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".
The next picture summarizes existing MRPT classes related to GPS / GNSS devices (CGPSInterface, CNTRIPEmitter, CGPS_NTRIP):
Definition at line 51 of file CNTRIPEmitter.h.
#include <mrpt/hwdrivers/CNTRIPEmitter.h>
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. More... | |
virtual | ~CNTRIPEmitter () |
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... | |
void | initialize () |
Set up the NTRIP communications, raising an exception on fatal errors. More... | |
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. 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::utils::CConfigFileBase &configSource, const std::string §ion) |
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 (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 CGenericSensorPtr | 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::utils::CConfigFileBase &configSource, const std::string &iniSection) |
See the class documentation at the top for expected parameters. More... | |
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. More... | |
void | appendObservation (const mrpt::utils::CSerializablePtr &obj) |
Like appendObservations() but for just one observation. More... | |
Protected Attributes | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. More... | |
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. 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 |
For JPEG images, the quality (default=95%). More... | |
Common settings to any sensor, loaded in "loadConfig" | |
double | m_process_rate |
See CGenericSensor. More... | |
size_t | m_max_queue_len |
See CGenericSensor. More... | |
size_t | m_grab_decimation |
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... | |
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 |
bool | m_transmit_to_server |
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CNTRIPEmitter::CNTRIPEmitter | ( | ) |
Constructor.
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virtual |
Destructor.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
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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:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor.
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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.
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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.
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
References MRPT_MAKE_ALIGNED_OPERATOR_NEW.
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inline |
Exposes the NTRIP client object.
Definition at line 95 of file CNTRIPEmitter.h.
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inline |
Exposes the NTRIP client object.
Definition at line 97 of file CNTRIPEmitter.h.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inlineinherited |
The current state of the sensor.
Definition at line 82 of file CGenericSensor.h.
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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.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
References mrpt::utils::registerClass().
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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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().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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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 81 of file CNTRIPEmitter.h.
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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.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
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private |
The NTRIP comms object.
Definition at line 58 of file CNTRIPEmitter.h.
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private |
Definition at line 62 of file CNTRIPEmitter.h.
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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 61 of file CNTRIPEmitter.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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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.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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private |
Definition at line 56 of file CNTRIPEmitter.h.
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private |
The output serial port.
Definition at line 59 of file CNTRIPEmitter.h.
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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.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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private |
Definition at line 63 of file CNTRIPEmitter.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
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