mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
80abf6bf24
The code now automatically resizes as required. This change also disconnects camera resolution settings from MJPEG stream connections; setting the camera resolution can now only be done via code.
712 lines
22 KiB
C++
712 lines
22 KiB
C++
/*----------------------------------------------------------------------------*/
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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 "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 "c_util.h"
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#include "cscore_cpp.h"
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#include "Handle.h"
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#include "HttpUtil.h"
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#include "JpegUtil.h"
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#include "Log.h"
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#include "Notifier.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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// A bare-bones HTML webpage for user friendliness.
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static const char* rootPage =
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"<html><head><title>CameraServer</title><body>"
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"<img src=\"/stream.mjpg\" /><p />"
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"<a href=\"/settings.json\">Settings JSON</a>"
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"</body></html>";
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class MjpegServerImpl::ConnThread : public wpi::SafeThread {
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public:
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ConnThread(llvm::StringRef name) : m_name(name) {}
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void Main();
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bool ProcessCommand(llvm::raw_ostream& os, SourceImpl& source,
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llvm::StringRef parameters, bool respond);
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void SendJSON(llvm::raw_ostream& os, SourceImpl& source, bool header);
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void SendStream(wpi::raw_socket_ostream& os);
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void ProcessRequest();
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std::unique_ptr<wpi::NetworkStream> m_stream;
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std::shared_ptr<SourceImpl> m_source;
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bool m_streaming = false;
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private:
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std::string m_name;
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llvm::StringRef GetName() { return m_name; }
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std::shared_ptr<SourceImpl> GetSource() {
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std::lock_guard<std::mutex> lock(m_mutex);
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return m_source;
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}
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void StartStream() {
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std::lock_guard<std::mutex> lock(m_mutex);
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m_source->EnableSink();
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m_streaming = true;
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}
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void StopStream() {
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std::lock_guard<std::mutex> lock(m_mutex);
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m_source->DisableSink();
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m_streaming = false;
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}
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int m_width{0};
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int m_height{0};
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int m_compression{80};
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int m_fps{0};
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};
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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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static void SendHeader(llvm::raw_ostream& os, int code,
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llvm::StringRef codeText, llvm::StringRef contentType,
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llvm::StringRef extra = llvm::StringRef{}) {
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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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static void 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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// Perform a command specified by HTTP GET parameters.
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bool MjpegServerImpl::ConnThread::ProcessCommand(llvm::raw_ostream& os,
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SourceImpl& source,
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llvm::StringRef parameters,
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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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SDEBUG4("HTTP parameter \"" << rawParam << "\" value \"" << rawValue
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<< "\"");
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// unescape param
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bool error = false;
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llvm::SmallString<64> paramBuf;
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llvm::StringRef param = UnescapeURI(rawParam, paramBuf, &error);
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if (error) {
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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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SDEBUG(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> valueBuf;
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llvm::StringRef value = UnescapeURI(rawValue, valueBuf, &error);
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if (error) {
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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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SDEBUG(error.str());
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return false;
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}
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// Handle resolution, compression, and FPS. These are handled locally
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// rather than passed to the source.
