A parser of NMEA commands, for connecting to a GPS by a serial port.
This class also supports more advanced GPS equipped with RTK corrections. See the JAVAD/TopCon extra initialization parameters.
customInit: Custom commands to send, depending on the sensor. Valid values are:
VERSIONS HISTORY: -9/JUN/2006: First version (JLBC) -4/JUN/2008: Added virtual methods for device-specific initialization commands. -10/JUN/2008: Converted into CGenericSensor class (there are no inhirited classes anymore). -7/DEC/2012: Added public static method to parse NMEA strings. -17/JUN/2014: Added GGA feedback.
Definition at line 63 of file CGPSInterface.h.
#include <mrpt/hwdrivers/CGPSInterface.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 | |||
CGPSInterface (int BUFFER_LENGTH=500, mrpt::hwdrivers::CSerialPort *outPort=NULL, mrpt::synch::CCriticalSection *csOutPort=NULL) | |||
Constructor. More... | |||
virtual | ~CGPSInterface () | ||
Destructor. More... | |||
void | doProcess () | ||
This method will be invoked at a minimum rate of "process_rate" (Hz)
| |||
bool | isGPS_connected () | ||
Returns true if communications work. More... | |||
bool | isGPS_signalAcquired () | ||
Returns true if the last message from the GPS indicates that the signal from sats has been acquired. More... | |||
void | setSerialPortName (const std::string &COM_port) | ||
Set the serial port to use (COM1, ttyUSB0, etc). More... | |||
std::string | getSerialPortName () const | ||
Get the serial port to use (COM1, ttyUSB0, etc). More... | |||
void | setExternCOM (CSerialPort *outPort, mrpt::synch::CCriticalSection *csOutPort) | ||
bool | isAIMConfigured () | ||
std::string | getLastGGA (bool reset=true) | ||
Gets the latest GGA command or an empty string if no newer GGA command was received since the last call to this method. 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"
| |||
virtual void | initialize () | ||
This method can or cannot be implemented in the derived class, depending on the need for it. 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 bool | parse_NMEA (const std::string &cmd_line, mrpt::obs::CObservationGPS &out_obs, const bool verbose=false) |
Parses one line of NMEA data from a GPS receiver, and writes the recognized fields (if any) into an observation object. More... | |
static void | printf_debug (const char *frmt,...) |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More... | |
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 | |
bool | OnConnectionEstablished () |
Implements custom messages to be sent to the GPS unit just after connection and before normal use. More... | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
See the class documentation at the top for expected parameters. More... | |
void | setJAVAD_rtk_src_port (const std::string &s) |
If not empty, will send a cmd "set,/par/pos/pd/port,...". More... | |
void | setJAVAD_rtk_src_baud (unsigned int baud) |
Only used when "m_JAVAD_rtk_src_port" is not empty. More... | |
void | setJAVAD_rtk_format (const std::string &s) |
Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. More... | |
bool | setJAVAD_AIM_mode () |
Set Advanced Input Mode for the primary port. More... | |
bool | unsetJAVAD_AIM_mode () |
Unset Advanced Input Mode for the primary port and use it only as a command port. More... | |
bool | useExternCOM () const |
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 | |
CSerialPort | m_COM |
CSerialPort * | m_out_COM |
mrpt::synch::CCriticalSection * | m_cs_out_COM |
poses::CPoint3D | m_sensorPose |
std::string | m_customInit |
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 Member Functions | |
bool | tryToOpenTheCOM () |
Returns true if the COM port is already open, or try to open it in other case. More... | |
void | processBuffer () |
Process data in "m_buffer" to extract GPS messages, and remove them from the buffer. More... | |
void | processGPSstring (const std::string &s) |
Process a complete string from the GPS: More... | |
void | JAVAD_sendMessage (const char *str, bool waitForAnswer=true) |
Private auxiliary method. Raises exception on error. More... | |
Private Attributes | |
std::string | m_COMname |
int | m_COMbauds |
bool | m_GPS_comsWork |
bool | m_GPS_signalAcquired |
int | m_BUFFER_LENGTH |
char * | m_buffer |
size_t | m_bufferLength |
size_t | m_bufferWritePos |
std::string | m_JAVAD_rtk_src_port |
If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b". More... | |
unsigned int | m_JAVAD_rtk_src_baud |
Only used when "m_JAVAD_rtk_src_port" is not empty. More... | |
std::string | m_JAVAD_rtk_format |
Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc. More... | |
bool | m_useAIMMode |
Use this mode for receive RTK corrections from a external source through the primary port. More... | |
mrpt::system::TTimeStamp | m_last_timestamp |
bool | m_AIMConfigured |
Indicates if the AIM has been properly set up. More... | |
double | m_data_period |
The period in seconds which the data should be provided by the GPS. More... | |
mrpt::obs::CObservationGPS | m_latestGPS_data |
mrpt::obs::CObservationGPS::TUTCTime | m_last_UTC_time |
std::string | m_last_GGA |
Used in getLastGGA() More... | |
|
inherited |
Definition at line 68 of file CGenericSensor.h.
|
inherited |
Definition at line 69 of file CGenericSensor.h.
|
inherited |
The current state of the sensor.
Enumerator | |
---|---|
ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CGPSInterface::CGPSInterface | ( | int | BUFFER_LENGTH = 500 , |
mrpt::hwdrivers::CSerialPort * | outPort = NULL , |
||
mrpt::synch::CCriticalSection * | csOutPort = NULL |
||
) |
Constructor.
BUFFER_LENGTH | The size of the communications buffer (default value should be fine always) |
|
virtual |
Destructor.
|
inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
|
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.
|
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:
|
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.
|
virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
|
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.
|
inlineinherited |
Definition at line 233 of file CGenericSensor.h.
