00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CNTRIPEmitter_H 00029 #define CNTRIPEmitter_H 00030 00031 #include <mrpt/hwdrivers/CNTRIPClient.h> 00032 #include <mrpt/hwdrivers/CSerialPort.h> 00033 #include <mrpt/hwdrivers/CGenericSensor.h> 00034 00035 namespace mrpt 00036 { 00037 namespace hwdrivers 00038 { 00039 /** This "virtual driver" encapsulates a NTRIP client (see CNTRIPClient) but adds the functionality of dumping the received datastream to a given serial port. 00040 * Used within rawlog-grabber, along CGPSInterface, this class allows to build a powerful & simple RTK-capable GPS receiver system. 00041 * 00042 * Therefore, this sensor will never "collect" any observation via the CGenericSensor interface. 00043 * 00044 * See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber". 00045 * 00046 * \code 00047 * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS: 00048 * ------------------------------------------------------- 00049 * [supplied_section_name] 00050 * COM_port_WIN = COM1 // Serial port where the NTRIP stream will be dumped to. 00051 * COM_port_LIN = ttyUSB0 00052 * baudRate = 38400 00053 * 00054 * server = 143.123.9.129 // NTRIP caster IP 00055 * port = 2101 00056 * mountpoint = MYPOINT23 00057 * //user = pepe // User & password optional. 00058 * //password = loco 00059 * 00060 * \endcode 00061 * 00062 * \sa CGPSInterface, CNTRIPClient 00063 */ 00064 class HWDRIVERS_IMPEXP CNTRIPEmitter : public CGenericSensor 00065 { 00066 DEFINE_GENERIC_SENSOR(CNTRIPEmitter) 00067 00068 private: 00069 CNTRIPClient::NTRIPArgs m_ntrip_args; 00070 00071 CNTRIPClient m_client; //!< The NTRIP comms object. 00072 CSerialPort m_out_COM; //!< The output serial port. 00073 00074 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. 00075 int m_com_bauds; 00076 00077 protected: 00078 /** 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) 00079 * See hwdrivers::CNTRIPEmitter for the possible parameters 00080 */ 00081 void loadConfig_sensorSpecific( 00082 const mrpt::utils::CConfigFileBase &configSource, 00083 const std::string &iniSection ); 00084 00085 public: 00086 /** Constructor */ 00087 CNTRIPEmitter(); 00088 00089 /** Destructor */ 00090 virtual ~CNTRIPEmitter(); 00091 00092 /** Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". 00093 * This is not needed if the configuration is loaded with "loadConfig". 00094 */ 00095 void setOutputSerialPort(const std::string &port) { m_com_port = port; } 00096 00097 /** Set up the NTRIP communications, raising an exception on fatal errors. 00098 * Called automatically by rawlog-grabber. 00099 * If used manually, call after "loadConfig" and before "doProcess". 00100 */ 00101 void initialize(); 00102 00103 /** 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. 00104 * This method is called automatically when used within rawlog-grabber. 00105 */ 00106 void doProcess(); 00107 00108 }; // End of class 00109 00110 } // End of namespace 00111 } // End of namespace 00112 00113 #endif
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