwdrivers::CSerialPort::setConfig
void setConfig(int baudRate, int parity=0, int bits=8, int nStopBits=1, bool enableFlowControl=false)
Changes the configuration of the port.
Definition: CSerialPort.cpp:195
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:18
mrpt::format
std::string BASE_IMPEXP format(const char *fmt,...) MRPT_printf_format_check(1
A std::string version of C sprintf.
Definition: format.cpp:21
string
GLsizei const GLchar ** string
Definition: glext.h:3919
IMPLEMENTS_GENERIC_SENSOR
#define IMPLEMENTS_GENERIC_SENSOR(class_name, NameSpace)
This must be inserted in all CGenericSensor classes implementation files:
Definition: CGenericSensor.h:285
mrpt::hwdrivers::CSerialPort::close
void close()
Close the port.
Definition: CSerialPort.cpp:533
mrpt::hwdrivers::CNTRIPEmitter::loadConfig_sensorSpecific
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
Definition: CNTRIPEmitter.cpp:134
mrpt::hwdrivers::CNTRIPEmitter::m_ntrip_args
CNTRIPClient::NTRIPArgs m_ntrip_args
Definition: CNTRIPEmitter.h:59
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:16
mrpt::hwdrivers::CNTRIPEmitter::m_raw_output_file_stream
std::ofstream m_raw_output_file_stream
Definition: CNTRIPEmitter.h:68
mrpt::hwdrivers::CNTRIPEmitter::doProcess
void doProcess()
The main loop, which must be called in a timely fashion in order to process the incomming NTRIP data ...
Definition: CNTRIPEmitter.cpp:51
mrpt::hwdrivers::CSerialPort::purgeBuffers
void purgeBuffers()
Purge tx and rx buffers.
Definition: CSerialPort.cpp:802
mrpt::hwdrivers::CSerialPort::open
void open()
Open the port.
Definition: CSerialPort.cpp:87
mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter
virtual ~CNTRIPEmitter()
Destructor.
Definition: CNTRIPEmitter.cpp:41
mrpt::system::timeLocalToString
std::string BASE_IMPEXP timeLocalToString(const mrpt::system::TTimeStamp t, unsigned int secondFractionDigits=6)
Convert a timestamp into this textual form (in local time): HH:MM:SS.MMMMMM.
Definition: datetime.cpp:321
mrpt::utils::CTicTac::Tac
double Tac()
Stops the stopwatch.
Definition: CTicTac.cpp:92
mrpt::system::trim
std::string BASE_IMPEXP trim(const std::string &str)
Removes leading and trailing spaces.
Definition: string_utils.cpp:252
mrpt::hwdrivers::CNTRIPClient::stream_data
mrpt::synch::MT_buffer stream_data
The buffer with all the bytes so-far read from the NTRIP server stream.
Definition: CNTRIPClient.h:141
mrpt::system::dateTimeLocalToString
std::string BASE_IMPEXP dateTimeLocalToString(const mrpt::system::TTimeStamp t)
Convert a timestamp into this textual form (in local time): YEAR/MONTH/DAY,HH:MM:SS.MMM.
Definition: datetime.cpp:274
mrpt::hwdrivers::CNTRIPEmitter
This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of du...
Definition: CNTRIPEmitter.h:54
ASSERTMSG_
#define ASSERTMSG_(f, __ERROR_MSG)
Definition: maps/CColouredPointsMap.h:277
mrpt::hwdrivers::CNTRIPEmitter::m_out_COM
CSerialPort m_out_COM
The output serial port.
Definition: CNTRIPEmitter.h:62
mrpt::hwdrivers::CSerialPort::Read
size_t Read(void *Buffer, size_t Count)
Implements the virtual method responsible for reading from the stream - Unlike CStream::ReadBuffer, this method will not raise an exception on zero bytes read, as long as there is not any fatal error in the communications.
Definition: CSerialPort.cpp:556


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