CNTRIPEmitter.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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    |
   +---------------------------------------------------------------------------+ */
#ifndef CNTRIPEmitter_H
#define CNTRIPEmitter_H

#include <mrpt/hwdrivers/CNTRIPClient.h>
#include <mrpt/hwdrivers/CSerialPort.h>
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/utils/CTicTac.h>
#include <fstream>

namespace mrpt
{
        namespace hwdrivers
        {
                /** This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of dumping the received datastream to a given serial port.
                  *  Used within rawlog-grabber, along CGPSInterface, this class allows to build a powerful & simple RTK-capable GPS receiver system.
                  *
                  *  Therefore, this sensor will never "collect" any observation via the CGenericSensor interface.
                  *
                  *   See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".
                  *
                  *  \code
                  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
                  * -------------------------------------------------------
                  *   [supplied_section_name]
                  *   COM_port_WIN = COM1         // Serial port where the NTRIP stream will be dumped to.
                  *   COM_port_LIN = ttyUSB0
                  *   baudRate     = 38400   
                  *   #transmit_to_server = true   // (Default:true) Whether to send back to the TCP/IP caster all data received from the output serial port
                  *   #raw_output_file_prefix = raw_ntrip_data    // If provided, save raw data from the NTRIP to a file, useful for post-processing. In this case, not having a serial port configured (commented out) is a valid configuration.
                  *
                  *   server   = 143.123.9.129    // NTRIP caster IP
                  *   port     = 2101
                  *   mountpoint = MYPOINT23
                  *   //user = pepe            // User & password optional.
                  *   //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>
                  *
                  * \ingroup mrpt_hwdrivers_grp
                  * \sa CGPSInterface, CGPS_NTRIP, CNTRIPClient
                  */
                class HWDRIVERS_IMPEXP CNTRIPEmitter : public CGenericSensor
                {
                        DEFINE_GENERIC_SENSOR(CNTRIPEmitter)

                private:
                        CNTRIPClient::NTRIPArgs m_ntrip_args;

                        CNTRIPClient    m_client;  //!< The NTRIP comms object.
                        CSerialPort             m_out_COM; //!< The output serial 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 first used to request data from the laser.
                        int             m_com_bauds;
                        bool            m_transmit_to_server;
                        std::string     m_raw_output_file_prefix;
                        std::ofstream   m_raw_output_file_stream;
                        mrpt::utils::CTicTac m_rate_timer;
                        size_t          m_rate_count;

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

                public:
                        /** Constructor  */
                        CNTRIPEmitter();

                        /** Destructor  */
                        virtual ~CNTRIPEmitter();

                        /** Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".
                          *  This is not needed if the configuration is loaded with "loadConfig".
                          */
                        void  setOutputSerialPort(const std::string &port) { m_com_port = port; }
                        std::string getOutputSerialPort() const { return m_com_port; }

                        void setRawOutputFilePrefix(const std::string &outfile) { m_raw_output_file_prefix = outfile; }
                        std::string getRawOutputFilePrefix() const { return m_raw_output_file_prefix; }

                        /** Set up the NTRIP communications, raising an exception on fatal errors.
                          *  Called automatically by rawlog-grabber.
                          *  If used manually, call after "loadConfig" and before "doProcess".
                          */
                        void initialize();

                        /** The main loop, which must be called in a timely fashion in order to process the incomming NTRIP data stream and dump it to the serial port.
                          *  This method is called automatically when used within rawlog-grabber.
                          */
                        void doProcess(); 

                        /** Exposes the NTRIP client object */
                        CNTRIPClient & getNTRIPClient() { return m_client; }
                        /** Exposes the NTRIP client object */
                        const CNTRIPClient & getNTRIPClient() const { return m_client; }

                };      // End of class

        } // End of namespace
} // End of namespace

#endif