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Copy pathNtripClient.py
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388 lines (338 loc) · 16.8 KB
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#!/usr/bin/python -u
"""
This is heavily based on the NtripPerlClient program written by BKG.
Then heavily based on a unavco original.
Change Log
example:NtripClient.py -u abc -p abc -m 100000 -r 100 -v -D 9999 -2 127.0.0.1 2101 RTCM32
support functions:
1.get source table;
2.upload gga period(default:3 sec);
3.setup UDP port and broadcast reciveved data;
bugs:
1.unsupport write raw data to file,always call TypeError.
future features
1.add serial port options(send rtcm stream to serial port).
2.add gui(use pyqt5).
debug log:
2020/03/03
1.modify getGGAString() gga generate some field data.
2.upgrade the python platform version from V2.xx to V3.xx,fix some bugs.
3.add period upload gga sentence to ntrip caster(default:3 sec) in case of
lost connection every 1 min(the caster need received rover position in real-time).
2020/03/04
1.fix version bug.
2.change some comments.
Modify by Caesar in 2020/03/04
"""
import socket
import sys
import datetime
import base64
import time
# import ssl
from optparse import OptionParser
version = '0.2'
useragent = "NTRIP PythonClient/{}".format(version)
# reconnect parameter (fixed values):
factor = 2 # How much the sleep time increases with each failed attempt
maxReconnect = 1
maxReconnectTime = 1200
sleepTime = 1 # So the first one is 1 second
maxConnectTime = 0
class NtripClient(object):
def __init__(self,
buffer=1024,
user="",
out=sys.stdout,
port=2101,
caster="",
mountpoint="",
host=False,
lat=39,
lon=117,
height=3,
ssl=False,
verbose=False,
UDP_Port=None,
V2=False,
headerFile=sys.stderr,
headerOutput=False,
):
self.buffer = buffer
self.user = base64.b64encode(user.encode(encoding='utf-8'))
self.out = out
self.port = port
self.caster = caster
self.mountpoint = mountpoint
self.setPosition(lat, lon)
self.height = height
self.verbose = verbose
self.ssl = ssl
self.host = host
self.UDP_Port = UDP_Port
self.V2 = V2
self.headerFile = headerFile
self.headerOutput = headerOutput
self.maxConnectTime = maxConnectTime
self.socket = None
if UDP_Port:
self.UDP_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.UDP_socket.bind(('', 0))
self.UDP_socket.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
else:
self.UDP_socket = None
def setPosition(self, lat, lon):
self.flagN = "N"
self.flagE = "E"
if lon > 180:
lon = (lon-360)*-1
self.flagE = "W"
elif (lon < 0 and lon >= -180):
lon = lon*-1
self.flagE = "W"
elif lon < -180:
lon = lon + 360
self.flagE = "E"
else:
self.lon = lon
if lat < 0:
lat = lat*-1
self.flagN = "S"
self.lonDeg = int(lon)
self.latDeg = int(lat)
self.lonMin = (lon-self.lonDeg)*60
self.latMin = (lat-self.latDeg)*60
def getMountPointString(self):
mountPointString = "GET {0} HTTP/1.1\r\nUser-Agent: {1}\r\nAuthorization: Basic {2}\r\n".format(self.mountpoint, useragent, self.user.decode(encoding='utf-8'))
if self.host or self.V2:
hostString = "Host: {0}:{1}\r\n".format(self.caster, self.port)
mountPointString += hostString
if self.V2:
mountPointString += "Ntrip-Version: Ntrip/2.0\r\n"
mountPointString += "\r\n"
if self.verbose:
print(mountPointString)
return mountPointString
def getGGAString(self):
now = datetime.datetime.utcnow()
ggaString = "GPGGA,%02d%02d%04.2f,%02d%011.8f,%1s,%03d%011.8f,%1s,1,15,0.19,%5.3f,M,-8.922,M,," % \
(now.hour, now.minute, now.second, self.latDeg, self.latMin, self.flagN, self.lonDeg, self.lonMin, self.flagE, self.height)
checksum = self.calcultateCheckSum(ggaString)
if self.verbose:
print("${0}*{1}\r\n".format(ggaString, checksum))
return "${0}*{1}\r\n".format(ggaString, checksum)
def calcultateCheckSum(self, stringToCheck):
xsum_calc = 0
for char in stringToCheck:
xsum_calc = xsum_calc ^ ord(char)
return "%02X" % xsum_calc
def readData(self):
reconnectTry = 1
sleepTime = 1
# reconnectTime = 0 #unused
uploadGGAPeriod = 3 # upload GGA sentence period(default:3 sec)
Endupload = datetime.timedelta(seconds=uploadGGAPeriod) # calculate how many times with seconds unit
if maxConnectTime > 0:
