hi,
It seems that the RUTX50 does not currently support the data format for the M2M FMT and Heartbeat services.
Could you please confirm if this is correct?
If so, is there any possibility to enable or add this functionality?
Thank you for your support!
Greetings,
Could you please clarify what you mean by “heartbeat”? Are you referring to getting constant messages from the device, for example, over the MQTT protocol? If so, you may be able to use the Data to Server function for this purpose. You can find more information about it here: RUTX50 Data to Server - Teltonika Networks Wiki
Additionally, could you expand on what you mean by M2M FMT? What device are you using with it, and what is the overall use case?
Best Regards,
Justinas
Hi,
We are currently testing the RUTX50, hoping to get it running smoothly. Our existing 4G router uses the M2M_FMT format, and behind it is a Finnish application that prefers not to change its setup. This is why we are asking these questions—because it seems that some Teltonika devices support this approach and file format. Otherwise, we will need to look for an alternative model or even a different brand.
See here the differences:
Thank you in advance for feedback.
Best regards,
Iwan
I have build a .py script forward NMEA to local host 127.0.0.1 port 8501 and forwarding then in M2M FMT format to 0.0.0.0 on port 144.
#!/usr/bin/env python3 """ m2mfmt_server.py — Local UDP server emitting GPS records in the requested CSV datastructure (STRICT FORMAT) CSV schema (13 fields): RouterID,gps_date,gps_time,gps_use,gps_latitude,gps_NS,gps_longitude,gps_EW,gps_speed,gps_degrees,gps_FS,gps_HDOP,gps_MSL Strict formatting rules (per spec): - RouterID: {PRODUCT_ID}_R{last8hexofMAC} (PRODUCT_ID default = 9001) - gps_date: yymmdd (e.g., 251205) - gps_time: hhmmss.ss (one decimal) - gps_use: two-digit, zero-padded satellites used (00..12) - gps_latitude: ddmm.mmmmmm (six decimals for minutes) - gps_NS: 'N' or 'S' - gps_longitude: dddmm.mmmmmm (six decimals for minutes; 3-digit degrees) - gps_EW: 'E' or 'W' - gps_speed: one decimal, km/h - gps_degrees: one decimal, degrees - gps_FS: single digit fix-status - gps_HDOP: one decimal - gps_MSL: one decimal, meters Source data: - $GPRMC provides date, time, latitude/longitude (ddmm.mmmm + NS/EW), speed (knots) and course. - $GPGGA provides fix-status, satellites used, HDOP and MSL altitude. RutOS usage: 1) Save as: /root/m2mfmt/m2mfmt_server.py mkdir -p /root/m2mfmt vi /root/m2mfmt/m2mfmt_server.py chmod +x /root/m2mfmt/m2mfmt_server.py 2) WebUI → Services → GPS → NMEA forwarding: Enabled: ON Host: 127.0.0.1 Protocol: UDP Port: 8501 3) Foreground run for quick debug: python3 /root/m2mfmt/m2mfmt_server.py 4) procd init file /etc/init.d/m2mfmt_server: #!/bin/sh /etc/rc.common START=98 STOP=12 USE_PROCD=1 start_service() { procd_open_instance procd_set_param command /root/m2mfmt/m2mfmt_server.py procd_set_param respawn procd_set_param stdout 1 procd_set_param stderr 1 procd_close_instance } chmod +x /etc/init.d/m2mfmt_server /etc/init.d/m2mfmt_server enable /etc/init.d/m2mfmt_server start Local test (router shell): python3 - << 'PY' import socket s=socket.socket(socket.AF_INET,socket.SOCK_DGRAM); s.settimeout(2.0) s.sendto(b"ping", ("0.0.0.0",144)) d,_=s.recvfrom(2048) print(d.decode()) PY """ import os import socket import time import threading import signal import sys from typing import Optional, Tuple, List # ========================= # Configuration parameters # ========================= BIND_ADDR = "0.0.0.0" BIND_PORT = 144 # updated as per new spec NMEA_HOST = "127.0.0.1" NMEA_PORT = 8501 SOCKET_TIMEOUT = 0.10 HB_INTERVAL_S = 5 MAX_PEERS = 16 LOG_EVERY_SEC = 15 # Router/product identification PRODUCT_ID = os.environ.get("PRODUCT_ID", "9001") # default RouterID prefix IFACE_PREFERENCE = ["eth0","br-lan","wan","wwan0","lan0"] # ========================= # Runtime GPS state # ========================= gps_state = { "date_yymmdd": "", "time_hhmmss": "", "lat_dm": "", "NS": "", "lon_dm": "", "EW": "", "speed_kmh": 0.0, "course_deg": 0.0, "fix": 0, "sats": 0, "hdop": None, "msl": None, "last_nmea_ts": 0.0, } gps_lock = threading.Lock() # ========================= # Utility functions # ========================= def normalize_time_hhmmss_one_decimal(raw: str) -> str: """Return hhmmss.ss (one decimal) from raw NMEA time string.""" if not raw: return "" try: if "." in raw: base, frac = raw.split(".", 1) return f"{base}.{frac[:1]}" else: return f"{raw}.0" except Exception: return "" def normalize_dm(dm_str: str, is_lat: bool) -> str: """Normalize NMEA ddmm.mmmm to ddmm.mmmmmm (six decimals for minutes). - Lat: 2-digit degrees, Lon: 3-digit degrees """ if not dm_str: return "" try: dm = float(dm_str) deg = int(dm // 100) mins = dm - deg * 100 minutes_str = f"{mins:.6f}" if is_lat: return f"{deg:02d}{minutes_str}" else: return f"{deg:03d}{minutes_str}" except Exception: return "" def pick_iface_mac_last8() -> str: """Pick a reasonable interface MAC and return its last 8 hex characters (no colons).""" candidates = [] for name in IFACE_PREFERENCE: p = f"/sys/class/net/{name}/address" if os.path.exists(p): candidates.append(p) for name in os.listdir("/sys/class/net"): if name == "lo": continue p = f"/sys/class/net/{name}/address" if os.path.exists(p) and p not in candidates: candidates.append(p) mac_hex = "00000000" for p in candidates: try: with open(p, "r") as f: mac = f.read().strip() mac_compact = mac.replace(":", "").lower() if len(mac_compact) >= 8: mac_hex = mac_compact[-8:] break except Exception: continue return mac_hex def make_router_id() -> str: return f"{PRODUCT_ID}_R{pick_iface_mac_last8()}" # Cached RouterID computed at startup ROUTER_ID = None # ========================= # NMEA parsing # ========================= def parse_gprmc(line: str) -> None: """$GPRMC,hhmmss.sss,A,lat_dm,NS,lon_dm,EW,spd_knots,course,ddmmyy,...*CS""" try: if not line.startswith("$") or "RMC" not in line: return body = line.split("*")[0] f = body.split(",") time_str = f[1] if len(f) > 1 else "" status_A = (len(f) > 2 and f[2] == "A") lat_dm = f[3] if len(f) > 3 else "" NS = f[4] if len(f) > 4 else "" lon_dm = f[5] if len(f) > 5 else "" EW = f[6] if len(f) > 6 else "" spd_knots = float(f[7]) if len(f) > 7 and f[7] else 0.0 course = float(f[8]) if len(f) > 8 and f[8] else 0.0 date_ddmmyy = f[9] if len(f) > 9 else "" hhmmss = normalize_time_hhmmss_one_decimal(time_str) yymmdd = "" if date_ddmmyy and len(date_ddmmyy) == 6: dd = date_ddmmyy[0:2] mm = date_ddmmyy[2:4] yy = date_ddmmyy[4:6] yymmdd = f"{yy}{mm}{dd}" with gps_lock: if hhmmss: gps_state["time_hhmmss"] = hhmmss if yymmdd: gps_state["date_yymmdd"] = yymmdd if lat_dm: gps_state["lat_dm"] = lat_dm if NS: gps_state["NS"] = NS if lon_dm: gps_state["lon_dm"] = lon_dm if EW: gps_state["EW"] = EW gps_state["speed_kmh"] = spd_knots * 1.852 gps_state["course_deg"] = course if status_A and gps_state["fix"] == 0: gps_state["fix"] = 1 gps_state["last_nmea_ts"] = time.time() except Exception: pass def parse_gpgga(line: str) -> None: """$GPGGA,hhmmss,lat,N,lon,E,fix,sats,hdop,alt,...*CS""" try: if not line.startswith("$") or "GGA" not in line: return body = line.split("*")[0] f = body.split(",") fix = int(f[6]) if len(f) > 6 and f[6] else 0 sats = int(f[7]) if len(f) > 7 and f[7] else 0 hdop = float(f[8]) if len(f) > 8 and f[8] else None alt_m = float(f[9]) if len(f) > 9 and f[9] else None lat_dm = f[2] if len(f) > 2 else "" NS = f[3] if len(f) > 3 else "" lon_dm = f[4] if len(f) > 4 else "" EW = f[5] if len(f) > 5 else "" with gps_lock: gps_state["fix"] = fix gps_state["sats"] = sats gps_state["hdop"] = hdop gps_state["msl"] = alt_m if lat_dm: gps_state["lat_dm"] = lat_dm if NS: gps_state["NS"] = NS if lon_dm: gps_state["lon_dm"] = lon_dm if EW: gps_state["EW"] = EW gps_state["last_nmea_ts"] = time.time() except Exception: pass def nmea_listener(stop_event: threading.Event) -> None: print(f"[NMEA] Binding listener on {NMEA_HOST}:{NMEA_PORT}") s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) try: s.bind((NMEA_HOST, NMEA_PORT)) s.settimeout(1.0) print(f"[NMEA] Listener bound OK on {NMEA_HOST}:{NMEA_PORT}") except Exception as e: print(f"[NMEA] Bind failed ({NMEA_HOST}:{NMEA_PORT}): {e}") print("[NMEA] Server will run with zeroed GPS until forwarding is fixed.") return while not stop_event.is_set(): try: data, _ = s.recvfrom(4096) text = data.decode(errors="ignore") for line in text.splitlines(): line = line.strip() if not line: continue if "RMC" in line: parse_gprmc(line) elif "GGA" in line: parse_gpgga(line) except socket.timeout: continue except Exception: continue try: s.close() except Exception: pass print("[NMEA] Listener stopped") # ========================= # CSV encoder (strict per spec) # ========================= def build_csv_line() -> str: """Return one CSV line with 13 fields strictly formatted per GPSdatastructure.""" with gps_lock: lat_dm_raw = gps_state["lat_dm"] lon_dm_raw = gps_state["lon_dm"] lat_dm = normalize_dm(lat_dm_raw, is_lat=True) if lat_dm_raw else "" lon_dm = normalize_dm(lon_dm_raw, is_lat=False) if lon_dm_raw else "" NS = gps_state["NS"] EW = gps_state["EW"] date_yymmdd = gps_state["date_yymmdd"] time_hhmmss = gps_state["time_hhmmss"] sats = gps_state["sats"] spd = gps_state["speed_kmh"] crs = gps_state["course_deg"] fix = gps_state["fix"] hdop = gps_state["hdop"] msl = gps_state["msl"] router_id = ROUTER_ID or make_router_id() gps_use = f"{sats:02d}" gps_speed = f"{spd:.1f}" gps_degrees = f"{crs:.1f}" gps_FS = f"{fix:d}" gps_HDOP = f"{hdop:.1f}" if hdop is not None else "" gps_MSL = f"{msl:.1f}" if msl is not None else "" fields = [ router_id, date_yymmdd or "", time_hhmmss or "", gps_use, lat_dm or "", NS or "", lon_dm or "", EW or "", gps_speed, gps_degrees, gps_FS, gps_HDOP, gps_MSL, ] return ",".join(fields) # ========================= # UDP