Initial commit

parse_results/README.md

+This folder contains the script to parse the log files and plot the results used in the paper

rtcm3_client/README.md

+
+The folder contains the client which receives the data from the mqtt broker of the rtcm3\_relay.
+
+## Python environment for rtcm3\_client
+
+This step is similar to what is required for the rtcm3\_relay
+
+Create a python environment where paho-mqtt is installed. This code was tested using python 3.8
+
+Create a venv folder in this directory. 
+```
+python3.8 -m venv venv
+source venv/bin/activate
+pip install -r requirements.txt
+```
+- You might see some errors about bdist\_wheel which can be ignored. 
+
+## Command
+
+```
+timeout <duration for which to log the results> python rtcm_client.py -h <hostname or IP address> -p <port number> -s <prefix for logs>
+```

rtcm3_client/rtcm_client.py

+import paho.mqtt.client as mqtt
+import json
+import base64
+import socket
+import signal
+import threading
+import datetime
+import argparse
+
+# Provide the hostname and port number here of the broker. 
+#MQTTBROKER_HOSTNAME = "86.50.17.54"
+#MQTTBROKER_HOSTNAME = "localhost"
+#MQTTBROKER_PORT = 8883
+
+# The topic used to subscribe at the broker. 
+MQTT_RTCM3_TOPIC = "rtcm3"
+
+# The name of the client
+MQTT_RTCM3_CLIENT = "rtcm3client"
+
+# Preamble used. 
+RTCM3_PREAMBLE = b'\xd3'
+
+class MQTTSubscriber:
+    mqtt_client = None
+    event_semaphore = None
+    rtcm3_op_stream = None
+    timelog_stream = None
+
+    """
+    create an MQTT client that connects to the broker 
+    """
+    def __init__(self, scenario_name, broker_hostname, broker_port):
+
+        # Create a log file to save the logs. 
+        self.rtcm3_op_stream = open(scenario_name+"-rtrcv.rtcm3", "wb")
+        self.timelog_stream = open(scenario_name + "-timestamps.txt", "w")
+
+
+        # Create the client and provide the handlers for the events
+        self.mqtt_client = mqtt.Client(client_id=MQTT_RTCM3_CLIENT, clean_session=True, userdata=None, transport='tcp')
+        self.mqtt_client.on_connect = self._mqtt_connect 
+        self.mqtt_client.on_disconnect = self._mqtt_disconnect
+        self.mqtt_client.on_message = self.mqtt_message_recv
+
+        # Connect the client to the broker and subscribed to the topics. 
+        self.mqtt_client.connect(broker_hostname, broker_port)
+        self.mqtt_client.subscribe(topic=MQTT_RTCM3_TOPIC)
+        print("Connected to MQTT Broker")
+
+        # Create an event semaphore used to indicate that the mqtt client is running. 
+        self.event_semaphore = threading.Semaphore(0)
+
+        # Specify the signal handlers. 
+        signal.signal(signal.SIGINT, self.handle_exit)
+        signal.signal(signal.SIGTERM, self.handle_exit)
+
+    """
+    Debug messages to show when connected
+    """    
+    def _mqtt_connect(self, client, obj, flags, rc):
+        #self.logger.debug("rc: %s",str(rc))
+        return
+    
+
+    """
+    Do a clean disconnect
+    """
+    def _mqtt_disconnect(self, client, userdata, rc=0):
+        client.loop_stop()
+        return
+
+    def mqtt_message_recv(self, client, obj, msg):
+        if msg.topic != MQTT_RTCM3_TOPIC:
+            return
+        try:
+            payload = json.loads(msg.payload)
+            rtcm3_data = payload['rtcm3']
+            rtcm3_data = base64.b64decode(rtcm3_data)
+            #print(rtcm3_data)
+            self.rtcm3_op_stream.write(rtcm3_data)
+            timestamp = payload['timestamp']
+            log_line = str(timestamp) + "," + str(datetime.datetime.now().timestamp()) + "\n"
+            self.timelog_stream.write(log_line)
+        except Exception as e:
+            print(e)
+
+    def handle_exit(self, signum, frame):
+        # Disconnect the client
+        self.mqtt_client.disconnect()
+
+        # Close the files
+        self.rtcm3_op_stream.close()
+        self.timelog_stream.close()
+
+        # Specify that the mqtt client has safely terminated.
+        self.event_semaphore.release()
+
+        
+    """
+    Start the MQTT client and for it to exit
+    """
+    def main(self):
+        # Start the mqtt client.
+        self.mqtt_client.loop_start()
+        print ("Saving the logs")
+
+        # Now wait for the mqtt client to safely terminate. 
+        self.event_semaphore.acquire(blocking=True)
+        print ("Quitting")
+        return
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(add_help=False)
+    parser.add_argument('-s', '--scenario',
+                        help="Scenario in which the client is running. This is used as a prefix for the file",
+                        type=str)
+    parser.add_argument('-h','--hostname',
+                        help="hostname of the MQTT broker",
+                        type=str)
+    parser.add_argument('-p', '--port',
+                        help="Scenario in which the client is running. This is used as a prefix for the file",
+                        type=int)
+    
+    args = parser.parse_args()
+    if None in [ args.scenario, args.hostname, args.port]:
+        parser.print_help()
+    else:
+        s = MQTTSubscriber(args.scenario, args.hostname, args.port)
+        s.main()
+    