References MRPT_MAKE_ALIGNED_OPERATOR_NEW.
std::string mrpt::hwdrivers::CGPSInterface::getLastGGA | ( | bool | reset = true | ) |
Gets the latest GGA command or an empty string if no newer GGA command was received since the last call to this method.
[in] | reset | If set to true, will empty the GGA cache so next calls will return an empty string if no new frame is received. |
|
inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
|
inlineinherited |
Definition at line 84 of file CGenericSensor.h.
|
pure virtualinherited |
|
inlineinherited |
Definition at line 86 of file CGenericSensor.h.
std::string mrpt::hwdrivers::CGPSInterface::getSerialPortName | ( | ) | const |
Get the serial port to use (COM1, ttyUSB0, etc).
|
inlineinherited |
The current state of the sensor.
Definition at line 82 of file CGenericSensor.h.
|
inlinevirtualinherited |
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CIbeoLuxETH, and mrpt::hwdrivers::CRoboPeakLidar.
Definition at line 200 of file CGenericSensor.h.
|
inline |
Definition at line 94 of file CGPSInterface.h.
bool mrpt::hwdrivers::CGPSInterface::isGPS_connected | ( | ) |
Returns true if communications work.
bool mrpt::hwdrivers::CGPSInterface::isGPS_signalAcquired | ( | ) |
Returns true if the last message from the GPS indicates that the signal from sats has been acquired.
|
inlineinherited |
Definition at line 93 of file CGenericSensor.h.
References mrpt::utils::registerClass().
|
private |
Private auxiliary method. Raises exception on error.
|
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. |
|
protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
|
protected |
Implements custom messages to be sent to the GPS unit just after connection and before normal use.
Returns false or raise an exception if something goes wrong.
|
static |
Parses one line of NMEA data from a GPS receiver, and writes the recognized fields (if any) into an observation object.
Recognized frame types are: "GGA" and "RMC".
|
staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
|
private |
Process data in "m_buffer" to extract GPS messages, and remove them from the buffer.
|
private |
Process a complete string from the GPS:
|
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().
|
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.
|
inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
|
inline |
Definition at line 91 of file CGPSInterface.h.
|
protected |
Set Advanced Input Mode for the primary port.
This can be used to send RTK corrections to the device using the same port that it's used for the commands. The RTK correction stream must be re-packaged into a special frame with prefix ">>"
|
inlineprotected |
Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.
Definition at line 136 of file CGPSInterface.h.
|
inlineprotected |
Only used when "m_JAVAD_rtk_src_port" is not empty.
Definition at line 133 of file CGPSInterface.h.
|
inlineprotected |
If not empty, will send a cmd "set,/par/pos/pd/port,...".
Example value: "/dev/ser/b"
Definition at line 130 of file CGPSInterface.h.
|
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.
|
inlineinherited |
Definition at line 87 of file CGenericSensor.h.
void mrpt::hwdrivers::CGPSInterface::setSerialPortName | ( | const std::string & | COM_port | ) |
Set the serial port to use (COM1, ttyUSB0, etc).
|
private |
Returns true if the COM port is already open, or try to open it in other case.
|
protected |
Unset Advanced Input Mode for the primary port and use it only as a command port.
|
inlineprotected |
Definition at line 147 of file CGPSInterface.h.
|
private |
Indicates if the AIM has been properly set up.
Definition at line 171 of file CGPSInterface.h.
|
private |
Definition at line 157 of file CGPSInterface.h.
|
private |
Definition at line 155 of file CGPSInterface.h.
|
private |
Definition at line 158 of file CGPSInterface.h.
|
private |
Definition at line 159 of file CGPSInterface.h.
|
protected |
Definition at line 113 of file CGPSInterface.h.
|
private |
Definition at line 152 of file CGPSInterface.h.
|
private |
Definition at line 151 of file CGPSInterface.h.
|
protected |
Definition at line 117 of file CGPSInterface.h.
|
protected |
Definition at line 122 of file CGPSInterface.h.
|
private |
The period in seconds which the data should be provided by the GPS.
Definition at line 172 of file CGPSInterface.h.
|
protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
|
protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
|
private |
Definition at line 153 of file CGPSInterface.h.
|
private |
Definition at line 154 of file CGPSInterface.h.
|
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.
|
protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
|
private |
Only used when "m_JAVAD_rtk_src_port" is not empty: format of RTK corrections: "cmr", "rtcm", "rtcm3", etc.
Definition at line 163 of file CGPSInterface.h.
|
private |
Only used when "m_JAVAD_rtk_src_port" is not empty.
Definition at line 162 of file CGPSInterface.h.
|
private |
If not empty, will send a cmd "set,/par/pos/pd/port,...". Example value: "/dev/ser/b".
Definition at line 161 of file CGPSInterface.h.
|
private |
Used in getLastGGA()
Definition at line 193 of file CGPSInterface.h.
|
private |
Definition at line 168 of file CGPSInterface.h.
|
private |
Definition at line 191 of file CGPSInterface.h.
|
private |
Definition at line 190 of file CGPSInterface.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
|
protected |
Definition at line 116 of file CGPSInterface.h.
|
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.
|
protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
|
protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
|
protected |
Definition at line 120 of file CGPSInterface.h.
|
protectedinherited |
Definition at line 124 of file CGenericSensor.h.
|
private |
Use this mode for receive RTK corrections from a external source through the primary port.
Definition at line 166 of file CGPSInterface.h.
|
protectedinherited |
Definition at line 125 of file CGenericSensor.h.
Page generated by Doxygen 1.8.11 for MRPT 1.3.2 SVN:Unversioned directory at Sun May 1 08:45:24 UTC 2016 |