pygnssutils package
Submodules
pygnssutils.exceptions module
UBX Custom Exception Types
Created on 27 Sep 2020
- author:
semuadmin
- copyright:
SEMU Consulting © 2020
- license:
BSD 3-Clause
pygnssutils.globals module
Global variables for pygnssutils.
Created on 26 May 2022
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
- pygnssutils.globals.DEFAULT_BUFSIZE = 4096
Default socket buffer size
- pygnssutils.globals.EARTH_RADIUS = 6371
Earth radius in km
- pygnssutils.globals.ENV_NTRIP_PASSWORD = 'PYGPSCLIENT_PASSWORD'
Environment variable for NTRIP password
- pygnssutils.globals.ENV_NTRIP_USER = 'PYGPSCLIENT_USER'
Environment variable for NTRIP user
- pygnssutils.globals.ENV_MQTT_CLIENTID = 'MQTTCLIENTID'
Environment variable for MQTT Client ID
- pygnssutils.globals.ENV_MQTT_KEY = 'MQTTKEY'
Environment variable for MQTT SPARTN decryption key
- pygnssutils.globals.ENCODE_NONE = 0
No socket encoding
- pygnssutils.globals.ENCODE_CHUNKED = 1
chunked socket encoding
- pygnssutils.globals.ENCODE_GZIP = 2
gzip socket encoding
- pygnssutils.globals.ENCODE_COMPRESS = 4
compress socket encoding
- pygnssutils.globals.ENCODE_DEFLATE = 8
deflate socket encoding
- pygnssutils.globals.FORMAT_PARSED = 1
parsed format
- pygnssutils.globals.FORMAT_BINARY = 2
binary (raw) format
- pygnssutils.globals.FORMAT_HEX = 4
hexadecimal string format
- pygnssutils.globals.FORMAT_HEXTABLE = 8
tabular hexadecimal format
- pygnssutils.globals.FORMAT_PARSEDSTRING = 16
parsed as string format
- pygnssutils.globals.FORMAT_JSON = 32
JSON format
- pygnssutils.globals.INPUT_NONE = 0
No input medium
- pygnssutils.globals.INPUT_NTRIP_RTCM = 1
NTRIP RTCM input
- pygnssutils.globals.INPUT_NTRIP_SPARTN = 2
NTRIP SPARTN input
- pygnssutils.globals.INPUT_MQTT_SPARTN = 3
MQTT SPARTN input
- pygnssutils.globals.INPUT_SERIAL = 4
Serial input (e.g. RXM-PMP from D9S SPARTN L-band receiver)
- pygnssutils.globals.INPUT_FILE = 5
File input (e.g. CFG-VALSET commands)
- pygnssutils.globals.MAXPORT = 65535
Maximum permissible port number
- pygnssutils.globals.NTRIP1 = '1.0'
NTRIP version 1.0 descriptor
- pygnssutils.globals.NTRIP2 = '2.0'
NTRIP version 2.0 descriptor
- pygnssutils.globals.OUTPORT = 50010
Default socket server port
- pygnssutils.globals.OUTPORT_NTRIP = 2101
Default NTRIP caster port
- pygnssutils.globals.OUTPUT_NONE = 0
No output medium
- pygnssutils.globals.OUTPUT_FILE = 1
Binary file output
- pygnssutils.globals.OUTPUT_SERIAL = 2
Serial output
- pygnssutils.globals.OUTPUT_SOCKET = 3
Socket output
- pygnssutils.globals.OUTPUT_HANDLER = 4
Custom output handler
- pygnssutils.globals.OUTPUT_TEXT_FILE = 5
Text file output
- pygnssutils.globals.VERBOSITY_CRITICAL = -1
Verbosity critical
- pygnssutils.globals.VERBOSITY_LOW = 0
Verbosity error
- pygnssutils.globals.VERBOSITY_MEDIUM = 1
Verbosity warning
- pygnssutils.globals.VERBOSITY_HIGH = 2
Verbosity info
- pygnssutils.globals.VERBOSITY_DEBUG = 3
Verbosity debug
- pygnssutils.globals.UBXSIMULATOR = 'UBXSIMULATOR'
UBX simulator
- pygnssutils.globals.LOGGING_LEVELS = {-1: 'CRITICAL', 0: 'ERROR', 1: 'WARNING', 2: 'INFO', 3: 'DEBUG'}