rtcm3_relay/README.md

+The folder contains the relay client
+It has three files
+1. The rtkrcv.conf used by rtkrcv. The configuration file specifies that rtkrcv publish the received information over a tcp port (specified in the conf file)
+2. The python code to relay the received information to an mqtt broker
+3. The requirements.txt used to create the python environment. 
+
+## RTKRCV Installation
+
+Please place the rtkrcv binary in this folder. The steps for creating the binary are as follows.
+
+- Download the source repository of rtklib at https://github.com/tomojitakasu/RTKLIB
+  + This code has been tested with RTKLIB version 2.4.3 b33 
+  + https://github.com/tomojitakasu/RTKLIB/archive/v2.4.3-b33.tar.gz
+
+- Extract the tar ball. This should create a folder named in RTKLIB-2.4.3-b33
+- Perform the following steps to create the rtkrcv binary. 
+```
+cd RTKLIB-2.4.3-b33/app
+make
+cd -
+```
+- Note that the above steps requires build-essential packages (if it is not previously installed). Also you will notice some warning during the compilation phase. 
+- Create a link to the binary in this directory. This is done to avoid specifying the path of the rtkrcv.conf 
+```
+ln -s RTKLIB-2.4.3-b33/app/rtkrcv/gcc/rtkrcv .
+```
+
+## Mosquitto Broker Installation
+
+Install the mosquitto broker and disable the mosquitto service if we want to run it on a specifi port. 
+```
+apt install mosquitto 
+systemctl disable mosquitto
+```
+
+## Python environment for rtcm3\_relay
+
+Create a python environment where paho-mqtt is installed. This code was tested using python 3.8
+
+Create a venv folder in this directory. 
+```
+python3.8 -m venv venv
+source venv/bin/activate
+pip install -r requirements.txt
+```
+- You might see some errors about bdist\_wheel which can be ignored. 
+
+
+Now open three terminals (as persistent screen [https://www.gnu.org/software/screen/] ) on the server.
+- On one screen start the 
+./rtkrcv
+> start - use this command if you want to start the rtkrcv
+> stop  - for stopping the rtkrcv
+> shutdown - for quitting
+
+- On the second screen start mosquitto -p <portnumber>. We use 8883 because that port is open on our server for incoming connections
+
+```
+mosquitto -p 8883
+```
+
+- On the third screen run rtcm\_relay.py 
+```
+#> python rtcm_relay.py -r localhost -p 11235 -h localhost -b localhost -m 8883 
+```
+

