CNTRIPClient.h

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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 |
   +------------------------------------------------------------------------+ */

#ifndef CNTRIPClient_H
#define CNTRIPClient_H

#include <mrpt/containers/MT_buffer.h>

#include <future>
#include <list>

namespace mrpt::hwdrivers
{
/** A client for NTRIP (HTTP) sources of differential GPS corrections from
  *internet servers, or Global navigation satellite system (GNSS) internet
  *radio.
  *  Usage:
  *     - To open the server, invoke "open" with the proper parameters. Then use
  *"stream_data" to read the read data.
  *     - To obtain a list of all the mountpoints available at a given NTRIP
  *Caster, call "retrieveListOfMountpoints" (it's a static method).
  *
  *  It is not neccesary to call "close", the connection is ended at
  *destruction.
  *
  * \note For a good reference of the NTRIP protocol, see
  *http://gnss.itacyl.es/opencms/opencms/system/modules/es.jcyl.ita.site.gnss/resources/documentos_gnss/NtripDocumentation.pdf
  * \ingroup mrpt_hwdrivers_grp
  *
  */
class CNTRIPClient
{
   public:
    /** A descriptor of one stream in an NTRIP Caster - See
     * CNTRIPClient::retrieveListOfMountpoints
     */
    struct TMountPoint
    {
        std::string mountpoint_name;
        /** City name */
        std::string id;
        /** RTCM 2.3, RTCM 3, CMR+, etc... */
        std::string format;
        std::string format_details;
        /** 0: No carrier phase, 1: L1, 2: L1+L2 */
        int carrier;
        /** GPS, ... */
        std::string nav_system;
        /** IGS, ... */
        std::string network;
        /** ITA, ESP, DEU,... */
        std::string country_code;
        double latitude, longitude;
        bool needs_nmea;
        bool net_ref_stations;
        std::string generator_model;
        /** "none" */
        std::string compr_encryp;
        /** "N": none, "B": basic, "D": digest */
        char authentication;
        bool pay_service;
        int stream_bitspersec;
        std::string extra_info;

        TMountPoint()
            : carrier(0),
              latitude(0),
              longitude(0),
              needs_nmea(false),
              net_ref_stations(false),
              authentication('B'),
              pay_service(false),
              stream_bitspersec(0)
        {
        }
    };

    /** Used in CNTRIPClient::retrieveListOfMountpoints */
    using TListMountPoints = std::list<TMountPoint>;

    /**  The arguments for connecting to a NTRIP stream, used in
     * CNTRIPClient::open
      */
    struct NTRIPArgs
    {
        std::string server;
        int port;
        std::string user;
        std::string password;
        std::string mountpoint;

        /** Default params */
        NTRIPArgs()
            : server("www.euref-ip.net"),
              port(2101),
              user(""),
              password(""),
              mountpoint()
        {
        }
    };

   protected:
    /** The working thread */
    void private_ntrip_thread();

    std::thread m_thread;
    std::promise<void> m_sem_sock_closed;
    std::promise<void> m_sem_first_connect_done;

    mutable bool m_thread_exit;
    /** Will be "true" between "open" and "close" */
    mutable bool m_thread_do_process;
    mutable bool m_waiting_answer_connection;

    enum TConnResult
    {
        connOk = 0,
        connError,
        connUnauthorized
    };

    mutable TConnResult m_answer_connection;
    /** All the parameters for the NTRIP connection */
    mutable NTRIPArgs m_args;

    /** Buffer for data to be sent back to the server */
    mrpt::containers::MT_buffer m_upload_data;

   public:
    /** Default constructor */
    CNTRIPClient();
    /** Default destructor */
    virtual ~CNTRIPClient();

    /** Tries to open a given NTRIP stream and, if successful, launches a thread
     * for continuously reading from it.
      * \sa close, stream_data
      *
      * \return false On any kind of error, with a description of the error in
     * errmsg, if provided.
      */
    bool open(const NTRIPArgs& params, std::string& out_errmsg);

    /** Closes the connection.
      * \sa open
      */
    void close();

    /** The buffer with all the bytes so-far read from the NTRIP server stream.
      * Call its "readAndClear" method in a timely fashion to get the stream
     * contents.
      * \sa open, close
      */
    mrpt::containers::MT_buffer stream_data;

    /** Connect to a given NTRIP caster and get the list of all available
      *mountpoints and their parameters.
      *  Note that the authentication parameters "auth_user" and "auth_pass"
      *will be left empty in most situations, since LISTING the Caster normally
      *doesn't require special rights.
      *
      * Example:
      * \code
      *  CNTRIPClient::TListMountPoints lst;
      *  std::string errMsg;
      *  bool ret =
      *CNTRIPClient::retrieveListOfMountpoints(lst,errMsg,"www.euref-ip.net",
      *2101);
      * \endcode
      *
      * \return False on any error, then "errmsg" holds the reason.
      */
    static bool retrieveListOfMountpoints(
        TListMountPoints& out_list, std::string& out_errmsg,
        const std::string& server, int port = 2101,
        const std::string& auth_user = std::string(),
        const std::string& auth_pass = std::string());

    /** Enqueues a string to be sent back to the NTRIP server (e.g. GGA frames)
     */
    void sendBackToServer(const std::string& data);

};  // End of class

}
#endif