Logging level descriptors
- pygnssutils.globals.DISCONNECTED = 0
Disconnected
- pygnssutils.globals.CONNECTED = 1
Connected
- pygnssutils.globals.MAXCONNECTION = 2
Maximum connections reached (for socket server)
- pygnssutils.globals.LOGFORMAT = '{asctime}.{msecs:.0f} - {levelname} - {name} - {message}'
Logging format
- pygnssutils.globals.LOGLIMIT = 10485760
Logfile limit
- pygnssutils.globals.NOGGA = -1
No GGA sentence to be sent (for NTRIP caster)
- pygnssutils.globals.EPILOG = '© 2022 SEMU Consulting BSD 3-Clause license - https://github.com/semuconsulting/pygnssutils/'
CLI argument parser epilog
- pygnssutils.globals.GNSSLIST = {0: 'GPS', 1: 'SBAS', 2: 'Galileo', 3: 'BeiDou', 4: 'IMES', 5: 'QZSS', 6: 'GLONASS'}
GNSS identifiers
- pygnssutils.globals.FIXES = {'2D': 1, '3D': 1, 'DR': 6, 'GNSS+DR': 1, 'GPS + DR': 1, 'NO FIX': 0, 'RTK': 5, 'RTK FIXED': 4, 'RTK FLOAT': 5, 'TIME ONLY': 0}
Fix enumeration
- pygnssutils.globals.FIXTYPE_GGA = {0: 'NO FIX', 1: '3D', 2: '3D', 4: 'RTK FIXED', 5: 'RTK FLOAT', 6: 'DR'}
NMEA GGA fixtype decode
- pygnssutils.globals.HTTPCODES = {200: 'OK', 400: 'Bad Request', 401: 'Unauthorized', 403: 'Forbidden', 404: 'Not Found', 405: 'Method Not Allowed', 406: 'Not Acceptable', 408: 'Request Timeout', 409: 'Conflict', 429: 'Too Many Requests', 500: 'Internal Server Error', 501: 'Not Implemented', 503: 'Service Unavailable'}
HTTP response codes used by NTRIP
pygnssutils.gnssmqttclient module
gnssmqttclient.py
MQTT SPARTN client class, retrieving correction data from an IP (MQTT) source and (optionally) sending the data to a designated writeable output medium (serial, file, socket, queue).
- Calling app, if defined, can implement the following methods:
set_event() - create <<spartn_read>> event
dialog() - return reference to MQTT client configuration dialog
- Can utilise the following environment variables:
MQTTKEY - SPARTN payload decription key (valid for 4 weeks)
MQTTCRT - MQTT server (PointPerfect) TLS certificate
MQTTPEM - MQTT server (PointPerfect) TLS key
MQTTCLIENTID - MQTT server client ID
- Credentials can be download from:
Thingstream > Location Services > PointPerfect Thing > Credentials
Default location for key files is user’s HOME directory
Created on 20 Feb 2023
- author:
semuadmin
- copyright:
SEMU Consulting © 2023
- license:
BSD 3-Clause
- class pygnssutils.gnssmqttclient.GNSSMQTTClient(app=None, **kwargs)[source]
Bases:
objectSPARTN MQTT client class.
- __init__(app=None, **kwargs)[source]
Constructor.
- Parameters:
app (object) – application from which this class is invoked (None)
- property settings
Getter for SPARTN IP settings.
- property connected
Connection status getter.
- static on_connect(client, userdata, flags, rcd)[source]
The callback for when the client receives a CONNACK response from the server.
- Parameters:
client (object) – client
userdata (list) – list of user defined data items
flags (list) – optional flags
rcd (int) – return status code
- static on_connect_fail(client, userdata, rcd)[source]
The callback for when the client fails to connect to the server.