server (request/response + HB) # ========================= def udp_server(stop_event: threading.Event) -> None: print(f"[SRV] Binding UDP server on {BIND_ADDR}:{BIND_PORT}") s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) try: s.bind((BIND_ADDR, BIND_PORT)) s.setblocking(False) print(f"[SRV] Server bound OK on {BIND_ADDR}:{BIND_PORT}") except Exception as e: print(f"[SRV] Bind failed ({BIND_ADDR}:{BIND_PORT}): {e}") print("[SRV] Tip: switch BIND_PORT or free the port, then restart.") return recent_peers: List[Tuple[str, int]] = [] last_hb = 0.0 last_log = 0.0 while not stop_event.is_set(): try: data, peer = s.recvfrom(2048) if peer not in recent_peers: recent_peers.append(peer) if len(recent_peers) > MAX_PEERS: recent_peers = recent_peers[-MAX_PEERS:] line = build_csv_line().encode("ascii", errors="ignore") s.sendto(line, peer) except BlockingIOError: pass except Exception: pass now = time.time() if HB_INTERVAL_S > 0 and recent_peers and (now - last_hb >= HB_INTERVAL_S): line = build_csv_line().encode("ascii", errors="ignore") for p in list(recent_peers): try: s.sendto(line, p) except Exception: try: recent_peers.remove(p) except Exception: pass last_hb = now if LOG_EVERY_SEC > 0 and (now - last_log >= LOG_EVERY_SEC): with gps_lock: print( f"[SRV] RID={ROUTER_ID or ''} " f"peers={len(recent_peers)} " f"date={gps_state['date_yymmdd'] or ''} time={gps_state['time_hhmmss'] or ''} " f"lat_dm={normalize_dm(gps_state['lat_dm'], True) or ''} {gps_state['NS'] or ''} " f"lon_dm={normalize_dm(gps_state['lon_dm'], False) or ''} {gps_state['EW'] or ''} " f"spd={gps_state['speed_kmh']:.1f}km/h crs={gps_state['course_deg']:.1f} " f"fix={gps_state['fix']} sats={gps_state['sats']:02d} hdop={gps_state['hdop']} msl={gps_state['msl']}" ) last_log = now time.sleep(SOCKET_TIMEOUT) try: s.close() except Exception: pass print("[SRV] Server stopped") # ========================= # Main & graceful shutdown # ========================= def main() -> None: stop_event = threading.Event() # Compute RouterID once at startup global ROUTER_ID ROUTER_ID = make_router_id() print(f"[SYS] RouterID={ROUTER_ID}") def _sig_handler(sig, _frm): print(f"[SYS] Signal {sig} received; stopping...") stop_event.set() signal.signal(signal.SIGTERM, _sig_handler) signal.signal(signal.SIGINT, _sig_handler) # Start NMEA listener first t_nmea = threading.Thread(target=nmea_listener, args=(stop_event,), daemon=True) t_nmea.start() # Initial placeholder console line (before NMEA data is in) with gps_lock: print("[SRV] peers=0 date= time= lat_dm= lon_dm= spd=0.0km/h crs=0.0 fix=0 sats=00 hdop=None msl=None") # Show a sample of how the reply line will look once data flows (uses current state) try: sample = build_csv_line() print("With real data flowing, your replies will look like:") print(sample) except Exception: pass # Server loop udp_server(stop_event) stop_event.set() t_nmea.join(timeout=2.0) print("[SYS] Exit complete") if __name__ == "__main__": try: main() except Exception as e: print(f"[SYS] Fatal error: {e}") sys.exit(1)
And I have added in Custom Scripts to be load starting the router:
sleep 5
python3 /root/m2mfmt/m2mfmt_server.py >> /root/m2mfmt.log 2>&1 &
exit 0
May be Teltonika consider this a base to implement it
Improved Update:
#!/usr/bin/env python3
