Add u-blox PointPerfect NTRIP client as optional ARK-OS service

.gitmodules

@@ -22,3 +22,6 @@
 [submodule "services/dds-agent/Micro-XRCE-DDS-Agent"]
 	path = services/dds-agent/Micro-XRCE-DDS-Agent
 	url = https://github.com/eProsima/Micro-XRCE-DDS-Agent.git
+[submodule "services/pointperfect/pointperfect-client-mavlink"]
+	path = services/pointperfect/pointperfect-client-mavlink
+	url = https://github.com/ARK-Electronics/pointperfect-client-mavlink.git

README.md

@@ -118,7 +118,7 @@ A web based UI is provided to more easily manage your device. The webpage is hos
 ![alt text](ark-ui4.png)
 
 ## Services
-The package installs the services below as system-level [systemd services](https://www.freedesktop.org/software/systemd/man/latest/systemd.service.html) running as the unprivileged platform user (`jetson` or `pi`). The always-on services are enabled automatically; the optional services (`dds-agent`, `logloader`, `polaris`, `flight-review`, `rid-transmitter`) are installed but disabled — enable them from the web UI or with `systemctl enable --now <service>`.
+The package installs the services below as system-level [systemd services](https://www.freedesktop.org/software/systemd/man/latest/systemd.service.html) running as the unprivileged platform user (`jetson` or `pi`). The always-on services are enabled automatically; the optional services (`dds-agent`, `logloader`, `polaris`, `pointperfect`, `flight-review`, `rid-transmitter`) are installed but disabled — enable them from the web UI or with `systemctl enable --now <service>`.
 
 ## Jetson and Pi
 
@@ -140,6 +140,9 @@ This service provides an RTSP server via gstreamer. The stream from the first co
 **polaris.service** <br>
 This service receives RTCM corrections from the PointOne GNSS Corrections service and publishes them to the flight controller via MAVLink.
 
+**pointperfect.service** <br>
+This service receives GNSS corrections from the u-blox PointPerfect NTRIP service (RTCM by default, optional SPARTN) and publishes them to the flight controller via MAVLink.
+
 **ark-ui-backend.service** <br>
 This service provides an API gateway for the ARK UI.
 

frontend/src/pages/components/TomlEditor.vue

@@ -5,21 +5,37 @@
         <h1>{{ serviceName }}</h1>
 
         <div class="toml-editor">
-          <!-- Top-level primitive values first -->
-          <div v-for="(value, key) in topLevelPrimitives" :key="key" class="form-group">
+          <!-- Top-level primitive values first (skip *_options arrays used for dropdowns) -->
+          <div v-for="key in topLevelFieldKeys" :key="key" class="form-group">
             <label :for="key">{{ formatKey(key) }}</label>
 
+            <!-- Dropdown when a sibling <field>_options array is present -->
+            <select
+              v-if="hasTopLevelOptions(key)"
+              :id="key"
+              v-model="config[key]"
+              class="select-input"
+            >
+              <option
+                v-for="option in getTopLevelOptions(key)"
+                :key="option"
+                :value="option"
+              >
+                {{ option }}
+              </option>
+            </select>
+
             <!-- String input -->
             <input
-              v-if="fieldType(key, value) === 'string'"
+              v-else-if="fieldType(key, config[key]) === 'string'"
               type="text"
               :id="key"
               v-model="config[key]"
               class="text-input"
             />
 
             <!-- Boolean input -->
-            <div v-else-if="fieldType(key, value) === 'boolean'" class="checkbox-group">
+            <div v-else-if="fieldType(key, config[key]) === 'boolean'" class="checkbox-group">
               <input
                 type="checkbox"
                 :id="key"
@@ -30,7 +46,7 @@
 
