diff --git a/src/JpegUtil.cpp b/src/JpegUtil.cpp new file mode 100644 index 0000000000..3f754913fc --- /dev/null +++ b/src/JpegUtil.cpp @@ -0,0 +1,176 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 2016. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#include "JpegUtil.h" + +#include "support/raw_istream.h" + +namespace cs { + +// DHT data for MJPEG images that don't have it. +static const unsigned char dhtData[] = { + 0xff, 0xc4, 0x01, 0xa2, 0x00, 0x00, 0x01, 0x05, 0x01, 0x01, 0x01, 0x01, + 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, + 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x01, 0x00, 0x03, + 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, + 0x0a, 0x0b, 0x10, 0x00, 0x02, 0x01, 0x03, 0x03, 0x02, 0x04, 0x03, 0x05, + 0x05, 0x04, 0x04, 0x00, 0x00, 0x01, 0x7d, 0x01, 0x02, 0x03, 0x00, 0x04, + 0x11, 0x05, 0x12, 0x21, 0x31, 0x41, 0x06, 0x13, 0x51, 0x61, 0x07, 0x22, + 0x71, 0x14, 0x32, 0x81, 0x91, 0xa1, 0x08, 0x23, 0x42, 0xb1, 0xc1, 0x15, + 0x52, 0xd1, 0xf0, 0x24, 0x33, 0x62, 0x72, 0x82, 0x09, 0x0a, 0x16, 0x17, + 0x18, 0x19, 0x1a, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x34, 0x35, 0x36, + 0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, + 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, + 0x67, 0x68, 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, + 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, 0x95, + 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, 0xa8, + 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xc2, + 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4, 0xd5, + 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe1, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, + 0xe8, 0xe9, 0xea, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, + 0xfa, 0x11, 0x00, 0x02, 0x01, 0x02, 0x04, 0x04, 0x03, 0x04, 0x07, 0x05, + 0x04, 0x04, 0x00, 0x01, 0x02, 0x77, 0x00, 0x01, 0x02, 0x03, 0x11, 0x04, + 0x05, 0x21, 0x31, 0x06, 0x12, 0x41, 0x51, 0x07, 0x61, 0x71, 0x13, 0x22, + 0x32, 0x81, 0x08, 0x14, 0x42, 0x91, 0xa1, 0xb1, 0xc1, 0x09, 0x23, 0x33, + 0x52, 0xf0, 0x15, 0x62, 0x72, 0xd1, 0x0a, 0x16, 0x24, 0x34, 0xe1, 0x25, + 0xf1, 0x17, 0x18, 0x19, 0x1a, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x35, 0x36, + 0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, + 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, + 0x67, 0x68, 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, + 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, + 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, + 0xa8, 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, + 0xc2, 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4, + 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, + 0xe8, 0xe9, 0xea, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa}; + +bool IsJpeg(llvm::StringRef data) { + if (data.size() < 11) return false; + + // Check for valid SOI + auto bytes = data.bytes_begin(); + if (bytes[0] != 0xff || bytes[1] != 0xd8) + return false; + + // Check for valid JPEG header (null terminated JFIF) + if (bytes[2] != 0xff || bytes[3] != 0xe0 || data.substr(6, 4) != "JFIF" || + bytes[10] != 0x00) + return false; + + return true; +} + +bool GetJpegSize(llvm::StringRef data, int* width, int* height) { + if (!IsJpeg(data)) return false; + + auto bytes = data.bytes_begin(); + size_t blockLength = bytes[4] * 256 + bytes[5] + 4; + for (;;) { + data = data.substr(blockLength); // Get to the next block + if (data.size() < 4) return false; // EOF + bytes = data.bytes_begin(); + if (bytes[0] != 0xff) return false; // not a tag + if (bytes[1] == 0xc0) { + // SOF contains the file size + if (data.size() < 9) return false; + *height = bytes[5] * 256 + bytes[6]; + *width = bytes[7] * 256 + bytes[8]; + return true; + } + // Go to the next block + blockLength = bytes[2] * 256 + bytes[3] + 2; + } +} + +bool JpegNeedsDHT(const char* data, std::size_t* size, std::size_t* locSOF) { + llvm::StringRef