- Parameters:
client (object) – client
userdata (list) – list of user defined data items
rcd (int) – return status code
- static on_disconnect(client, userdata, rcd)[source]
The callback for when the client disconnects from the server.
- Parameters:
client (object) – client
userdata (list) – list of user defined data items
rcd (int) – return status code
- static on_message(client, userdata, msg)[source]
The callback for when a PUBLISH message is received from the server. Some MQTT topics may contain more than one UBX or SPARTN message in a single payload.
- Parameters:
client (object) – MQTT client
userdata (list) – list of user defined data items
msg (object) – SPARTN or UBX message topic content
pygnssutils.gnssmqttclient_cli module
gnssmqttclient_cli.py
CLI wrapper for GNSSMQTTClient class.
Created on 24 Jul 2024
- author:
semuadmin
- copyright:
SEMU Consulting © 2023
- license:
BSD 3-Clause
pygnssutils.gnssntripclient module
gnssntripclient.py
NTRIP client class; essentially an HTTP client capable of retrieving sourcetable and RTCM3 or SPARTN correction data from an NTRIP server and (optionally) sending the correction data to a designated writeable output medium (serial, file, socket, queue).
Can also transmit client position back to NTRIP server at specified intervals via formatted NMEA GGA sentences.
Calling app, if defined, can implement the following methods: - set_event() - create <<ntrip_read>> event - dialog() - return reference to NTRIP config client dialog - get_coordinates() - return coordinates from receiver
NB: This utility is used by PyGPSClient - do not change footprint of any public methods without first checking impact on PyGPSClient - https://github.com/semuconsulting/PyGPSClient.
Created on 03 Jun 2022
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
- class pygnssutils.gnssntripclient.GNSSNTRIPClient(app=None, **kwargs)[source]
Bases:
objectNTRIP client class.
- __init__(app=None, **kwargs)[source]
Constructor.
- Parameters:
app (object) – application from which this class is invoked (None)
retries (int) – (kwarg) maximum failed connection retries (5)
retryinterval (int) – (kwarg) retry interval in seconds (10)
timeout (int) – (kwarg) inactivity timeout in seconds (10)
- run(**kwargs) bool[source]
Open NTRIP client connection.
If calling application implements a “get_coordinates” method to obtain live coordinates (i.e. from GNSS receiver), the method will use these instead of fixed reference coordinates.
User login credentials can be obtained from environment variables PYGPSCLIENT_USER and PYGPSCLIENT_PASSWORD, or passed as kwargs.
- Parameters:
server (str) – (kwarg) NTRIP server URL (“”)
port (int) – (kwarg) NTRIP port (2101)
https (int) – (kwarg) HTTPS (TLS) connection? 0 = HTTP 1 = HTTPS (0)
mountpoint (str) – (kwarg) NTRIP mountpoint (“”, leave blank to get sourcetable)
datatype (str) – (kwarg) Data type - RTCM or SPARTN (“RTCM”)
version (str) – (kwarg) NTRIP protocol version (“2.0”)
ntripuser (str) – (kwarg) NTRIP authentication user (“anon”)
ntrippassword (str) – (kwarg) NTRIP authentication password (“password”)
ggainterval (int) – (kwarg) GGA sentence transmission interval (-1 = None)
ggamode (int) – (kwarg) GGA pos source; 0 = live from receiver, 1 = fixed reference (0)
reflat (str) – (kwarg) reference latitude (0.0)
reflon (str) – (kwarg) reference longitude (0.0)
refalt (str) – (kwarg) reference altitude (0.0)
refsep (str) – (kwarg) reference separation (0.0)
spartndecode (bool) – (kwarg) decode SPARTN messages (0)
spartnkey (str) – (kwarg) SPARTN decryption key (None)
datetime (object) – (kwarg) SPARTN decryption basedate (now(utc))
output (object) – (kwarg) writeable output medium (serial, file, socket, queue) (None)
stopevent (object) – (kwarg) stopevent to terminate run() (internal Event())
- Returns:
boolean flag 0 = stream terminated, 1 = streaming data
- Return type:
bool
- property settings
Getter for NTRIP settings.
