test.cpp

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/* +------------------------------------------------------------------------+
   |                     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 |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/hwdrivers/CNTRIPClient.h>
#include <mrpt/system/os.h>
#include <cstdio>
#include <iostream>
 
using namespace std;
using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
 
// ------------------------------------------------------
//                              TestNTRIP
// ------------------------------------------------------
void TestNTRIP()
{
        const string server = "www.euref-ip.net";
        const int server_port = 2101;
 
        CNTRIPClient::TListMountPoints lst;
        string errMsg;
 
        bool ret = CNTRIPClient::retrieveListOfMountpoints(
                lst, errMsg, server, server_port);
 
        if (!ret)
        {
                cout << "Error: " << errMsg << endl;
                return;
        }
 
        if (lst.empty())
        {
                cout << "Zero streams listed in caster...?" << endl;
                return;
        }
 
        // List:
        // -----------------------------------
        for (CNTRIPClient::TListMountPoints::const_iterator it = lst.begin();
                 it != lst.end(); it++)
        {
                const CNTRIPClient::TMountPoint& m = *it;
                cout << "MOUNT: " << m.mountpoint_name
                         << "  | COUNTRY: " << m.country_code
                         << "  | NMEA?: " << m.needs_nmea << "  | FORMAT: " << m.format
                         << " (" << m.id << ") " << m.extra_info << endl;
        }
 
        // Now connect to a random server:
        // -----------------------------------
        CNTRIPClient ntrip;
        CNTRIPClient::NTRIPArgs params;
 
        CNTRIPClient::TListMountPoints::iterator it = lst.begin();
        // std::advance(it,8);
 
        cout << "Connecting to: " << it->mountpoint_name << " - " << it->id << endl;
        params.mountpoint = it->mountpoint_name;
        params.server = server;
        params.port = server_port;
 
        params.user = "";
        params.password = "";
 
        string msgerr;
 
        if (!ntrip.open(params, msgerr))
        {
                cout << "ERROR: " << msgerr << endl;
        }
        else
        {
                cout << "Reading stream... press any key to finish." << endl;
 
                std::vector<uint8_t> dat;
                while (!mrpt::system::os::kbhit())
                {
                        ntrip.stream_data.readAndClear(dat);
                        cout << "Read " << dat.size() << " bytes." << endl;
                        std::this_thread::sleep_for(1000ms);
                }
        }
}
 
void TestNTRIP2()
{
        // const string server = "www.euref-ip.net";
        const string server = "193.144.251.13";
        const int server_port = 2101;
 
        // Now connect to a random server:
        // -----------------------------------
        CNTRIPClient ntrip;
        CNTRIPClient::NTRIPArgs params;
 
        params.mountpoint = "ACOR0";
        params.server = server;
        params.port = server_port;
        params.user = "";
        params.password = "";
 
        string msgerr;
 
        if (!ntrip.open(params, msgerr))
        {
                cout << "ERROR: " << msgerr << endl;
        }
        else
        {
                cout << "Reading stream... press any key to finish." << endl;
 
                std::vector<uint8_t> dat;
                while (!mrpt::system::os::kbhit())
                {
                        ntrip.stream_data.readAndClear(dat);
                        cout << "Read " << dat.size() << " bytes." << endl;
                        std::this_thread::sleep_for(1000ms);
                }
        }
}
 
// ------------------------------------------------------
//                                              MAIN
// ------------------------------------------------------
int main()
{
        try
        {
                TestNTRIP();
                // TestNTRIP2();
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "MRPT exception caught: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Untyped exception!!");
                return -1;
        }
}