Detailed Description

This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of dumping the received datastream to a given serial port.

Used within rawlog-grabber, along CGPSInterface, this class allows to build a powerful & simple RTK-capable GPS receiver system.

Therefore, this sensor will never "collect" any observation via the CGenericSensor interface.

See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
  COM_port_WIN = COM1         // Serial port where the NTRIP stream will be
dumped to.
  COM_port_LIN = ttyUSB0
  baudRate     = 38400
  #transmit_to_server = true   // (Default:true) Whether to send back to the
TCP/IP caster all data received from the output serial port
  #raw_output_file_prefix = raw_ntrip_data    // If provided, save raw data
from the NTRIP to a file, useful for post-processing. In this case, not
having a serial port configured (commented out) is a valid configuration.
  server   = 143.123.9.129    // NTRIP caster IP
  port     = 2101
  mountpoint = MYPOINT23
  //user = pepe            // User & password optional.
  //password = loco

The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):

See also: CGPSInterface, CGPS_NTRIP, CNTRIPClient

Definition at line 61 of file CNTRIPEmitter.h.

#include <mrpt/hwdrivers/CNTRIPEmitter.h>

Inheritance diagram for mrpt::hwdrivers::CNTRIPEmitter:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CNTRIPEmitter ()
	Constructor. More...

	~CNTRIPEmitter () override
	Destructor. More...

void	setOutputSerialPort (const std::string &port)
	Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...

std::string	getOutputSerialPort () const

void	setRawOutputFilePrefix (const std::string &outfile)

std::string	getRawOutputFilePrefix () const

void	initialize () override
	Set up the NTRIP communications, raising an exception on fatal errors. More...

void	doProcess () override
	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. More...

CNTRIPClient &	getNTRIPClient ()
	Exposes the NTRIP client object. More...

const CNTRIPClient &	getNTRIPClient () const
	Exposes the NTRIP client object. 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::config::CConfigFileBase &configSource, const std::string &section)
	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 ([[maybe_unused]] 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 Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &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::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

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 {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	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...

Private Attributes
CNTRIPClient::NTRIPArgs	m_ntrip_args

CNTRIPClient	m_client
	The NTRIP comms object. More...

mrpt::comms::CSerialPort	m_out_COM
	The output serial port. More...

std::string	m_com_port
	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. More...

int	m_com_bauds {38400}

bool	m_transmit_to_server {true}

std::string	m_raw_output_file_prefix

std::ofstream	m_raw_output_file_stream

mrpt::system::CTicTac	m_rate_timer

size_t	m_rate_count {0}

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CNTRIPEmitter()

CNTRIPEmitter::CNTRIPEmitter ( )

Constructor.

Definition at line 28 of file CNTRIPEmitter.cpp.

◆ ~CNTRIPEmitter()

CNTRIPEmitter::~CNTRIPEmitter ( )

override

Destructor.

Definition at line 32 of file CNTRIPEmitter.cpp.

References mrpt::comms::CSerialPort::close(), mrpt::hwdrivers::CNTRIPClient::close(), mrpt::comms::CSerialPort::isOpen(), m_client, m_out_COM, and m_raw_output_file_stream.

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

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:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

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 48 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::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

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:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 210 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ doProcess()

void CNTRIPEmitter::doProcess ( )

overridevirtual

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.

This method is called automatically when used within rawlog-grabber.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 42 of file CNTRIPEmitter.cpp.

References mrpt::format(), mrpt::comms::CSerialPort::isOpen(), m_client, m_out_COM, m_rate_count, m_rate_timer, m_raw_output_file_stream, m_transmit_to_server, mrpt::hwdrivers::CGenericSensor::m_verbose, mrpt::system::now(), mrpt::comms::CSerialPort::Read(), mrpt::containers::MT_buffer::readAndClear(), mrpt::hwdrivers::CNTRIPClient::stream_data, mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::system::timeLocalToString(), and mrpt::comms::CSerialPort::Write().

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◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

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 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 279 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getNTRIPClient() [1/2]

CNTRIPClient& mrpt::hwdrivers::CNTRIPEmitter::getNTRIPClient ( )

inline

Exposes the NTRIP client object.

Definition at line 125 of file CNTRIPEmitter.h.

References m_client.

◆ getNTRIPClient() [2/2]

const CNTRIPClient& mrpt::hwdrivers::CNTRIPEmitter::getNTRIPClient ( ) const

inline

Exposes the NTRIP client object.

Definition at line 127 of file CNTRIPEmitter.h.

References m_client.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getOutputSerialPort()

std::string mrpt::hwdrivers::CNTRIPEmitter::getOutputSerialPort ( ) const

inline

Definition at line 102 of file CNTRIPEmitter.h.

References m_com_port.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ getRawOutputFilePrefix()

std::string mrpt::hwdrivers::CNTRIPEmitter::getRawOutputFilePrefix ( ) const

inline

Definition at line 107 of file CNTRIPEmitter.h.

References m_raw_output_file_prefix.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CNTRIPEmitter::initialize ( )

overridevirtual

Set up the NTRIP communications, raising an exception on fatal errors.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 110 of file CNTRIPEmitter.cpp.