"""
Copyright as of 2025-12-09 Iwan Serrano
m2mfmt_server.py — Local UDP server emitting GPS records in the requested CSV datastructure (STRICT FORMAT)
CSV schema (13 fields):
RouterID,gps_date,gps_time,gps_use,gps_latitude,gps_NS,gps_longitude,gps_EW,gps_speed,gps_degrees,gps_FS,gps_HDOP,gps_MSL
Strict formatting rules (per spec):
- RouterID: (PRODUCT_ID default = Ro287)
- gps_date: yymmdd (e.g., 251205)
- gps_time: hhmmss.s (one decimal)
- gps_use: two-digit, zero-padded satellites used (00..12)
- gps_latitude: ddmm.mmmmmm (six decimals for minutes)
- gps_NS: 'N' or 'S'
- gps_longitude: dddmm.mmmmmm (six decimals for minutes; 3-digit degrees)
- gps_EW: 'E' or 'W'
- gps_speed: one decimal, km/h
- gps_degrees: one decimal, degrees
- gps_FS: single digit fix-status
- gps_HDOP: one decimal
- gps_MSL: one decimal, meters
Source data:
- $GPRMC provides date, time, latitude/longitude (ddmm.mmmm + NS/EW), speed (knots) and course.
- $GPGGA provides fix-status, satellites used, HDOP and MSL altitude.
Setup on RutOS:
- Save as: /root/m2mfmt/m2mfmt_server.py
mkdir -p /root/m2mfmt
vi /root/m2mfmt/m2mfmt_server.py
chmod +x /root/m2mfmt/m2mfmt_server.py
- WebUI → Services → GPS → NMEA forwarding:
Enabled: ON
Host: 127.0.0.1
Protocol: UDP
Port: 8501
Starup script (System/Maintenance/Custom Scripts):
sleep 5
python3 /root/m2mfmt/m2mfmt_server.py >> /root/m2mfmt.log 2>&1 &
exit 0
Update .py file:
- DELETE: rm /root/m2mfmt/m2mfmt_server.py
- CREATE: vi /root/m2mfmt/m2mfmt_server.py
- MAKE IT EXECUTABLE: chmod +x /root/m2mfmt/m2mfmt_server.py
- EXECUTE: python3 /root/m2mfmt/m2mfmt_server.py
- CHECK IF RUNNING: ps | grep m2mfmt_server.py
- STOP SCRIPT: kill <id>
"""
import os
import socket
import time
import threading
import signal
import sys
from typing import Tuple, List
# =========================
# Configuration parameters
# =========================
BIND_ADDR = "0.0.0.0"
BIND_PORT = 144
NMEA_HOST = "127.0.0.1"
NMEA_PORT = 8501
SOCKET_TIMEOUT = 0.10
HB_INTERVAL_S = 5
MAX_PEERS = 16
LOG_EVERY_SEC = 15
# Router/product identification
PRODUCT_ID = "Ro287_" # default RouterID prefix
IFACE_PREFERENCE = ["eth0","br-lan","wan","wwan0","lan0"]
# Framing that matches the user's working capture.
# If your environment uses a different product token, override via env vars.
FRAME_PREFIX = os.environ.get("FRAME_PREFIX", "Ro287_")
FRAME_SUFFIX = os.environ.get("FRAME_SUFFIX", "")
LINE_ENDING = os.environ.get("LINE_ENDING", "\r\n") # set to "\n" if your client expects LF only
# =========================
# Runtime GPS state
# =========================
gps_state = {
"date_yymmdd": "",
"time_hhmmss": "",
"lat_dm": "",
"NS": "",
"lon_dm": "",
"EW": "",
"speed_kmh": 0.0,
"course_deg": 0.0,
"fix": 0,
"sats": 0,
"hdop": None,
"msl": None,
"last_nmea_ts": 0.0,
}
gps_lock = threading.Lock()
# =========================
# Utility functions
# =========================
def normalize_time_hhmmss_one_decimal(raw: str) -> str:
"""Return hhmmss.s (one decimal) from raw NMEA time string."""
if not raw:
return ""
try:
if "." in raw:
base, frac = raw.split(".", 1)
return f"{base}.{frac[:1]}"
else:
return f"{raw}.0"
except Exception:
return ""
def normalize_dm(dm_str: str, is_lat: bool) -> str:
"""Normalize NMEA ddmm.mmmm to ddmm.mmmmmm (six decimals for minutes).