             <!-- Number input -->
             <input
-              v-else-if="fieldType(key, value) === 'number'"
+              v-else-if="fieldType(key, config[key]) === 'number'"
               type="number"
               :id="key"
               v-model.number="config[key]"
@@ -138,15 +154,15 @@ export default {
     };
   },
   computed: {
-    // Separate top-level primitives from sub-tables
-    topLevelPrimitives() {
-      const primitives = {};
-      Object.entries(this.config).forEach(([key, value]) => {
-        if (!this.isObject(value)) {
-          primitives[key] = value;
+    // Top-level editable fields (primitives + simple arrays that aren't *_options)
+    topLevelFieldKeys() {
+      return Object.keys(this.config).filter((key) => {
+        if (this.isOptionsField(key)) {
+          return false;
         }
+        const value = this.config[key];
+        return !this.isObject(value);
       });
-      return primitives;
     },
     // Get all sub-tables (nested objects)
     subTables() {
@@ -197,6 +213,15 @@ export default {
       return this.config[tableKey][optionsKey] || [];
     },
 
+    // Top-level dropdown support (same *_options convention as nested tables)
+    hasTopLevelOptions(fieldKey) {
+      return Array.isArray(this.config[`${fieldKey}_options`]);
+    },
+
+    getTopLevelOptions(fieldKey) {
+      return this.config[`${fieldKey}_options`] || [];
+    },
+
     // Pick the input from the type in the loaded config rather than the live
     // value. Vue's .number modifier passes non-numeric input straight through,
     // so an emptied number field holds "" — keying off the live type would swap

packaging/DEBIAN/postinst

@@ -194,7 +194,8 @@ rm -rf /var/lib/ark-os/.config-backup
 chgrp -R "$ARK_USER" /etc/ark-os
 chmod 2775 /etc/ark-os
 # TODO(security): these configs are world-readable (0664; dir 2775), so any local
-# user can read secrets entered via the web UI (polaris_api_key, flight-review SMTP
+# user can read secrets entered via the web UI (polaris_api_key, pointperfect
+# ntrip credentials, flight-review SMTP
 # password, rid-transmitter serial, ...). Revisit: restrict secret-bearing files to
 # 0640 root:$ARK_USER and drop world-read once every reader (service-manager web UI
 # and each service) is confirmed to run as $ARK_USER or in its group.
@@ -208,8 +209,8 @@ ln -sf /etc/ark-os/flight-review.ini /usr/lib/ark-os/flight-review/app/config_us
 
 # ===========================================================================
 # Step 5/6: Enable always-on services (and the group target). Opt-in services
-# (dds-agent, logloader, polaris, flight-review, rid-transmitter) are installed
-# but deliberately NOT enabled — the operator turns them on via the web UI.
+# (dds-agent, logloader, polaris, pointperfect, flight-review, rid-transmitter)
+# are installed but deliberately NOT enabled — the operator turns them on via the web UI.
 # systemctl enable is a static symlink operation that works offline in a chroot.
 # ===========================================================================
 ENABLE_SERVICES="mavlink-router rtsp-server go2rtc ark-ui-backend autopilot-manager connection-manager service-manager system-manager"
@@ -285,7 +286,7 @@ if [ -d /run/systemd/system ]; then
     # failed (e.g. mavlink-router with no FC) or operator-stopped service is
     # left as-is rather than force-started.
     if [ -n "$2" ]; then
-        RESTART_SERVICES="$ENABLE_SERVICES dds-agent logloader polaris flight-review rid-transmitter"
+        RESTART_SERVICES="$ENABLE_SERVICES dds-agent logloader polaris pointperfect flight-review rid-transmitter"
         systemctl try-restart $RESTART_SERVICES 2>/dev/null || true
     fi
 

packaging/DEBIAN/prerm

@@ -13,7 +13,7 @@ set -e
 
 # Platform-specific units (jetson-can, rid-transmitter) are simply not loaded on
 # the other platform, so stopping them there is a harmless no-op.
-ARK_SERVICES="mavlink-router rtsp-server ark-ui-backend autopilot-manager connection-manager service-manager system-manager dds-agent logloader polaris flight-review rid-transmitter jetson-can"
+ARK_SERVICES="mavlink-router rtsp-server ark-ui-backend autopilot-manager connection-manager service-manager system-manager dds-agent logloader polaris pointperfect flight-review rid-transmitter jetson-can"
 
 case "$1" in
     remove)

packaging/build_binaries.sh

@@ -91,6 +91,10 @@ while read -r lib; do
     install_bundled_lib "$lib"
 done <<<"$polaris_extra_libs"
 
