Class CNTRIPEmitter

Inheritance Relationships

Base Type

Class Documentation

class CNTRIPEmitter : public mrpt::hwdrivers::CGenericSensor

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 one 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
  #transmit_to_server = true   // (Default:true) Whether to send back to the
TCP/IP caster all data received from the output serial port
  #raw_output_file_prefix = raw_ntrip_data    // If provided, save raw data
from the NTRIP to a file, useful for post-processing. In this case, not
having a serial port configured (commented out) is a valid configuration.

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

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

../../output_staging/generated/doxygen/xml/mrpt_gps_classes_usage.png

See also

CGPSInterface, CGPS_NTRIP, CNTRIPClient

Public Functions

CNTRIPEmitter()

Constructor

~CNTRIPEmitter() override

Destructor

inline void setOutputSerialPort(const std::string &port)

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”.

inline std::string getOutputSerialPort() const
inline void setRawOutputFilePrefix(const std::string &outfile)
inline std::string getRawOutputFilePrefix() const
virtual void initialize() override

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”.

virtual void doProcess() override

The main loop, which must be called in a timely fashion in order to process the incoming NTRIP data stream and dump it to the serial port. This method is called automatically when used within rawlog-grabber.

inline CNTRIPClient &getNTRIPClient()

Exposes the NTRIP client object

inline const CNTRIPClient &getNTRIPClient() const

Exposes the NTRIP client object

Protected Functions

virtual void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override

See the class documentation at the top for expected parameters