CGPS_NTRIP.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/config/CConfigFilePrefixer.h>
#include <mrpt/hwdrivers/CGPS_NTRIP.h>
#include <iostream>

using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::system;
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() = default;
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::serialization::CSerializable::Ptr> vect;
        vect.reserve(lst.size());
        for (auto 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::config::CConfigFileBase& cfg, const std::string& section)
{
    // Load GPS params:
    gps.loadConfig(mrpt::config::CConfigFilePrefixer(cfg, "", "gps_"), section);
    // NTRIP params:
    ntrip.loadConfig(
        mrpt::config::CConfigFilePrefixer(cfg, "", "ntrip_"), section);

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