ntrip_client/

client.rs

//! NTRIP Client implementation

use std::sync::Arc;

use base64::{engine::general_purpose, Engine as _};
use futures::Stream;
use http::{header::USER_AGENT, HeaderMap, HeaderValue, Method};
use rtcm_rs::{Message, MessageFrame};
use rustls::pki_types::ServerName;
use tokio::{
    io::{AsyncRead, AsyncReadExt as _, AsyncWrite, AsyncWriteExt},
    net::TcpStream,
    select,
    sync::{
        broadcast::Sender as BroadcastSender,
        mpsc::{unbounded_channel, UnboundedReceiver, UnboundedSender},
    },
    task::JoinHandle,
};
use tokio_rustls::TlsConnector;
use tracing::{debug, error, trace, warn};

use crate::{
    config::{NtripConfig, NtripCredentials},
    snip::ServerInfo,
    NtripClientError,
};

/// NTRIP Client, used to connect to an NTRIP (RTCM) service.
/// When "mounted", the [NtripHandle] allows real-time messaging
/// through a [Stream] channel.
///
/// ```
/// use tokio::select;
/// use tokio::sync; // broadcast channel
/// use futures::StreamExt; // real-time channel
///
/// use ntrip_client::{
///     NtripClient,
///     NtripConfig,
///     RtcmProvider,
///     NtripCredentials,
///     NtripClientError,
/// };
///
/// async fn basic_listener() -> Result<(), anyhow::Error> {
///
///     // this network does not require SSL
///     let config = NtripConfig::from_provider(RtcmProvider::Centipede);
///
///     // adapt your credentials to the network
///     let creds = NtripCredentials::default()
///         .with_username("centipede")
///         .with_password("password");
///
///     // client definition
///     let mut client = NtripClient::new(config, creds)
///         .await?;
///
///     // list available mountpoints
///     let mountpoints = client.list_mounts()
///         .await?;
///
///     for remote in mountpoints.services {
///         println!("{} - {}", remote.name, remote.details);
///     }
///
///     // subscribe to remote server
///     let mut handle = client.mount("VALDM").await?;
///
///     // listening
///     loop {
///         select! {
///             message = handle.next() => match message {
///                 Some(msg) => {
///                     println!("received RTCM message: {:?}", msg);
///                 },
///                 None => {
///                     println!("End of stream!");
///                     break;
///                 },
///             },
///         }
///     }
///
///     Ok(())
/// }
///
/// basic_listener();
/// ```
pub struct NtripClient {
    config: NtripConfig,
    creds: NtripCredentials,
}

/// [NtripHandle] is the Mount handle, it implements [Stream]
/// which is how you can receive messages in real-time.
pub struct NtripHandle<RX = UnboundedReceiver<(Message, Vec<u8>)>> {
    _rx_handle: tokio::task::JoinHandle<()>,
    ntrip_rx: RX,
    exit_tx: BroadcastSender<()>,
}

impl NtripClient {
    pub async fn new(
        config: NtripConfig,
        creds: NtripCredentials,
    ) -> Result<Self, NtripClientError> {
        Ok(NtripClient { config, creds })
    }

    /// List available mounts on the NTRIP server
    pub async fn list_mounts(&mut self) -> Result<ServerInfo, NtripClientError> {
        let client = reqwest::Client::builder()
            .http1_ignore_invalid_headers_in_responses(true)
            .http09_responses()
            .user_agent(format!(
                "NTRIP {}/{}",
                env!("CARGO_PKG_NAME"),
                env!("CARGO_PKG_VERSION")
            ))
            .build()?;

        // TODO: auth etc.
        let proto = if self.config.use_tls { "https" } else { "http" };

        let req = client
            .request(
                Method::GET,
                format!("{}://{}:{}", proto, self.config.host, self.config.port),
            )
            .header("Ntrip-Version", "NTRIP/2.0")
            .build()?;

        let res = client.execute(req).await?;

        trace!("Fetched NTRIP response: {:?}", res.status());

        let body = res.text().await?;

        let lines = body.lines().collect::<Vec<&str>>();

        let snip_info = ServerInfo::parse(lines.iter().cloned());