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if (param == "resolution") {
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llvm::StringRef widthStr, heightStr;
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std::tie(widthStr, heightStr) = value.split('x');
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int width, height;
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if (widthStr.getAsInteger(10, width)) {
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response << param << ": \"width is not an integer\"\r\n";
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SWARNING("HTTP parameter \"" << param << "\" width \"" << widthStr
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<< "\" is not an integer");
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continue;
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}
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if (heightStr.getAsInteger(10, height)) {
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response << param << ": \"height is not an integer\"\r\n";
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SWARNING("HTTP parameter \"" << param << "\" height \"" << heightStr
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<< "\" is not an integer");
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continue;
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}
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m_width = width;
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m_height = height;
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response << param << ": \"ok\"\r\n";
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continue;
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}
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if (param == "fps") {
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int fps;
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if (value.getAsInteger(10, fps)) {
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response << param << ": \"invalid integer\"\r\n";
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SWARNING("HTTP parameter \"" << param << "\" value \"" << value
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<< "\" is not an integer");
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continue;
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} else {
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m_fps = fps;
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response << param << ": \"ok\"\r\n";
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}
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continue;
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}
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if (param == "compression") {
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int compression;
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if (value.getAsInteger(10, compression)) {
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response << param << ": \"invalid integer\"\r\n";
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SWARNING("HTTP parameter \"" << param << "\" value \"" << value
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<< "\" is not an integer");
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continue;
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} else {
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m_compression = compression;
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response << param << ": \"ok\"\r\n";
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}
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continue;
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}
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// ignore name parameter
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if (param == "name") continue;
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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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SWARNING("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 kind = source.GetPropertyKind(prop);
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switch (kind) {
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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.getAsInteger(10, val)) {
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response << param << ": \"invalid integer\"\r\n";
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SWARNING("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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SDEBUG4("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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SDEBUG4("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::ConnThread::SendJSON(llvm::raw_ostream& os,
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SourceImpl& source, 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 kind = source.GetPropertyKind(prop);
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os << "\n\"name\": \"" << name << '"';
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os << ",\n\"id\": \"" << prop << '"';
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os << ",\n\"type\": \"" << kind << '"';
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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 (kind) {
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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.GetPropertyKind(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 listenAddress, int port,
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std::unique_ptr<wpi::NetworkAcceptor> acceptor)
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: SinkImpl{name},
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m_listenAddress(listenAddress),
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m_port(port),
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m_acceptor{std::move(acceptor)} {
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m_active = true;
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llvm::SmallString<128> descBuf;
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llvm::raw_svector_ostream desc{descBuf};
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desc << "HTTP Server on port " << port;
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SetDescription(desc.str());
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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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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& connThread : m_connThreads) {
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if (auto thr = connThread.GetThread()) {
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if (thr->m_stream) thr->m_stream->close();
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}
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connThread.Stop();
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}
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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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}
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// Send HTTP response and a stream of JPG-frames
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void MjpegServerImpl::ConnThread::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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os << oss.str();
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SDEBUG("Headers send, sending stream now");
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StartStream();
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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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SDEBUG4("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 20 ms so we don't consume all processor time.
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std::this_thread::sleep_for(std::chrono::milliseconds(20));
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continue;
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}
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int width = m_width != 0 ? m_width : frame.GetOriginalWidth();
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int height = m_height != 0 ? m_height : frame.GetOriginalHeight();
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Image* image =
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frame.GetImage(width, height, VideoMode::kMJPEG, m_compression);
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if (!image) {
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// Shouldn't happen, but just in case...
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std::this_thread::sleep_for(std::chrono::milliseconds(20));
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continue;
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}
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const char* data = image->data();
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std::size_t size = image->size();
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bool addDHT = false;
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std::size_t locSOF = size;
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switch (image->pixelFormat) {
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case VideoMode::kMJPEG:
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// Determine if we need to add DHT to it, and allocate enough space
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// for adding it if required.
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addDHT = JpegNeedsDHT(data, &size, &locSOF);
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break;
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case VideoMode::kYUYV:
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case VideoMode::kRGB565:
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default:
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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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SDEBUG4("sending frame size=" << 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 = frame.GetTime() / 10000000.0;
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header.clear();
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oss << "\r\n--" BOUNDARY "\r\n"
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<< "Content-Type: image/jpeg\r\n"
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<< "Content-Length: " << 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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if (addDHT) {
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// Insert DHT data immediately before SOF
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os << llvm::StringRef(data, locSOF);
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os << JpegGetDHT();
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os << llvm::StringRef(data + locSOF, image->size() - locSOF);
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} else {
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os << llvm::StringRef(data, size);
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}
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// os.flush();
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}
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StopStream();
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}
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void MjpegServerImpl::ConnThread::ProcessRequest() {
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wpi::raw_socket_istream is{*m_stream};
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wpi::raw_socket_ostream os{*m_stream, true};
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// Reset per-request settings
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m_width = 0;
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m_height = 0;
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m_compression = 80;
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m_fps = 0;
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// Read the request string from the stream
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bool error = false;
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llvm::SmallString<128> reqBuf;
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llvm::StringRef req = ReadLine(is, reqBuf, 4096, &error);
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if (error) {
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SDEBUG("error getting request string");
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return;
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}
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enum { kCommand, kStream, kGetSettings, kRootPage } kind;
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llvm::StringRef parameters;
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size_t pos;
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SDEBUG("HTTP request: '" << req << "'\n");
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// Determine request kind. Most of these are for mjpgstreamer
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// compatibility, others are for Axis camera compatibility.
