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<div class="title">CNTRIPEmitter.h</div> </div>
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<a href="_c_n_t_r_i_p_emitter_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CNTRIPEmitter_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CNTRIPEmitter_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_n_t_r_i_p_client_8h.html">mrpt/hwdrivers/CNTRIPClient.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serial_port_8h.html">mrpt/hwdrivers/CSerialPort.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_generic_sensor_8h.html">mrpt/hwdrivers/CGenericSensor.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>hwdrivers
<a name="l00038"></a>00038 {<span class="comment"></span>
<a name="l00039"></a>00039 <span class="comment"> /** This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of dumping the received datastream to a given serial port.</span>
<a name="l00040"></a>00040 <span class="comment"> * Used within rawlog-grabber, along CGPSInterface, this class allows to build a powerful & simple RTK-capable GPS receiver system.</span>
<a name="l00041"></a>00041 <span class="comment"> *</span>
<a name="l00042"></a>00042 <span class="comment"> * Therefore, this sensor will never "collect" any observation via the CGenericSensor interface.</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> * See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * \code</span>
<a name="l00047"></a>00047 <span class="comment"> * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:</span>
<a name="l00048"></a>00048 <span class="comment"> * -------------------------------------------------------</span>
<a name="l00049"></a>00049 <span class="comment"> * [supplied_section_name]</span>
<a name="l00050"></a>00050 <span class="comment"> * COM_port_WIN = COM1 // Serial port where the NTRIP stream will be dumped to.</span>
<a name="l00051"></a>00051 <span class="comment"> * COM_port_LIN = ttyUSB0</span>
<a name="l00052"></a>00052 <span class="comment"> * baudRate = 38400 </span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * server = 143.123.9.129 // NTRIP caster IP</span>
<a name="l00055"></a>00055 <span class="comment"> * port = 2101</span>
<a name="l00056"></a>00056 <span class="comment"> * mountpoint = MYPOINT23</span>
<a name="l00057"></a>00057 <span class="comment"> * //user = pepe // User & password optional.</span>
<a name="l00058"></a>00058 <span class="comment"> * //password = loco</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * \endcode</span>
<a name="l00061"></a>00061 <span class="comment"> *</span>
<a name="l00062"></a>00062 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00063"></a>00063 <span class="comment"> * \sa CGPSInterface, CNTRIPClient</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CNTRIPEmitter : <span class="keyword">public</span> <a class="code" href="namespacemrpt_1_1hwdrivers.html#a3f369b2dbc16368a52f0ddab62ba5702">CGenericSensor</a>
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <a class="code" href="_c_generic_sensor_8h.html#ab8b72c811c520eb036fa4080d9cd9d1d" title="This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...">DEFINE_GENERIC_SENSOR</a>(CNTRIPEmitter)
<a name="l00068"></a>00068
<a name="l00069"></a>00069 private:
<a name="l00070"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#a95f34c0e7ab8a7434137c27f45a6ecc0">00070</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_client.html" title="A client for NTRIP (HTTP) sources of differential GPS corrections from internet servers, or Global navigation satellite system (GNSS) internet radio.">CNTRIPClient</a>::NTRIPArgs m_ntrip_args;
<a name="l00071"></a>00071
<a name="l00072"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#a2891e07cc2dad9154c8a0639555ee7ff">00072</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_client.html" title="A client for NTRIP (HTTP) sources of differential GPS corrections from internet servers, or Global navigation satellite system (GNSS) internet radio.">CNTRIPClient</a> m_client; <span class="comment">//!< The NTRIP comms object.</span>
<a name="l00073"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#af31938934b3de206cb00160ac62ad401">00073</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_serial_port.html" title="A communications serial port built as an implementation of a utils::CStream.">CSerialPort</a> m_out_COM; <span class="comment">//!< The output serial port.</span>
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#a4fa0b54f0317a8a983e8e8564968dee5">00075</a> std::<span class="keywordtype">string</span> m_com_port; <span class="comment">//!< If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#a73c632823d6552325a24e6f1f05a8a09">00076</a> <span class="comment"></span> <span class="keywordtype">int</span> m_com_bauds;
<a name="l00077"></a>00077
<a name="l00078"></a>00078 protected:<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)</span>
<a name="l00080"></a>00080 <span class="comment"> * See hwdrivers::CNTRIPEmitter for the possible parameters</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> loadConfig_sensorSpecific(
<a name="l00083"></a>00083 const mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">CConfigFileBase</a> &configSource,
<a name="l00084"></a>00084 const std::<span class="keywordtype">string</span> &iniSection );
<a name="l00085"></a>00085
<a name="l00086"></a>00086 public:<span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Constructor */</span>
<a name="l00088"></a>00088 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html" title="This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of du...">CNTRIPEmitter</a>();
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Destructor */</span>
<a name="l00091"></a>00091 virtual ~CNTRIPEmitter();
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".</span>
<a name="l00094"></a>00094 <span class="comment"> * This is not needed if the configuration is loaded with "loadConfig".</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_n_t_r_i_p_emitter.html#ad426e572a1dc50154c3bb8f7a02b4de5">00096</a> <span class="keywordtype">void</span> setOutputSerialPort(const std::<span class="keywordtype">string</span> &port) { m_com_port = port; }
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Set up the NTRIP communications, raising an exception on fatal errors.</span>
<a name="l00099"></a>00099 <span class="comment"> * Called automatically by rawlog-grabber.</span>
<a name="l00100"></a>00100 <span class="comment"> * If used manually, call after "loadConfig" and before "doProcess".</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keywordtype">void</span> initialize();
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** The main loop, which must be called in a timely fashion in order to process the incomming NTRIP data stream and dump it to the serial port.</span>
<a name="l00105"></a>00105 <span class="comment"> * This method is called automatically when used within rawlog-grabber.</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a>00107 <span class="keywordtype">void</span> doProcess();
<a name="l00108"></a>00108
<a name="l00109"></a>00109 }; <span class="comment">// End of class</span>
<a name="l00110"></a>00110
<a name="l00111"></a>00111 } <span class="comment">// End of namespace</span>
<a name="l00112"></a>00112 } <span class="comment">// End of namespace</span>
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="preprocessor">#endif</span>
</pre></div></div>
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