Add NTRIP Client implementation (#1)

This PR introduces an NTRIP client implementation that manages
connections between an NTRIP server and a Novatel GNSS receiver. Key
features include:

- **NTRIP Client**: Connects to an NTRIP server to request and transmit
RTCMv3 corrections.
- **GNSS Receiver Integration**: Handles communication with a Novatel
GNSS receiver, including configuration and data parsing.
- **Data Handling**: Supports parsing of RTCM and NMEA data, and sends
valid NMEA sentences to the NTRIP server.
- **Logging and Configuration**: Configurable logging levels and
settings, with support for fixed GPS locations.
- **Docker Suppor**t: Added `Dockerfile`, `dev.sh`, and `runtime.sh` scripts
for containerised deployment.

.github/workflows/docker.yml

@@ -0,0 +1,55 @@
+name: Create and publish a Docker image
+
+on:
+  push:
+    tags: ["*"]
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository }}
+
+jobs:
+  build-and-push-image:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          token: ${{ secrets.MY_REPO_PAT }}
+          submodules: recursive
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=ref,event=branch
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: true
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          file: Dockerfile
+          target: runtime
+          build-args:
+            BUILDKIT_CONTEXT_KEEP_GIT_DIR=true

.gitignore

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+# Python cache
+*pycache*
+
+# Logs
+*logs*

.gitmodules

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+[submodule "scripts/av_ntrip_credentials"]
+	path = scripts/av_ntrip_credentials
+	url = [email protected]:ipab-rad/av_ntrip_credentials.git

.pre-commit-config.yaml

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+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.6.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.17.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        args: ["--line-length=79", -S]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v18.1.8
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-legal/copyright,-build/include_order"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel,ned']
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio|dae)$
+
+  # Check Github files
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.29.1
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
+
+  # Bash prettify
+  - repo: https://github.com/lovesegfault/beautysh
+    rev: v6.2.1
+    hooks:
+      - id: beautysh
+
+  # ROS checks
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: flake8-ros
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+
+  # Dockerfiles
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.12.1b3
+    hooks:
+      - id: hadolint
+        args: ['--ignore=DL3008']
+
+ci:
+    autofix_commit_msg: |
+        [pre-commit.ci] auto fixes from pre-commit.com hooks
+
+        for more information, see https://pre-commit.ci
+    autofix_prs: false
+    autoupdate_branch: ''
+    autoupdate_commit_msg: '[pre-commit.ci] pre-commit autoupdate'
+    autoupdate_schedule: monthly
+    skip: [ament_cppcheck, ament_cpplint, ament_lint_cmake]
+    submodules: false

Dockerfile

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+# Use the official Ubuntu 24.04 as a base image
+FROM ubuntu:24.04 AS base
+
+# Set environment variables to avoid interaction during package installation
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install Python3, venv and pip
+RUN apt-get update && \
+    DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+    python3 \
+    python3-venv \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Install required Python packages using venv + pip
+RUN python3 -m venv /opt/ntrip_venv \
+    && /opt/ntrip_venv/bin/pip install --no-cache-dir pyyaml colorlog pyrtcm
+
+# Set the environment variable so that the following commands use the venv
+ENV PATH="/opt/ntrip_venv/bin:$PATH"
+
+# Create a working directory
+WORKDIR /workspace/scripts
+
+FROM base AS dev
+
+# Install dev tools
+RUN apt-get update \
+    && DEBIAN_FRONTEND=noninteractive apt-get -y install --no-install-recommends \
+    net-tools \
+    nano \
+    python-is-python3 \
+    && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Run bash terminal by default
+CMD ["bash"]
+
+FROM base AS runtime
+
+# Copy scripts dierectory
+COPY ./scripts /workspace/scripts
+
+# Make sure the script is executable
+RUN chmod +x /workspace/scripts/ntrip_client.py
+
+# Set the entrypoint to run the Python script and forward arguments
+ENTRYPOINT ["python3", "ntrip_client.py"]
+
+# No default arguments
+CMD []

README.md

@@ -1,2 +1,61 @@
 # av_ntrip_client
+
 NTRIP client for RTK corrections in the AV's GNSS system.
+
+## Overview
+
+`av_ntrip_client` is a tool designed to connect the IPAB Autonomous Vehicle's Novatel PwrPak7d GNSS to the Smartnet NTRIP server, providing Real-Time Kinematic (RTK) corrections to enhance GNSS accuracy. The client is containerised using Docker for ease of deployment and use.
+
+## Features
+
+- Connects to the Smartnet NTRIP server for RTK corrections.
+- Supports live GNSS GPS reading or fixed location data.
+- Logs generated for troubleshooting and analysis.
+
+## Setup
+
+1. **Clone the Repository:**
+
+   - **For General Public:**
+     ```bash
+     git clone https://github.com/ipab-rad/av_ntrip_client.git
+     ```
+
+   - **For Authorised Users:**
+     If you have authorised access to the `av_ntrip_client` repository, use:
+     ```bash
+     git clone --recurse-submodules [email protected]:ipab-rad/av_ntrip_client.git
+     ```
+
+2. **Build and Run the Docker Container:**
+
+   - **Development Mode:**
+     This mode mounts the current `scripts` directory into the container, allowing for live development.
+     ```bash
+     ./dev.sh
+     ```
+
+   - **Runtime Mode:**
+     This mode builds the Docker container and runs it with the specified options. The script will automatically start `ntrip_client.py`. You can pass arguments such as `--use-fix-location` `--debug` or `--help`.
+     ```bash
+     ./runtime.sh [options]
+     ```
+     - Example:
+       ```bash
+       ./runtime.sh --use-fix-location --debug
+       ```
+## Usage
+
+Once the container is running, `ntrip_client.py` will automatically connect to the Smartnet NTRIP server using the provided credentials. Logs will be saved in the `scripts/logs` directory.
+
+## NTRIP Server Credentials
+
+The `scripts/av_ntrip_credentials` directory is a protected submodule due to licensing requirements of the Smartnet service. Access is restricted to authorised personnel only.
+
+## License
+
+This project is licensed under the terms of the Apache-2.0 [LICENCE](./LICENSE) file.
+
+## Contact
+
+For any issues or questions, please contact [Alejandor Bordallo](https://github.com/GreatAlexander) or [Hector Cruz](https://github.com/hect95)

dev.sh

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+#!/bin/bash
+# ----------------------------------------------------------------
+# Build docker dev stage and add local code for live development
+# ----------------------------------------------------------------
+
+BASH_CMD=""
+
+# Function to print usage
+usage() {
+    echo "
+Usage: dev.sh [-b|bash] [-h|--help]
+
+Where:
+    -b | bash       Open bash in docker container
+    -h | --help     Show this help message
+    "
+    exit 1
+}
+
+# Parse command-line options
+while [[ "$#" -gt 0 ]]; do
+    case $1 in
+        -b|bash)
+            BASH_CMD=bash
+            ;;
+        -h|--help)
+            usage
+            ;;
+        *)
+            echo "Unknown option: $1"
+            usage
+            ;;
+    esac
+    shift
+done
+
+# Create logs dir
+mkdir -p scripts/logs
+
+# Build the Docker image
+docker build \
+    -t av_ntrip_client:latest-dev \
+    -f Dockerfile --target dev .
+
+# Run the Docker container and pass any provided arguments
+docker run -it --rm --net host --privileged \
+    -v /etc/localtime:/etc/localtime:ro \
+    -v ./scripts:/workspace/scripts \
+    av_ntrip_client:latest-dev $BASH_CMD