|
|
if ((pos = req.find("POST /stream")) != llvm::StringRef::npos) {
|
|
kind = kStream;
|
|
parameters = req.substr(req.find('?', pos + 12)).substr(1);
|
|
} else if ((pos = req.find("GET /?action=stream")) != llvm::StringRef::npos) {
|
|
kind = kStream;
|
|
parameters = req.substr(req.find('&', pos + 19)).substr(1);
|
|
} else if ((pos = req.find("GET /stream.mjpg")) != llvm::StringRef::npos) {
|
|
kind = kStream;
|
|
parameters = req.substr(req.find('?', pos + 16)).substr(1);
|
|
} else if (req.find("GET /settings") != llvm::StringRef::npos &&
|
|
req.find(".json") != llvm::StringRef::npos) {
|
|
kind = kGetSettings;
|
|
} else if (req.find("GET /input") != llvm::StringRef::npos &&
|
|
req.find(".json") != llvm::StringRef::npos) {
|
|
kind = kGetSettings;
|
|
} else if (req.find("GET /output") != llvm::StringRef::npos &&
|
|
req.find(".json") != llvm::StringRef::npos) {
|
|
kind = kGetSettings;
|
|
} else if ((pos = req.find("GET /?action=command")) !=
|
|
llvm::StringRef::npos) {
|
|
kind = kCommand;
|
|
parameters = req.substr(req.find('&', pos + 20)).substr(1);
|
|
} else if (req.find("GET / ") != llvm::StringRef::npos || req == "GET /\n") {
|
|
kind = kRootPage;
|
|
} else {
|
|
SDEBUG("HTTP request resource not found");
|
|
SendError(os, 404, "Resource not found");
|
|
return;
|
|
}
|
|
|
|
// Parameter can only be certain characters. This also strips the EOL.
|
|
pos = parameters.find_first_not_of(
|
|
"abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ_"
|
|
"-=&1234567890%./");
|
|
parameters = parameters.substr(0, pos);
|
|
SDEBUG("command parameters: \"" << parameters << "\"");
|
|
|
|
// Read the rest of the HTTP request.
|
|
// The end of the request is marked by a single, empty line
|
|
llvm::SmallString<128> lineBuf;
|
|
for (;;) {
|
|
if (ReadLine(is, lineBuf, 4096, &error).startswith("\n")) break;
|
|
if (error) return;
|
|
}
|
|
|
|
// Send response
|
|
switch (kind) {
|
|
case kStream:
|
|
if (auto source = GetSource()) {
|
|
SDEBUG("request for stream " << source->GetName());
|
|
if (!ProcessCommand(os, *source, parameters, false)) return;
|
|
}
|
|
SendStream(os);
|
|
break;
|
|
case kCommand:
|
|
if (auto source = GetSource()) {
|
|
ProcessCommand(os, *source, parameters, true);
|
|
} else {
|
|
SendHeader(os, 200, "OK", "text/plain");
|
|
os << "Ignored due to no connected source." << "\r\n";
|
|
SDEBUG("Ignored due to no connected source.");
|
|
}
|
|
break;
|
|
case kGetSettings:
|
|
SDEBUG("request for JSON file");
|
|
if (auto source = GetSource())
|
|
SendJSON(os, *source, true);
|
|
else
|
|
SendError(os, 404, "Resource not found");
|
|
break;
|
|
case kRootPage:
|
|
SDEBUG("request for root page");
|
|
SendHeader(os, 200, "OK", "text/html");
|
|
os << rootPage << "\r\n";
|
|
break;
|
|
}
|
|
|
|
SDEBUG("leaving HTTP client thread");
|
|
}
|
|
|
|
// worker thread for clients that connected to this server
|
|
void MjpegServerImpl::ConnThread::Main() {
|
|
std::unique_lock<std::mutex> lock(m_mutex);
|
|
while (m_active) {
|
|
while (!m_stream) {
|
|
m_cond.wait(lock);
|
|
if (!m_active) return;
|
|
}
|
|
lock.unlock();
|
|
ProcessRequest();
|
|
lock.lock();
|
|
m_stream = nullptr;
|
|
}
|
|
}
|
|
|
|
// Main server thread
|
|