- Lat: 2-digit degrees, Lon: 3-digit degrees
"""
if not dm_str:
return ""
try:
dm = float(dm_str)
deg = int(dm // 100)
mins = dm - deg * 100
minutes_str = f"{mins:.6f}"
if is_lat:
return f"{deg:02d}{minutes_str}"
else:
return f"{deg:03d}{minutes_str}"
except Exception:
return ""
def pick_iface_mac_last8() -> str:
"""Pick a reasonable interface MAC and return its last 8 hex characters (no colons)."""
candidates = []
for name in IFACE_PREFERENCE:
p = f"/sys/class/net/{name}/address"
if os.path.exists(p):
candidates.append(p)
for name in os.listdir("/sys/class/net"):
if name == "lo":
continue
p = f"/sys/class/net/{name}/address"
if os.path.exists(p) and p not in candidates:
candidates.append(p)
mac_hex = "00000000"
for p in candidates:
try:
with open(p, "r") as f:
mac = f.read().strip()
mac_compact = mac.replace(":", "").lower()
if len(mac_compact) >= 8:
mac_hex = mac_compact[-8:]
break
except Exception:
continue
return mac_hex
def make_router_id() -> str:
return f"R{pick_iface_mac_last8()}"
# Cached RouterID computed at startup
ROUTER_ID = None
# =========================
# NMEA parsing
# =========================
def parse_gprmc(line: str) -> None:
"""$GPRMC,hhmmss.sss,A,lat_dm,NS,lon_dm,EW,spd_knots,course,ddmmyy,...*CS"""
try:
if not line.startswith("$") or "RMC" not in line:
return
body = line.split("*")[0]
f = body.split(",")
time_str = f[1] if len(f) > 1 else ""
status_A = (len(f) > 2 and f[2] == "A")
lat_dm = f[3] if len(f) > 3 else ""
NS = f[4] if len(f) > 4 else ""
lon_dm = f[5] if len(f) > 5 else ""
EW = f[6] if len(f) > 6 else ""
spd_knots = float(f[7]) if len(f) > 7 and f[7] else 0.0
course = float(f[8]) if len(f) > 8 and f[8] else 0.0
date_ddmmyy = f[9] if len(f) > 9 else ""
hhmmss = normalize_time_hhmmss_one_decimal(time_str)
yymmdd = ""
if date_ddmmyy and len(date_ddmmyy) == 6:
dd = date_ddmmyy[0:2]
mm = date_ddmmyy[2:4]
yy = date_ddmmyy[4:6]
yymmdd = f"{yy}{mm}{dd}"
with gps_lock:
if hhmmss:
gps_state["time_hhmmss"] = hhmmss
if yymmdd:
gps_state["date_yymmdd"] = yymmdd
if lat_dm:
gps_state["lat_dm"] = lat_dm
if NS:
gps_state["NS"] = NS
if lon_dm:
gps_state["lon_dm"] = lon_dm
if EW:
gps_state["EW"] = EW
gps_state["speed_kmh"] = spd_knots * 1.852
gps_state["course_deg"] = course
if status_A and gps_state["fix"] == 0:
gps_state["fix"] = 1
gps_state["last_nmea_ts"] = time.time()
except Exception:
pass
def parse_gpgga(line: str) -> None:
"""$GPGGA,hhmmss,lat,N,lon,E,fix,sats,hdop,alt,...*CS"""
try:
if not line.startswith("$") or "GGA" not in line:
return
body = line.split("*")[0]
f = body.split(",")
fix = int(f[6]) if len(f) > 6 and f[6] else 0
sats = int(f[7]) if len(f) > 7 and f[7] else 0
hdop = float(f[8]) if len(f) > 8 and f[8] else None
alt_m = float(f[9]) if len(f) > 9 and f[9] else None
lat_dm = f[2] if len(f) > 2 else ""
NS = f[3] if len(f) > 3 else ""
lon_dm = f[4] if len(f) > 4 else ""
EW = f[5] if len(f) > 5 else ""
with gps_lock:
gps_state["fix"] = fix
gps_state["sats"] = sats
gps_state["hdop"] = hdop
gps_state["msl"] = alt_m
if lat_dm:
gps_state["lat_dm"] = lat_dm