- property connected
Connection status getter.
- property responseok: bool
Response OK indicator (i.e. 200 OK).
- Returns:
True/False
- Return type:
bool
- property status: dict
Get response status e.g. {protocol: “HTTP/1.1”, code: 200, description: “OK”}.
- Returns:
dict of protocol, status code, status description
- Return type:
dict
- property content_type: str
Get content type e.g. “text/html” or “gnss/data”.
- Returns:
content type
- Return type:
str
- property response_body: object
Get response body if available.
- Returns:
response body as bytes or string, depending on encoding
- Return type:
object
- property encoding: int
Get response transfer-encoding settings (chunked, deflate, compress, gzip).
- Returns:
OR’d transfer-encoding value
- Return type:
int
- property is_gnssdata: bool
Check if response is NTRIP data stream (RTCM or SPARTN).
- Returns:
gnss/data True/False
- Return type:
bool
- property is_sourcetable: bool
Check if response is NTRIP sourcetable.
- Returns:
gnss/sourcetable True/False
- Return type:
bool
- property stopevent: Event
Getter for stop event.
- Returns:
stop event
- Return type:
Event
pygnssutils.gnssntripclient_cli module
gnssntripclient_cli.py
CLI wrapper for GNSSNTRIPClient class.
Created on 24 Jul 2024
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
pygnssutils.gnssserver module
gnssserver.py
This is a simple implementation of a TCP Socket Server or NTRIP Server which reads the binary data stream from a connected GNSS receiver and broadcasts the data to any TCP socket or NTRIP client running on a local or remote machine.
Created on 24 May 2022
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
- class pygnssutils.gnssserver.GNSSSocketServer(app=None, stream: object = None, ipprot: str = 'IPv4', hostip: str = '0.0.0.0', outport: int = 50010, maxclients: int = 5, ntripmode: int = 0, ntripversion: str = '2.0', ntripuser: str = 'anon', ntrippassword: str = 'password', **kwargs)[source]
Bases:
objectGNSS Socket Server Class.
- __init__(app=None, stream: object = None, ipprot: str = 'IPv4', hostip: str = '0.0.0.0', outport: int = 50010, maxclients: int = 5, ntripmode: int = 0, ntripversion: str = '2.0', ntripuser: str = 'anon', ntrippassword: str = 'password', **kwargs)[source]
Context manager constructor.
Example of usage:
gnssserver inport=COM3 hostip=192.168.0.20 outport=50010 ntripmode=0
- Parameters:
app (object) – application from which this class is invoked (None)
stream (object) – input datastream
ipprot (str) – IP protocol IPv4/IPv6 (“IPv4”)
hostip (int) – host ip address (0.0.0.0)
outport (int) – TCP port (50010)
maxclients (int) – maximum number of connected clients (5)
ntripmode (int) – 0 = socket server, 1 - NTRIP server (0)
ntripversion (str) – NTRIP version “1.0”/”2.0” (“2.0”)
ntripuser (str) – NTRIP caster authentication user (“anon”)
ntrippassword (str) – NTRIP caster authentication password (“password”)
kwargs (dict) – optional keyword arguments to pass to GNSSStreamer
pygnssutils.gnssserver_cli module
gnssserver_cli.py
CLI wrapper for GNSSSocketServer class.
Created on 24 Jul 2024
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
pygnssutils.gnssstreamer module
pygnssutils - gnssstreamer.py
GNSS streaming application which supports bidirectional communication with a GNSS datastream (e.g. an NMEA or UBX GNSS receiver serial port) via designated input and output handlers.
