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:
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.
The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):
Definition at line 65 of file CGPS_NTRIP.h.
#include <mrpt/hwdrivers/CGPS_NTRIP.h>
Public Types | |
enum | TSensorState { ssInitializing = 0, ssWorking, ssError } |
The current state of the sensor. More... | |
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObservations |
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > | TListObsPair |
typedef CGenericSensorPtr | Ptr |
typedef stlplus::smart_ptr< const CGenericSensor > | ConstPtr |
Public Member Functions | |
CGPS_NTRIP () | |
Constructor. More... | |
virtual | ~CGPS_NTRIP () |
Destructor. More... | |
void | doProcess () |
This method will be invoked at a minimum rate of "process_rate" (Hz) More... | |
virtual void | initialize () |
This method can or cannot be implemented in the derived class, depending on the need for it. More... | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor. More... | |
double | getProcessRate () const |
std::string | getSensorLabel () const |
void | setSensorLabel (const std::string &sensorLabel) |
void | enableVerbose (bool enabled=true) |
Enable or disable extra debug info dumped to std::cout during sensor operation. More... | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More... | |
void | getObservations (TListObservations &lstObjects) |
Returns a list of enqueued objects, emptying it (thread-safe). More... | |
virtual void | setPathForExternalImages (const std::string &directory) |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More... | |
void | setExternalImageFormat (const std::string &ext) |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More... | |
void | setExternalImageJPEGQuality (const unsigned int quality) |
The quality of JPEG compression, when external images is enabled and the format is "jpg". More... | |
unsigned int | getExternalImageJPEGQuality () const |
Static Public Member Functions | |
static void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. More... | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. More... | |
static CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. More... | |
Public Attributes | |
mrpt::hwdrivers::CGPSInterface | gps |
mrpt::hwdrivers::CNTRIPEmitter | ntrip |
Protected Member Functions | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
See the class documentation at the top for expected parameters. More... | |
void | appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj) |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More... | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. More... | |
Protected Attributes | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. More... | |
TSensorState | m_state |
bool | m_verbose |
std::string | m_path_for_external_images |
The path where to save off-rawlog images: empty means save images embedded in the rawlog. More... | |
std::string | m_external_images_format |
The extension ("jpg","gif","png",...) that determines the format of images saved externally. More... | |
unsigned int | m_external_images_jpeg_quality |
For JPEG images, the quality (default=95%). More... | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. More... | |
size_t | m_max_queue_len |
See CGenericSensor. More... | |
size_t | m_grab_decimation |
If set to N>=2, only 1 out of N observations will be saved to m_objList. More... | |
std::string | m_sensorLabel |
See CGenericSensor. More... | |
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inherited |
Definition at line 103 of file CGenericSensor.h.
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inherited |
Definition at line 102 of file CGenericSensor.h.
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
CGPS_NTRIP::CGPS_NTRIP | ( | ) |
Constructor.
See mrpt::hwdrivers::CGPSInterface for the meaning of params.
Definition at line 24 of file CGPS_NTRIP.cpp.
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virtual |
Destructor.
Definition at line 31 of file CGPS_NTRIP.cpp.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 147 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().
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protectedinherited |
This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.
Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
Definition at line 53 of file CGenericSensor.cpp.
References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.
Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().
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staticinherited |
Creates a sensor by a name of the class.
Typically the user may want to create a smart pointer around the returned pointer, whis is made with:
Definition at line 103 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 180 of file CGenericSensor.h.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 42 of file CGPS_NTRIP.cpp.
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inlineinherited |
Enable or disable extra debug info dumped to std::cout during sensor operation.
Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.
Definition at line 92 of file CGenericSensor.h.
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inlineinherited |
Definition at line 234 of file CGenericSensor.h.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
Definition at line 90 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inlineinherited |
The current state of the sensor.
Definition at line 82 of file CGenericSensor.h.
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented from mrpt::hwdrivers::CGenericSensor.
Definition at line 35 of file CGPS_NTRIP.cpp.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
Definition at line 131 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 72 of file CGPS_NTRIP.cpp.
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staticinherited |
Register a class into the internal list of "CGenericSensor" descendents.
Used internally in the macros DEFINE_GENERIC_SENSOR, etc...
Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.
Definition at line 120 of file CGenericSensor.cpp.
References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 226 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 231 of file CGenericSensor.h.
References quality.
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inlinevirtualinherited |
Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).
An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 217 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
mrpt::hwdrivers::CGPSInterface mrpt::hwdrivers::CGPS_NTRIP::gps |
Definition at line 70 of file CGPS_NTRIP.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 131 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 132 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().
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protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 118 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 123 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
See CGenericSensor.
Definition at line 117 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 130 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
See CGenericSensor.
Definition at line 119 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().
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protectedinherited |
Definition at line 126 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().
mrpt::hwdrivers::CNTRIPEmitter mrpt::hwdrivers::CGPS_NTRIP::ntrip |
Definition at line 71 of file CGPS_NTRIP.h.
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