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 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::CSerializable::Ptr> 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)
}