# Usage

## main.py

```
python main.py [--project FILE] [--save FILE]
               [--network NAME HOST PORT] ...
               [--serial  NAME DEVICE BAUD] ...
               [--file    PATH] ...
               [--log-dir DIR] [--delay SECS]
```

| Option | Default | Description |
|--------|---------|-------------|
| `--network NAME HOST PORT` | — | Add a TCP/IP source |
| `--serial NAME DEVICE BAUD` | — | Add a serial port source |
| `--file PATH` | — | Add a log file for replay |
| `--log-dir DIR` | `./log` | Directory for recorded frame logs |
| `--delay SECS` | `1.0` | Inter-frame delay for file replay (0–10 s) |
| `--project FILE` | — | Load config from a JSON project file |
| `--save FILE` | — | Save current config as a JSON project file |

Multiple `--network`, `--serial` and `--file` options can be combined freely.

### Examples

```bash
# Two network receivers
python main.py --network neo-f9p 192.168.22.93 8721 \
               --network zed-x20p 192.168.22.93 8731

# Save config to project file
python main.py --network neo-f9p 192.168.22.93 8721 --save project.json

# Load from project file
python main.py --project project.json

# Replay a recorded log at 0.5 s per frame
python main.py --file log/2026_05_25_11_05_19_neo-f9p.log --delay 0.5

# Mix live network source with file replay
python main.py --network zed-x20p 192.168.22.93 8731 \
               --file log/2026_05_25_11_05_19_neo-f9p.log
```

### Project file format (JSON)

```json
{
  "log_dir": "./log",
  "delay": 1.0,
  "sources": [
    {"type": "network", "name": "neo-f9p",  "host": "192.168.22.93", "port": 8721},
    {"type": "serial",  "name": "gps1",     "device": "/dev/ttyUSB0", "baudrate": 115200},
    {"type": "file",    "path": "log/2026_05_25_11_05_19_neo-f9p.log"}
  ]
}
```

---

# NEO-F9P
## Data sheet
https://content.u-blox.com/sites/default/files/documents/NEO-F9P-15B_DataSheet_UBX-22021920.pdf?utm_content=UBX-22021920
## Integration Manual
https://content.u-blox.com/sites/default/files/documents/NEO-F9P_IntegrationManual_UBX-22028362.pdf
## Interface spec
https://content.u-blox.com/sites/default/files/documents/u-blox-F9-HPG-L1L5-1.40_InterfaceDescription_UBX-23006991.pdf?utm_content=UBX-23006991

# ZED-20P
## Data sheet
https://content.u-blox.com/sites/default/files/documents/ZED-X20P-00B_DataSheet_UBXDOC-963802114-12690.pdf
## Integration Manual
https://content.u-blox.com/sites/default/files/documents/ZED-X20P_IntegrationManual_UBXDOC-963802114-12901.pdf?utm_content=UBXDOC-963802114-12901
## Interface spec
https://content.u-blox.com/sites/default/files/documents/u-blox-20-HPG-2.00_InterfaceDescription_UBXDOC-304424225-19888.pdf?utm_content=UBXDOC-304424225-19888

# Real time Kinematics
## ESA Article 
https://gssc.esa.int/navipedia/index.php?title=Real_Time_Kinematics

# RTCM 3.0
## Overview
https://www.geopp.de/pdf/gppigs06_rtcm_f.pdf
## Cheat sheet
https://www.use-snip.com/kb/knowledge-base/an-rtcm-message-cheat-sheet/