apollo::drivers::gnss::NtripStream类 参考

类 apollo::drivers::gnss::NtripStream 继承关系图:

apollo::drivers::gnss::NtripStream 的协作图:

Public 成员函数
	NtripStream (const std::string &address, uint16_t port, const std::string &mountpoint, const std::string &user, const std::string &passwd, uint32_t timeout_s)
	~NtripStream ()
virtual size_t	read (uint8_t *buffer, size_t max_length)
virtual size_t	write (const uint8_t *data, size_t length)
virtual bool	Connect ()
virtual bool	Disconnect ()
Public 成员函数 继承自 apollo::drivers::gnss::Stream
virtual	~Stream ()
Status	get_status () const
void	RegisterLoginData (const std::vector< std::string > login_data)
void	Login ()
size_t	write (const std::string &buffer)

额外继承的成员函数
Public 类型 继承自 apollo::drivers::gnss::Stream
enum class	Status { DISCONNECTED , CONNECTED , ERROR }
静态 Public 成员函数 继承自 apollo::drivers::gnss::Stream
static Stream *	create_tcp (const char *address, uint16_t port, uint32_t timeout_usec=1000000)
static Stream *	create_udp (const char *address, uint16_t port, uint32_t timeout_usec=1000000)
static Stream *	create_serial (const char *device_name, uint32_t baud_rate, uint32_t timeout_usec=0)
static Stream *	create_ntrip (const std::string &address, uint16_t port, const std::string &mountpoint, const std::string &user, const std::string &passwd, uint32_t timeout_s=30)
static Stream *	create_can (const apollo::drivers::canbus::CANCardParameter &parameter)
静态 Public 属性 继承自 apollo::drivers::gnss::Stream
static constexpr size_t	NUM_STATUS
Protected 成员函数 继承自 apollo::drivers::gnss::Stream
	Stream ()
Protected 属性 继承自 apollo::drivers::gnss::Stream
Status	status_ = Status::DISCONNECTED

详细描述

在文件 ntrip_stream.cc 第 40 行定义.

构造及析构函数说明

NtripStream()

apollo::drivers::gnss::NtripStream::NtripStream	(	const std::string &	address,
		uint16_t	port,
		const std::string &	mountpoint,
		const std::string &	user,
		const std::string &	passwd,
		uint32_t	timeout_s
	)

在文件 ntrip_stream.cc 第 64 行定义.

    : mountpoint_(mountpoint),
      write_data_prefix_("GET /" + mountpoint +
                         " HTTP/1.0\r\n"
                         "User-Agent: NTRIP gnss_driver/0.0\r\n"
                         "accept: */* \r\n\r\n"),
 
      login_data_("GET /" + mountpoint +
                  " HTTP/1.0\r\n"
                  "User-Agent: NTRIP gnss_driver/0.0\r\n"
                  "accept: */* \r\n"
                  "Authorization: Basic " +
                  common::util::EncodeBase64(user + ":" + passwd) + "\r\n\r\n"),
      timeout_s_(timeout_s),
      tcp_stream_(new TcpStream(address.c_str(), port, 0, false)) {}

~NtripStream()

apollo::drivers::gnss::NtripStream::~NtripStream

(

)

在文件 ntrip_stream.cc 第 82 行定义.

{ this->Disconnect(); }

成员函数说明

Connect()

bool apollo::drivers::gnss::NtripStream::Connect ( )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 ntrip_stream.cc 第 84 行定义.

                          {
  if (is_login_) {
    return true;
  }
  if (!tcp_stream_) {
    AERROR << "New tcp stream failed.";
    return true;
  }
 
  if (!tcp_stream_->Connect()) {
    status_ = Stream::Status::DISCONNECTED;
    AERROR << "Tcp connect failed.";
    return false;
  }
 
  uint8_t buffer[2048];
  size_t size = 0;
  size_t try_times = 0;
 
  size = tcp_stream_->write(
      reinterpret_cast<const uint8_t*>(login_data_.data()), login_data_.size());
  if (size != login_data_.size()) {
    tcp_stream_->Disconnect();
    status_ = Stream::Status::ERROR;
    AERROR << "Send ntrip request failed.";
    return false;
  }
 
