1 | /*
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2 | * NtripServerLinux.c
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3 | *
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4 | * Copyright (c) 2003...2005
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5 | * German Federal Agency for Cartography and Geodesy (BKG)
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6 | *
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7 | * Developed for Networked Transport of RTCM via Internet Protocol (NTRIP)
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8 | * for streaming GNSS data over the Internet.
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9 | *
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10 | * Designed by Informatik Centrum Dortmund http://www.icd.de
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11 | *
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12 | * NTRIP is currently an experimental technology.
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13 | * The BKG disclaims any liability nor responsibility to any person or
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14 | * entity with respect to any loss or damage caused, or alleged to be
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15 | * caused, directly or indirectly by the use and application of the NTRIP
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16 | * technology.
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17 | *
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18 | * For latest information and updates, access:
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19 | * http://igs.ifag.de/index_ntrip.htm
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20 | *
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21 | * Georg Weber
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22 | * BKG, Frankfurt, Germany, June 2003-06-13
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23 | * E-mail: euref-ip@bkg.bund.de
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24 | *
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25 | * Based on the GNU General Public License published nmead
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26 | *
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27 | * This program is free software; you can redistribute it and/or
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28 | * modify it under the terms of the GNU General Public License
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29 | * as published by the Free Software Foundation; either version 2
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30 | * of the License, or (at your option) any later version.
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31 | *
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32 | * This program is distributed in the hope that it will be useful,
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33 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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34 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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35 | * GNU General Public License for more details.
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36 | *
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37 | * You should have received a copy of the GNU General Public License
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38 | * along with this program; if not, write to the Free Software
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39 | * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307,
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40 | * USA.
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41 | */
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42 |
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43 | /* $Id: NtripLinuxServer.c,v 1.8 2005/03/21 13:02:47 stoecker Exp $
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44 | * Changes - Version 0.7
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45 | * Sep 22 2003 Steffen Tschirpke <St.Tschirpke@actina.de>
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46 | * - socket support
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47 | * - command line option handling
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48 | * - error handling
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49 | * - help screen
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50 | *
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51 | * Changes - Version 0.9
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52 | * Feb 15 2005 Dirk Stoecker <soft@dstoecker.de>
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53 | * - some minor updates, fixed serial baudrate settings
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54 | *
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55 | * Changes - Version 0.10
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56 | * Apr 05 2005 Dirk Stoecker <soft@dstoecker.de>
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57 | * - some cleanup and miscellaneous fixes
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58 | * - replaced non-working simulate with file input (stdin)
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59 | * - TCP sending now somewhat more stable
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60 | * - cleanup of error handling
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61 | */
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62 |
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63 | #include <ctype.h>
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64 | #include <errno.h>
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65 | #include <fcntl.h>
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66 | #include <getopt.h>
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67 | #include <netdb.h>
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68 | #include <stdio.h>
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69 | #include <stdlib.h>
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70 | #include <string.h>
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71 | #include <unistd.h>
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72 | #include <arpa/inet.h>
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73 | #include <netinet/in.h>
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74 | #include <sys/socket.h>
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75 | #include <sys/termios.h>
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76 | #include <sys/types.h>
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77 |
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78 | #ifndef MSG_DONTWAIT
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79 | #define MSG_DONTWAIT 0 /* prevent compiler errors */
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80 | #endif
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81 | #ifndef O_EXLOCK
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82 | #define O_EXLOCK 0 /* prevent compiler errors */
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83 | #endif
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84 |
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85 | enum MODE { SERIAL = 1, TCPSOCKET = 2, INFILE = 3 };
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86 |
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87 | #define VERSION "NTRIP NtripServerLinux/0.10"
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88 | #define BUFSZ 1024
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89 |
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90 | /* default socket source */
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91 | #define SERV_HOST_ADDR "127.0.0.1"
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92 | #define SERV_TCP_PORT 1025
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93 |
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94 | /* default destination */
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95 | #define NTRIP_CASTER "www.euref-ip.net"
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96 | #define NTRIP_PORT 80
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97 |
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98 | int ttybaud = 19200;
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99 | char *ttyport = "/dev/gps";
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100 | char *filepath = "/dev/stdin";
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101 | enum MODE mode = INFILE;
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102 |
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103 | /* Forward references */
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104 | int openserial(u_char * tty, int blocksz, int ttybaud);
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105 | void send_receive_loop(int socket, int fd);
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106 | void usage(int);
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107 |
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108 | /*
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109 | * main
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110 | *
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111 | * Main entry point for the program. Processes command-line arguments and
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112 | * prepares for action.