Created on 27 Jul 2023
- author:
semuadmin
- copyright:
SEMU Consulting © 2023
- license:
BSD 3-Clause
- class pygnssutils.gnssstreamer.GNSSStreamer(app: object, stream: object, validate: int = 1, msgmode: int = 0, parsebitfield: bool = True, outformat: int = 1, quitonerror: int = 2, protfilter: int = 7, msgfilter: str = '', limit: int = 0, outqueue: Queue = None, inqueue: Queue = None, outputhandler: object = None, inputhandler: object = None, stopevent: object = None, verbosity: int = 1, logtofile: str = '', **kwargs)[source]
Bases:
objectSkeleton GNSS application class which supports bidirectional communication with a GNSS datastream (e.g. an NMEA or UBX GNSS receiver serial port) via designated input and output handlers.
user-defined output and input handlers (callbacks).
flexible protocol and message filtering options.
flexible output formatting options e.g. parsed, binary, hex, JSON.
supports external inputs to datastream, e.g. from RTK data source (NTRIP or SPARTN) or a configuration file.
implements a context manager e.g. with GNSSStreamer as gns:
The class implements public methods which can be used by other pygnssutils classes:
get_coordinates(), returns current GNSS status.
status property, returns current GNSS status.
To utilise logging, invoke and configure logging.getLogger(“pygnssutils”) in the calling hierarchy.
- __init__(app: object, stream: object, validate: int = 1, msgmode: int = 0, parsebitfield: bool = True, outformat: int = 1, quitonerror: int = 2, protfilter: int = 7, msgfilter: str = '', limit: int = 0, outqueue: Queue = None, inqueue: Queue = None, outputhandler: object = None, inputhandler: object = None, stopevent: object = None, verbosity: int = 1, logtofile: str = '', **kwargs)[source]
Constructor.
- Parameters:
app (object) – name of any calling application
stream (object) – GNSS datastream (e.g. Serial, File or Socket)
validate (bool) – 1 = validate checksum, 0 = do not validate (1)
msgmode (int) – 0 = GET, 1 = SET, 2 = POLL (0)
parsebitfield (bool) – 1 = parse UBX ‘X’ attributes as bitfields, 0 = leave as bytes (1)
outformat (int) – output format 1 = parsed, 2 = raw, 4 = hex, 8 = tabulated hex, 16 = parsed as string, 32 = JSON (can be OR’d) (1)
quitonerror (int) – 0 = ignore errors, 1 = log errors and continue, 2 = (re)raise errors (1)
protfilter (int) – 1 = NMEA, 2 = UBX, 4 = RTCM3 (can be OR’d) (7 - ALL)
msgfilter (str) – comma-separated string of message identities to include in output e.g. ‘NAV-PVT,GNGSA’. A periodicity clause can be added e.g. NAV-SAT(10), signifying the minimum period in seconds between successive messages of this type (“”)
limit (int) – maximum number of messages to read (0 = unlimited)
outqueue (Queue) – queue for data from datastream (None)
inqueue (Queue) – queue for data to datastream (None)
outputhandler (object) – output callback function (do_output())
inputhandler (object) – input callback function (do_input())
stopevent (Event) – stopevent to terminate run() (internal Event())
verbosity (int) – log message verbosity -1 = critical, 0 = error, 1 = warning, 2 = info, 3 = debug (1)
logtofile (str) – fully qualified path to logfile (”” = no logfile)
kwargs (dict) – user-defined keyword arguments to pass to custom input/output handlers
- Raises:
ValueError – If invalid arguments
- get_coordinates() dict[source]
DEPRECATED - use status property instead. Return current GNSS status. (method used by certain pygnssutils classes)
- Returns:
dict of GNSS status attributes
- Return type:
dict
- property status: dict
Return current GNSS status.
- Returns:
dict of GNSS status attributes
- Return type:
dict
- property stream: object
Return GNSS datastream.
- Returns:
GNSS datastream
- Return type:
object
- static do_output(raw_data: bytes, formatted_data: list, outqueue: Queue, **kwargs)[source]
- Default output handler callback.
logs output data type
sends output to out queue (if defined)
- Parameters:
raw_data (bytes) – raw data
formatted_data (list) – list formatted data e.g. [NMEAMessage]
outqueue (Queue) – queue containing output from GNSS datastream
- static do_input(datastream: object, inqueue: Queue, **kwargs)[source]
- Default input handler callback.
receives data from in queue (if defined) and sends to datastream
logs received data type
- Parameters:
datastream (object) – bidirectional GNSS datastream
inqueue (Queue) – queue containing data to be sent to GNSS datastream
- Raises:
ParameterError
pygnssutils.gnssstreamer_cli module
gnssstreamer_cli.py
CLI wrapper for GNSSStreamer class.
