StreamMonitor.java
/* Copyright 2002-2023 CS GROUP
* Licensed to CS GROUP (CS) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership.
* CS licenses this file to You under the Apache License, Version 2.0
* (the "License"); you may not use this file except in compliance with
* the License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package org.orekit.gnss.metric.ntrip;
import java.io.IOException;
import java.io.InputStream;
import java.net.HttpURLConnection;
import java.net.SocketTimeoutException;
import java.net.URISyntaxException;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicReference;
import org.hipparchus.util.FastMath;
import org.orekit.errors.OrekitException;
import org.orekit.errors.OrekitInternalError;
import org.orekit.errors.OrekitMessages;
import org.orekit.gnss.metric.messages.ParsedMessage;
import org.orekit.gnss.metric.parser.AbstractEncodedMessage;
import org.orekit.gnss.metric.parser.MessagesParser;
/** Monitor for retrieving streamed data from one mount point.
* @author Luc Maisonobe
* @since 11.0
*/
public class StreamMonitor extends AbstractEncodedMessage implements Runnable {
/** GGA header key. */
private static final String GGA_HEADER_KEY = "Ntrip-GGA";
/** Content type for GNSS data. */
private static final String GNSS_DATA_CONTENT_TYPE = "gnss/data";
/** Size of buffer for retrieving data. */
private static final int BUFFER_SIZE = 0x4000;
/** Frame preamble. */
private static final int PREAMBLE = 0xD3;
/** Frame preamble size. */
private static final int PREAMBLE_SIZE = 3;
/** Frame CRC size. */
private static final int CRC_SIZE = 3;
/** Generator polynomial for CRC. */
private static final int GENERATOR = 0x1864CFB;
/** High bit of the generator polynomial. */
private static final int HIGH = 0x1000000;
/** CRC 24Q lookup table. */
private static final int[] CRC_LOOKUP = new int[256];
static {
// set up lookup table
CRC_LOOKUP[0] = 0;
CRC_LOOKUP[1] = GENERATOR;
int h = GENERATOR;
for (int i = 2; i < 256; i <<= 1) {
h <<= 1;
if ((h & HIGH) != 0) {
h ^= GENERATOR;
}
for (int j = 0; j < i; ++j) {
CRC_LOOKUP[i + j] = CRC_LOOKUP[j] ^ h;
}
}
}
/** Associated NTRIP client. */
private final NtripClient client;
/** Mount point providing the stream. */
private final String mountPoint;
/** Messages type of the mount point. */
private final Type type;
/** Indicator for required NMEA. */
private final boolean nmeaRequired;
/** Indicator for ignoring unknown messages. */
private final boolean ignoreUnknownMessageTypes;
/** Delay before we reconnect after connection close. */
private final double reconnectDelay;
/** Multiplication factor for reconnection delay. */
private final double reconnectDelayFactor;
/** Max number of reconnections. */
private final int maxRetries;
/** Stop flag. */
private AtomicBoolean stop;
/** Circular buffer. */
private byte[] buffer;
/** Read index. */
private int readIndex;
/** Message end index. */
private int messageEndIndex;
/** Write index. */
private int writeIndex;
/** Observers for encoded messages. */
private final Map<Integer, List<MessageObserver>> observers;
/** Last available message for each type. */
private final Map<Integer, ParsedMessage> lastMessages;
/** Exception caught during monitoring. */
private final AtomicReference<OrekitException> exception;
/** Build a monitor for streaming data from a mount point.
* @param client associated NTRIP client
* @param mountPoint mount point providing the stream
* @param type messages type of the mount point
* @param requiresNMEA if true, the mount point requires a NMEA GGA sentence in the request
* @param ignoreUnknownMessageTypes if true, unknown messages types are silently ignored
* @param reconnectDelay delay before we reconnect after connection close
* @param reconnectDelayFactor factor by which reconnection delay is multiplied after each attempt
* @param maxRetries max number of reconnect a attempts without reading any data
*/
public StreamMonitor(final NtripClient client,
final String mountPoint, final Type type,
final boolean requiresNMEA, final boolean ignoreUnknownMessageTypes,
final double reconnectDelay, final double reconnectDelayFactor,
final int maxRetries) {
this.client = client;
this.mountPoint = mountPoint;
this.type = type;
this.nmeaRequired = requiresNMEA;
this.ignoreUnknownMessageTypes = ignoreUnknownMessageTypes;
this.reconnectDelay = reconnectDelay;
this.reconnectDelayFactor = reconnectDelayFactor;
this.maxRetries = maxRetries;
this.stop = new AtomicBoolean(false);
this.observers = new HashMap<>();
this.lastMessages = new HashMap<>();
this.exception = new AtomicReference<OrekitException>(null);
}
/** Add an observer for encoded messages.