  bzero(buffer, sizeof(buffer));
  AINFO << "Read ntrip response.";
  size = tcp_stream_->read(buffer, sizeof(buffer) - 1);
  while ((size == 0) && (try_times < 3)) {
    sleep(1);
    size = tcp_stream_->read(buffer, sizeof(buffer) - 1);
    ++try_times;
  }
 
  if (!size) {
    tcp_stream_->Disconnect();
    status_ = Stream::Status::DISCONNECTED;
    AERROR << "No response from ntripcaster.";
    return false;
  }
 
  if (std::strstr(reinterpret_cast<char*>(buffer), "ICY 200 OK\r\n")) {
    status_ = Stream::Status::CONNECTED;
    is_login_ = true;
    AINFO << "Ntrip login successfully.";
    return true;
  }
 
  if (std::strstr(reinterpret_cast<char*>(buffer), "SOURCETABLE 200 OK\r\n")) {
    AERROR << "Mountpoint " << mountpoint_ << " not exist.";
  }
 
  if (std::strstr(reinterpret_cast<char*>(buffer), "HTTP/")) {
    AERROR << "Authentication failed.";
  }
 
  AINFO << "No expect data.";
  AINFO << "Recv data length: " << size;
  // AINFO << "Data from server: " << reinterpret_cast<char*>(buffer);
 
  tcp_stream_->Disconnect();
  status_ = Stream::Status::ERROR;
  return false;
}

Disconnect()

bool apollo::drivers::gnss::NtripStream::Disconnect ( )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 ntrip_stream.cc 第 152 行定义.

                             {
  if (is_login_) {
    bool ret = tcp_stream_->Disconnect();
    if (!ret) {
      return false;
    }
    status_ = Stream::Status::DISCONNECTED;
    is_login_ = false;
  }
 
  return true;
}

read()

size_t apollo::drivers::gnss::NtripStream::read ( uint8_t *  buffer, size_t  max_length  )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 ntrip_stream.cc 第 179 行定义.

                                                           {
  if (!tcp_stream_) {
    return 0;
  }
 
  size_t ret = 0;
 
  if (tcp_stream_->get_status() != Stream::Status::CONNECTED) {
    Reconnect();
    if (status_ != Stream::Status::CONNECTED) {
      return 0;
    }
  }
 
  if (is_zero(data_active_s_)) {
    data_active_s_ = cyber::Time::Now().ToSecond();
  }
 
  ret = tcp_stream_->read(buffer, max_length);
  if (ret) {
    data_active_s_ = cyber::Time::Now().ToSecond();
  }
 
  // timeout detect
  if ((cyber::Time::Now().ToSecond() - data_active_s_) > timeout_s_) {
    AINFO << "Ntrip timeout.";
    Reconnect();
  }
 
  return ret;
}

write()

size_t apollo::drivers::gnss::NtripStream::write ( const uint8_t *  data, size_t  length  )

virtual

实现了 apollo::drivers::gnss::Stream.

在文件 ntrip_stream.cc 第 211 行定义.

                                                              {
  if (!tcp_stream_) {
    return 0;
  }
  std::unique_lock<std::mutex> lock(internal_mutex_, std::defer_lock);
  if (!lock.try_lock()) {
    AINFO << "Try lock failed.";
    return 0;
  }
 
  if (tcp_stream_->get_status() != Stream::Status::CONNECTED) {
    return 0;
  }
 
  std::string data(reinterpret_cast<const char*>(buffer), length);
  data = write_data_prefix_ + data;
  size_t ret = tcp_stream_->write(reinterpret_cast<const uint8_t*>(data.data()),
                                  data.size());
  if (ret != data.size()) {
    AERROR << "Send ntrip data size " << data.size() << ", return " << ret;
    status_ = Stream::Status::ERROR;
    return 0;
  }
 
  return length;
}

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该类的文档由以下文件生成:

• modules/drivers/gnss/stream/ntrip_stream.cc