- Supported GNSS datastreams:
serial
socket
file
generic stream
- Supported output channels:
terminal (stdout)
socket
binary file
text file
lambda expression
- Supported input channels:
NTRIP RTCM client
NTRIP SPARTN client
MQTT SPARTN client
serial stream
file stream
Created on 24 Jul 2024
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
pygnssutils.helpers module
Collection of GNSS related helper methods.
Created on 26 May 2022
- author:
semuadmin
- copyright:
SEMU Consulting © 2020
- license:
BSD 3-Clause
- pygnssutils.helpers.parse_config(configfile: str) dict[source]
Parse config file.
- Parameters:
configfile (str) – fully qualified path to config file
- Returns:
config as kwargs, or None if file not found
- Return type:
dict
- Raises:
FileNotFoundError
- Raises:
ValueError
- pygnssutils.helpers.set_common_args(name: str, ap: ArgumentParser, logname: str = 'pygnssutils', logdefault: int = 1) dict[source]
Set common argument parser and logging args.
- Parameters:
name (str) – name of CLI utility e.g. “gnssstreamer”
ArgumentParserap – argument parser instance
logname (str) – logger name
logdefault (int) – default logger verbosity level
- Returns:
parsed arguments as kwargs
- Return type:
dict
- pygnssutils.helpers.set_logging(logger: Logger, verbosity: int = 1, logtofile: str = '', logform: str = '{asctime}.{msecs:.0f} - {levelname} - {name} - {message}', limit: int = 10485760)[source]
Set logging format and level.
- Parameters:
logger (logging.Logger) – module log handler
verbosity (int) – verbosity level -1,0,1,2,3 (2 - MEDIUM)
logtofile (str) – fully qualified log file name (“”)
logform (str) – logging format (datetime - level - name)
limit (int) – maximum logfile size in bytes (10MB)
- pygnssutils.helpers.progbar(i: int, lim: int, inc: int = 50)[source]
Display progress bar on console.
- pygnssutils.helpers.get_mp_distance(lat: float, lon: float, mp: list) float[source]
Get distance to mountpoint from current location (if known).
Predicated on the sourcetable being formatted as a list of sourcetable entries, where for each entry: entry[0] = mountpoint name entry[8] = mountpoint latitude entry[9] = mountpoint longitude
- Parameters:
lat (float) – current latitude
lon (float) – current longitude
mp (list) – sourcetable mountpoint entry
- Returns:
distance to mountpoint in km, or None if n/a
- Return type:
float or None
- pygnssutils.helpers.find_mp_distance(lat: float, lon: float, sourcetable: list, name: str = '') tuple[source]
Find distance to named mountpoint. If mountpoint name is not provided, find closest mountpoint in sourcetable.
Predicated on the sourcetable being formatted as a list of sourcetable entries, where for each entry: entry[0] = mountpoint name entry[8] = mountpoint latitude entry[9] = mountpoint longitude
- Parameters:
lat (float) – reference latitude
lon (float) – reference longitude
sourcetable (list) – sourcetable as list
name (str) – (optional) mountpoint name (None)
- Returns:
tuple of (name of closest mountpoint, distance in km)
- Return type:
tuple
- pygnssutils.helpers.cel2cart(elevation: float, azimuth: float) tuple[source]
Convert celestial coordinates (degrees) to Cartesian coordinates.
- Parameters:
elevation (float) – elevation
azimuth (float) – azimuth
- Returns:
cartesian x,y coordinates
- Return type:
tuple
- pygnssutils.helpers.format_json(message: object) str[source]
Format object as JSON document.
- Returns:
JSON document as string
- Return type:
str
- pygnssutils.helpers.format_conn(family: int, server: str, port: int, flowinfo: int = 0, scopeid: int = 0) tuple[source]
Return formatted socket connection string.