        Ok(snip_info)
    }

    /// 'Mount' the [NtripClient] from remote $url/$mount service point.
    /// On success, you can then start listening to messages from the server.
    ///
    /// ## Input
    /// - mount: readable remote mount point (server name)
    /// - exit_tx: [BroadcastSender] is passed to allow graceful exit on errors
    ///
    /// ## Output
    /// - [NtripHandle] which implements [Stream] to receive messages in real-time.
    pub async fn mount(
        &mut self,
        mount: impl ToString,
    ) -> Result<NtripHandle<UnboundedReceiver<(Message, Vec<u8>)>>, NtripClientError> {
        let (ntrip_tx, ntrip_rx) = unbounded_channel();

        let (_rx_handle, exit_tx) = self.mount_internal(mount, ntrip_tx).await?;

        Ok(NtripHandle {
            _rx_handle: _rx_handle,
            ntrip_rx: ntrip_rx,
            exit_tx: exit_tx,
        })
    }

    /// 'Mount' the [NtripClient] from remote $url/$mount service point.
    /// On success, you can then start listening to messages from the server.
    ///
    /// ## Input
    /// - mount: readable remote mount point (server name)
    /// - exit_tx: [BroadcastSender] is passed to allow graceful exit on errors
    ///
    /// ## Output
    /// - [NtripHandle<()>] which will route received messages throught the provided channel
    pub async fn mount_with_sink(
        &mut self,
        mount: impl ToString,
        ntrip_tx: UnboundedSender<(Message, Vec<u8>)>,
    ) -> Result<NtripHandle<()>, NtripClientError> {
        let (_rx_handle, exit_tx) = self.mount_internal(mount, ntrip_tx).await?;

        Ok(NtripHandle {
            _rx_handle: _rx_handle,
            ntrip_rx: (),
            exit_tx: exit_tx,
        })
    }

    /// 'Mount' the [NtripClient] from remote $url/$mount service point.
    /// On success, you can then start listening to messages from the server.
    ///
    /// ## Input
    /// - mount: readable remote mount point (server name)
    /// - exit_tx: [BroadcastSender] is passed to allow graceful exit on errors
    ///
    /// ## Output
    /// - [NtripHandle] which will route received messages throught the provided channel
    async fn mount_internal(
        &mut self,
        mount: impl ToString,
        ntrip_tx: UnboundedSender<(Message, Vec<u8>)>,
    ) -> Result<(JoinHandle<()>, BroadcastSender<()>), NtripClientError> {
        debug!(
            "Connecting to NTRIP server {}/{}",
            self.config.to_url(),
            mount.to_string()
        );

        let (exit_tx, _exit_rx) = tokio::sync::broadcast::channel(1);

        let sock = TcpStream::connect(&self.config.to_url()).await?;

        let rx_handle = match self.config.use_tls {
            true => {
                debug!("Using TLS connection");

                let mut root_cert_store = rustls::RootCertStore::empty();
                root_cert_store.extend(webpki_roots::TLS_SERVER_ROOTS.iter().cloned());

                let tls_config = rustls::ClientConfig::builder()
                    .with_root_certificates(root_cert_store)
                    .with_no_client_auth();
                let connector = TlsConnector::from(Arc::new(tls_config));
                let dnsname = ServerName::try_from(self.config.host.clone())?;

                let tls_sock = connector.connect(dnsname, sock).await?;

                Self::handle_connection(
                    &self.config,
                    &self.creds,
                    &mount.to_string(),
                    ntrip_tx,
                    exit_tx.clone(),
                    tls_sock,
                )
                .await?
            },
            false => {
                debug!("Using plain TCP connection");

                Self::handle_connection(
                    &self.config,
                    &self.creds,
                    &mount.to_string(),
                    ntrip_tx,
                    exit_tx.clone(),
                    sock,
                )
                .await?
            },
        };

