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CJBuchelCJBuchel
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Merge pull request #80 from wml-frc/image_stream
MJPEG Image stream
2 parents 266935c + fc75580 commit 54fd7f0

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12 files changed

+525
-17
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‎Core/common/libs/MJPEGWriter/LICENSE‎

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MIT License
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Copyright (c) 2017 J. Pery
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎Core/common/libs/MJPEGWriter/main/cpp/MJPEGWriter.cpp‎

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#include "MJPEGWriter.h"
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#include <fstream>
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void
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MJPEGWriter::Listener()
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{
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// send http header
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std::string header;
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header += "HTTP/1.0 200 OK\r\n";
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header += "Cache-Control: no-cache\r\n";
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header += "Pragma: no-cache\r\n";
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header += "Connection: close\r\n";
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header += "Content-Type: multipart/x-mixed-replace; boundary=mjpegstream\r\n\r\n";
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const int header_size = header.size();
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char* header_data = (char*)header.data();
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fd_set rread;
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SOCKET maxfd;
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this->open();
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pthread_mutex_unlock(&mutex_writer);
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while (true)
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{
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rread = master;
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struct timeval to = { 0, timeout };
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maxfd = sock + 1;
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if (sock == INVALID_SOCKET){
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return;
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}
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int sel = select(maxfd, &rread, NULL, NULL, &to);
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if (sel > 0) {
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for (int s = 0; s < maxfd; s++)
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{
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if (FD_ISSET(s, &rread) && s == sock)
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{
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int addrlen = sizeof(SOCKADDR);
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SOCKADDR_IN address = { 0 };
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SOCKET client = accept(sock, (SOCKADDR*)&address, (socklen_t*)&addrlen);
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if (client == SOCKET_ERROR)
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{
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CJ_CORE_PRINT_ERROR("Error. Couldn't accept connection on sock: " + std::to_string(sock));
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return;
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}
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maxfd = (maxfd>client ? maxfd : client);
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pthread_mutex_lock(&mutex_cout);
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CJ_CORE_PRINT_INFO("New Client" + std::to_string(client));
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char headers[4096] = "\0";
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int readBytes = _read(client, headers);
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CJ_CORE_PRINT_TRACE(headers);
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pthread_mutex_unlock(&mutex_cout);
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pthread_mutex_lock(&mutex_client);
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_write(client, header_data, header_size);
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clients.push_back(client);
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pthread_mutex_unlock(&mutex_client);
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}
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}
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}
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usleep(1000);
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}
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}
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void
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MJPEGWriter::Writer()
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{
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pthread_mutex_lock(&mutex_writer);
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pthread_mutex_unlock(&mutex_writer);
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const int milis2wait = 16666;
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while (this->isOpened())
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{
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pthread_mutex_lock(&mutex_client);
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int num_connected_clients = clients.size();
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pthread_mutex_unlock(&mutex_client);
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if (!num_connected_clients) {
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usleep(milis2wait);
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continue;
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}
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pthread_t threads[NUM_CONNECTIONS];
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int count = 0;
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std::vector<uchar> outbuf;
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std::vector<int> params;
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params.push_back(cv::IMWRITE_JPEG_QUALITY);
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params.push_back(quality);
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pthread_mutex_lock(&mutex_writer);
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imencode(".jpg", lastFrame, outbuf, params);
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pthread_mutex_unlock(&mutex_writer);
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int outlen = outbuf.size();
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pthread_mutex_lock(&mutex_client);
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std::vector<int>::iterator begin = clients.begin();
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std::vector<int>::iterator end = clients.end();
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pthread_mutex_unlock(&mutex_client);
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std::vector<clientPayload*> payloads;
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for (std::vector<int>::iterator it = begin; it != end; ++it, ++count)
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{
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if (count > NUM_CONNECTIONS)
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break;
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struct clientPayload *cp = new clientPayload({ (MJPEGWriter*)this, { outbuf.data(), outlen, *it } });
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payloads.push_back(cp);
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pthread_create(&threads[count], NULL, &MJPEGWriter::clientWrite_Helper, cp);
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}
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for (; count > 0; count--)
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{
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pthread_join(threads[count-1], NULL);
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delete payloads.at(count-1);
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}
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usleep(milis2wait);
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}
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}
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void
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MJPEGWriter::ClientWrite(clientFrame & cf)
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{
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std::stringstream head;
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head << "--mjpegstream\r\nContent-Type: image/jpeg\r\nContent-Length: " << cf.outlen << "\r\n\r\n";
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std::string string_head = head.str();
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pthread_mutex_lock(&mutex_client);
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_write(cf.client, (char*) string_head.c_str(), string_head.size());
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int n = _write(cf.client, (char*)(cf.outbuf), cf.outlen);
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if (n < cf.outlen)
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{
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std::vector<int>::iterator it;
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it = find (clients.begin(), clients.end(), cf.client);
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if (it != clients.end())
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{
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CJ_CORE_PRINT_ERROR("Kill Client Error: " + std::to_string(cf.client));
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clients.erase(std::remove(clients.begin(), clients.end(), cf.client));
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::shutdown(cf.client, 2);
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}
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}
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pthread_mutex_unlock(&mutex_client);
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pthread_exit(NULL);
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}