* <p>
* If messages of the specified type have already been retrieved from
* a stream, the observer will be immediately notified with the last
* message as a side effect of being added.
* </p>
* @param typeCode code for the message type (if set to 0, notification
* will be triggered regardless of message type)
* @param observer observer for this message type
*/
public void addObserver(final int typeCode, final MessageObserver observer) {
synchronized (observers) {
// register the observer
List<MessageObserver> list = observers.get(typeCode);
if (list == null) {
// create a new list the first time we register an observer for a message
list = new ArrayList<>();
observers.put(typeCode, list);
}
list.add(observer);
// if we already have a message of the proper type
// immediately notify the new observer about it
final ParsedMessage last = lastMessages.get(typeCode);
if (last != null) {
observer.messageAvailable(mountPoint, last);
}
}
}
/** Stop monitoring. */
public void stopMonitoring() {
stop.set(true);
}
/** Retrieve exception caught during monitoring.
* @return exception caught
*/
public OrekitException getException() {
return exception.get();
}
/** {@inheritDoc} */
@Override
public void run() {
try {
final MessagesParser parser = type.getParser(extractUsedMessages());
int nbAttempts = 0;
double delay = reconnectDelay;
while (nbAttempts < maxRetries) {
try {
// prepare request
final HttpURLConnection connection = client.connect(mountPoint);
if (nmeaRequired) {
if (client.getGGA() == null) {
throw new OrekitException(OrekitMessages.STREAM_REQUIRES_NMEA_FIX, mountPoint);
} else {
// update NMEA GGA sentence in the extra headers for this mount point
connection.setRequestProperty(GGA_HEADER_KEY, client.getGGA());
}
}
// perform request
final int responseCode = connection.getResponseCode();
if (responseCode == HttpURLConnection.HTTP_UNAUTHORIZED) {
throw new OrekitException(OrekitMessages.FAILED_AUTHENTICATION, mountPoint);
} else if (responseCode != HttpURLConnection.HTTP_OK) {
throw new OrekitException(OrekitMessages.CONNECTION_ERROR,
connection.getURL().getHost(),
connection.getResponseMessage());
}
// for this request, we MUST get GNSS data
if (!GNSS_DATA_CONTENT_TYPE.equals(connection.getContentType())) {
throw new OrekitException(OrekitMessages.UNEXPECTED_CONTENT_TYPE, connection.getContentType());
}
// data extraction loop
resetCircularBuffer();
try (InputStream is = connection.getInputStream()) {
for (int r = fillUp(is); r >= 0; r = fillUp(is)) {
// we have read something, reset reconnection attempts counters
nbAttempts = 0;
delay = reconnectDelay;
if (stop.get()) {
// stop monitoring immediately
// (returning closes the input stream automatically)
return;
}
while (bufferSize() >= 3) {
if (peekByte(0) != PREAMBLE) {
// we are out of synch with respect to frame structure
// drop the unknown byte
moveRead(1);
} else {
final int size = (peekByte(1) & 0x03) << 8 | peekByte(2);
if (bufferSize() >= PREAMBLE_SIZE + size + CRC_SIZE) {
// check CRC
final int crc = (peekByte(PREAMBLE_SIZE + size) << 16) |
(peekByte(PREAMBLE_SIZE + size + 1) << 8) |
peekByte(PREAMBLE_SIZE + size + 2);
if (crc == computeCRC(PREAMBLE_SIZE + size)) {
// we have a complete and consistent frame
// we can extract the message it contains
messageEndIndex = (readIndex + PREAMBLE_SIZE + size) % BUFFER_SIZE;
moveRead(PREAMBLE_SIZE);
start();
final ParsedMessage message = parser.parse(this, ignoreUnknownMessageTypes);
if (message != null) {
storeAndNotify(message);
}
// jump to expected message end, in case the message was corrupted
// and parsing did not reach message end
readIndex = (messageEndIndex + CRC_SIZE) % BUFFER_SIZE;
} else {
// CRC is not consistent, we are probably not really synched
// and the preamble byte was just a random byte
// we drop this single byte and continue looking for sync
moveRead(1);
}
} else {
// the frame is not complete, we need more data
break;
}
}
}
}
}
} catch (SocketTimeoutException ste) {
// ignore exception, it will be handled by reconnection attempt below
} catch (IOException | URISyntaxException e) {
throw new OrekitException(e, OrekitMessages.CANNOT_PARSE_GNSS_DATA, client.getHost());
}
// manage reconnection
try {
Thread.sleep((int) FastMath.rint(delay * 1000));
} catch (InterruptedException ie) {
// Restore interrupted state...