- Parameters:
family (int) – IP family (AF_INET, AF_INET6)
server (str) – server
port (int) – port
flowinfo (int) – flow info (0)
scopeid (int) – scope ID (0)
- Returns:
connection tuple
- Return type:
tuple
- pygnssutils.helpers.ipprot2int(family: str) int[source]
Convert IP family string to integer.
- Parameters:
family (str) – family string (“IPv4”, “IPv6”)
- Returns:
value as int AF_INET, AF_INET6
- Return type:
int
- pygnssutils.helpers.ipprot2str(family: int) str[source]
Convert IP family integer to string.
- Parameters:
family (str) – family int (AF_INET, AF_INET6)
- Returns:
value as str (“IPv4”, “IPv6”)
- Return type:
int
- pygnssutils.helpers.gtype(data: object) str[source]
Get type of GNSS data as user-friendly string.
- Parameters:
data (object) – data
- Returns:
type e.g. “UBX”
- Return type:
str
- pygnssutils.helpers.parse_url(url: str) tuple[source]
Parse URL. If protocol, port or path not specified, they default to ‘http’, 80 and ‘/’.
- Parameters:
url (str) – full URL e.g. ‘https://example.com:443/path’
- Returns:
tuple of (protocol, hostname, port, path)
- Return type:
tuple
pygnssutils.mqttmessage module
mqttmessage.py
MQTTMessage container class for MQTT topics with json payloads.
Created on 1 Sep 2023
- author:
semuadmin
- copyright:
SEMU Consulting © 2020
- license:
BSD 3-Clause
pygnssutils.socket_server module
TCP socket server for PyGPSClient application.
(could also be used independently of a tkinter app framework)
Reads raw data from GNSS receiver message queue and outputs this to multiple TCP socket clients.
Operates in two modes according to ntripmode setting:
- 0 - open socket mode - will stream GNSS data to any connected client
without authentication.
- 1 - NTRIP caster mode - implements NTRIP server protocol and will
respond to NTRIP client authentication, sourcetable and RTCM3 data stream requests. NB: THIS ASSUMES THE CONNECTED GNSS RECEIVER IS OPERATING IN BASE STATION (SURVEY-IN OR FIXED) MODE AND OUTPUTTING THE RELEVANT RTCM3 MESSAGES.
For NTRIP caster mode, authorization credentials can be supplied via keyword arguments or set as environment variables: export PYGPSCLIENT_USER=”user” export PYGPSCLIENT_PASSWORD=”password”
NB: This utility is used by PyGPSClient - do not change footprint of any public methods without first checking impact on PyGPSClient - https://github.com/semuconsulting/PyGPSClient.
Created on 16 May 2022
- author:
semuadmin
- copyright:
SEMU Consulting © 2022
- license:
BSD 3-Clause
- class pygnssutils.socket_server.SocketServer(app, ntripmode: int, maxclients: int, msgqueue: Queue, *args, **kwargs)[source]
Bases:
ThreadingTCPServerSocket server class.
This instantiates a daemon ClientHandler thread for each connected client.
- __init__(app, ntripmode: int, maxclients: int, msgqueue: Queue, *args, **kwargs)[source]
Overridden constructor.
- Parameters:
app (Frame) – reference to main application class (if any)
ntripmode (int) – 0 = open socket server, 1 = NTRIP server
maxclients (int) – max no of clients allowed
msgqueue (Queue) – queue containing raw GNSS messages
ipprot (str) – (kwarg) IP protocol family (IPv4, IPv6)
ntripversion (str) – (kwarg) NTRIP version (“1.0”, “2.0”)
ntripuser (str) – (kwarg) NTRIP authentication user name
ntrippassword (str) – (kwarg) NTRIP authentication password
verbosity (int) – (kwarg) log verbosity (1 = medium)
logtofile (str) – (kwarg) fully qualifed log file name (‘’)
- handle_error(request, client_address)[source]
Handle client exception.
- Parameters:
request – request object
address – client address
- verify_request(request, client_address) bool[source]
Verify client request.
