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+++ b/Cargo.toml @@ -0,0 +1,13 @@ +[package] +name = "gpsd-nmea" +version = "0.1.0" +edition = "2024" + +[dependencies] +backoff = { version = "0.4.0", features = ["async-std"] } +clap = { version = "4.5.51", features = ["derive"] } +env_logger = "0.11.8" +futures = "0.3.31" +json = "0.12.4" +log = "0.4.28" +smol = "2.0.2" diff --git a/src/main.rs b/src/main.rs new file mode 100644 index 0000000..27e8287 --- /dev/null +++ b/src/main.rs @@ -0,0 +1,219 @@ +use std::future; +use std::time::Duration; + +use backoff::SystemClock; +use backoff::exponential::ExponentialBackoff; +use clap::{Parser, value_parser}; +use env_logger; +use futures::future::{Either, select}; +use futures::pin_mut; +use io::BufReader; +use json::{JsonValue, object}; +use log::{debug, error, info}; +use smol::channel::TrySendError; +use smol::io::AsyncReadExt; +use smol::net::{SocketAddr, TcpListener, TcpStream}; +use smol::{Task, channel, io, prelude::*}; + +type NMEAChanMsg = Vec; + +#[derive(Parser)] +#[command( + version, + about = "An extremely simple program that connects to gpsd and streams NMEA strings to any connected clients" +)] +struct CmdArgs { + /// The gpsd host to connect to + #[arg(short = 'c', long, default_value = "[::1]:2947")] + host: SocketAddr, + /// The listen address to accept connections on + #[arg(long, default_value = "[::1]:2948")] + listen: SocketAddr, + /// The gpsd device to filter for (default all) + #[arg(short, long)] + device: Option, + /// The NMEA 0183 messages to emit (default all) + #[arg(short, long="msg", num_args(1..), value_parser = clap::builder::ValueParser::from(|s: &str| { + let r: Result<[u8;5], _> = if s.len() != 5 || !s.chars().all(|c| c.is_ascii_alphabetic()) { + Err(format!("`{s}` is not a valid NMEA0183 message type (expected 5 letters)")) + } else { + let upper = s.trim().to_ascii_uppercase(); + Ok(upper.as_bytes().try_into().unwrap()) + }; + r + } ))] + msgs: Option>, +} + +enum Error { + NMEAParseError, + JsonParseError(json::JsonError), + UnknownGpsdResponse, +} + +#[derive(Debug)] +struct NMEAMsg { + id: [u8; 5], + msg: Vec, +} + +impl TryFrom<&[u8]> for NMEAMsg { + type Error = Error; + fn try_from(value: &[u8]) -> Result { + if value.len() < 6 || value[0] != b'$' { + Err(Error::NMEAParseError) + } else { + Ok(NMEAMsg { + id: value[1..6].try_into().unwrap(), + msg: value.to_vec(), + }) + } + } +} + +#[derive(Debug)] +enum GpsdResponse { + JsonResponse(json::JsonValue), + NMEAResponse(NMEAMsg), +} + +impl<'a> TryFrom<&str> for GpsdResponse { + type Error = Error; + fn try_from(value: &str) -> Result { + match value.as_bytes()[0] { + b'{' => Ok(GpsdResponse::JsonResponse( + json::parse(value).map_err(|e| Error::JsonParseError(e))?, + )), + b'$' => Ok(GpsdResponse::NMEAResponse(value.as_bytes().try_into()?)), + _ => Err(Error::UnknownGpsdResponse), + } + } +} + +fn build_gpsd_watch_cmd(device: Option) -> String { + let payload = object! { + enable: true, + nmea: true, + device: device, + }; + format!("?WATCH={}\n", json::stringify(payload)) +} + +async fn gpsd_client_loop( + chan: channel::Sender, + dest: SocketAddr, + device: Option, + msgs: Option>, +) -> io::Result<()> { + let watch_cmd = build_gpsd_watch_cmd(device); + + loop { + let backoff = ExponentialBackoff::::default(); + let mut conn = backoff::future::retry_notify( + backoff, + || async { Ok(TcpStream::connect(dest).await?) }, + |e, dur: Duration| { + let dur_s = dur.as_secs(); + error!("Error connecting to {dest} after {dur_s}s: {e}") + }, + ) + .await?; + info!("Connected to gpsd service at {}", dest); + conn.write(watch_cmd.as_bytes()).await?; + debug!("Sent command {}", watch_cmd); + let mut lines = BufReader::new(conn.boxed_reader()).lines(); + while let Some(Ok(line)) = lines.next().await { + debug!("Got line `{:#?}", line); + let msg = line.as_str().try_into(); + if let Ok(msg) = msg { + match msg { + GpsdResponse::JsonResponse(_) => continue, + GpsdResponse::NMEAResponse(mut n) => { + if let Some(msgs) = &msgs { + if !msgs.contains(&n.id) { + continue; + }; + } + if !chan.is_closed() { + n.msg.push(b'\r'); + n.msg.push(b'\n'); + if let Err(e) = chan.try_send(n.msg) + && !e.is_closed() + { + error!("Error sending to channel: {}", e) + } + } + } + } + } + } + } +} + +async fn ptp_server_loop( + mut conn: TcpStream, + chan: channel::Receiver, +) -> io::Result<()> { + debug!("Starting server loop for {}", conn.peer_addr()?); + let mut junk_buf = [0u8; 8192]; + loop { + let msg_fut = chan.recv(); + let read_fut = conn.read(&mut junk_buf); + + pin_mut!(msg_fut, read_fut); + + match select(msg_fut, read_fut).await { + Either::Left((Ok(msg), _)) => conn.write_all(&msg).await?, + + Either::Left((Err(e), _)) => { + error!("Channel closed for {}: {}", conn.peer_addr()?, e); + return Ok(()); + } + Either::Right((Ok(n), _)) => { + if n == 0 { + info!("Connection closed by peer {}", conn.peer_addr()?); + return Ok(()); + } else { + debug!("Discarded {} bytes from {}", n, conn.peer_addr()?); + // We don't process these bytes, just ignore them + } + } + // TCP read error + Either::Right((Err(e), _)) => { + error!("Error reading from {}: {}", conn.peer_addr()?, e); + return Ok(()); + } + } + } +} + +fn main() -> io::Result<()> { + env_logger::init(); + + let cli = CmdArgs::parse(); + + smol::block_on(async { + let listen_socket = TcpListener::bind(cli.listen).await?; + let addr_s = listen_socket.local_addr()?; + info!("Listening on {addr_s}"); + let (nmea_chan_tx, nmea_chan_rx) = channel::unbounded::(); + + smol::spawn( + async move { gpsd_client_loop(nmea_chan_tx, cli.host, cli.device, cli.msgs).await }, + ) + .detach(); + + while let Ok((srv, addr)) = listen_socket.accept().await { + info!("Connection from {addr}"); + let local_chan = nmea_chan_rx.clone(); + smol::spawn(async move { + if let Err(e) = ptp_server_loop(srv, local_chan).await { + error!("Connection task error {}", e); + } + }) + .detach(); + } + + Ok(()) + }) +}