‎Core/common/libs/MJPEGWriter/main/include/MJPEGWriter.h‎

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#ifndef MJPEG_WRITER_H
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#define MJPEG_WRITER_H
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#define PORT unsigned short
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#define SOCKET int
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#define HOSTENT struct hostent
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#define SOCKADDR struct sockaddr
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#define SOCKADDR_IN struct sockaddr_in
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#define ADDRPOINTER unsigned int*
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#define INVALID_SOCKET -1
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#define SOCKET_ERROR -1
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#define TIMEOUT_M 200000
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#define NUM_CONNECTIONS 10
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#include "common_headers.h"
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#include "UDP_TransferNT.h"
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#include <sys/signal.h>
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#include <pthread.h>
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struct clientFrame {
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uchar* outbuf;
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int outlen;
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int client;
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};
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struct clientPayload {
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void* context;
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clientFrame cf;
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};
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class MJPEGWriter{
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SOCKET sock;
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fd_set master;
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int timeout;
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int quality; // jpeg compression [1..100]
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std::vector<int> clients;
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pthread_t thread_listen, thread_write;
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pthread_mutex_t mutex_client = PTHREAD_MUTEX_INITIALIZER;
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pthread_mutex_t mutex_cout = PTHREAD_MUTEX_INITIALIZER;
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pthread_mutex_t mutex_writer = PTHREAD_MUTEX_INITIALIZER;
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cv::Mat lastFrame;
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int port;
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int _write(int sock, char *s, int len)
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{
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if (len < 1) { len = strlen(s); }
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{
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try
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{
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int retval = ::send(sock, s, len, 0x4000);
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return retval;
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}
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catch (int e)
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{
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CJ_CORE_PRINT_ERROR("An exception occurred. Exception Nr. " + std::to_string(e));
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}
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}
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return -1;
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}
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int _read(int socket, char* buffer)
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{
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int result;
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result = recv(socket, buffer, 4096, MSG_PEEK);
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if (result < 0 )
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{
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CJ_CORE_PRINT_ERROR("An exception occurred. Exception Nr. " + std::to_string(result));
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return result;
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}
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std::string s = buffer;
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buffer = (char*) s.substr(0, (int) result).c_str();
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return result;
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}
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static void* listen_Helper(void* context)
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{
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((MJPEGWriter *)context)->Listener();
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return NULL;
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}
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static void* writer_Helper(void* context)
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{
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((MJPEGWriter *)context)->Writer();
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return NULL;
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}
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static void* clientWrite_Helper(void* payload)
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{
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void* ctx = ((clientPayload *)payload)->context;
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struct clientFrame cf = ((clientPayload *)payload)->cf;
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((MJPEGWriter *)ctx)->ClientWrite(cf);
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return NULL;
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}
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public:
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MJPEGWriter(int port = 0)
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: sock(INVALID_SOCKET)
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, timeout(TIMEOUT_M)
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, quality(90)
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, port(port)
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{
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signal(SIGPIPE, SIG_IGN);
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FD_ZERO(&master);
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// if (port)
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// open(port);
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}
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~MJPEGWriter()
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{
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release();
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}
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bool release()
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{
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if (sock != INVALID_SOCKET)
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shutdown(sock, 2);
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sock = (INVALID_SOCKET);
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return false;
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}
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bool open()
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{
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sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
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SOCKADDR_IN address;
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address.sin_addr.s_addr = INADDR_ANY;
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address.sin_family = AF_INET;
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address.sin_port = htons(port);
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if (::bind(sock, (SOCKADDR*)&address, sizeof(SOCKADDR_IN)) == SOCKET_ERROR)
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{
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CJ_CORE_PRINT_ERROR("Error, could not bind to socket: " + std::to_string(sock));
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return release();
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}
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if (listen(sock, NUM_CONNECTIONS) == SOCKET_ERROR)
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{
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CJ_CORE_PRINT_ERROR("Error, could not listen on sock: " + std::to_string(sock));
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return release();
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}
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FD_SET(sock, &master);
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return true;
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}
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bool isOpened()
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{
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return sock != INVALID_SOCKET;
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}
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void start(){
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pthread_mutex_lock(&mutex_writer);
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pthread_create(&thread_listen, NULL, this->listen_Helper, this);
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pthread_create(&thread_write, NULL, this->writer_Helper, this);
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}
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void stop(){
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this->release();
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pthread_join(thread_listen, NULL);
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pthread_join(thread_write, NULL);
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}
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void write(cv::Mat frame){
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pthread_mutex_lock(&mutex_writer);
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if(!frame.empty()){
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lastFrame.release();
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lastFrame = frame.clone();
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}
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pthread_mutex_unlock(&mutex_writer);
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}
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private:
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void Listener();
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void Writer();
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void ClientWrite(clientFrame &cf);
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};
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#endif