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113 | *
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114 | * Parameters:
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115 | * argc : integer : Number of command-line arguments.
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116 | * argv : array of char : Command-line arguments as an array of zero-terminated
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117 | * pointers to strings.
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118 | *
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119 | * Return Value:
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120 | * The function does not return a value (although its return type is int).
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121 | *
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122 | * Remarks:
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123 | *
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124 | */
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125 |
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126 | int main(int argc, char **argv)
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127 | {
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128 | u_char *ttyin = ttyport;
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129 | int c, gpsfd = -1;
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130 | int size = 2048; /* for setting send buffer size */
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131 |
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132 | unsigned int out_port = 0;
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133 | unsigned int in_port = 0;
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134 | char *mountpoint = NULL;
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135 | char *password = "";
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136 | int sock_id;
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137 | char szSendBuffer[BUFSZ];
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138 | int nBufferBytes;
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139 |
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140 | struct hostent *inhost;
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141 | struct hostent *outhost;
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142 |
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143 | struct sockaddr_in in_addr;
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144 | struct sockaddr_in out_addr;
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145 |
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146 | if(!(outhost = gethostbyname(NTRIP_CASTER)))
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147 | {
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148 | fprintf(stderr, "WARNING: host %s unknown\n", NTRIP_CASTER);
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149 | }
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150 | else
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151 | {
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152 | memset((char *) &out_addr, 0x00, sizeof(out_addr));
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153 | memcpy(&out_addr.sin_addr, outhost->h_addr, outhost->h_length);
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154 | }
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155 |
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156 | /* get and check program arguments */
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157 | if(argc <= 1)
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158 | {
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159 | usage(2);
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160 | exit(1);
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161 | }
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162 | while((c = getopt(argc, argv, "M:i:h:b:p:s:a:m:c:H:P:")) != EOF)
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163 | {
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164 | switch (c)
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165 | {
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166 | case 'M':
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167 | mode = atoi(optarg);
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168 | if((mode == 0) || (mode > 3))
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169 | {
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170 | fprintf(stderr, "ERROR: can't convert %s to a valid mode\n", optarg);
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171 | usage(-1);
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172 | }
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173 | break;
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174 | case 'i': /* gps serial ttyin */
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175 | ttyin = optarg;
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176 | break;
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177 | case 'b': /* serial ttyin speed */
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178 | ttybaud = atoi(optarg);
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179 | if(ttybaud <= 1)
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180 | {
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181 | fprintf(stderr, "ERROR: can't convert %s to valid serial speed\n", optarg);
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182 | usage(1);
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183 | }
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184 | break;
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185 | case 'a': /* http server IP address A.B.C.D */
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186 | outhost = gethostbyname(optarg);
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187 | if(outhost == NULL)
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188 | {
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189 | fprintf(stderr, "ERROR: host %s unknown\n", optarg);
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190 | usage(-2);
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191 | }
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192 | memset((char *) &out_addr, 0x00, sizeof(out_addr));
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193 | memcpy(&out_addr.sin_addr, outhost->h_addr, outhost->h_length);
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194 | break;
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195 | case 'p': /* http server port */
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196 | out_port = atoi(optarg);
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197 | if(out_port <= 1)
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198 | {
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199 | fprintf(stderr, "ERROR: can't convert %s to a valid HTTP server port\n",
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200 | optarg);
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201 | usage(1);
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202 | }
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203 | break;
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204 | case 'm': /* http server mountpoint */
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205 | mountpoint = optarg;
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206 | break;
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207 | case 'f': /* datastream from file */
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208 | filepath = optarg;
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209 | break;
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210 | case 'c': /* password */
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211 | password = optarg;
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212 | break;
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213 | case 'H': /* host */
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214 | inhost = gethostbyname(optarg);
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215 | if(inhost == NULL)
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216 | {
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217 | fprintf(stderr, "ERROR: host %s unknown\n", optarg);
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218 | usage(-2);
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219 | }
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220 | memset((char *) &in_addr, 0x00, sizeof(in_addr));