        Ok((rx_handle, exit_tx))
    }

    pub async fn handle_connection(
        config: &NtripConfig,
        creds: &NtripCredentials,
        mount: &str,
        ntrip_tx: UnboundedSender<(Message, Vec<u8>)>,
        exit_tx: BroadcastSender<()>,
        mut sock: impl AsyncRead + AsyncWrite + Unpin + Send + 'static,
    ) -> Result<JoinHandle<()>, NtripClientError> {
        // Setup HTTP headers
        let mut headers = HeaderMap::new();
        headers.append(
            USER_AGENT,
            HeaderValue::from_str(&format!(
                "NTRIP {}/{}",
                env!("CARGO_PKG_NAME"),
                env!("CARGO_PKG_VERSION")
            ))?,
        );

        headers.append("Ntrip-Version", HeaderValue::from_static("NTRIP/2.0"));
        headers.append("Accept", HeaderValue::from_static("*/*"));
        headers.append("Connection", HeaderValue::from_static("close"));

        // If we have credentials, add the Authorization header
        if !creds.user.is_empty() {
            let auth = general_purpose::STANDARD.encode(format!("{}:{}", creds.user, creds.pass));
            headers.append(
                "Authorization",
                HeaderValue::from_str(&format!("Basic {}", auth))?,
            );
        }

        trace!("Headers: {:#?}", headers);

        // Write HTTP request
        trace!("Write HTTP request");
        sock.write_all(format!("GET /{} HTTP/1.0\r\n", mount).as_bytes())
            .await?;
        sock.write_all(format!("Host: {}\r\n", config.to_url()).as_bytes())
            .await?;

        // Write HTTP headers
        trace!("Writing headers");
        for h in headers.iter() {
            sock.write_all(format!("{}: {}\r\n", h.0.as_str(), h.1.to_str()?).as_bytes())
                .await?;
        }

        sock.write_all(b"\r\n").await?;
        sock.flush().await?;

        trace!("Reading response");
        let mut buff = Vec::with_capacity(1024);

        // Perform a first read to get the response status
        let n = sock.read_buf(&mut buff).await?;
        trace!("Read {} bytes, current buffer {} bytes", n, buff.len());

        // Parse out response status
        let r = String::from_utf8_lossy(&buff[..n]);
        match r.lines().next() {
            Some(status) if status.contains("200 OK") => {
                trace!("Got 200 OK response");
            },
            Some(status) => {
                error!("NTRIP server returned error: {}", status);
                return Err(NtripClientError::ResponseError(status.to_string()));
            },
            None => {
                error!("NTRIP server returned empty response");
                return Err(NtripClientError::ResponseError("empty response".into()));
            },
        }

        // Flush buffer until the first RTCM message (0xd3)
        if let Some(i) = buff.iter().enumerate().find(|(_i, b)| **b == 0xd3) {
            trace!(
                "Trimming buffer to next potential frame start at index {}",
                i.0
            );
            let _ = buff.drain(..i.0);
        }

        // Spawn a task to handle incoming NTRIP data

        let mut exit_rx = exit_tx.subscribe();
        let rx_handle = tokio::task::spawn(async move {
            // Track parse errors so we can drop data (or abort) if needed
            let mut error_count = 0;

            'listener: loop {
                select! {
                    n = sock.read_buf(&mut buff) => match n {
                        Ok(n) => {
                            trace!("Read {} bytes, current buffer {} bytes", n, buff.len());
                            trace!("Appended {:02x?}", &buff[buff.len()-n..][..n]);

                            // Handle zero length read (connection closed)
                            if n == 0 {
                                warn!("Zero length response");
                                break 'listener;
                            }

                            // Trim any non-message data from the start of the buffer
                            if buff[0] != 0xd3 {
                                if let Some(i) = buff.iter().enumerate().find(|(_i, b)| **b == 0xd3) {
                                    warn!("Trimming buffer to next potential frame start at index {}", i.0);
                                    buff.drain(..i.0);

                                    assert_eq!(buff[0], 0xd3);
                                }
                            }