if NS:
gps_state["NS"] = NS
if lon_dm:
gps_state["lon_dm"] = lon_dm
if EW:
gps_state["EW"] = EW
gps_state["last_nmea_ts"] = time.time()
except Exception:
pass
def nmea_listener(stop_event: threading.Event) -> None:
print(f"[NMEA] Binding listener on {NMEA_HOST}:{NMEA_PORT}")
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
s.bind((NMEA_HOST, NMEA_PORT))
s.settimeout(1.0)
print(f"[NMEA] Listener bound OK on {NMEA_HOST}:{NMEA_PORT}")
except Exception as e:
print(f"[NMEA] Bind failed ({NMEA_HOST}:{NMEA_PORT}): {e}")
print("[NMEA] Server will run with zeroed GPS until forwarding is fixed.")
return
while not stop_event.is_set():
try:
data, _ = s.recvfrom(4096)
text = data.decode(errors="ignore")
for line in text.splitlines():
line = line.strip()
if not line:
continue
if "RMC" in line:
parse_gprmc(line)
elif "GGA" in line:
parse_gpgga(line)
except socket.timeout:
continue
except Exception:
continue
try:
s.close()
except Exception:
pass
print("[NMEA] Listener stopped")
# =========================
# CSV encoder (strict per spec)
# =========================
def build_csv_line() -> str:
"""Return one CSV line with 13 fields strictly formatted per GPSdatastructure."""
with gps_lock:
lat_dm_raw = gps_state["lat_dm"]
lon_dm_raw = gps_state["lon_dm"]
lat_dm = normalize_dm(lat_dm_raw, is_lat=True) if lat_dm_raw else ""
lon_dm = normalize_dm(lon_dm_raw, is_lat=False) if lon_dm_raw else ""
NS = gps_state["NS"]
EW = gps_state["EW"]
date_yymmdd = gps_state["date_yymmdd"]
time_hhmmss = gps_state["time_hhmmss"]
sats = gps_state["sats"]
spd = gps_state["speed_kmh"]
crs = gps_state["course_deg"]
fix = gps_state["fix"]
hdop = gps_state["hdop"]
msl = gps_state["msl"]
router_id = ROUTER_ID or make_router_id()
gps_use = f"{sats:02d}"
gps_speed = f"{spd:.1f}"
gps_degrees = f"{crs:.1f}"
gps_FS = f"{fix:d}"
gps_HDOP = f"{hdop:.1f}" if hdop is not None else ""
gps_MSL = f"{msl:.1f}" if msl is not None else ""
fields = [
router_id,
date_yymmdd or "",
time_hhmmss or "",
gps_use,
lat_dm or "",
NS or "",
lon_dm or "",
EW or "",
gps_speed,
gps_degrees,
gps_FS,
gps_HDOP,
gps_MSL,
]
return ",".join(fields)
# Build framed bytes to send in one UDP datagram
def build_framed_bytes() -> bytes:
payload = build_csv_line().translate({ord("\r"): None, ord("\n"): None})
frame = f"{FRAME_PREFIX}{payload}{FRAME_SUFFIX}{LINE_ENDING}"
b = frame.encode("ascii", errors="ignore")
if not b.startswith(b"Ro287_"):
b = b.lstrip(b"\r\n\t \x00")
if not b.startswith(b"Ro287_"):
b = b"Ro287_" + b
return b
# =========================
# UDP server (request/response + HB)
# =========================
def udp_server(stop_event: threading.Event) -> None:
print(f"[SRV] Binding UDP server on {BIND_ADDR}:{BIND_PORT}")
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
try:
s.bind((BIND_ADDR, BIND_PORT))
s.setblocking(False)
print(f"[SRV] Server bound OK on {BIND_ADDR}:{BIND_PORT}")
except Exception as e:
print(f"[SRV] Bind failed ({BIND_ADDR}:{BIND_PORT}): {e}")
print("[SRV] Tip: switch BIND_PORT or free the port, then restart.")
