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GNSS library for parsing RTCMv2, RTCMv3, NMEA and control recievers througt SBF, ComNav, UBX protocols for .NET

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# Asv.Gnss

[![Build and Publish Release Version](https://github.com/asv-soft/asv-gnss/actions/workflows/release-action.yml/badge.svg)](https://github.com/asv-soft/asv-gnss/actions/workflows/release-action.yml)
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`Asv.Gnss` is a .NET library for parsing GNSS, aviation, and receiver-control protocols. The project is distributed as the `Asv.Gnss` NuGet package and also includes console tools for RTCM v3 and ASTERIX stream diagnostics.

## Features

- Parse and serialize NMEA 0183 messages: `GBS`, `GGA`, `GLL`, `GSA`, `GST`, `GSV`, `RMC`, `VTG`, `ZDA`.
- Parse RTCM v2 and RTCM v3, including legacy messages, ephemeris, stationary RTK, GLONASS bias, and MSM3/MSM4/MSM5/MSM7 messages.
- Support u-blox UBX messages: `ACK`, `CFG`, `INF`, `MON`, `NAV`, `RXM`.
- Parse ASTERIX categories `001`, `002`, `004`, `010`, `020`, `021`, `034`, `048`, and `247`.
- Additional protocols and parsers: ADS-B, ASV, Raw GPS, Raw GLONASS, SBF, ComNav, and Javad.
- Integration with `Asv.IO`: protocol registration, routers, ports, GNSS device discovery, and NMEA/RTCM/UBX microservices.

## Requirements

- .NET SDK 10.0.
- Windows, Linux, or macOS for the library. The local publishing batch scripts require Windows.
- Visual Studio, JetBrains Rider, or another IDE with SDK-style .NET project support.

Check the installed SDK version:

```bash
dotnet --version
```

## Installation

Using the .NET CLI:

```bash
dotnet add package Asv.Gnss
```

Using NuGet Package Manager:

```powershell
Install-Package Asv.Gnss
```

## Quick Start

The example below creates an `Asv.IO` protocol, registers GNSS protocols, and opens a port:

```csharp
using Asv.Gnss;
using Asv.IO;
using R3;

var protocol = Protocol.Create(builder =>
{
    builder.Protocols.RegisterNmeaProtocol();
    builder.Protocols.RegisterRtcmV2Protocol();
    builder.Protocols.RegisterRtcmV3Protocol();
    builder.Protocols.RegisterUbxProtocol();
    builder.Protocols.RegisterAsterixProtocol();
    builder.Features.RegisterBroadcastAllFeature();
    builder.Features.RegisterEndpointIdTagFeature();
});

var router = protocol.CreateRouter("GNSS");
router.AddPort("serial:COM4?br=115200&enabled=true");

using var subscription = router.OnRxMessage.Subscribe(packet =>
{
    Console.WriteLine(packet);
});
```

Connection string examples supported by the `Asv.IO` transport layer:

```text
tcp://127.0.0.1:9002
tcps://127.0.0.1:9002
udp://127.0.0.1:1234?rhost=127.0.0.1&rport=1235
serial:COM4?br=115200
serial:/dev/ttyACM0?br=115200
```

TCP uses separate schemes for client and server ports:

- `tcp://host:port` creates a TCP client port that connects to a remote endpoint.
- `tcps://host:port` creates a TCP server port that listens for incoming clients.

Register the GNSS device factory:

```csharp
var explorer = DeviceExplorer.Create(router, builder =>
{
    builder.Factories.RegisterGnssDevice();
});
```

## UBX Helper API

The UBX microservice provides helper methods for u-blox devices:

```csharp
await ubx.GetMonVer(cancel);
await ubx.GetNavPvt(cancel);
await ubx.SetSurveyInMode(minDuration: 60, positionAccuracyLimit: 2, cancel: cancel);
await ubx.SetupRtcmMSM4Rate(msgRate: 1, cancel: cancel);
await ubx.TurnOffNmea(cancel);
await ubx.RebootReceiver(cancel);
```

## Console Tools

The `Asv.Gnss.Shell` project contains diagnostic commands.

Read an RTCM v3 stream:

```bash
dotnet run --project src/Asv.Gnss.Shell -- rtcm --cs "tcp://172.16.0.1:30"
```

Use `tcps://0.0.0.0:7341` when the shell should listen for incoming TCP clients instead of connecting as a TCP client.

Parse an ASTERIX stream file:

```bash
dotnet run --project src/Asv.Gnss.Shell -- asterix-stream --file "path/to/input.stream"
```

Export CAT021 tracks from an ASTERIX stream to KML:

```bash
dotnet run --project src/Asv.Gnss.Shell -- asterix-stream --file "path/to/input.stream" --kml "tracks.kml" --min-track-points 2
```

The `nmea` command exists in the codebase, but it is currently not registered in `Program.cs`.

## Build and Test

Restore dependencies:

```bash
dotnet restore src/Asv.Gnss.sln
```

Build the solution:

```bash
dotnet build src/Asv.Gnss.sln
```

Run tests:

```bash
dotnet test src/Asv.Gnss.sln
```

Build the library NuGet package:

```bash
dotnet pack src/Asv.Gnss/Asv.Gnss.csproj -c Release
```

On Windows, you can use the root build script:

```bat
build.bat
```

The script reads the version from `git describe --tags`, applies it with `dotnet-setversion`, builds the projects, and runs `dotnet pack`.

## Repository Structure

```text
asv-gnss/
  README.md
  LICENSE
  build.bat
  publish_nuget.bat
  src/
    Asv.Gnss.sln
    Directory.Build.props
    Asv.Gnss/
      Devices/
      Microservices/
      Parsers/
      Protocols/
    Asv.Gnss.Shell/
    Asv.Gnss.Test/
```

Main projects:

- `Asv.Gnss` - protocol, message, parser, GNSS device factory, and microservice library.
- `Asv.Gnss.Shell` - console commands for working with data streams and ASTERIX stream files.
- `Asv.Gnss.Test` - xUnit v3 protocol tests and binary RTCM/ASTERIX test resources.

Product version, target framework, and shared dependency versions are defined in `src/Directory.Build.props`.

## Publishing

The `publish_nuget.bat` script publishes the `Asv.Gnss` package to NuGet.org and GitHub Packages:

```bat
publish_nuget.bat
```

Before publishing, build a Release package whose version matches `git describe --tags`.

## License

This project is licensed under the MIT License. See [LICENSE](LICENSE).

## Links

- Repository: <https://github.com/asv-soft/asv-gnss>
- Issues: <https://github.com/asv-soft/asv-gnss/issues>
- ASV documentation: <https://docs.asv.me/>
- Telegram: <https://t.me/asvsoft>

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