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brentperteet
207
ntrip_message_survey.py
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207
ntrip_message_survey.py
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#!/usr/bin/env python3
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"""
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Simple script to survey what RTCM message types are sent by the caster over 60 seconds.
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Useful to determine if the caster sends base station position messages (1005/1006).
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"""
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import base64
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import socket
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import time
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from datetime import datetime, timezone
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# NTRIP configuration
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CASTER_HOST = "truertk.pointonenav.com"
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CASTER_PORT = 2101
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MOUNTPOINT = "AUTO"
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USERNAME = "9t7fwfbm57"
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PASSWORD = "96m7bec9g8"
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# Position for GGA
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LAT = 36.1140884
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LON = -97.0880663
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ALT = 390.0
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# Survey duration (seconds)
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SURVEY_DURATION = 60
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def build_gga(lat: float, lon: float, alt: float) -> bytes:
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"""Build NMEA GGA sentence."""
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now_utc = datetime.now(timezone.utc).strftime("%H%M%S")
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lat_hemi = "N" if lat >= 0 else "S"
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lat_abs = abs(lat)
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lat_deg = int(lat_abs)
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lat_min = (lat_abs - lat_deg) * 60.0
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lat_str = f"{lat_deg:02d}{lat_min:07.4f}"
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lon_hemi = "E" if lon >= 0 else "W"
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lon_abs = abs(lon)
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lon_deg = int(lon_abs)
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lon_min = (lon_abs - lon_deg) * 60.0
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lon_str = f"{lon_deg:03d}{lon_min:07.4f}"
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fields = ["GPGGA", now_utc, lat_str, lat_hemi, lon_str, lon_hemi, "1", "12", "1.0", f"{alt:.1f}", "M", "", "M", "", ""]
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core = ",".join(fields)
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checksum = 0
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for char in core:
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checksum ^= ord(char)
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return f"${core}*{checksum:02X}\r\n".encode("ascii")
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def make_ntrip_request(host: str, port: int, mount: str, user: str, password: str) -> bytes:
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"""Create NTRIP v2 HTTP request."""
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auth = base64.b64encode(f"{user}:{password}".encode("utf-8")).decode("ascii")
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req = (
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f"GET /{mount} HTTP/1.1\r\n"
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f"Host: {host}:{port}\r\n"
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f"Ntrip-Version: Ntrip/2.0\r\n"
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f"User-Agent: NTRIP-Survey/1.0\r\n"
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f"Connection: close\r\n"
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f"Authorization: Basic {auth}\r\n\r\n"
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)
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return req.encode("ascii")
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def main():
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print(f"NTRIP Message Type Survey")
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print(f"=" * 80)
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print(f"Caster: {CASTER_HOST}:{CASTER_PORT}/{MOUNTPOINT}")
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print(f"Duration: {SURVEY_DURATION} seconds")
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print(f"=" * 80)
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print()
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message_types = {}
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last_gga_time = 0
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start_time = time.monotonic()
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total_bytes = 0
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message_count = 0
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try:
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# Connect
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print("Connecting...")
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sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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sock.settimeout(5)
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sock.connect((CASTER_HOST, CASTER_PORT))
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sock.sendall(make_ntrip_request(CASTER_HOST, CASTER_PORT, MOUNTPOINT, USERNAME, PASSWORD))
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# Read headers
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header = b""
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while b"\r\n\r\n" not in header:
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chunk = sock.recv(1)
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if not chunk:
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print("ERROR: Connection closed")
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return
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header += chunk
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if "200 OK" not in header.decode("iso-8859-1", errors="replace"):
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print("ERROR: Connection failed")
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return
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print(f"Connected! Surveying for {SURVEY_DURATION} seconds...\n")
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# Survey loop
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while time.monotonic() - start_time < SURVEY_DURATION:
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now = time.monotonic()
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# Send GGA every 10 seconds
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if now - last_gga_time >= 10:
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sock.sendall(build_gga(LAT, LON, ALT))
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elapsed = int(now - start_time)
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print(f"[{elapsed:3d}s] Sent GGA | Messages so far: {message_count}")
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last_gga_time = now
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# Receive data
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data = sock.recv(4096)
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if not data:
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print("Connection closed by caster")
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break
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# Parse RTCM message types (simple extraction)
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i = 0
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while i < len(data):
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if data[i] == 0xD3 and i + 2 < len(data):
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length = ((data[i+1] & 0x03) << 8) | data[i+2]
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msg_total_len = 3 + length + 3
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if i + msg_total_len <= len(data) and length >= 3:
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msg_type = (data[i+3] << 4) | (data[i+4] >> 4)
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message_types[msg_type] = message_types.get(msg_type, 0) + 1
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total_bytes += msg_total_len
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message_count += 1
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i += msg_total_len
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continue
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i += 1
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except KeyboardInterrupt:
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print("\n\nInterrupted by user")
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except Exception as e:
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print(f"\nERROR: {e}")
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finally:
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if 'sock' in locals():
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try:
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sock.close()
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except:
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pass
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# Print results
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elapsed = time.monotonic() - start_time
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print(f"\n{'=' * 80}")
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print("SURVEY RESULTS")
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print(f"{'=' * 80}")
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print(f"Duration: {elapsed:.1f} seconds")
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print(f"Total messages: {message_count}")
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print(f"Total bytes: {total_bytes:,}")
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if elapsed > 0:
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print(f"Rate: {int(total_bytes / elapsed * 3600):,} bytes/hour")
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print(f"\nMessage types received:")
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print(f"{'─' * 80}")
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# Sort by message type
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for msg_type in sorted(message_types.keys()):
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count = message_types[msg_type]
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freq = count / elapsed if elapsed > 0 else 0
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# Add description
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descriptions = {
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1005: "Stationary RTK Reference Station ARP",
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1006: "Stationary RTK Reference Station ARP + Antenna Height",
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1019: "GPS Ephemerides",
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1020: "GLONASS Ephemerides",
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1033: "Receiver and Antenna Descriptors",
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1074: "GPS MSM4",
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1075: "GPS MSM5",
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1077: "GPS MSM7",
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1084: "GLONASS MSM4",
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1085: "GLONASS MSM5",
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1087: "GLONASS MSM7",
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1094: "Galileo MSM4",
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1095: "Galileo MSM5",
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1097: "Galileo MSM7",
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1124: "BeiDou MSM4",
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1125: "BeiDou MSM5",
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1127: "BeiDou MSM7",
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1230: "GLONASS Code-Phase Biases",
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}
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desc = descriptions.get(msg_type, "")
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# Highlight position messages
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marker = " ← BASE POSITION" if msg_type in [1005, 1006] else ""
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print(f" RTCM {msg_type:4d}: {count:5d} msgs ({freq:6.2f}/sec) {desc}{marker}")
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print(f"{'─' * 80}")
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# Check for position messages
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has_position = any(msg_type in [1005, 1006] for msg_type in message_types)
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if has_position:
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print("\n✓ Caster DOES send base station position messages (1005/1006)")
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else:
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print("\n✗ Caster does NOT send base station position messages (1005/1006)")
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print(" This caster may only provide observation data without station coordinates.")
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print(" You may need to use a different mountpoint or obtain station coordinates")
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print(" from the caster operator/documentation.")
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print(f"{'=' * 80}")
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if __name__ == "__main__":
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main()
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