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221 | memcpy(&in_addr.sin_addr, inhost->h_addr, inhost->h_length);
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222 | break;
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223 | case 'P': /* port */
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224 | in_port = atoi(optarg);
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225 | if(in_port <= 1)
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226 | {
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227 | fprintf(stderr, "ERROR: can't convert %s to a valid receiver port\n",
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228 | optarg);
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229 | usage(1);
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230 | }
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231 | break;
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232 | case 'h': /* help */
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233 | case '?':
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234 | usage(0);
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235 | break;
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236 | default:
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237 | usage(2);
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238 | break;
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239 | }
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240 |
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241 | if(in_port <= 0)
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242 | {
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243 | in_port = SERV_TCP_PORT;
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244 | }
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245 | if(out_port <= 0)
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246 | {
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247 | out_port = NTRIP_PORT;
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248 | }
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249 | }
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250 |
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251 | argc -= optind;
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252 | argv += optind;
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253 |
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254 | if(argc > 0)
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255 | {
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256 | fprintf(stderr, "ERROR: Extra args on command line: ");
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257 | for(; argc > 0; argc--)
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258 | {
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259 | fprintf(stderr, " %s", *argv++);
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260 | }
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261 | fprintf(stderr, "\n");
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262 | usage(1); /* never returns */
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263 | }
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264 |
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265 | if(mountpoint == NULL)
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266 | {
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267 | fprintf(stderr, "ERROR: Missing mountpoint argument\n");
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268 | exit(1);
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269 | }
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270 | if(!password[0])
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271 | {
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272 | fprintf(stderr, "WARNING: Missing password argument - are you really sure?\n");
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273 | }
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274 |
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275 | switch (mode)
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276 | {
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277 | case INFILE:
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278 | {
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279 | gpsfd = open(filepath, O_RDONLY);
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280 | if(!gpsfd)
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281 | {
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282 | perror("ERROR: opening input file");
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283 | exit(1);
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284 | }
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285 | /* set blocking mode in case it was not set (seems to be sometimes for fifo's) */
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286 | fcntl(gpsfd, F_SETFL, 0);
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287 | printf("file input: file = %s\n", filepath);
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288 | }
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289 | break;
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290 | case SERIAL: /* open serial port */
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291 | {
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292 | gpsfd = openserial(ttyin, 1, ttybaud);
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293 | if(gpsfd < 0)
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294 | {
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295 | exit(1);
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296 | }
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297 | printf("serial input: device = %s, speed = %d\n", ttyin, ttybaud);
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298 | }
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299 | break;
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300 | case TCPSOCKET:
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301 | {
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302 | in_addr.sin_family = AF_INET;
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303 | in_addr.sin_port = htons(in_port);
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304 |
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305 | if((gpsfd = socket(AF_INET, SOCK_STREAM, 0)) < 0)
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306 | {
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307 | fprintf(stderr, "ERROR: can't create socket\n");
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308 | exit(1);
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309 | }
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310 |
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311 | printf("socket input: host = %s, port = %d\n",
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312 | inet_ntoa(in_addr.sin_addr), in_port);
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313 |
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314 | if(connect(gpsfd, (struct sockaddr *) &in_addr, sizeof(in_addr)) < 0)
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315 | {
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316 | fprintf(stderr, "ERROR: can't connect input to %s at port %d\n",
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317 | inet_ntoa(in_addr.sin_addr), in_port);
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318 | exit(1);
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319 | }
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320 | }
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321 | break;
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322 | default:
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323 | usage(-1);
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324 | break;
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325 | }
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326 |
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327 | out_addr.sin_family = AF_INET;
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328 | out_addr.sin_port = htons((u_short) (out_port));
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329 |
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330 | /* ----- main part ----- */
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331 | while(1)
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332 | {
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333 | /* create socket */
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334 | if((sock_id = socket(AF_INET, SOCK_STREAM, 0)) < 0)