return
recent_peers: List[Tuple[str, int]] = []
last_hb = 0.0
last_log = 0.0
while not stop_event.is_set():
try:
data, peer = s.recvfrom(2048)
if peer not in recent_peers:
recent_peers.append(peer)
if len(recent_peers) > MAX_PEERS:
recent_peers = recent_peers[-MAX_PEERS:]
# Send one framed line per request
s.sendto(build_framed_bytes(), peer)
except BlockingIOError:
pass
except Exception:
pass
now = time.time()
# Heartbeat: framed line, same as request reply
if HB_INTERVAL_S > 0 and recent_peers and (now - last_hb >= HB_INTERVAL_S):
framed = build_framed_bytes()
for p in list(recent_peers):
try:
s.sendto(framed, p)
except Exception:
try:
recent_peers.remove(p)
except Exception:
pass
last_hb = now
if LOG_EVERY_SEC > 0 and (now - last_log >= LOG_EVERY_SEC):
with gps_lock:
print(
f"[SRV] RID={ROUTER_ID or ''} "
f"peers={len(recent_peers)} "
f"date={gps_state['date_yymmdd'] or ''} time={gps_state['time_hhmmss'] or ''} "
f"lat_dm={normalize_dm(gps_state['lat_dm'], True) or ''} {gps_state['NS'] or ''} "
f"lon_dm={normalize_dm(gps_state['lon_dm'], False) or ''} {gps_state['EW'] or ''} "
f"spd={gps_state['speed_kmh']:.1f}km/h crs={gps_state['course_deg']:.1f} "
f"fix={gps_state['fix']} sats={gps_state['sats']:02d} hdop={gps_state['hdop']} msl={gps_state['msl']}"
)
last_log = now
time.sleep(SOCKET_TIMEOUT)
try:
s.close()
except Exception:
pass
print("[SRV] Server stopped")
# =========================
# Main & graceful shutdown
# =========================
def main() -> None:
stop_event = threading.Event()
# Compute RouterID once at startup
global ROUTER_ID
ROUTER_ID = make_router_id()
print(f"[SYS] RouterID={ROUTER_ID}")
def _sig_handler(sig, _frm):
print(f"[SYS] Signal {sig} received; stopping...")
stop_event.set()
signal.signal(signal.SIGTERM, _sig_handler)
signal.signal(signal.SIGINT, _sig_handler)
# Start NMEA listener first
t_nmea = threading.Thread(target=nmea_listener, args=(stop_event,), daemon=True)
t_nmea.start()
# Initial placeholder console line (before NMEA data is in)
with gps_lock:
print("[SRV] peers=0 date= time= lat_dm= lon_dm= spd=0.0km/h crs=0.0 fix=0 sats=00 hdop=None msl=None")
# Show a sample of how the reply line will look once data flows (uses current state)
try:
sample = build_csv_line()
print("With real data flowing, your replies will look like:")
print(f"{FRAME_PREFIX}{sample}{FRAME_SUFFIX}")
except Exception:
pass
# Server loop
udp_server(stop_event)
stop_event.set()
t_nmea.join(timeout=2.0)
print("[SYS] Exit complete")
if __name__ == "__main__":
try:
main()
except Exception as e:
print(f"[SYS] Fatal error: {e}")
sys.exit(1)
Enjoy guys 
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