From afcd6fcd9f7d7a07e6374785b97029498bbe9d4a Mon Sep 17 00:00:00 2001
From: tomy983 <tomy983@gmail.com>
Date: Sun, 22 May 2022 21:26:19 +0200
Subject: [PATCH] Correction for following errors while running:

[WARN] [1653246727.777205]: Zero length
Exception in thread Thread-5:
Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/home/pi/catkin_ws/src/ntrip_ros/scripts/ntripclient.py", line 72, in run
    buf += data
TypeError: can only concatenate str (not "bytes") to str

+++++++++++++++++++++++++

Traceback (most recent call last):
  File "/usr/lib/python3.8/threading.py", line 932, in _bootstrap_inner
    self.run()
  File "/home/pi/catkin_ws/src/ntrip_ros/scripts/ntripclient.py", line 94, in run
    rospy.logwarn("Zero length ", restart_count)
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/core.py", line 193, in logwarn
    _base_logger(msg, args, kwargs, level='warning')
  File "/opt/ros/noetic/lib/python3/dist-packages/rospy/core.py", line 183, in _base_logger
    logfunc(msg, *args, **kwargs)
  File "/usr/lib/python3.8/logging/__init__.py", line 1458, in warning
    self._log(WARNING, msg, args, **kwargs)
  File "/usr/lib/python3.8/logging/__init__.py", line 1589, in _log
    self.handle(record)
  File "/usr/lib/python3.8/logging/__init__.py", line 1599, in handle
    self.callHandlers(record)
  File "/usr/lib/python3.8/logging/__init__.py", line 1661, in callHandlers
    hdlr.handle(record)
  File "/usr/lib/python3.8/logging/__init__.py", line 954, in handle
    self.emit(record)
  File "/opt/ros/noetic/lib/python3/dist-packages/rosgraph/roslogging.py", line 246, in emit
    record_message = _defaultFormatter.format(record)
  File "/usr/lib/python3.8/logging/__init__.py", line 668, in format
    record.message = record.getMessage()
  File "/usr/lib/python3.8/logging/__init__.py", line 373, in getMessage
    msg = msg % self.args
TypeError: not all arguments converted during string formatting
---
 scripts/ntripclient.py | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/scripts/ntripclient.py b/scripts/ntripclient.py
index 14b88f2..32c1535 100755
--- a/scripts/ntripclient.py
+++ b/scripts/ntripclient.py
@@ -67,7 +67,7 @@ def run(self):
             ''' This now separates individual RTCM messages and publishes each one on the same topic '''
             data = response.read(1)
             if len(data) != 0:
-                if data[0] == 211:
+                if data[0] == 211:                   
                     buf += data
                     data = response.read(2)
                     buf += data
@@ -91,13 +91,13 @@ def run(self):
             else:
                 ''' If zero length data, close connection and reopen it '''
                 restart_count = restart_count + 1
-                rospy.logwarn("Zero length ", restart_count)
+                rospy.logwarn("Zero length ".format(restart_count))
                 connection.close()
                 connection = HTTPConnection(self.ntc.ntrip_server)
                 connection.request('GET', '/'+self.ntc.ntrip_stream, self.ntc.nmea_gga, headers)
                 response = connection.getresponse()
                 if response.status != 200: raise Exception("blah")
-                buf = ""
+                buf = bytes('', 'utf-8')
 
         connection.close()
 
@@ -128,4 +128,3 @@ def run(self):
 if __name__ == '__main__':
     c = ntripclient()
     c.run()
-