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335 | {
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336 | fprintf(stderr, "ERROR : could not create socket\n");
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337 | exit(2);
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338 | }
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339 | /* connect to caster */
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340 | fprintf(stderr, "caster output: host = %s, port = %d, mountpoint = %s\n",
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341 | inet_ntoa(out_addr.sin_addr), out_port, mountpoint);
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342 | if(connect(sock_id, (struct sockaddr *) &out_addr, sizeof(out_addr)) < 0)
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343 | {
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344 | fprintf(stderr, "ERROR: can't connect output to %s at port %d\n",
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345 | inet_ntoa(out_addr.sin_addr), out_port);
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346 | close(sock_id);
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347 | exit(3);
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348 | }
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349 |
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350 | /* set socket buffer size */
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351 | setsockopt(sock_id, SOL_SOCKET, SO_SNDBUF, (const char *) &size,
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352 | sizeof(const char *));
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353 | /* send message to caster */
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354 | szSendBuffer[0] = '\0';
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355 | sprintf(szSendBuffer, "SOURCE %s /%s\r\n", password, mountpoint);
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356 | strcat(szSendBuffer, "Source-Agent: ");
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357 | strcat(szSendBuffer, VERSION);
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358 | strcat(szSendBuffer, "\r\n");
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359 | strcat(szSendBuffer, "\r\n");
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360 | strcat(szSendBuffer, "\0");
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361 | nBufferBytes = strlen(szSendBuffer);
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362 | if((send(sock_id, szSendBuffer, nBufferBytes, 0)) != nBufferBytes)
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363 | {
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364 | fprintf(stderr, "ERROR: could not send to caster\n");
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365 | close(sock_id);
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366 | sleep(5);
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367 | exit(0);
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368 | }
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369 | /* check caster's response */
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370 | nBufferBytes = recv(sock_id, szSendBuffer, sizeof(szSendBuffer), 0);
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371 | szSendBuffer[nBufferBytes] = '\0';
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372 | if(strcmp(szSendBuffer, "OK\r\n"))
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373 | {
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374 | char *a;
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375 | fprintf(stderr, "ERROR: caster's reply is not OK : ");
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376 | for(a = szSendBuffer; *a && *a != '\n' && *a != '\r'; ++a)
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377 | {
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378 | fprintf(stderr, "%.1s", isprint(*a) ? a : ".");
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379 | }
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380 | fprintf(stderr, "\n");
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381 | close(sock_id);
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382 | sleep(5);
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383 | exit(0);
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384 | }
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385 | printf("connection succesfull\n");
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386 | send_receive_loop(sock_id, gpsfd);
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387 | }
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388 | exit(0);
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389 | }
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390 |
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391 | void send_receive_loop(int socket, int fd)
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392 | {
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393 | char buffer[BUFSZ] = { 0 };
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394 | int nBufferBytes = 0, i;
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395 | /* data transmission */
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396 | printf("transfering data ...\n");
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397 | while(1)
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398 | {
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399 | if(!nBufferBytes)
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400 | {
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401 | /* receiving data */
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402 | nBufferBytes = read(fd, buffer, BUFSZ);
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403 | if(!nBufferBytes)
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404 | {
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405 | printf("WARNING: no data received from input\n");
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406 | continue;
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407 | }
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408 | else if(nBufferBytes < 0)
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409 | {
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410 | perror("ERROR: reading input failed");
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411 | exit(1);
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412 | }
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413 | }
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414 | /* send data */
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415 | if((i = send(socket, buffer, nBufferBytes, MSG_DONTWAIT)) != nBufferBytes)
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416 | {
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417 | if(i < 0 && errno != EAGAIN)
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418 | {
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419 | perror("WARNING: could not send data - retry connection");
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420 | close(socket);
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421 | sleep(5);
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422 | return;
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423 | }
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424 | else if(i)
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425 | {
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426 | memmove(buffer, buffer+i, nBufferBytes-i);
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427 | nBufferBytes -= i;
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428 | }
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429 | }
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430 | else
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431 | {
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432 | nBufferBytes = 0;
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433 | }
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434 | }
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435 | }
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436 |
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437 | /*
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438 | * openserial
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439 | *
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440 | * Open the serial port with the given device name and configure it for
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441 | * reading NMEA data from a GPS receiver.