                            // While we have enough data for a header,
                            // parse out RTCM messages
                            while buff.len() > 6 {
                                // Attempt to parse frames
                                match MessageFrame::new(&buff[..]) {
                                    Ok(f) => {
                                        // Parse out message from frame
                                        let m = f.get_message();

                                        trace!("Parsed RTCM message: {:?} (consumed {} bytes)", m, f.frame_len());

                                        // Emit message
                                        let raw_data = buff[..f.frame_len()].to_vec();
                                        ntrip_tx.send((m, raw_data)).unwrap();

                                        // Remove parsed data from the buffer
                                        let _ = buff.drain(..f.frame_len());

                                        // Reset error counter
                                        error_count = 0;
                                    },
                                    Err(e) => {
                                        warn!("RTCM parse error: {} (count: {})", e, error_count);

                                        // Update error counter
                                        error_count += 1;

                                        // If we keep getting errors, abort the connection
                                        if error_count >= 5 {
                                            error!("Too many parse errors, closing connection");
                                            break 'listener;
                                        }

                                        break;
                                    }
                                }
                            }
                        },
                        Err(e) => {
                            error!("socket read error: {}", e);
                            break;
                        },
                    },
                    _ = exit_rx.recv() => {
                        error!("Exiting NTRIP read loop on signal");
                        break;
                    }
                }
            }

            warn!("NTRIP read loop exiting");

            if !buff.is_empty() {
                warn!("Dropping {} bytes of unparsed data", buff.len());

                if let Ok(s) = String::from_utf8(buff) {
                    debug!("Unparsed data:\r\n{}", s);
                }
            }
        });

        Ok(rx_handle)
    }
}

impl<RX> NtripHandle<RX> {
    /// Check whether the NTRIP connection is still active (i.e. the read task is still running)
    pub fn is_running(&self) -> bool {
        !self._rx_handle.is_finished()
    }
}

/// [Stream] NTRIP [Message]'s from an [NtripHandle]
impl Stream for NtripHandle<UnboundedReceiver<(Message, Vec<u8>)>> {
    type Item = (Message, Vec<u8>);

    fn poll_next(
        mut self: std::pin::Pin<&mut Self>,
        cx: &mut std::task::Context<'_>,
    ) -> std::task::Poll<Option<Self::Item>> {
        self.ntrip_rx.poll_recv(cx)
    }
}

impl<RX> Drop for NtripHandle<RX> {
    fn drop(&mut self) {
        let _ = self.exit_tx.send(());
    }
}

#[cfg(test)]
mod tests {
    use std::env;

    use futures::StreamExt;
    use rustls::crypto::CryptoProvider;
    use tracing::debug;

    use super::*;
    use crate::config::NtripCredentials;

    fn setup_logging() {
        let _ = tracing_subscriber::FmtSubscriber::builder()
            .compact()
            .without_time()
            .with_max_level(tracing::level_filters::LevelFilter::DEBUG)
            .try_init();
    }

    #[tokio::test]
    #[ignore = "Requires NTRIP config from the environment"]
    async fn test_ntrip_client() {
        setup_logging();

        // Install the default crypto provider
        CryptoProvider::install_default(rustls::crypto::ring::default_provider()).ok();

        debug!("Connecting to NTRIP server");

        let (exit_tx, _exit_rx) = tokio::sync::broadcast::channel(1);

        let mount = env::var("NTRIP_MOUNT").unwrap_or("ARGOACU".to_string());
        let config = env::var("NTRIP_HOST")
            .unwrap_or("rtk2go".to_string())
            .parse::<NtripConfig>()
            .unwrap();
        let creds = NtripCredentials {
            user: env::var("NTRIP_USER").unwrap_or("user".into()),
            pass: env::var("NTRIP_PASS").unwrap_or("pass".into()),
        };

        let mut client = NtripClient::new(config, creds).await.unwrap();

        let mut h = client.mount(mount.to_string()).await.unwrap();

        for _i in 0..10 {
            let (m, d) = h.next().await.unwrap();
            debug!("Got RTCM message: {:?}", m);
            debug!("Raw data: {:02x?}", d);
        }

        let _ = exit_tx.send(());
    }
}