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mrpt::hwdrivers::CGPS_NTRIP Class Referenceabstract

Detailed Description

A combination of GPS receiver + NTRIP receiver capable of submitting GGA frames to enable RTCM 3.0.

This class holds instances of two classes, publicly exposed as member variables:

and acts as a "joint sensor", calling both objects' doProcess() inside the doProcess() loop, etc.

The goal of this class is automatically gather GGA frames from the gps sensor and upload them to the NTRIP server.

Configuration file format is a combination of the original parameters for both classes, each with a prefix: "gps_" for CGPSInterface params and "ntrip_" for CNTRIPEmitter.

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
gps_COM_port_WIN = COM3
gps_COM_port_LIN = ttyS0
gps_baudRate = 4800 // The baudrate of the communications (typ. 4800 bauds)
gps_pose_x = 0 // 3D position of the sensed point relative to the robot (meters)
gps_pose_y = 0
gps_pose_z = 0
# Other params (see CGPSInterface)
ntrip_COM_port_WIN = COM1 // Serial port where the NTRIP stream will be dumped to.
ntrip_COM_port_LIN = ttyUSB0
ntrip_baudRate = 38400
ntrip_server = 143.123.9.129 // NTRIP caster IP
ntrip_port = 2101
ntrip_mountpoint = MYPOINT23
#ntrip_user = pepe // User & password optional.
#ntrip_password = loco

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

Note
Verbose debug info will be dumped to cout if the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1", or if you call CGenericSensor::enableVerbose(true)
See also
CGPSInterface, CNTRIPEmitter

Definition at line 65 of file CGPS_NTRIP.h.

#include <mrpt/hwdrivers/CGPS_NTRIP.h>

Inheritance diagram for mrpt::hwdrivers::CGPS_NTRIP:
Inheritance graph

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

 CGPS_NTRIP ()
 Constructor.
 
virtual ~CGPS_NTRIP ()
 Destructor.
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz)
 
virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it.
 
virtual const mrpt::hwdrivers::TSensorClassIdGetRuntimeClass () 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 enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation.
 
bool isVerboseEnabled () const
 
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".
 
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 CGenericSensorcreateSensor (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.
 

Public Attributes

mrpt::hwdrivers::CGPSInterface gps
 
mrpt::hwdrivers::CNTRIPEmitter ntrip
 

Protected Member Functions

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 See the class documentation at the top for expected 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
 
bool m_verbose
 
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

synch::CCriticalSection m_csObjList
 The critical section for m_objList.
 
TListObservations m_objList
 The queue of objects to be returned by getObservations.
 

Static Private Attributes

static std::map< std::string, const TSensorClassId * > m_knownClasses
 Used in registerClass.
 

Member Typedef Documentation

◆ TListObservations

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

Definition at line 68 of file CGenericSensor.h.

◆ TListObsPair

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

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CGPS_NTRIP()

mrpt::hwdrivers::CGPS_NTRIP::CGPS_NTRIP ( )

Constructor.

◆ ~CGPS_NTRIP()

virtual mrpt::hwdrivers::CGPS_NTRIP::~CGPS_NTRIP ( )
virtual

Destructor.

Member Function Documentation

◆ appendObservation()

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

Like appendObservations() but for just one observation.

Definition at line 146 of file CGenericSensor.h.

◆ appendObservations()

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:

mrpt::obs::CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data
void appendObservation(const mrpt::utils::CSerializablePtr &obj)
Like appendObservations() but for just one observation.
struct OBS_IMPEXP CObservationGPSPtr

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

◆ createSensor()

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:

static CGenericSensor * createSensor(const std::string &className)
Creates a sensor by a name of the class.
stlplus::smart_ptr< CGenericSensor > CGenericSensorPtr
Returns
A pointer to a new class, or NULL if class name is unknown.

◆ createSensorPtr()

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 179 of file CGenericSensor.h.

◆ doProcess()

void mrpt::hwdrivers::CGPS_NTRIP::doProcess ( )
virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

◆ 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 92 of file CGenericSensor.h.

◆ getExternalImageJPEGQuality()

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

Definition at line 233 of file CGenericSensor.h.

◆ getObservations()

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.

◆ getProcessRate()

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

Definition at line 84 of file CGenericSensor.h.

◆ 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 86 of file CGenericSensor.h.

◆ getState()

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

The current state of the sensor

Definition at line 82 of file CGenericSensor.h.

◆ initialize()

virtual void mrpt::hwdrivers::CGPS_NTRIP::initialize ( )
virtual

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

◆ isVerboseEnabled()

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

Definition at line 93 of file CGenericSensor.h.

◆ loadConfig()

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

◆ loadConfig_sensorSpecific()

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

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

◆ registerClass()

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.

◆ 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 225 of file CGenericSensor.h.

◆ 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 230 of file CGenericSensor.h.

◆ setPathForExternalImages()

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::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 216 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

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

Definition at line 87 of file CGenericSensor.h.

Member Data Documentation

◆ gps

mrpt::hwdrivers::CGPSInterface mrpt::hwdrivers::CGPS_NTRIP::gps

Definition at line 70 of file CGPS_NTRIP.h.

◆ m_csObjList

synch::CCriticalSection mrpt::hwdrivers::CGenericSensor::m_csObjList
privateinherited

The critical section for m_objList.

Definition at line 104 of file CGenericSensor.h.

◆ 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 130 of file CGenericSensor.h.

◆ m_external_images_jpeg_quality

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

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

Definition at line 131 of file CGenericSensor.h.

◆ m_grab_decimation

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 117 of file CGenericSensor.h.

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 122 of file CGenericSensor.h.

◆ m_knownClasses

std::map< std::string , const TSensorClassId *> mrpt::hwdrivers::CGenericSensor::m_knownClasses
staticprivateinherited

Used in registerClass.

Definition at line 108 of file CGenericSensor.h.

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 116 of file CGenericSensor.h.

◆ m_objList

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList
privateinherited

The queue of objects to be returned by getObservations.

Definition at line 105 of file CGenericSensor.h.

◆ 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 129 of file CGenericSensor.h.

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

Definition at line 124 of file CGenericSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 125 of file CGenericSensor.h.

◆ ntrip

mrpt::hwdrivers::CNTRIPEmitter mrpt::hwdrivers::CGPS_NTRIP::ntrip

Definition at line 71 of file CGPS_NTRIP.h.




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