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442 | *
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443 | * Parameters:
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444 | * tty : pointer to : A zero-terminated string containing the device
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445 | * unsigned char name of the appropriate serial port.
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446 | * blocksz : integer : Block size for port I/O
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447 | * ttybaud : integer : Baud rate for port I/O
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448 | *
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449 | * Return Value:
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450 | * The function returns a file descriptor for the opened port if successful.
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451 | * The function returns -1 in the event of an error.
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452 | *
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453 | * Remarks:
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454 | *
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455 | */
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456 |
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457 | int openserial(u_char * tty, int blocksz, int ttybaud)
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458 | {
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459 | int fd;
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460 | struct termios termios;
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461 |
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462 | fd = open(tty, O_RDWR | O_NONBLOCK | O_EXLOCK);
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463 | if(fd < 0)
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464 | {
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465 | perror("ERROR: opening serial connection");
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466 | return (-1);
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467 | }
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468 | if(tcgetattr(fd, &termios) < 0)
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469 | {
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470 | perror("ERROR: get serial attributes");
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471 | return (-1);
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472 | }
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473 | termios.c_iflag = 0;
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474 | termios.c_oflag = 0; /* (ONLRET) */
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475 | termios.c_cflag = CS8 | CLOCAL | CREAD;
|
---|
476 | termios.c_lflag = 0;
|
---|
477 | {
|
---|
478 | int cnt;
|
---|
479 | for(cnt = 0; cnt < NCCS; cnt++)
|
---|
480 | termios.c_cc[cnt] = -1;
|
---|
481 | }
|
---|
482 | termios.c_cc[VMIN] = blocksz;
|
---|
483 | termios.c_cc[VTIME] = 2;
|
---|
484 |
|
---|
485 | #if (B4800 != 4800)
|
---|
486 | /*
|
---|
487 | * Not every system has speed settings equal to absolute speed value.
|
---|
488 | */
|
---|
489 |
|
---|
490 | switch (ttybaud)
|
---|
491 | {
|
---|
492 | case 300:
|
---|
493 | ttybaud = B300;
|
---|
494 | break;
|
---|
495 | case 1200:
|
---|
496 | ttybaud = B1200;
|
---|
497 | break;
|
---|
498 | case 2400:
|
---|
499 | ttybaud = B2400;
|
---|
500 | break;
|
---|
501 | case 4800:
|
---|
