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https://github.com/wpilibsuite/allwpilib
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Rename HTTPSink to MJPEGServer.
This commit is contained in:
Peter Johnson
508
src/MJPEGServerImpl.cpp
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508
src/MJPEGServerImpl.cpp
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@@ -0,0 +1,508 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "MJPEGServerImpl.h"
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#include <chrono>
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#include "llvm/SmallString.h"
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#include "llvm/StringExtras.h"
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#include "support/raw_socket_istream.h"
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#include "support/raw_socket_ostream.h"
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#include "tcpsockets/TCPAcceptor.h"
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#include "cameraserver_cpp.h"
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#include "Handle.h"
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#include "Log.h"
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#include "SourceImpl.h"
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using namespace cs;
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// The boundary used for the M-JPEG stream.
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// It separates the multipart stream of pictures
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#define BOUNDARY "boundarydonotcross"
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// Standard header to send along with other header information like mimetype.
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//
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// The parameters should ensure the browser does not cache our answer.
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// A browser should connect for each file and not serve files from its cache.
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// Using cached pictures would lead to showing old/outdated pictures.
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// Many browsers seem to ignore, or at least not always obey, those headers.
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void MJPEGServerImpl::SendHeader(llvm::raw_ostream& os, int code,
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llvm::StringRef codeText,
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llvm::StringRef contentType,
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llvm::StringRef extra) {
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os << "HTTP/1.0 " << code << ' ' << codeText << "\r\n";
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os << "Connection: close\r\n"
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"Server: CameraServer/1.0\r\n"
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"Cache-Control: no-store, no-cache, must-revalidate, pre-check=0, "
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"post-check=0, max-age=0\r\n"
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"Pragma: no-cache\r\n"
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"Expires: Mon, 3 Jan 2000 12:34:56 GMT\r\n";
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os << "Content-Type: " << contentType << "\r\n";
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if (!extra.empty()) os << extra << "\r\n";
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os << "\r\n"; // header ends with a blank line
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}
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// Send error header and message
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// @param code HTTP error code (e.g. 404)
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// @param message Additional message text
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void MJPEGServerImpl::SendError(llvm::raw_ostream& os, int code,
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llvm::StringRef message) {
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llvm::StringRef codeText, extra, baseMessage;
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switch (code) {
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case 401:
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codeText = "Unauthorized";
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extra = "WWW-Authenticate: Basic realm=\"CameraServer\"";
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baseMessage = "401: Not Authenticated!";
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break;
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case 404:
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codeText = "Not Found";
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baseMessage = "404: Not Found!";
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break;
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case 500:
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codeText = "Internal Server Error";
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baseMessage = "500: Internal Server Error!";
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break;
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case 400:
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codeText = "Bad Request";
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baseMessage = "400: Not Found!";
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break;
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case 403:
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codeText = "Forbidden";
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baseMessage = "403: Forbidden!";
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break;
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default:
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code = 501;
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codeText = "Not Implemented";
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baseMessage = "501: Not Implemented!";
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break;
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}
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SendHeader(os, code, codeText, "text/plain", extra);
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os << baseMessage << "\r\n" << message;
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}
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// Read a line from an input stream (up to a maximum length).
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// The returned buffer will contain the trailing \n (unless the maximum length
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// was reached).
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bool MJPEGServerImpl::ReadLine(wpi::raw_istream& istream,
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llvm::SmallVectorImpl<char>& buffer,
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int maxLen) {
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buffer.clear();
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for (int i = 0; i < maxLen; ++i) {
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char c;
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istream.read(c);
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if (istream.has_error()) return false;
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buffer.push_back(c);
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if (c == '\n') break;
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}
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return true;
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}
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// Unescape a %xx-encoded URI. Returns false on error.
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bool MJPEGServerImpl::UnescapeURI(llvm::StringRef str,
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llvm::SmallVectorImpl<char>& out) {
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for (auto i = str.begin(), end = str.end(); i != end; ++i) {
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// pass non-escaped characters to output
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if (*i != '%') {
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// decode + to space
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if (*i == '+')
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out.push_back(' ');
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else
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out.push_back(*i);
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continue;
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}
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// are there enough characters left?
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if (i + 2 < end) return false;
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// replace %xx with the corresponding character
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unsigned val1 = llvm::hexDigitValue(*++i);
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if (val1 == -1U) return false;
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unsigned val2 = llvm::hexDigitValue(*++i);
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if (val2 == -1U) return false;
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out.push_back((val1 << 4) | val2);
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}
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return true;
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}
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// Perform a command specified by HTTP GET parameters.