References mrpt::comms::CSerialPort::close(), mrpt::system::dateTimeLocalToString(), mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::comms::CSerialPort::isOpen(), m_client, m_com_bauds, m_com_port, m_ntrip_args, m_out_COM, m_raw_output_file_prefix, m_raw_output_file_stream, mrpt::system::now(), mrpt::comms::CSerialPort::open(), mrpt::hwdrivers::CNTRIPClient::open(), out, mrpt::comms::CSerialPort::purgeBuffers(), mrpt::comms::CSerialPort::setConfig(), mrpt::comms::CSerialPort::setTimeouts(), and THROW_EXCEPTION_FMT.

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 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::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void CNTRIPEmitter::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 151 of file CNTRIPEmitter.cpp.

References ASSERTMSG_, m_com_bauds, m_com_port, m_ntrip_args, m_raw_output_file_prefix, m_transmit_to_server, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::mountpoint, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::password, mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::port, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::server, mrpt::system::trim(), and mrpt::hwdrivers::CNTRIPClient::NTRIPArgs::user.

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◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

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 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

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◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 268 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 275 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setOutputSerialPort()

void mrpt::hwdrivers::CNTRIPEmitter::setOutputSerialPort ( const std::string & port )

inline

Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".

This is not needed if the configuration is loaded with "loadConfig".

Definition at line 101 of file CNTRIPEmitter.h.

References m_com_port.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] const std::string & directory )

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.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setRawOutputFilePrefix()

void mrpt::hwdrivers::CNTRIPEmitter::setRawOutputFilePrefix ( const std::string & outfile )

inline

Definition at line 103 of file CNTRIPEmitter.h.

References m_raw_output_file_prefix, and outfile.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 96 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

Member Data Documentation

◆ m_client

CNTRIPClient mrpt::hwdrivers::CNTRIPEmitter::m_client

private

The NTRIP comms object.

Definition at line 69 of file CNTRIPEmitter.h.

Referenced by doProcess(), getNTRIPClient(), initialize(), and ~CNTRIPEmitter().

◆ m_com_bauds

int mrpt::hwdrivers::CNTRIPEmitter::m_com_bauds {38400}

private

Definition at line 77 of file CNTRIPEmitter.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_com_port

std::string mrpt::hwdrivers::CNTRIPEmitter::m_com_port

private

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.

Definition at line 76 of file CNTRIPEmitter.h.

Referenced by getOutputSerialPort(), initialize(), loadConfig_sensorSpecific(), and setOutputSerialPort().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 160 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_ntrip_args

CNTRIPClient::NTRIPArgs mrpt::hwdrivers::CNTRIPEmitter::m_ntrip_args

private

Definition at line 66 of file CNTRIPEmitter.h.

Referenced by initialize(), and loadConfig_sensorSpecific().

◆ m_out_COM

mrpt::comms::CSerialPort mrpt::hwdrivers::CNTRIPEmitter::m_out_COM

private

The output serial port.

Definition at line 71 of file CNTRIPEmitter.h.

Referenced by doProcess(), initialize(), and ~CNTRIPEmitter().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 155 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_rate_count

size_t mrpt::hwdrivers::CNTRIPEmitter::m_rate_count {0}

private

Definition at line 82 of file CNTRIPEmitter.h.

Referenced by doProcess().

◆ m_rate_timer

mrpt::system::CTicTac mrpt::hwdrivers::CNTRIPEmitter::m_rate_timer

private

Definition at line 81 of file CNTRIPEmitter.h.

Referenced by doProcess().

◆ m_raw_output_file_prefix

std::string mrpt::hwdrivers::CNTRIPEmitter::m_raw_output_file_prefix

private

Definition at line 79 of file CNTRIPEmitter.h.

Referenced by getRawOutputFilePrefix(), initialize(), loadConfig_sensorSpecific(), and setRawOutputFilePrefix().

◆ m_raw_output_file_stream

std::ofstream mrpt::hwdrivers::CNTRIPEmitter::m_raw_output_file_stream

private

Definition at line 80 of file CNTRIPEmitter.h.

Referenced by doProcess(), initialize(), and ~CNTRIPEmitter().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_transmit_to_server

bool mrpt::hwdrivers::CNTRIPEmitter::m_transmit_to_server {true}

private

Definition at line 78 of file CNTRIPEmitter.h.

Referenced by doProcess(), and loadConfig_sensorSpecific().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CNTRIPEmitter()

◆ ~CNTRIPEmitter()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getNTRIPClient() [1/2]

◆ getNTRIPClient() [2/2]

◆ getObservations()

◆ getOutputSerialPort()

◆ getProcessRate()

◆ getRawOutputFilePrefix()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setOutputSerialPort()

◆ setPathForExternalImages()

◆ setRawOutputFilePrefix()

◆ setSensorLabel()

Member Data Documentation

◆ m_client

◆ m_com_bauds

◆ m_com_port

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_max_queue_len

◆ m_ntrip_args

◆ m_out_COM

◆ m_path_for_external_images

◆ m_process_rate

◆ m_rate_count

◆ m_rate_timer

◆ m_raw_output_file_prefix

◆ m_raw_output_file_stream

◆ m_sensorLabel

◆ m_state

◆ m_transmit_to_server

◆ m_verbose