MAARCO

This is the code for the MAARCO project. It involves reading GPS RTK data from a serial port, displaying it in a terminal UI, and optionally connecting to an NTRIP server for real-time corrections.

We are using a Raspberry Pi Zero 2W as the main hardware platform.

All data is also logged to a file. The file is a CSV, which you can find under logs/.

Project structure

• src/: Contains the Rust source code for the project.
• examples/: Contains example Python scripts for decoding log files and streaming NMEA data. Also includes some Rust code.
• logs/: Directory where CSV log files are stored.
• field_tests/: This is where the data from field tests is stored. The data can be decoded using the scripts in examples/decode_log_file.py.

How to run

Since this project uses both Rust and Python, ensure you have both installed. For python, you need to install uv to manage dependencies.

To install Rust, follow the instructions at rustup.rs.

1. Clone the repository:

   git clone https://github.com/harshil21/MAARCO.git && cd MAARCO

2. Install Python dependencies:

   uv sync

3. Build the Rust project:

    cargo build --release

Now, if you want to run the main application on the Raspberry Pi, you would need to compile the code for the ARM architecture. You can do this by setting up a cross-compilation environment. It is highly recommended to use your computer for cross compiling, as compiling directly on the Raspberry Pi can be very slow.

You can cross compile via cross and Docker - docker build -t maarco-aarch64-udev ., and then: cross build --target aarch64-unknown-linux-gnu, and then copy the binary (from target/) to the Pi Zero 2W's target/ folder.

4. Finally, run the application:

   cargo run --release -- --ntrip-mount MOUNTPOINT --log-file logs/test_1.csv

Replace MOUNTPOINT with your actual NTRIP mount point. If you don't have one, you can omit the --ntrip-mount argument, and the application will run without NTRIP support (so you will not get RTK corrections).

Running without the Pi:

You can also run the application on your computer if you have a GPS device connected via USB or serial port. Just make sure to specify the correct serial port in the code (currently set to /dev/ttyUSB0).

Running the example scripts:

You can run the example Python scripts to decode log files or stream NMEA data. For example, to decode a log file:

uv run --script examples/decode_log_file.py

Or to run a Rust example:

cargo run --example file_name[no .rs]