rtcm3_relay/requirements.txt

+setuptools
+paho-mqtt == 1.5.0

rtcm3_relay/rtcm_relay.py

+import paho.mqtt.client as mqtt
+import json
+import base64
+import socket
+import datetime
+import signal
+import argparse
+
+RTCM3_PREAMBLE = b'\xd3'
+
+# Specify the host name and port number of the broker here. 
+MQTTBROKER_HOSTNAME = "localhost"
+MQTTBROKER_PORT = 8883
+
+# The port number on which in the rtkrcv is publishing the RTCM3 messages. 
+RTKRCV_SRV_HOST = "localhost"
+RTKRCV_SRV_PORT = 11235
+
+# The topic for the messages. 
+MQTT_RTCM3_TOPIC = "rtcm3"
+
+# The client ID used for publish
+MQTT_RTCM3_RELAY_ID = "rtcm3relay"
+
+class MQTTRelay:
+    mqtt_client = None
+    sock = None
+
+    """
+    create an MQTT client that connects to the broker 
+    """
+    def __init__(self, mqtthost, mqttport):
+        self.mqtt_client = mqtt.Client(client_id=MQTT_RTCM3_RELAY_ID, clean_session=True, userdata=None, transport='tcp')
+        self.mqtt_client.on_connect = self._mqtt_connect 
+        self.mqtt_client.on_disconnect = self._mqtt_disconnect
+        self.mqtt_client.connect(mqtthost, mqttport)
+        print("Connected to MQTT Broker")
+        self.sock = None
+
+        # Specify the signal handlers. 
+        signal.signal(signal.SIGINT, self.handle_exit)
+        signal.signal(signal.SIGTERM, self.handle_exit)
+        return
+
+    """
+    Debug messages to show when connected
+    """    
+    def _mqtt_connect(self, client, obj, flags, rc):
+        return
+
+    """
+    Do a clean disconnect
+    """
+    def _mqtt_disconnect(self, client, userdata, rc=0):
+        print ("Disconnecting from the MQTT broker")
+        client.loop_stop()
+        return
+
+    # """
+    # Publish a message with the given topic .. Made it inline. 
+    # """
+    # def publish_rtcm3(self, rtcm3_frame):
+    #     self.mqtt_client.publish(topic=MQTT_RTCM3_TOPIC, 
+    #             payload=json.dumps({'rtcm3':rtcm3_frame, 'timestamp': datetime.datetime.now().timestamp()}))
+    #     return
+
+
+    def handle_exit(self, signum, frame):
+        # Disconnect the client
+        self.sock.close()
+        self.mqtt_client.disconnect()
+        return
+
+# """
+# Read the log file and publish each RTCM3 frame in an individual message. 
+# """        
+# def rtcm3_relay_file(fname, publisher):
+#     print("Reading File Now")
+#     cnt = 0
+#     with open(fname, mode="rb") as bfile:
+#         # skip the first few bytes which are newline characters.
+#         data = bfile.read(1)
+#         while data != RTCM3_PREAMBLE:
+#             data = bfile.read(1)
+#         rtcm3_frame =  bytes()
+#         rtcm3_frame += base64.encodebytes(data)
+#         while data != b"":
+#             cnt = cnt + 1
+#             data = bfile.read(1)
+#             print(data)
+#             if data == RTCM3_PREAMBLE:
+#                 print("Found preamble")
+#                 utf8_rtcm3_frame = rtcm3_frame.decode('utf-8')
+#                 publisher.publish_rtcm3(utf8_rtcm3_frame)
+#                 rtcm3_frame = bytes()
+#             rtcm3_frame += base64.encodebytes(data)
+#             print(cnt)
+#     return True
+
+   
+    """
+    Connect to the tcp server created by rtknavi/rtklib.
+    Read the rtcm3 frames, and publish each frame as a message.  
+    """
+    def rtcm3_relay_socket(self, srv_host, srv_port):
+        buff_size = 4096
+        rtcm3_frame = bytes()
+        first_preamble = True
+        try:
+            self.sock = socket.create_connection((srv_host, srv_port))
+            print ("Connected to RTKRCV tcp port. Relaying the RTCM3 messages now")
+            while True:
+                data = self.sock.recv(4096)
+                data = [bytes(data[i:i+1]) for i in range(len(data))]
+                for i in range(len(data)):
+                    data_byte = data[i]
+                    # This needs to be optimized. Currently, we create a message each time the preamble is seen. 
+                    # The correct way would be to fetch the length, and encode the payload up to the length. 
+                    if data_byte == RTCM3_PREAMBLE:
+                        if first_preamble is False:
+                            self.mqtt_client.publish(topic=MQTT_RTCM3_TOPIC,
+                                                      json.dumps({'rtcm3':base64.b64encode(rtcm3_frame).decode('utf-8'),
+                                                                  'timestamp': datetime.datetime.now().timestamp()}))
+                            #utf8_rtcm3_frame = base64.b64encode(rtcm3_frame).decode('utf-8')
+                            #self.publish_rtcm3(utf8_rtcm3_frame)
+                        first_preamble = False    
+                        rtcm3_frame = bytes()
+                    rtcm3_frame += data_byte
+        except IOError:
+            pass
+        except Exception as e:
+            print(e)
+        return True
+
+
+def main(mqtthost, mqttport, rtkhost, rtkport):
+    mqtt_relay = MQTTRelay(mqtthost, mqttport)
+    mqtt_relay.rtcm3_relay_socket(rtkhost, rtkport)
+    print ("Quitting")
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument('-r','--rtktcphost',
+                        help="hostname where the rtrcv is exporting rtcm3 over tcp",
+                        type=str)
+    parser.add_argument('-p', '--rtktcpport',
+                        help="port number where the rtrcv is exporting rtcm3 over tcp",
+                        type=int)
+    
+    parser.add_argument('-b','--mqtthost',
+                        help="hostname of the MQTT broker",
+                        type=str)
+    parser.add_argument('-m', '--mqttport',
+                        help="port number of the MQTT broker",
+                        type=int)
+    args = parser.parse_args()
+    if None in [ args.rtktcphost, args.rtktcpport, args.mqtthost, args.mqttport ]:
+        parser.print_help()
+    else:
+        main(args.mqtthost, args.mqttport, args.rtktcphost, args.rtktcpport)