- Parameters:
request – request object
address – client address
- Returns:
verified y/n
- Return type:
bool
- notify(address: tuple, status: int)[source]
Alert calling app on client connection or disconnection.
- Parameters:
address (tuple) – client address
status (int) – 0 = disconnected, 1 = connected, 2 = maxconnections
- property credentials: bytes
Getter for basic authorization credentials.
- property connections
Getter for client connections.
- property ntripmode: int
Getter for ntrip mode.
- Returns:
0 = open socket server, 1 = ntrip mode
- Return type:
int
- property latlon: tuple
Get current lat / lon from receiver.
- Return=:
tuple of (lat, lon)
- Return type:
tuple
- class pygnssutils.socket_server.ClientHandler(*args, **kwargs)[source]
Bases:
StreamRequestHandlerThreaded TCP client connection handler class.
- setup(*args, **kwargs)[source]
Overridden client handler setup routine. Allocates available message queue to client.
- finish(*args, **kwargs)[source]
Overridden client handler finish routine. De-allocates message queue from client.
- handle()[source]
Overridden main client handler.
If in NTRIP server mode, will respond to NTRIP client authentication and sourcetable requests and, if valid, stream relevant RTCM3 data from the input message queue to the socket.
If in open socket server mode, will simply stream content of input message queue to the socket.
- pygnssutils.socket_server.runserver(host: str, port: int, mq: Queue, ntripmode: int = 0, maxclients: int = 5, **kwargs)[source]
THREADED Socket server function to be run as thread.
- Parameters:
host (str) – host IP
port (int) – port
mq (Queue) – output message queue
ntripmode (int) – 0 = basic, 1 = ntrip caster
maxclients (int) – max concurrent clients
ntripversion (str) – (kwarg) NTRIP version 1.0 or 2.0
pygnssutils.socketwrapper module
socketwrapper.py
Socket stream wrapper providing read(n) and readline() methods.
Supports chunked and compressed transfer-encoded datastreams.
Created on 12 Feb 2023
- author:
semuadmin
- copyright:
SEMU Consulting © 2023
- license:
BSD 3-Clause
- class pygnssutils.socketwrapper.SocketWrapper(sock: <module 'socket' from '/Library/Frameworks/Python.framework/Versions/3.13/lib/python3.13/socket.py'>, encoding=0, bufsize=4096)[source]
Bases:
objectSocket stream wrapper providing read(n) and readline() methods.
Supports chunked transfer-encoded datastreams.
- __init__(sock: <module 'socket' from '/Library/Frameworks/Python.framework/Versions/3.13/lib/python3.13/socket.py'>, encoding=0, bufsize=4096)[source]
Constructor.
- Parameters:
socket (sock) – socket object
encoding (int) – OR’d transfer-encoding values - 0 = none, 1 = chunk, 2 = gzip, 4 = compress, 8 = deflate
bufsize (int) – internal buffer size
- read(num: int) bytes[source]
Read specified number of bytes from buffer. NB: always check length of return data.
- Parameters:
num (int) – number of bytes to read
- Returns:
bytes read (which may be less than num)
- Return type:
bytes
- readline() bytes[source]
Read bytes from buffer until CRLF reached. NB: always check that return data terminator is CRLF.
- Returns:
bytes
- Return type:
bytes
- write(data: bytes, **kwargs)[source]
Write bytes to socket.
- Parameters:
data (bytes) – data
kwargs (dict) – kwargs
- in_waiting() int[source]
Return number of bytes in buffer.
- Returns:
length of buffer
- Return type:
int
- dechunk(segment: bytes) tuple[source]
Parse segment of chunked transfer-encoded byte stream.
Returns complete chunks in this segment and any partial chunk, which should be prepended to next segment read.
- Parameters:
segment – segment of byte stream
- Returns:
tuple of (chunks, partial)
- Return type:
tuple
Module contents
Created on 27 Sep 2020
- author:
semuadmin
- copyright:
SEMU Consulting © 2020
- license:
BSD 3-Clause