ntrip_base.py

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import time
import logging
 
from .nmea_parser import NMEAParser
from .rtcm_parser import RTCMParser
 
class NTRIPBase:
 
  # Public constants
  DEFAULT_RECONNECT_ATTEMPT_MAX = 10
  DEFAULT_RECONNECT_ATEMPT_WAIT_SECONDS = 5
 
  def __init__(self, logerr=logging.error, logwarn=logging.warning, loginfo=logging.info, logdebug=logging.debug):
    # Bit of a strange pattern here, but save the log functions so we can be agnostic of ROS
    self._logerr = logerr
    self._logwarn = logwarn
    self._loginfo = loginfo
    self._logdebug = logdebug
 
    # Setup some parsers to parse incoming messages
    self.rtcm_parser = RTCMParser(
      logerr=logerr,
      logwarn=logwarn,
      loginfo=loginfo,
      logdebug=logdebug
    )
    self.nmea_parser = NMEAParser(
      logerr=logerr,
      logwarn=logwarn,
      loginfo=loginfo,
      logdebug=logdebug
    )
 
    # Setup some state
    self._shutdown = False
    self._connected = False
 
    # Public reconnect info
    self.reconnect_attempt_max = self.DEFAULT_RECONNECT_ATTEMPT_MAX
    self.reconnect_attempt_wait_seconds = self.DEFAULT_RECONNECT_ATEMPT_WAIT_SECONDS
 
  def connect(self):
    raise NotImplementedError("Must override connect")
  
  def disconnect(self):
    raise NotImplementedError("Must override disconnect")
 
  def reconnect(self):
    if self._connected:
      while not self._shutdown:
        self._reconnect_attempt_count += 1
        self.disconnect()
        connect_success = self.connect()
        if not connect_success and self._reconnect_attempt_count < self.reconnect_attempt_max:
          self._logerr('Reconnect failed. Retrying in {} seconds'.format(self._port, self._baudrate, self.reconnect_attempt_wait_seconds))
          time.sleep(self.reconnect_attempt_wait_seconds)
        elif self._reconnect_attempt_count >= self.reconnect_attempt_max:
          self._reconnect_attempt_count = 0
          raise Exception("Reconnect was attempted {} times, but never succeeded".format(self._reconnect_attempt_count))
        elif connect_success:
          self._reconnect_attempt_count = 0
          break
    else:
      self._logdebug('Reconnect called while not connected, ignoring')
 
  def send_nmea(self):
    raise NotImplementedError("Must override send_nmea")
 
  def recv_rtcm(self):
    raise NotImplementedError("Must override recv_rtcm")
 
  def shutdown(self):
    # Set some state, and then disconnect
    self._shutdown = True
    self.disconnect()