EndConnect = datetime.timedelta(seconds=maxConnectTime)
print('EndConnect:{}'.format(EndConnect)) # print max connect times
try:
while reconnectTry <= maxReconnect:
found_header = False
if self.verbose:
sys.stderr.write('Connection {0} of {1}\n'.format(reconnectTry, maxReconnect))
self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if self.ssl:
self.socket = ssl.wrap_socket(self.socket)
error_indicator = self.socket.connect_ex((self.caster, self.port))
print('caster:{0}, port:{1}, socket:{2}'.format(self.caster, self.port, error_indicator))
if error_indicator == 0:
sleepTime = 1
connectTime = datetime.datetime.now()
self.socket.settimeout(10)
self.socket.sendall(self.getMountPointString().encode(encoding='utf-8'))
while not found_header:
casterResponse = self.socket.recv(4096) # All the data
# print('recv:', casterResponse.decode(encoding='utf-8')) # print recv data(for debug)
header_lines = casterResponse.decode(encoding='utf-8').split('\r\n')
for line in header_lines:
if line == "":
if not found_header:
found_header = True
if self.verbose:
sys.stderr.write("End Of Header"+"\n")
else:
if self.verbose:
sys.stderr.write("Header: " + line+"\n")
if self.headerOutput:
self.headerFile.write(line+"\n")
for line in header_lines:
if line.find("SOURCETABLE") >= 0:
sys.stderr.write("Mount point does not exist")
sys.exit(1)
elif line.find("401 Unauthorized") >= 0:
sys.stderr.write("Unauthorized request\n")
sys.exit(1)
elif line.find("404 Not Found") >= 0:
sys.stderr.write("Mount Point does not exist\n")
sys.exit(2)
elif line.find("ICY 200 OK") >= 0:
# Request was valid
self.socket.sendall(self.getGGAString().encode(encoding='utf-8'))
uploadTime = datetime.datetime.now() # get current upload time
elif line.find("HTTP/1.0 200 OK") >= 0:
# Request was valid
self.socket.sendall(self.getGGAString().encode(encoding='utf-8'))
uploadTime = datetime.datetime.now() # get current upload time
elif line.find("HTTP/1.1 200 OK") >= 0:
# Request was valid
self.socket.sendall(self.getGGAString().encode(encoding='utf-8'))
uploadTime = datetime.datetime.now() # get current upload time
data = "Initial data"
while data:
try:
data = self.socket.recv(self.buffer)
self.out.write('Recv rtcm stream len:{}\n'.format(len(data)))
if self.UDP_socket:
self.UDP_socket.sendto(data, ('<broadcast>', self.UDP_Port))
print('Send to udp socket port {}'.format(self.UDP_Port))
print(datetime.datetime.now()-connectTime) # printf connected times
if maxConnectTime:
if datetime.datetime.now() > connectTime+EndConnect:
if self.verbose:
sys.stderr.write("Connection Timed exceeded\n")
sys.exit(0)
if datetime.datetime.now() > uploadTime + Endupload: # upload period is expired
self.socket.sendall(self.getGGAString().encode(encoding='utf-8'))
uploadTime = datetime.datetime.now() # get current upload time
except socket.timeout:
if self.verbose:
sys.stderr.write('Connection TimedOut\n')
data = False
except socket.error:
if self.verbose:
sys.stderr.write('Connection Error\n')
data = False
if self.verbose:
sys.stderr.write('Closing Connection\n')
self.socket.close()
self.socket = None
if reconnectTry < maxReconnect:
sys.stderr.write("{0} No Connection to NtripCaster. Trying again in {1} seconds\n".format(datetime.datetime.now(), sleepTime))
time.sleep(sleepTime)
sleepTime *= factor
if sleepTime > maxReconnectTime:
sleepTime = maxReconnectTime
reconnectTry += 1
else:
self.socket = None
if self.verbose:
print("Error indicator: ", error_indicator)
if reconnectTry < maxReconnect:
sys.stderr.write("{0} No Connection to NtripCaster. Trying again in {1} seconds\n".format(datetime.datetime.now(), sleepTime))
time.sleep(sleepTime)
sleepTime *= factor
if sleepTime > maxReconnectTime:
sleepTime = maxReconnectTime
reconnectTry += 1
except KeyboardInterrupt:
if self.socket:
self.socket.close()
sys.exit()
if __name__ == '__main__':
usage = "NtripClient.py [options] [caster] [port] mountpoint"
parser = OptionParser(version=version, usage=usage)
parser.add_option("-u", "--user", type="string", dest="user", default="IBS", help="The Ntripcaster username. Default: %default")
parser.add_option("-p", "--password", type="string", dest="password", default="IBS", help="The Ntripcaster password. Default: %default")