sdata(data, *size); + if (!IsJpeg(sdata)) return false; + + *locSOF = *size; + + // Search until SOS for DHT tag + auto bytes = sdata.bytes_begin(); + size_t blockLength = bytes[4] * 256 + bytes[5] + 4; + for (;;) { + sdata = sdata.substr(blockLength); // Get to the next block + if (sdata.size() < 4) return false; // EOF + bytes = sdata.bytes_begin(); + if (bytes[0] != 0xff) return false; // not a tag + if (bytes[1] == 0xda) break; // SOS + if (bytes[1] == 0xc4) return false; // DHT + if (bytes[1] == 0xc0) *locSOF = sdata.data() - data; // SOF + // Go to the next block + blockLength = bytes[2] * 256 + bytes[3] + 2; + } + + // Only add DHT if we also found SOF (insertion point) + if (*locSOF != *size) { + *size += sizeof(dhtData); + return true; + } + return false; +} + +llvm::StringRef JpegGetDHT() { + return llvm::StringRef(reinterpret_cast(dhtData), + sizeof(dhtData)); +} + +static inline void ReadInto(wpi::raw_istream& is, std::string& buf, + size_t len) { + size_t oldSize = buf.size(); + buf.resize(oldSize + len); + is.read(&(*buf.begin()) + oldSize, len); +} + +bool ReadJpeg(wpi::raw_istream& is, std::string& buf, int* width, + int* height) { + // in case we don't get a SOF + *width = 0; + *height = 0; + + // read the header + buf.resize(4 + 7); + is.read(&(*buf.begin()), 4 + 7); + if (is.has_error()) return false; + if (!IsJpeg(buf)) return false; + + auto bytes = reinterpret_cast(buf.data()); + size_t pos = 4; + size_t blockLength = bytes[4] * 256 + bytes[5]; + bool sofBlock = false; + for (;;) { + // Read to the next block + marker + ReadInto(is, buf, blockLength + 2); + if (is.has_error()) return false; + + // Process any blocks we just read + if (sofBlock) { + // SOF contains the file size; make sure we actually read enough bytes + if (blockLength >= 7) { + *height = bytes[5] * 256 + bytes[6]; + *width = bytes[7] * 256 + bytes[8]; + } + sofBlock = false; + } + + pos += blockLength; + bytes = reinterpret_cast(buf.data() + pos); + if (bytes[0] != 0xff) return false; // not a tag + if (bytes[1] == 0xd9) return true; // EOI, we're done + if (bytes[1] == 0xc0) sofBlock = true; // SOF + + // Go to the next block + ReadInto(is, buf, 2); // read length + if (is.has_error()) return false; + pos += 2; + blockLength = bytes[2] * 256 + bytes[3]; + } +} + +} // namespace cs diff --git a/src/JpegUtil.h b/src/JpegUtil.h new file mode 100644 index 0000000000..808ed4f379 --- /dev/null +++ b/src/JpegUtil.h @@ -0,0 +1,31 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 2016. All Rights Reserved. */ +/* Open Source Software - may be modified and shared by FRC teams. The code */ +/* must be accompanied by the FIRST BSD license file in the root directory of */ +/* the project. */ +/*----------------------------------------------------------------------------*/ + +#ifndef CS_JPEGUTIL_H_ +#define CS_JPEGUTIL_H_ + +#include "llvm/StringRef.h" + +namespace wpi { +class raw_istream; +} + +namespace cs { + +bool IsJpeg(llvm::StringRef data); + +bool GetJpegSize(llvm::StringRef data, int* width, int* height); + +bool JpegNeedsDHT(const char* data, std::size_t* size, std::size_t* locSOF); + +llvm::StringRef JpegGetDHT(); + +bool ReadJpeg(wpi::raw_istream& is, std::string& buf, int* width, int* height); + +} // namespace cs + +#endif // CS_JPEGUTIL_H_ diff --git a/src/MjpegServerImpl.cpp b/src/MjpegServerImpl.cpp index c753edc8f3..51f540058d 100644 --- a/src/MjpegServerImpl.cpp +++ b/src/MjpegServerImpl.cpp @@ -18,6 +18,7 @@ #include "cscore_cpp.h" #include "Handle.h" #include "HttpUtil.h" +#include "JpegUtil.h" #include "Log.h" #include "Notifier.h" #include "SourceImpl.h" @@ -36,44 +37,6 @@ static const char* rootPage = "Settings JSON" ""; -// DHT data for MJPEG images that don't have it. -static const unsigned char dhtData[] = { - 0xff, 0xc4, 0x01, 0xa2, 0x00, 0x00, 0x01, 0x05, 0x01, 0x01, 0x01, 0x01, - 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x02, - 