mrpt::hwdrivers::CNTRIPClient Class Reference

Detailed Description

A client for NTRIP (HTTP) sources of differential GPS corrections from internet servers, or Global navigation satellite system (GNSS) internet radio.

Usage:

• To open the server, invoke "open" with the proper parameters. Then use "stream_data" to read the read data.
• To obtain a list of all the mountpoints available at a given NTRIP Caster, call "retrieveListOfMountpoints" (it's a static method).

It is not neccesary to call "close", the connection is ended at destruction.

Note

For a good reference of the NTRIP protocol, see http://gnss.itacyl.es/opencms/opencms/system/modules/es.jcyl.ita.site.gnss/resources/documentos_gnss/NtripDocumentation.pdf

Definition at line 36 of file CNTRIPClient.h.

#include <mrpt/hwdrivers/CNTRIPClient.h>

Classes
struct	NTRIPArgs
	The arguments for connecting to a NTRIP stream, used in CNTRIPClient::open. More...
struct	TMountPoint
	A descriptor of one stream in an NTRIP Caster - See CNTRIPClient::retrieveListOfMountpoints. More...

Public Types
using	TListMountPoints = std::list< TMountPoint >
	Used in CNTRIPClient::retrieveListOfMountpoints. More...

Public Member Functions
	CNTRIPClient ()
	Default constructor. More...
virtual	~CNTRIPClient ()
	Default destructor. More...
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 from it. More...
void	close ()
	Closes the connection. More...
void	sendBackToServer (const std::string &data)
	Enqueues a string to be sent back to the NTRIP server (e.g. More...

Static Public Member Functions
static bool	retrieveListOfMountpoints (TListMountPoints &out_list, std::string &out_errmsg, const std::string &server, int port=2101, const std::string &auth_user=std::string(), const std::string &auth_pass=std::string())
	Connect to a given NTRIP caster and get the list of all available mountpoints and their parameters. More...

Public Attributes
mrpt::containers::MT_buffer	stream_data
	The buffer with all the bytes so-far read from the NTRIP server stream. More...

Protected Types
enum	TConnResult { connOk = 0, connError, connUnauthorized }

Protected Member Functions
void	private_ntrip_thread ()
	The working thread. More...

Protected Attributes
std::thread	m_thread
std::promise< void >	m_sem_sock_closed
std::promise< void >	m_sem_first_connect_done
bool	m_thread_exit {false}
bool	m_thread_do_process {false}
	Will be "true" between "open" and "close". More...
bool	m_waiting_answer_connection {false}
TConnResult	m_answer_connection {connError}
NTRIPArgs	m_args
	All the parameters for the NTRIP connection. More...
mrpt::containers::MT_buffer	m_upload_data
	Buffer for data to be sent back to the server. More...

Member Typedef Documentation

TListMountPoints

using mrpt::hwdrivers::CNTRIPClient::TListMountPoints = std::list<TMountPoint>

Used in CNTRIPClient::retrieveListOfMountpoints.

Definition at line 74 of file CNTRIPClient.h.

Member Enumeration Documentation

TConnResult

enum mrpt::hwdrivers::CNTRIPClient::TConnResult

protected

Enumerator
connOk
connError
connUnauthorized

Definition at line 104 of file CNTRIPClient.h.

Constructor & Destructor Documentation

CNTRIPClient()

CNTRIPClient::CNTRIPClient

(

)

Default constructor.

Definition at line 32 of file CNTRIPClient.cpp.

References m_thread, and private_ntrip_thread().

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~CNTRIPClient()

CNTRIPClient::~CNTRIPClient ( )

virtual

Default destructor.

Definition at line 40 of file CNTRIPClient.cpp.

References close(), m_thread, and m_thread_exit.

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Member Function Documentation

close()

void CNTRIPClient::close

(

)

Closes the connection.

See also

open

Definition at line 53 of file CNTRIPClient.cpp.

References mrpt::containers::MT_buffer::clear(), m_sem_sock_closed, m_thread_do_process, and m_upload_data.

Referenced by open(), ~CNTRIPClient(), and mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter().

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open()

bool CNTRIPClient::open	(	const NTRIPArgs &	params,
		std::string &	out_errmsg
	)

Tries to open a given NTRIP stream and, if successful, launches a thread for continuously reading from it.

See also

close, stream_data

Returns

false On any kind of error, with a description of the error in errmsg, if provided.

Definition at line 64 of file CNTRIPClient.cpp.

References close(), connError, connOk, connUnauthorized, mrpt::format(), m_answer_connection, m_args, m_sem_first_connect_done, m_thread_do_process, m_waiting_answer_connection, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::mountpoint, and params.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::initialize().

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private_ntrip_thread()

void CNTRIPClient::private_ntrip_thread ( )

protected

The working thread.

Definition at line 118 of file CNTRIPClient.cpp.

References mrpt::containers::MT_buffer::appendData(), mrpt::containers::MT_buffer::clear(), mrpt::comms::CClientTCPSocket::close(), mrpt::comms::CClientTCPSocket::connect(), connError, connOk, connUnauthorized, mrpt::system::encodeBase64(), mrpt::format(), mrpt::comms::CClientTCPSocket::isConnected(), m_answer_connection, m_args, m_sem_first_connect_done, m_sem_sock_closed, m_thread_do_process, m_thread_exit, m_upload_data, m_waiting_answer_connection, mrpt::system::os::memcpy(), mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::mountpoint, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::password, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::port, mrpt::containers::MT_buffer::readAndClear(), mrpt::comms::CClientTCPSocket::readAsync(), mrpt::comms::CClientTCPSocket::sendString(), mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::server, mrpt::containers::MT_buffer::size(), stream_data, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::user, and mrpt::comms::CClientTCPSocket::writeAsync().