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bool MJPEGServerImpl::ProcessCommand(llvm::raw_ostream& os, SourceImpl& source,
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llvm::StringRef parameters, bool respond) {
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llvm::SmallString<256> responseBuf;
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llvm::raw_svector_ostream response{responseBuf};
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// command format: param1=value1¶m2=value2...
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while (!parameters.empty()) {
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// split out next param and value
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llvm::StringRef rawParam, rawValue;
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std::tie(rawParam, parameters) = parameters.split('&');
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if (rawParam.empty()) continue; // ignore "&&"
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std::tie(rawParam, rawValue) = rawParam.split('=');
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if (rawParam.empty() || rawValue.empty()) continue; // ignore "param="
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DEBUG4("HTTP parameter \"" << rawParam << "\" value \"" << rawValue
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<< "\"");
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// unescape param
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llvm::SmallString<64> param;
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if (!UnescapeURI(rawParam, param)) {
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llvm::SmallString<128> error;
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llvm::raw_svector_ostream oss{error};
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oss << "could not unescape parameter \"" << rawParam << "\"";
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SendError(os, 500, error.str());
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DEBUG(error.str());
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return false;
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}
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// unescape value
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llvm::SmallString<64> value;
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if (!UnescapeURI(rawValue, value)) {
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llvm::SmallString<128> error;
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llvm::raw_svector_ostream oss{error};
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oss << "could not unescape value \"" << rawValue << "\"";
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SendError(os, 500, error.str());
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DEBUG(error.str());
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return false;
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}
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// try to assign parameter
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auto prop = source.GetPropertyIndex(param);
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if (!prop) {
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response << param << ": \"ignored\"\r\n";
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WARNING("ignoring HTTP parameter \"" << param << "\"");
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continue;
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}
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CS_Status status = 0;
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auto type = source.GetPropertyType(prop);
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switch (type) {
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case CS_PROP_BOOLEAN:
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case CS_PROP_INTEGER:
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case CS_PROP_ENUM: {
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int val;
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if (value.str().getAsInteger(10, val)) {
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response << param << ": \"invalid integer\"\r\n";
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WARNING("HTTP parameter \"" << param << "\" value \"" << value
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<< "\" is not an integer");
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} else {
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response << param << ": " << val << "\r\n";
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DEBUG4("HTTP parameter \"" << param << "\" value " << value);
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source.SetProperty(prop, val, &status);
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}
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break;
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}
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case CS_PROP_STRING: {
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response << param << ": \"ok\"\r\n";
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DEBUG4("HTTP parameter \"" << param << "\" value \"" << value << "\"");
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source.SetStringProperty(prop, value, &status);
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break;
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}
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default:
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break;
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}
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}
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// Send HTTP response
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if (respond) {
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SendHeader(os, 200, "OK", "text/plain");
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os << response.str() << "\r\n";
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}
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return true;
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}
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// Send a JSON file which is contains information about the source parameters.
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void MJPEGServerImpl::SendJSON(llvm::raw_ostream& os, SourceImpl& source,
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bool header) {
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if (header) SendHeader(os, 200, "OK", "application/x-javascript");
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os << "{\n\"controls\": [\n";
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llvm::SmallVector<int, 32> properties_vec;
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bool first = true;
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CS_Status status = 0;
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for (auto prop : source.EnumerateProperties(properties_vec, &status)) {
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if (first)
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first = false;
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else
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os << ",\n";
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os << "{";
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llvm::SmallString<128> name_buf;
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auto name = source.GetPropertyName(prop, name_buf, &status);
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auto type = source.GetPropertyType(prop);
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os << "\n\"name\": \"" << name << '"';
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os << ",\n\"id\": \"" << prop << '"';
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os << ",\n\"type\": \"" << type << '"';
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os << ",\n\"min\": \"" << source.GetPropertyMin(prop, &status) << '"';
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os << ",\n\"max\": \"" << source.GetPropertyMax(prop, &status) << '"';
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os << ",\n\"step\": \"" << source.GetPropertyStep(prop, &status) << '"';
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os << ",\n\"default\": \"" << source.GetPropertyDefault(prop, &status)
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<< '"';
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os << ",\n\"value\": \"";
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switch (type) {
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case CS_PROP_BOOLEAN:
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case CS_PROP_INTEGER:
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case CS_PROP_ENUM:
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os << source.GetProperty(prop, &status);
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break;
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case CS_PROP_STRING: {
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llvm::SmallString<128> strval_buf;
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os << source.GetStringProperty(prop, strval_buf, &status);
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break;
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}
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default:
