test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/core/exceptions.h>
#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);
        }
    }
}

int main()
{
    try
    {
        TestNTRIP();
        // TestNTRIP2();

        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
}