mrpt::hwdrivers::CNTRIPEmitter Class Reference

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   

  server   = 143.123.9.129    // NTRIP caster IP
  port     = 2101
  mountpoint = MYPOINT23
  //user = pepe            // User & password optional.
  //password = loco

See Also

CGPSInterface, CNTRIPClient

Definition at line 65 of file CNTRIPEmitter.h.

#include <mrpt/hwdrivers/CNTRIPEmitter.h>

Inheritance diagram for mrpt::hwdrivers::CNTRIPEmitter:

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

Public Member Functions
	CNTRIPEmitter ()
	Constructor.
virtual	~CNTRIPEmitter ()
	Destructor.
void	setOutputSerialPort (const std::string &port)
	Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".
void	initialize ()
	Set up the NTRIP communications, raising an exception on fatal errors.
void	doProcess ()
	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.
virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0
TSensorState	getState () const
	The current state of the sensor.
double	getProcessRate () const
std::string	getSensorLabel () const
void	setSensorLabel (const std::string &sensorLabel)
void	loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	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.
void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe).
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).
void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg".
unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents.
static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class.
static CGenericSensorPtr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object.

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	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) See hwdrivers::CNTRIPEmitter for the possible parameters.
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.
void	appendObservation (const mrpt::utils::CSerializablePtr &obj)
	Like appendObservations() but for just one observation.

Protected Attributes
size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled.
TSensorState	m_state
std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog.
std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally.
unsigned int	m_external_images_jpeg_quality
	For JPEG images, the quality (default=95%).
Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate
	See CGenericSensor.
size_t	m_max_queue_len
	See CGenericSensor.
size_t	m_grab_decimation
	If set to N>=2, only 1 out of N observations will be saved to m_objList.
std::string	m_sensorLabel
	See CGenericSensor.

Private Attributes
CNTRIPClient::NTRIPArgs	m_ntrip_args
CNTRIPClient	m_client
	The NTRIP comms object.
CSerialPort	m_out_COM
	The output serial port.
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.
int	m_com_bauds

Member Typedef Documentation

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 84 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 85 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See Also

CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CNTRIPEmitter::CNTRIPEmitter

(

)

Constructor.

virtual mrpt::hwdrivers::CNTRIPEmitter::~CNTRIPEmitter ( )

virtual

Destructor.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 155 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  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:

CObservationGPSPtr  o = CObservationGPSPtr( 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.

static CGenericSensor* mrpt::hwdrivers::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:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );

Returns

A pointer to a new class, or NULL if class name is unknown.

static CGenericSensorPtr 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 188 of file CGenericSensor.h.

void mrpt::hwdrivers::CNTRIPEmitter::doProcess ( )

virtual

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.

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

inlineinherited

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations &  lstObjects )

inherited

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

The objects must be freed by the invoker.

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

inlineinherited

Definition at line 100 of file CGenericSensor.h.

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

pure virtualinherited

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

inlineinherited

Definition at line 102 of file CGenericSensor.h.

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

inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

void mrpt::hwdrivers::CNTRIPEmitter::initialize ( )

virtual

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.

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase &  configSource, const std::string &  section  )

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.

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

protectedvirtual

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) See hwdrivers::CNTRIPEmitter for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::hwdrivers::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.

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

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 233 of file CGenericSensor.h.

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 238 of file CGenericSensor.h.

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 96 of file CNTRIPEmitter.h.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( 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.

Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 225 of file CGenericSensor.h.

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

inlineinherited

Definition at line 103 of file CGenericSensor.h.

Member Data Documentation

CNTRIPClient mrpt::hwdrivers::CNTRIPEmitter::m_client

private

The NTRIP comms object.

Definition at line 72 of file CNTRIPEmitter.h.

int mrpt::hwdrivers::CNTRIPEmitter::m_com_bauds

private

Definition at line 76 of file CNTRIPEmitter.h.

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 75 of file CNTRIPEmitter.h.

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 139 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

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

Definition at line 140 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

protectedinherited

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

Definition at line 127 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

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

private

Definition at line 70 of file CNTRIPEmitter.h.

CSerialPort mrpt::hwdrivers::CNTRIPEmitter::m_out_COM

private

The output serial port.

Definition at line 73 of file CNTRIPEmitter.h.

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 138 of file CGenericSensor.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

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

protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 134 of file CGenericSensor.h.