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break;
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}
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os << '"';
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// os << ",\n\"dest\": \"0\"";
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// os << ",\n\"flags\": \"" << param->flags << '"';
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// os << ",\n\"group\": \"" << param->group << '"';
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// append the menu object to the menu typecontrols
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if (source.GetPropertyType(prop) == CS_PROP_ENUM) {
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os << ",\n\"menu\": {";
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auto choices = source.GetEnumPropertyChoices(prop, &status);
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int j = 0;
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for (auto choice = choices.begin(), end = choices.end(); choice != end;
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++j, ++choice) {
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if (j != 0) os << ", ";
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// replace any non-printable characters in name with spaces
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llvm::SmallString<128> ch_name;
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for (char ch : *choice) ch_name.push_back(isprint(ch) ? ch : ' ');
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os << '"' << j << "\": \"" << ch_name << '"';
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}
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os << "}\n";
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}
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os << '}';
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}
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os << "\n]\n}\n";
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os.flush();
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}
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MJPEGServerImpl::MJPEGServerImpl(llvm::StringRef name,
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llvm::StringRef description,
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std::unique_ptr<wpi::NetworkAcceptor> acceptor)
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: SinkImpl{name},
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m_description(description),
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m_acceptor{std::move(acceptor)} {
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m_active = true;
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m_serverThread = std::thread(&MJPEGServerImpl::ServerThreadMain, this);
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}
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MJPEGServerImpl::~MJPEGServerImpl() { Stop(); }
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llvm::StringRef MJPEGServerImpl::GetDescription(
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llvm::SmallVectorImpl<char>& buf) const {
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return m_description;
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}
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void MJPEGServerImpl::Stop() {
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m_active = false;
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// wake up server thread by shutting down the socket
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m_acceptor->shutdown();
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// join server thread
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if (m_serverThread.joinable()) m_serverThread.join();
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// close streams
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for (auto& stream : m_connStreams) stream->close();
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// wake up connection threads by forcing an empty frame to be sent
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if (auto source = GetSource())
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source->Wakeup();
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// join connection threads
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for (auto& connThread : m_connThreads) connThread.join();
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}
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// Send HTTP response and a stream of JPG-frames
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void MJPEGServerImpl::SendStream(wpi::raw_socket_ostream& os) {
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os.SetUnbuffered();
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llvm::SmallString<256> header;
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llvm::raw_svector_ostream oss{header};
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SendHeader(oss, 200, "OK", "multipart/x-mixed-replace;boundary=" BOUNDARY,
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"Access-Control-Allow-Origin: *");
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oss << "--" BOUNDARY "\r\n";
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os << oss.str();
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DEBUG("HTTP: Headers send, sending stream now");
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Enable();
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while (m_active && !os.has_error()) {
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auto source = GetSource();
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if (!source) {
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// Source disconnected; sleep for one second
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std::this_thread::sleep_for(std::chrono::seconds(1));
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continue;
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}
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DEBUG4("HTTP: waiting for frame");
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Frame frame = source->GetNextFrame(); // blocks
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if (!m_active) break;
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if (!frame) {
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// Bad frame; sleep for 10 ms so we don't consume all processor time.
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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continue;
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}
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DEBUG4("HTTP: sending frame size=" << frame.size());
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// print the individual mimetype and the length
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// sending the content-length fixes random stream disruption observed
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// with firefox
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double timestamp = std::chrono::duration_cast<std::chrono::seconds>(
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frame.time().time_since_epoch())
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.count();
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header.clear();
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oss << "Content-Type: image/jpeg\r\n"
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<< "Content-Length: " << frame.size() << "\r\n"
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<< "X-Timestamp: " << timestamp << "\r\n"
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<< "\r\n";
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os << oss.str();
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os << llvm::StringRef(frame.data(), frame.size());
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os << "\r\n--" BOUNDARY "\r\n";
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// os.flush();
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}
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Disable();
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}
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// thread for clients that connected to this server
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void MJPEGServerImpl::ConnThreadMain(wpi::NetworkStream* stream) {
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wpi::raw_socket_istream is{*stream};
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wpi::raw_socket_ostream os{*stream, true};
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// Read the request string from the stream
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llvm::SmallString<128> buf;
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if (!ReadLine(is, buf, 4096)) {
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DEBUG("HTTP error getting request string");
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return;
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}
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enum { kCommand, kStream, kGetSettings } type;
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llvm::StringRef parameters;
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size_t pos;
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// Determine request type. Most of these are for mjpgstreamer
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// compatibility.
