rtkutils

Documentation

Overview

Package rtkutils implements necessary functions to set and return NTRIP information here.

Package rtkutils implements functions that are used in the gpsrtkserial and gpsrtkpmtk.

Index

• func ConnectToVirtualBase(ntripInfo *NtripInfo, logger logging.Logger) *bufio.ReadWriter
• func ContainsGGAMessage(data []byte) bool
• func FindLineWithMountPoint(sourceTable *Sourcetable, mountPoint string) (bool, error)
• func GetGGAMessage(correctionWriter io.ReadWriteCloser, logger logging.Logger) ([]byte, error)
• type GPSData
  • func (g *GPSData) ParseAndUpdate(line string) error
• type NtripConfig
• type NtripInfo
  • func NewNtripInfo(cfg *NtripConfig, logger logging.Logger) (*NtripInfo, error)
  • func (n *NtripInfo) Connect(ctx context.Context, logger logging.Logger) error
  • func (n *NtripInfo) ParseSourcetable(logger logging.Logger) (*Sourcetable, error)
• type Sourcetable
  • func (st *Sourcetable) HasStream(mountpoint string) (Stream, bool)
• type Stream

Functions

func ConnectToVirtualBase

func ConnectToVirtualBase(ntripInfo *NtripInfo,
	logger logging.Logger,
) *bufio.ReadWriter

ConnectToVirtualBase is responsible for establishing a connection to a virtual base station using the NTRIP protocol.

func ContainsGGAMessage

func ContainsGGAMessage(data []byte) bool

ContainsGGAMessage returns true if data contains GGA message.

func FindLineWithMountPoint

func FindLineWithMountPoint(sourceTable *Sourcetable, mountPoint string) (bool, error)

FindLineWithMountPoint parses the given source-table returns the NMEA field associated with the given mountpoint.

func GetGGAMessage

func GetGGAMessage(correctionWriter io.ReadWriteCloser, logger logging.Logger) ([]byte, error)

GetGGAMessage checks if a GGA message exists in the buffer and returns it.

Types

type GPSData

type GPSData struct {
	Location   *geo.Point
	Alt        float64
	Speed      float64 // ground speed in m per sec
	VDOP       float64 // vertical accuracy
	HDOP       float64 // horizontal accuracy
	SatsInView int     // quantity satellites in view
	SatsInUse  int     // quantity satellites in view

	FixQuality     int
	CompassHeading float64 // true compass heading in degree
	// contains filtered or unexported fields
}

GPSData struct combines various attributes related to GPS.

func (*GPSData) ParseAndUpdate

func (g *GPSData) ParseAndUpdate(line string) error

ParseAndUpdate will attempt to parse a line to an NMEA sentence, and if valid, will try to update the given struct with the values for that line. Nothing will be updated if there is not a valid gps fix.

type NtripConfig

type NtripConfig struct {
	NtripURL             string `json:"ntrip_url"`
	NtripConnectAttempts int    `json:"ntrip_connect_attempts,omitempty"`
	NtripMountpoint      string `json:"ntrip_mountpoint,omitempty"`
	NtripUser            string `json:"ntrip_username,omitempty"`
	NtripPass            string `json:"ntrip_password,omitempty"`
}

NtripConfig is used for converting attributes for a correction source.

type NtripInfo

type NtripInfo struct {
	URL string

	MountPoint         string
	Client             *ntrip.Client
	Stream             io.ReadCloser
	MaxConnectAttempts int
	// contains filtered or unexported fields
}

NtripInfo contains the information necessary to connect to a mountpoint.

func NewNtripInfo

func NewNtripInfo(cfg *NtripConfig, logger logging.Logger) (*NtripInfo, error)

NewNtripInfo function validates and sets NtripConfig arributes and returns NtripInfo.

func (*NtripInfo) Connect

func (n *NtripInfo) Connect(ctx context.Context, logger logging.Logger) error

Connect attempts to initialize a new ntrip client. If we're unable to connect after multiple attempts, we return the last error.

func (*NtripInfo) ParseSourcetable

func (n *NtripInfo) ParseSourcetable(logger logging.Logger) (*Sourcetable, error)

ParseSourcetable gets the sourcetable and parses it.

type Sourcetable

type Sourcetable struct {
	Streams []Stream
}

Sourcetable struct contains the stream.

func (*Sourcetable) HasStream

func (st *Sourcetable) HasStream(mountpoint string) (Stream, bool)

HasStream checks if the sourcetable contains the given mountpoint in it's stream.

type Stream

type Stream struct {
	MP             string   // Datastream mountpoint
	Identifier     string   // Source identifier (most time nearest city)
	Format         string   // Data format of generic type (https://software.rtcm-ntrip.org/wiki/STR#DataFormats)
	FormatDetails  string   // Specifics of data format (https://software.rtcm-ntrip.org/wiki/STR#DataFormats)
	Carrier        int      // Phase information about GNSS correction (https://software.rtcm-ntrip.org/wiki/STR#Carrier)
	NavSystem      []string // Multiple navigation system (https://software.rtcm-ntrip.org/wiki/STR#NavigationSystem)
	Network        string   // Network record in sourcetable (https://software.rtcm-ntrip.org/wiki/NET)
	Country        string   // ISO 3166 country code (https://en.wikipedia.org/wiki/ISO_3166-1)
	Latitude       float32  // Position, Latitude in degree
	Longitude      float32  // Position, Longitude in degree
	Nmea           bool     // Caster requires NMEA input (1) or not (0)
	Solution       int      // Generated by single base (0) or network (1)
	Generator      string   // Generating soft- or hardware
	Compression    string   // Compression algorithm
	Authentication string   // Access protection for data streams None (N), Basic (B) or Digest (D)
	Fee            bool     // User fee for data access: yes (Y) or no (N)
	BitRate        int      // Datarate in bits per second
	Misc           string   // Miscellaneous information
}

Stream contrains a stream record in sourcetable. https://software.rtcm-ntrip.org/wiki/STR