Thread.currentThread().interrupt();
}
++nbAttempts;
delay *= reconnectDelayFactor;
}
} catch (OrekitException oe) {
// store the exception so it can be retrieved by Ntrip client
exception.set(oe);
}
}
/** Store a parsed encoded message and notify observers.
* @param message parsed message
*/
private void storeAndNotify(final ParsedMessage message) {
synchronized (observers) {
for (int typeCode : Arrays.asList(0, message.getTypeCode())) {
// store message
lastMessages.put(typeCode, message);
// notify observers
final List<MessageObserver> list = observers.get(typeCode);
if (list != null) {
for (final MessageObserver observer : list) {
// notify observer
observer.messageAvailable(mountPoint, message);
}
}
}
}
}
/** Reset the circular buffer.
*/
private void resetCircularBuffer() {
buffer = new byte[BUFFER_SIZE];
readIndex = 0;
writeIndex = 0;
}
/** Extract data from input stream.
* @param is input stream to extract data from
* @return number of byes read or -1
* @throws IOException if data cannot be extracted properly
*/
private int fillUp(final InputStream is) throws IOException {
final int max = bufferMaxWrite();
if (max == 0) {
// this should never happen
// the buffer is large enough for almost 16 encoded messages, including wrapping frame
throw new OrekitInternalError(null);
}
final int r = is.read(buffer, writeIndex, max);
if (r >= 0) {
writeIndex = (writeIndex + r) % BUFFER_SIZE;
}
return r;
}
/** {@inheritDoc} */
@Override
protected int fetchByte() {
if (readIndex == messageEndIndex || readIndex == writeIndex) {
return -1;
}
final int ret = buffer[readIndex] & 0xFF;
moveRead(1);
return ret;
}
/** Get the number of bytes currently in the buffer.
* @return number of bytes currently in the buffer
*/
private int bufferSize() {
final int n = writeIndex - readIndex;
return n >= 0 ? n : BUFFER_SIZE + n;
}
/** Peek a buffer byte without moving read pointer.
* @param offset offset counted from read pointer
* @return value of the byte at given offset
*/
private int peekByte(final int offset) {
return buffer[(readIndex + offset) % BUFFER_SIZE] & 0xFF;
}
/** Move read pointer.
* @param n number of bytes to move read pointer
*/
private void moveRead(final int n) {
readIndex = (readIndex + n) % BUFFER_SIZE;
}
/** Get the number of bytes that can be added to the buffer without wrapping around.
* @return number of bytes that can be added
*/
private int bufferMaxWrite() {
if (writeIndex >= readIndex) {
return (readIndex == 0 ? BUFFER_SIZE - 1 : BUFFER_SIZE) - writeIndex;
} else {
return readIndex - writeIndex - 1;
}
}
/** Compute QualCom CRC.
* @param length length of the byte stream
* @return QualCom CRC
*/
private int computeCRC(final int length) {
int crc = 0;
for (int i = 0; i < length; ++i) {
crc = ((crc << 8) ^ CRC_LOOKUP[peekByte(i) ^ (crc >>> 16)]) & (HIGH - 1);
}
return crc;
}
/** Extract the used messages.
* @return the extracted messages
*/
private List<Integer> extractUsedMessages() {
synchronized (observers) {
// List of needed messages
final List<Integer> messages = new ArrayList<>();
// Loop on observers entries
for (Map.Entry<Integer, List<MessageObserver>> entry : observers.entrySet()) {
// Extract message type code
final int typeCode = entry.getKey();
// Add to the list
messages.add(typeCode);
}
return messages;
}
}
}