+echo "==> pointperfect-client-mavlink (make -> cmake)"
+( cd services/pointperfect/pointperfect-client-mavlink && make )
+install -m 0755 services/pointperfect/pointperfect-client-mavlink/build/pointperfect-client-mavlink "$BIN_DIR/"
+
 if [ "$PLATFORM" = "jetson" ]; then
     echo "==> rid-transmitter (make -> cmake, jetson only)"
     ( cd services/rid-transmitter/RemoteIDTransmitter && make )

packaging/config/pointperfect.toml

@@ -0,0 +1,30 @@
+# MAVLink connection to the autopilot (mavlink-router UdpEndpoint pointperfect)
+connection_url = "udp://:14554"
+
+# u-blox PointPerfect corrections over NTRIP.
+# NTRIP credentials are found in the Thingstream portal under your PointPerfect
+# Thing > Credentials. Each Thing allows a single simultaneous NTRIP connection.
+ntrip_host = "ppntrip.services.u-blox.com"
+ntrip_port = 2102          # 2102 = TLS, 2101 = plain TCP
+
+# Correction format: "rtcm" (default, natively supported by PX4) or "spartn".
+# PX4 currently only injects/parses RTCM; use "spartn" only if your
+# receiver/firmware supports SPARTN forwarded over GPS_RTCM_DATA.
+# correction_format_options drives the ARK UI dropdown (ignored by the client).
+correction_format = "rtcm"
+correction_format_options = ["rtcm", "spartn"]
+
+# Mountpoint. Leave empty to derive it from correction_format
+# (NEAR-RTCM or NEAR-SPARTN); set it explicitly to override.
+ntrip_mountpoint = ""
+
+ntrip_username = "your_username_goes_here"
+ntrip_password = "your_password_goes_here"
+
+# Use TLS (recommended, matches port 2102).
+use_tls = true
+
+# The caster requires a periodic NMEA-GGA position report from the rover to
+# provide localized corrections. The position is taken from the autopilot's
+# GPS_RAW_INT messages and sent every 10 seconds.
+send_gga = true

packaging/service-files/jetson/pointperfect.service

@@ -0,0 +1,15 @@
+[Unit]
+Description=u-blox PointPerfect GNSS corrections client for MAVLink
+Wants=network.target
+After=network-online.target mavlink-router.service
+
+[Service]
+Type=simple
+User=jetson
+Group=jetson
+ExecStart=/usr/lib/ark-os/bin/pointperfect-client-mavlink --config /etc/ark-os/pointperfect.toml
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target ark-os.target

packaging/service-files/pi/pointperfect.service

@@ -0,0 +1,15 @@
+[Unit]
+Description=u-blox PointPerfect GNSS corrections client for MAVLink
+Wants=network.target
+After=network-online.target mavlink-router.service
+
+[Service]
+Type=simple
+User=pi
+Group=pi
+ExecStart=/usr/lib/ark-os/bin/pointperfect-client-mavlink --config /etc/ark-os/pointperfect.toml
+Restart=always
+RestartSec=5
+
+[Install]
+WantedBy=multi-user.target ark-os.target

packaging/system-config/03-ark-service-manager.rules

@@ -14,6 +14,7 @@ polkit.addRule(function(action, subject) {
         "logloader.service",
         "rtsp-server.service",
         "polaris.service",
+        "pointperfect.service",
         "rid-transmitter.service",   // JETSON-ONLY
         "jetson-can.service",        // JETSON-ONLY
         "flight-review.service",

services/mavlink-router/main.conf

@@ -24,6 +24,11 @@ Mode = Normal
 Address = 127.0.0.1
 Port = 14552
 
+[UdpEndpoint pointperfect]
+Mode = Normal
+Address = 127.0.0.1
+Port = 14554
+
 [UdpEndpoint rid_transmitter]
 Mode = Normal
 Address = 127.0.0.1

services/pointperfect/pointperfect.manifest.json

@@ -0,0 +1,6 @@
+{
+  "displayName": "PointPerfect Mavlink",
+  "description": "Client for the u-blox PointPerfect GNSS corrections service (NTRIP) to provide corrections over Mavlink.",
+  "configFile": "pointperfect.toml",
+  "visible": true
+}