502 | ttybaud = B4800;
|
---|
503 | break;
|
---|
504 | case 9600:
|
---|
505 | ttybaud = B9600;
|
---|
506 | break;
|
---|
507 | case 19200:
|
---|
508 | ttybaud = B19200;
|
---|
509 | break;
|
---|
510 | case 38400:
|
---|
511 | ttybaud = B38400;
|
---|
512 | break;
|
---|
513 | #ifdef B57600
|
---|
514 | case 57600:
|
---|
515 | ttybaud = B57600;
|
---|
516 | break;
|
---|
517 | #endif
|
---|
518 | #ifdef B115200
|
---|
519 | case 115200:
|
---|
520 | ttybaud = B115200;
|
---|
521 | break;
|
---|
522 | #endif
|
---|
523 | #ifdef B230400
|
---|
524 | case 230400:
|
---|
525 | ttybaud = B230400;
|
---|
526 | break;
|
---|
527 | #endif
|
---|
528 | default:
|
---|
529 | fprintf(stderr, "WARNING: Baud settings not useful, using 19200\n");
|
---|
530 | ttybaud = B19200;
|
---|
531 | break;
|
---|
532 | }
|
---|
533 | #endif
|
---|
534 |
|
---|
535 | if(cfsetispeed(&termios, ttybaud) != 0)
|
---|
536 | {
|
---|
537 | perror("ERROR: setting serial speed with cfsetispeed");
|
---|
538 | return (-1);
|
---|
539 | }
|
---|
540 | if(cfsetospeed(&termios, ttybaud) != 0)
|
---|
541 | {
|
---|
542 | perror("ERROR: setting serial speed with cfsetospeed");
|
---|
543 | return (-1);
|
---|
544 | }
|
---|
545 | if(tcsetattr(fd, TCSANOW, &termios) < 0)
|
---|
546 | {
|
---|
547 | perror("ERROR: setting serial attributes");
|
---|
548 | return (-1);
|
---|
549 | }
|
---|
550 | if(fcntl(fd, F_SETFL, 0) == -1)
|
---|
551 | {
|
---|
552 | perror("WARNING: setting blocking mode failed");
|
---|
553 | }
|
---|
554 | return (fd);
|
---|
555 | }
|
---|
556 |
|
---|
557 | /*
|
---|
558 | * usage
|
---|
559 | *
|
---|
560 | * Send a usage message to standard error and quit the program.
|
---|
561 | *
|
---|
562 | * Parameters:
|
---|
563 | * None.
|
---|
564 | *
|
---|
565 | * Return Value:
|
---|
566 | * The function does not return a value.
|
---|
567 | *
|
---|
568 | * Remarks:
|
---|
569 | *
|
---|
570 | */
|
---|
571 |
|
---|
572 | void usage(int rc)
|
---|
573 | {
|
---|
574 | fprintf(stderr, "Usage: %s [OPTIONS]\n", VERSION);
|
---|
575 | fprintf(stderr, " Options are:\n");
|
---|
576 | fprintf(stderr, " -a caster name or address (default: %s)\n",
|
---|
577 | NTRIP_CASTER);
|
---|
578 | fprintf(stderr, " -p caster port (default: %d)\n", NTRIP_PORT);
|
---|
579 | fprintf(stderr, " -m caster mountpoint\n");
|
---|
580 | fprintf(stderr, " -c password for caster login\n");
|
---|
581 | fprintf(stderr, " -h|? print this help screen\n");
|
---|
582 | fprintf(stderr, " -M <mode> sets the mode\n");
|
---|
583 | fprintf(stderr, " (1=serial, 2=tcpsocket, 3=file)\n");
|
---|
584 | fprintf(stderr, " Mode = file:\n");
|
---|
585 | fprintf(stderr, " -s file, simulate data stream by reading log file\n");
|
---|
586 | fprintf(stderr, " default/current setting is %s\n", filepath);
|
---|
587 | fprintf(stderr, " Mode = serial:\n");
|
---|
588 | fprintf(stderr, " -b baud_rate, sets serial input baud rate\n");
|
---|
589 | fprintf(stderr, " default/current value is %d\n", ttybaud);
|
---|
590 | fprintf(stderr, " -i input_device, sets name of serial input device\n");
|
---|
591 | fprintf(stderr, " default/current value is %s\n", ttyport);
|
---|
592 | fprintf(stderr, " (normally a symbolic link to /dev/tty\?\?)\n");
|
---|
593 | fprintf(stderr, " Mode = tcpsocket:\n");
|
---|
594 | fprintf(stderr, " -P receiver port (default: 1025)\n");
|
---|
595 | fprintf(stderr, " -H hostname of TCP server (default: 127.0.0.1)\n");
|
---|
596 | fprintf(stderr, " \n");
|
---|
597 | exit(rc);
|
---|
598 | }
|
---|