‎Core/common/libs/UDP_TransferNT‎

‎Core/common/main/include/Platform/PlatformDetection.h‎

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#elif defined(__linux__)
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#define CJ_PLATFORM_LINUX
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#elif defined (__APPLE__) || defined(__MACH__)
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#elif defined(__APPLE__) || defined(__MACH__)
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#include <TargetConditionals.h>
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#if TARGET_IPHONE_SIMULATOR == 1

‎Core/common/main/include/common_headers.h‎

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#ifndef COMMON_HEADERS_H
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#define COMMON_HEADERS_H
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#include "Platform/PlatformDetection.h"
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// System common headers
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#include <iostream>
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#include <string>

‎Core/src/latest/Makefile‎

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@@ -65,17 +65,27 @@ UDP_TRANSFERNT_LIB_HEADERS = -I$(UDP_TRANSFERNT_LIB_LOC)/include
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SPDLOG_LIB_LOC = $(COMMON_LOC)/libs/spdlog
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SPDLOG_LIB_HEADERS = -I$(SPDLOG_LIB_LOC)/include
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#
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# MJPEGWriter
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#
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MJPEG_WRITER_LOC = $(COMMON_LOC)/libs/MJPEGWriter
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MJPEG_WRITER_SRCS = $(call rwildcard,$(MJPEG_WRITER_LOC)/main/,*.cpp)
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MJPEG_WRITER_SRC_DIR = $(MJPEG_WRITER_LOC)/main/cpp
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MJPEG_WRITER_HEADERS = -I$(MJPEG_WRITER_LOC)/main/include
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# Obejcts from cpp files
7079
ENTRY_OBJ := $(patsubst $(ENTRY_DIR)/%.cpp, $(OUTDIR)/%.o, $(ENTRY_SRC))
7180
COPROC_OBJ := $(patsubst $(COPROC_SRC_DIR)/%.cpp, $(OUTDIR)/%.o, $(COPROC_SRCS))
7281
CJ_VISION_OBJ := $(patsubst $(CJ_VISION_SRC_DIR)/%.cpp, $(OUTDIR)/%.o, $(CJ_VISION_SRCS))
7382
COMMON_OBJ := $(patsubst $(COMMON_SRC_DIR)/%.cpp, $(OUTDIR)/%.o, $(COMMON_SRCS))
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MJPEG_WRITER_OBJ := $(patsubst $(MJPEG_WRITER_SRC_DIR)/%.cpp, $(OUTDIR)/%.o, $(MJPEG_WRITER_SRCS))
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7585
# All
76-
ALL_HEADERS = $(CJ_VISION_HEADERS) $(COMMON_HEADERS) $(UDP_TRANSFERNT_LIB_HEADERS) $(SPDLOG_LIB_HEADERS) $(COPROC_HEADERS)
77-
ALL_OBJ = $(ENTRY_OBJ) $(CJ_VISION_OBJ) $(COMMON_OBJ) $(COPROC_OBJ)
78-
ALL_SRCS = $(ENTRY_SRC) $(CJ_VISION_SRCS) $(COMMON_SRCS) $(COPROC_SRCS)
86+
ALL_HEADERS = $(CJ_VISION_HEADERS) $(COMMON_HEADERS) $(UDP_TRANSFERNT_LIB_HEADERS) $(SPDLOG_LIB_HEADERS) $(COPROC_HEADERS) $(MJPEG_WRITER_HEADERS)
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ALL_OBJ = $(ENTRY_OBJ) $(CJ_VISION_OBJ) $(COMMON_OBJ) $(COPROC_OBJ) $(MJPEG_WRITER_OBJ)
88+
ALL_SRCS = $(ENTRY_SRC) $(CJ_VISION_SRCS) $(COMMON_SRCS) $(COPROC_SRCS) $(MJPEG_WRITER_SRCS)
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8090
# Compile script
8191
MK_OUT = mkdir -p $@; rm -rf $@
@@ -120,5 +130,11 @@ $(OUTDIR)/%.o: $(COMMON_SRC_DIR)/%.cpp
120130
$(MK_OUT)
121131
$(COMPILE_OBJ)
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# MJPEG Writer
134+
$(OUTDIR)/%.o: $(MJPEG_WRITER_SRC_DIR)/%.cpp
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@echo Building objects
136+
$(MK_OUT)
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$(COMPILE_OBJ)
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123139
clean:
124140
rm -rf ${OUTDIR}

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