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x01, 0x00, 0x03, - 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, - 0x0a, 0x0b, 0x10, 0x00, 0x02, 0x01, 0x03, 0x03, 0x02, 0x04, 0x03, 0x05, - 0x05, 0x04, 0x04, 0x00, 0x00, 0x01, 0x7d, 0x01, 0x02, 0x03, 0x00, 0x04, - 0x11, 0x05, 0x12, 0x21, 0x31, 0x41, 0x06, 0x13, 0x51, 0x61, 0x07, 0x22, - 0x71, 0x14, 0x32, 0x81, 0x91, 0xa1, 0x08, 0x23, 0x42, 0xb1, 0xc1, 0x15, - 0x52, 0xd1, 0xf0, 0x24, 0x33, 0x62, 0x72, 0x82, 0x09, 0x0a, 0x16, 0x17, - 0x18, 0x19, 0x1a, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x34, 0x35, 0x36, - 0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, - 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, - 0x67, 0x68, 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, - 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, 0x95, - 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, 0xa8, - 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xc2, - 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4, 0xd5, - 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe1, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, - 0xe8, 0xe9, 0xea, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, - 0xfa, 0x11, 0x00, 0x02, 0x01, 0x02, 0x04, 0x04, 0x03, 0x04, 0x07, 0x05, - 0x04, 0x04, 0x00, 0x01, 0x02, 0x77, 0x00, 0x01, 0x02, 0x03, 0x11, 0x04, - 0x05, 0x21, 0x31, 0x06, 0x12, 0x41, 0x51, 0x07, 0x61, 0x71, 0x13, 0x22, - 0x32, 0x81, 0x08, 0x14, 0x42, 0x91, 0xa1, 0xb1, 0xc1, 0x09, 0x23, 0x33, - 0x52, 0xf0, 0x15, 0x62, 0x72, 0xd1, 0x0a, 0x16, 0x24, 0x34, 0xe1, 0x25, - 0xf1, 0x17, 0x18, 0x19, 0x1a, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x35, 0x36, - 0x37, 0x38, 0x39, 0x3a, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, - 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x63, 0x64, 0x65, 0x66, - 0x67, 0x68, 0x69, 0x6a, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, - 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x92, 0x93, 0x94, - 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, - 0xa8, 0xa9, 0xaa, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, - 0xc2, 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xd2, 0xd3, 0xd4, - 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, - 0xe8, 0xe9, 0xea, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa}; - class MjpegServerImpl::ConnThread : public wpi::SafeThread { public: void Main(); @@ -413,23 +376,6 @@ void MjpegServerImpl::Stop() { source->Wakeup(); } -static bool NeedsDHT(const char* data, std::size_t* size, std::size_t* locSOF) { - // Search first 2048 bytes (or until SOS) for DHT tag - for (llvm::StringRef::size_type i = 0; i < 2048 && i < *size; ++i) { - if (static_cast(data[i]) != 0xff) continue; // not a tag - unsigned char tag = static_cast(data[i + 1]); - if (tag == 0xda) break; // SOS - if (tag == 0xc4) return false; // DHT - if (tag == 0xc0) *locSOF = i; // SOF - } - // Only add DHT if we also found SOF (insertion point) - if (*locSOF != *size) { - *size += sizeof(dhtData); - return true; - } - return false; -} - // Send HTTP response and a stream of JPG-frames void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) { os.SetUnbuffered(); @@ -468,7 +414,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) { case VideoMode::kMJPEG: // Determine if we need to add DHT to it, and allocate enough space // for adding it if required. - addDHT = NeedsDHT(data, &size, &locSOF); + addDHT = JpegNeedsDHT(data, &size, &locSOF); break; case VideoMode::kYUYV: case VideoMode::kRGB565: @@ -494,8 +440,7 @@ void MjpegServerImpl::ConnThread::SendStream(wpi::raw_socket_ostream& os) { if (addDHT) { // Insert DHT data immediately before SOF os << llvm::StringRef(data, locSOF); - os << llvm::StringRef(reinterpret_cast(dhtData), - sizeof(dhtData)); + os << JpegGetDHT(); os << llvm::StringRef(data + locSOF, frame.size() - locSOF); } else { os << llvm::StringRef(data, size);