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brentperteet
184
ntrip/ble_client.py
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184
ntrip/ble_client.py
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#!/usr/bin/env python3
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"""
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BLE NTRIP Client for RTK Receiver
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Connects to an RTK receiver via Bluetooth Low Energy (BLE) to receive NMEA data
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and forward RTCM corrections from an NTRIP caster.
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This script uses the bleak library for cross-platform BLE communication.
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"""
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import asyncio
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import sys
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from bleak import BleakClient, BleakScanner
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# ============================================================================
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# Configuration
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# ============================================================================
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# BLE Device Configuration
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DEVICE_NAME = "ML-NA001-250079-BLE"
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DEVICE_UUID = "B2DDE9B2-881D-1BE2-5A1B-C44CB646BB1D"
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# BLE Service and Characteristic UUIDs
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SERVICE_UUID = "0000fff0-0000-1000-8000-00805f9b34fb" # Custom service
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CHARACTERISTIC_UUID = "0000fff2-0000-1000-8000-00805f9b34fb" # Read/Notify characteristic for NMEA
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# Debug options
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DEBUG_RAW_DATA = True # Show raw bytes received
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DEBUG_NMEA = True # Show parsed NMEA sentences
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# ============================================================================
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# BLE Connection and Data Handler
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# ============================================================================
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class BLENTRIPClient:
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"""BLE NTRIP client for RTK receiver."""
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def __init__(self):
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self.client = None
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self.running = False
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self.nmea_buffer = bytearray()
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async def find_device(self):
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"""Scan for the RTK receiver BLE device."""
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print(f"Scanning for BLE device: {DEVICE_NAME} ({DEVICE_UUID})...")
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devices = await BleakScanner.discover(timeout=10.0)
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for device in devices:
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print(f"Found: {device.name} ({device.address})")
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# Match by UUID or name
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if (device.address.upper() == DEVICE_UUID.upper() or
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device.name == DEVICE_NAME):
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print(f"✓ Found target device: {device.name} at {device.address}")
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return device.address
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print(f"✗ Device not found. Scanned {len(devices)} devices.")
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return None
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def notification_handler(self, sender, data):
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"""Handle incoming BLE notifications with NMEA data."""
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if DEBUG_RAW_DATA:
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print(f"Raw data ({len(data)} bytes): {data.hex()}")
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# Add data to buffer
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self.nmea_buffer.extend(data)
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# Process complete NMEA sentences (terminated with \r\n)
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while b'\n' in self.nmea_buffer:
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# Find the end of the sentence
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newline_idx = self.nmea_buffer.index(b'\n')
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sentence_bytes = self.nmea_buffer[:newline_idx + 1]
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self.nmea_buffer = self.nmea_buffer[newline_idx + 1:]
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try:
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# Decode NMEA sentence
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sentence = sentence_bytes.decode('ascii').strip()
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if sentence and DEBUG_NMEA:
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print(f"NMEA: {sentence}")
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# TODO: Parse NMEA sentences (GGA, etc.) for position data
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except UnicodeDecodeError as e:
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print(f"Failed to decode NMEA data: {e}")
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async def connect_and_monitor(self):
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"""Connect to the BLE device and monitor NMEA data."""
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# Find the device
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device_address = await self.find_device()
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if not device_address:
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print("Could not find RTK receiver. Make sure device is powered on and in range.")
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return False
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# Connect to device
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print(f"\nConnecting to {device_address}...")
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try:
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async with BleakClient(device_address) as client:
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self.client = client
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if not client.is_connected:
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print("✗ Failed to connect")
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return False
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print(f"✓ Connected to {DEVICE_NAME}")
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# List available services and characteristics
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print("\nAvailable services:")
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for service in client.services:
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print(f" Service: {service.uuid}")
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for char in service.characteristics:
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props = ','.join(char.properties)
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print(f" Characteristic: {char.uuid} ({props})")
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# Start notifications on NMEA characteristic
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print(f"\nSubscribing to NMEA notifications on {CHARACTERISTIC_UUID}...")
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await client.start_notify(CHARACTERISTIC_UUID, self.notification_handler)
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print("✓ Subscribed to notifications\n")
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# Keep connection alive and monitor data
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self.running = True
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print("Monitoring NMEA data (Ctrl+C to stop)...\n")
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while self.running:
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await asyncio.sleep(1)
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# Check connection status
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if not client.is_connected:
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print("✗ Connection lost")
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break
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# Stop notifications before disconnecting
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await client.stop_notify(CHARACTERISTIC_UUID)
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except Exception as e:
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print(f"✗ Error: {e}")
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return False
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return True
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def stop(self):
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"""Stop the client."""
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self.running = False
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# ============================================================================
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# Main Entry Point
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# ============================================================================
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async def main():
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"""Main entry point."""
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client = BLENTRIPClient()
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try:
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await client.connect_and_monitor()
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except KeyboardInterrupt:
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print("\n\nStopping...")
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client.stop()
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except Exception as e:
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print(f"\n✗ Fatal error: {e}")
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sys.exit(1)
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if __name__ == "__main__":
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print("=" * 70)
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print("BLE NTRIP Client for RTK Receiver")
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print("=" * 70)
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print()
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# Check if bleak is installed
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try:
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import bleak
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except ImportError:
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print("✗ Error: 'bleak' library not found")
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print("\nInstall it with:")
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print(" pip install bleak")
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print()
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sys.exit(1)
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asyncio.run(main())
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