CGPS_NTRIP.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/hwdrivers/CGPSInterface.h>
#include <mrpt/hwdrivers/CNTRIPEmitter.h>
#include <mrpt/hwdrivers/CGenericSensor.h>

namespace mrpt::hwdrivers
{
/** A combination of GPS receiver + NTRIP receiver capable of submitting GGA
 * frames to enable RTCM 3.0.
  * This class holds instances of two classes, publicly exposed as member
 * variables:
  *  - mrpt::hwdrivers::CGPSInterface  gps;
  *  - mrpt::hwdrivers::CNTRIPEmitter  ntrip;
  *
  * and acts as a "joint sensor", calling both objects' doProcess() inside the
 * doProcess() loop, etc.
  *
  * The goal of this class is automatically gather GGA frames from the gps
 * sensor and upload them to the NTRIP server.
  *
  * Configuration file format is a combination of the original parameters for
 * both classes, each with
  * a prefix: "gps_" for CGPSInterface params and "ntrip_" for CNTRIPEmitter.
  *
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *    gps_COM_port_WIN = COM3
  *    gps_COM_port_LIN = ttyS0
  *    gps_baudRate     = 4800   // The baudrate of the communications (typ.
 * 4800 bauds)
  *    gps_pose_x       = 0      // 3D position of the sensed point relative to
 * the robot (meters)
  *    gps_pose_y       = 0
  *    gps_pose_z       = 0
  *    # Other params (see CGPSInterface)
  *
  *    ntrip_COM_port_WIN = COM1         // Serial port where the NTRIP stream
 * will be dumped to.
  *    ntrip_COM_port_LIN = ttyUSB0
  *    ntrip_baudRate     = 38400
  *
  *    ntrip_server   = 143.123.9.129    // NTRIP caster IP
  *    ntrip_port     = 2101
  *    ntrip_mountpoint = MYPOINT23
  *    #ntrip_user = pepe            // User & password optional.
  *    #ntrip_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>
  *
  *  \note Verbose debug info will be dumped to cout if the environment variable
 * "MRPT_HWDRIVERS_VERBOSE" is set to "1", or if you call
 * CGenericSensor::enableVerbose(true)
  *
  * \ingroup mrpt_hwdrivers_grp
  * \sa CGPSInterface, CNTRIPEmitter
  */
class CGPS_NTRIP : public CGenericSensor
{
    DEFINE_GENERIC_SENSOR(CGPS_NTRIP)

   public:
    mrpt::hwdrivers::CGPSInterface gps;
    mrpt::hwdrivers::CNTRIPEmitter ntrip;

    /** Constructor */
    CGPS_NTRIP();
    /** Destructor */
    virtual ~CGPS_NTRIP();

    void doProcess();  // See docs in parent class

    virtual void initialize();

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

}