rtcm3_relay/rtkrcv

+REPLACE THIS FILE WITH THE RTKRCV BINARY

rtcm3_relay/rtkrcv.conf

+# RTKNAVI options (2020/05/12 08:49:05, v.2.4.3 b33)
+
+pos1-posmode       =single     # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static,8:ppp-fixed)
+pos1-frequency     =l1+l2      # (1:l1,2:l1+l2,3:l1+l2+l5,4:l1+l5)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
+pos1-elmask        =15         # (deg)
+pos1-snrmask_r     =off        # (0:off,1:on)
+pos1-snrmask_b     =off        # (0:off,1:on)
+pos1-snrmask_L1    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L2    =0,0,0,0,0,0,0,0,0
+pos1-snrmask_L5    =0,0,0,0,0,0,0,0,0
+pos1-dynamics      =off        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on,2:otl)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec,5:ionex-tec,6:qzs-brdc,7:qzs-lex,8:stec)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad,5:ztd)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-posopt1       =off        # (0:off,1:on)
+pos1-posopt2       =off        # (0:off,1:on)
+pos1-posopt3       =off        # (0:off,1:on,2:precise)
+pos1-posopt4       =off        # (0:off,1:on)
+pos1-posopt5       =off        # (0:off,1:on)
+pos1-posopt6       =off        # (0:off,1:on)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =47         # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos2-armode        =continuous # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =off        # (0:off,1:on,2:autocal)
+pos2-bdsarmode     =off        # (0:off,1:on)
+pos2-arthres       =3
+pos2-arthres1      =0.9999
+pos2-arthres2      =0.25
+pos2-arthres3      =0.1
+pos2-arthres4      =0.05
+pos2-arlockcnt     =0
+pos2-arelmask      =0          # (deg)
+pos2-arminfix      =10
+pos2-armaxiter     =1
+pos2-elmaskhold    =0          # (deg)
+pos2-aroutcnt      =5
+pos2-maxage        =30         # (s)
+pos2-syncsol       =off        # (0:off,1:on)
+pos2-slipthres     =0.05       # (m)
+pos2-rejionno      =30         # (m)
+pos2-rejgdop       =30
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =off        # (0:off,1:on)
+out-outopt         =off        # (0:off,1:on)
+out-outvel         =off        # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =hms        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =deg        # (0:deg,1:dms)
+out-fieldsep       =
+out-outsingle      =off        # (0:off,1:on)
+out-maxsolstd      =0          # (m)
+out-height         =ellipsoidal # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =off        # (0:off,1:state,2:residual)
+stats-eratio1      =100
+stats-eratio2      =100
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =1          # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =10         # (m/s^2)
+stats-prnaccelv    =10         # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-prnpos       =0          # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
+ant1-pos1          =90         # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =-6335367.6285 # (m|m)
+ant1-anttype       =
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm,6:raw)
+ant2-pos1          =90         # (deg|m)
+ant2-pos2          =0          # (deg|m)
+ant2-pos3          =-6335367.6285 # (m|m)
+ant2-anttype       =
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+ant2-maxaveep      =3600
+ant2-initrst       =on         # (0:off,1:on)
+misc-timeinterp    =off        # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+misc-rnxopt1       =
+misc-rnxopt2       =
+misc-pppopt        =
+file-satantfile    =
+file-rcvantfile    =
+file-staposfile    =
+file-geoidfile     =
+file-ionofile      =
+file-dcbfile       =
+file-eopfile       =
+file-blqfile       =
+file-tempdir       =/tmp/
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =
+# 
+
+inpstr1-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr2-type       =ntripcli   # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr1-path       =
+inpstr2-path       =<username:password>@<hostname>:<mount>
+inpstr3-path       =
+inpstr1-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,17:sp3)
+inpstr2-format     =rtcm3      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,17:sp3)
+inpstr3-format     =rtcm2      # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,13:sbf,14:cmr,17:sp3)
+inpstr2-nmeareq    =latlon     # (0:off,1:latlon,2:single)
+inpstr2-nmealat    =<lat>    # (deg)
+inpstr2-nmealon    =<long>    # (deg)
+outstr1-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr2-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr1-path       =
+outstr2-path       =
+outstr1-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+outstr2-format     =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+logstr1-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr2-type       =tcpsvr     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr3-type       =off        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr1-path       =
+logstr2-path       =:11235     # port number on which the data is exposed to the relay 
+logstr3-path       =
+misc-svrcycle      =10         # (ms)
+misc-timeout       =10000      # (ms)
+misc-reconnect     =10000      # (ms)
+misc-nmeacycle     =5000       # (ms)
+misc-buffsize      =32768      # (bytes)
+misc-navmsgsel     =all        # (0:all,1:rover,2:base,3:corr)
+misc-proxyaddr     =
+misc-fswapmargin   =30         # (s)