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if ((pos = buf.find("POST /stream")) != llvm::StringRef::npos) {
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type = kStream;
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parameters = buf.substr(buf.find('?', pos + 12)).substr(1);
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} else if ((pos = buf.find("GET /?action=stream")) != llvm::StringRef::npos) {
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type = kStream;
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parameters = buf.substr(buf.find('&', pos + 19)).substr(1);
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} else if (buf.find("GET /input") != llvm::StringRef::npos &&
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buf.find(".json") != llvm::StringRef::npos) {
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type = kGetSettings;
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} else if (buf.find("GET /output") != llvm::StringRef::npos &&
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buf.find(".json") != llvm::StringRef::npos) {
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type = kGetSettings;
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} else if ((pos = buf.find("GET /?action=command")) !=
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llvm::StringRef::npos) {
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type = kCommand;
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parameters = buf.substr(buf.find('&', pos + 20)).substr(1);
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} else {
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DEBUG("HTTP request resource not found");
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SendError(os, 404, "Resource not found");
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return;
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}
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// Parameter can only be certain characters. This also strips the EOL.
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pos = parameters.find_first_not_of(
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"abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_"
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"-=&1234567890%./");
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parameters = parameters.substr(0, pos);
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DEBUG("command parameters: \"" << parameters << "\"");
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// Read the rest of the HTTP request.
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// The end of the request is marked by a single, empty line with "\r\n"
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llvm::SmallString<128> buf2;
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do {
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if (!ReadLine(is, buf2, 4096)) return;
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} while (!buf2.startswith("\r\n"));
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// Send response
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switch (type) {
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case kStream:
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if (auto source = GetSource()) {
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DEBUG("request for stream " << source->GetName());
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if (!ProcessCommand(os, *source, parameters, false)) return;
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}
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SendStream(os);
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break;
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case kCommand:
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if (auto source = GetSource()) {
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ProcessCommand(os, *source, parameters, true);
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} else {
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SendHeader(os, 200, "OK", "text/plain");
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os << "Ignored due to no connected source." << "\r\n";
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DEBUG("Ignored due to no connected source.");
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}
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break;
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case kGetSettings:
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DEBUG("request for JSON file");
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if (auto source = GetSource())
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SendJSON(os, *source, true);
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else
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SendError(os, 404, "Resource not found");
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break;
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||||
}
|
||||
|
||||
DEBUG("leaving HTTP client thread");
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}
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||||
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// Main server thread
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||||
void MJPEGServerImpl::ServerThreadMain() {
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if (m_acceptor->start() != 0) {
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m_active = false;
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||||
return;
|
||||
}
|
||||
|
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DEBUG("waiting for clients to connect");
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while (m_active) {
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auto stream = m_acceptor->accept();
|
||||
if (!stream) {
|
||||
m_active = false;
|
||||
return;
|
||||
}
|
||||
if (!m_active) return;
|
||||
|
||||
DEBUG("server: client connection from " << stream->getPeerIP());
|
||||
|
||||
m_connThreads.emplace_back(&MJPEGServerImpl::ConnThreadMain, this,
|
||||
stream.get());
|
||||
m_connStreams.emplace_back(std::move(stream));
|
||||
}
|
||||
|
||||
DEBUG("leaving server thread");
|
||||
}
|
||||
|
||||
namespace cs {
|
||||
|
||||
CS_Sink CreateMJPEGServer(llvm::StringRef name, llvm::StringRef listenAddress,
|
||||
int port, CS_Status* status) {
|
||||
llvm::SmallString<128> descBuf;
|
||||
llvm::raw_svector_ostream desc{descBuf};
|
||||
desc << "HTTP Server on port " << port;
|
||||
llvm::SmallString<128> str{listenAddress};
|
||||
auto sink = std::make_shared<MJPEGServerImpl>(
|
||||
name, desc.str(),
|
||||
std::unique_ptr<wpi::NetworkAcceptor>(
|
||||
new wpi::TCPAcceptor(port, str.c_str(), Logger::GetInstance())));
|
||||
return Sinks::GetInstance().Allocate(SinkData::kHTTP, sink);
|
||||
}
|
||||
|
||||
} // namespace cs
|
||||
|
||||
extern "C" {
|
||||
|
||||
CS_Sink CS_CreateMJPEGServer(const char* name, const char* listenAddress,
|
||||
int port, CS_Status* status) {
|
||||
return cs::CreateMJPEGServer(name, listenAddress, port, status);
|
||||
}
|
||||
|
||||
} // extern "C"
|
||||
Reference in New Issue
Block a user