parser.add_option("-o", "--org", type="string", dest="org", help="Use IBSS and the provided organization for the user. Caster and Port are not needed in this case Default: %default")
parser.add_option("-b", "--baseorg", type="string", dest="baseorg", help="The org that the base is in. IBSS Only, assumed to be the user org")
parser.add_option("-t", "--latitude", type="float", dest="lat", default=39.09, help="Your latitude. Default: %default")
parser.add_option("-g", "--longitude", type="float", dest="lon", default=117.08, help="Your longitude. Default: %default")
parser.add_option("-e", "--height", type="float", dest="height", default=2.125, help="Your ellipsoid height. Default: %default")
parser.add_option("-v", "--verbose", action="store_true", dest="verbose", default=False, help="Verbose")
parser.add_option("-s", "--ssl", action="store_true", dest="ssl", default=False, help="Use SSL for the connection")
parser.add_option("-H", "--host", action="store_true", dest="host", default=False, help="Include host header, should be on for IBSS")
parser.add_option("-r", "--Reconnect", type="int", dest="maxReconnect", default=1, help="Number of reconnections")
parser.add_option("-D", "--UDP", type="int", dest="UDP", default=None, help="Broadcast recieved data on the provided port")
parser.add_option("-2", "--V2", action="store_true", dest="V2", default=False, help="Make a NTRIP V2 Connection")
parser.add_option("-f", "--outputFile", type="string", dest="outputFile", default=None, help="Write to this file, instead of stdout")
parser.add_option("-m", "--maxtime", type="int", dest="maxConnectTime", default=None, help="Maximum length of the connection, in seconds")
parser.add_option("--Header", action="store_true", dest="headerOutput", default=False, help="Write headers to stderr")
parser.add_option("--HeaderFile", type="string", dest="headerFile", default=None, help="Write headers to this file, instead of stderr.")
(options, args) = parser.parse_args()
ntripArgs = {}
ntripArgs['lat'] = options.lat
ntripArgs['lon'] = options.lon
ntripArgs['height'] = options.height
ntripArgs['host'] = options.host
if options.ssl:
import ssl
ntripArgs['ssl'] = True
else:
ntripArgs['ssl'] = False
if options.org:
if len(args) != 1:
print("Incorrect number of arguments for IBSS\n")
parser.print_help()
sys.exit(1)
ntripArgs['user'] = options.user+"."+options.org + ":" + options.password
if options.baseorg:
ntripArgs['caster'] = options.baseorg + ".ibss.trimbleos.com"
else:
ntripArgs['caster'] = options.org + ".ibss.trimbleos.com"
if options.ssl:
ntripArgs['port'] = 52101
else:
ntripArgs['port'] = 2101
ntripArgs['mountpoint'] = args[0]
else:
if len(args) != 3:
print("Incorrect number of arguments for NTRIP\n")
parser.print_help()
sys.exit(1)
ntripArgs['user'] = options.user+":"+options.password
ntripArgs['caster'] = args[0]
ntripArgs['port'] = int(args[1])
ntripArgs['mountpoint'] = args[2]
if ntripArgs['mountpoint'][0:1] != "/":
ntripArgs['mountpoint'] = "/" + ntripArgs['mountpoint']
ntripArgs['V2'] = options.V2
ntripArgs['verbose'] = options.verbose
ntripArgs['headerOutput'] = options.headerOutput
if options.UDP:
ntripArgs['UDP_Port'] = int(options.UDP)
maxReconnect = options.maxReconnect
maxConnectTime = options.maxConnectTime
if options.verbose:
print("Server: " + ntripArgs['caster'])
print("Port: " + str(ntripArgs['port']))
print("User: " + ntripArgs['user'])
print("mountpoint: " + ntripArgs['mountpoint'])
print("Reconnects: " + str(maxReconnect))
print("Max Connect Time: " + str(maxConnectTime))
if ntripArgs['V2']:
print("NTRIP: V2")
else:
print("NTRIP: V1 ")
if ntripArgs["ssl"]:
print("SSL Connection")
else:
print("Uncrypted Connection")
print("")
fileOutput = False
if options.outputFile:
f = open(options.outputFile, 'wb')
ntripArgs['out'] = f
fileOutput = True
if options.headerFile:
h = open(options.headerFile, 'w')
ntripArgs['headerFile'] = h
ntripArgs['headerOutput'] = True
# print(ntripArgs) # print config infomation(for debug)
n = NtripClient(**ntripArgs)
try:
n.readData()
finally:
if fileOutput:
f.close()
if options.headerFile:
h.close()
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