void MjpegServerImpl::ServerThreadMain() {
|
|
if (m_acceptor->start() != 0) {
|
|
m_active = false;
|
|
return;
|
|
}
|
|
|
|
SDEBUG("waiting for clients to connect");
|
|
while (m_active) {
|
|
auto stream = m_acceptor->accept();
|
|
if (!stream) {
|
|
m_active = false;
|
|
return;
|
|
}
|
|
if (!m_active) return;
|
|
|
|
SDEBUG("client connection from " << stream->getPeerIP());
|
|
|
|
auto source = GetSource();
|
|
|
|
std::lock_guard<std::mutex> lock(m_mutex);
|
|
// Find unoccupied worker thread, or create one if necessary
|
|
auto it = std::find_if(m_connThreads.begin(), m_connThreads.end(),
|
|
[](const wpi::SafeThreadOwner<ConnThread>& owner) {
|
|
auto thr = owner.GetThread();
|
|
return !thr || !thr->m_stream;
|
|
});
|
|
if (it == m_connThreads.end()) {
|
|
m_connThreads.emplace_back();
|
|
it = std::prev(m_connThreads.end());
|
|
}
|
|
|
|
// Start it if not already started
|
|
{
|
|
auto thr = it->GetThread();
|
|
if (!thr) it->Start(new ConnThread{GetName()});
|
|
}
|
|
|
|
// Hand off connection to it
|
|
auto thr = it->GetThread();
|
|
thr->m_stream = std::move(stream);
|
|
thr->m_source = source;
|
|
thr->m_cond.notify_one();
|
|
}
|
|
|
|
SDEBUG("leaving server thread");
|
|
}
|
|
|
|
void MjpegServerImpl::SetSourceImpl(std::shared_ptr<SourceImpl> source) {
|
|
std::lock_guard<std::mutex> lock(m_mutex);
|
|
for (auto& connThread : m_connThreads) {
|
|
if (auto thr = connThread.GetThread()) {
|
|
if (thr->m_source != source) {
|
|
bool streaming = thr->m_streaming;
|
|
if (streaming) thr->m_source->DisableSink();
|
|
thr->m_source = source;
|
|
if (streaming) thr->m_source->EnableSink();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
namespace cs {
|
|
|
|
CS_Sink CreateMjpegServer(llvm::StringRef name, llvm::StringRef listenAddress,
|
|
int port, CS_Status* status) {
|
|
llvm::SmallString<128> str{listenAddress};
|
|
auto sink = std::make_shared<MjpegServerImpl>(
|
|
name, listenAddress, port,
|
|
std::unique_ptr<wpi::NetworkAcceptor>(
|
|
new wpi::TCPAcceptor(port, str.c_str(), Logger::GetInstance())));
|
|
auto handle = Sinks::GetInstance().Allocate(CS_SINK_MJPEG, sink);
|
|
Notifier::GetInstance().NotifySink(name, handle, CS_SINK_CREATED);
|
|
return handle;
|
|
}
|
|
|
|
std::string GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status) {
|
|
auto data = Sinks::GetInstance().Get(sink);
|
|
if (!data || data->kind != CS_SINK_MJPEG) {
|
|
*status = CS_INVALID_HANDLE;
|
|
return std::string{};
|
|
}
|
|
return static_cast<MjpegServerImpl&>(*data->sink).GetListenAddress();
|
|
}
|
|
|
|
int GetMjpegServerPort(CS_Sink sink, CS_Status* status) {
|
|
auto data = Sinks::GetInstance().Get(sink);
|
|
if (!data || data->kind != CS_SINK_MJPEG) {
|
|
*status = CS_INVALID_HANDLE;
|
|
return 0;
|
|
}
|
|
return static_cast<MjpegServerImpl&>(*data->sink).GetPort();
|
|
}
|
|
|
|
} // 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);
|
|
}
|
|
|
|
char* CS_GetMjpegServerListenAddress(CS_Sink sink, CS_Status* status) {
|
|
return ConvertToC(cs::GetMjpegServerListenAddress(sink, status));
|
|
}
|
|
|
|
int CS_GetMjpegServerPort(CS_Sink sink, CS_Status* status) {
|
|
return cs::GetMjpegServerPort(sink, status);
|
|
}
|
|
|
|
} // extern "C"
|