Referenced by CNTRIPClient().

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retrieveListOfMountpoints()

bool CNTRIPClient::retrieveListOfMountpoints ( TListMountPoints &  out_list, std::string &  out_errmsg, const std::string &  server, int  port = 2101, const std::string &  auth_user = std::string(), const std::string &  auth_pass = std::string()  )

static

Connect to a given NTRIP caster and get the list of all available mountpoints and their parameters.

Note that the authentication parameters "auth_user" and "auth_pass" will be left empty in most situations, since LISTING the Caster normally doesn't require special rights.

Example:

     CNTRIPClient::TListMountPoints lst;
     std::string errMsg;
     bool ret =
*CNTRIPClient::retrieveListOfMountpoints(lst,errMsg,"www.euref-ip.net",
2101);

Returns

False on any error, then "errmsg" holds the reason.

Definition at line 322 of file CNTRIPClient.cpp.

References mrpt::hwdrivers::CNTRIPClient::TMountPoint::carrier, mrpt::system::TParameters< T >::clear(), mrpt::hwdrivers::CNTRIPClient::TMountPoint::country_code, mrpt::DEG2RAD(), mrpt::comms::net::erOk, mrpt::hwdrivers::CNTRIPClient::TMountPoint::extra_info, mrpt::hwdrivers::CNTRIPClient::TMountPoint::format, mrpt::hwdrivers::CNTRIPClient::TMountPoint::format_details, mrpt::comms::net::http_get(), mrpt::hwdrivers::CNTRIPClient::TMountPoint::id, mrpt::hwdrivers::CNTRIPClient::TMountPoint::latitude, mrpt::hwdrivers::CNTRIPClient::TMountPoint::longitude, mrpt::hwdrivers::CNTRIPClient::TMountPoint::mountpoint_name, mrpt::hwdrivers::CNTRIPClient::TMountPoint::nav_system, mrpt::hwdrivers::CNTRIPClient::TMountPoint::needs_nmea, mrpt::hwdrivers::CNTRIPClient::TMountPoint::net_ref_stations, mrpt::hwdrivers::CNTRIPClient::TMountPoint::network, mrpt::RAD2DEG(), mrpt::system::tokenize(), and mrpt::math::wrapToPi().

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sendBackToServer()

void CNTRIPClient::sendBackToServer

(

const std::string &

data

)

Enqueues a string to be sent back to the NTRIP server (e.g.

GGA frames)

Definition at line 380 of file CNTRIPClient.cpp.

References mrpt::containers::MT_buffer::appendData(), mrpt::opengl::internal::data, m_upload_data, and mrpt::system::os::memcpy().

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Member Data Documentation

m_answer_connection

TConnResult mrpt::hwdrivers::CNTRIPClient::m_answer_connection {connError}

mutableprotected

Definition at line 111 of file CNTRIPClient.h.

Referenced by open(), and private_ntrip_thread().

m_args

NTRIPArgs mrpt::hwdrivers::CNTRIPClient::m_args

mutableprotected

All the parameters for the NTRIP connection.

Definition at line 113 of file CNTRIPClient.h.

Referenced by open(), and private_ntrip_thread().

m_sem_first_connect_done

std::promise<void> mrpt::hwdrivers::CNTRIPClient::m_sem_first_connect_done

protected

Definition at line 97 of file CNTRIPClient.h.

Referenced by open(), and private_ntrip_thread().

m_sem_sock_closed

std::promise<void> mrpt::hwdrivers::CNTRIPClient::m_sem_sock_closed

protected

Definition at line 96 of file CNTRIPClient.h.

Referenced by close(), and private_ntrip_thread().

m_thread

std::thread mrpt::hwdrivers::CNTRIPClient::m_thread

protected

Definition at line 95 of file CNTRIPClient.h.

Referenced by CNTRIPClient(), and ~CNTRIPClient().

m_thread_do_process

bool mrpt::hwdrivers::CNTRIPClient::m_thread_do_process {false}

mutableprotected

Will be "true" between "open" and "close".

Definition at line 101 of file CNTRIPClient.h.

Referenced by close(), open(), and private_ntrip_thread().

m_thread_exit

bool mrpt::hwdrivers::CNTRIPClient::m_thread_exit {false}

mutableprotected

Definition at line 99 of file CNTRIPClient.h.

Referenced by private_ntrip_thread(), and ~CNTRIPClient().

m_upload_data

mrpt::containers::MT_buffer mrpt::hwdrivers::CNTRIPClient::m_upload_data

protected

Buffer for data to be sent back to the server.

Definition at line 116 of file CNTRIPClient.h.

Referenced by close(), private_ntrip_thread(), and sendBackToServer().

m_waiting_answer_connection

bool mrpt::hwdrivers::CNTRIPClient::m_waiting_answer_connection {false}

mutableprotected

Definition at line 102 of file CNTRIPClient.h.

Referenced by open(), and private_ntrip_thread().

stream_data

mrpt::containers::MT_buffer mrpt::hwdrivers::CNTRIPClient::stream_data

The buffer with all the bytes so-far read from the NTRIP server stream.

Call its "readAndClear" method in a timely fashion to get the stream contents.

See also

open, close

Definition at line 143 of file CNTRIPClient.h.

Referenced by mrpt::hwdrivers::CNTRIPEmitter::doProcess(), and private_ntrip_thread().