/
cam_webbridge.py
executable file
·551 lines (452 loc) · 20.1 KB
/
cam_webbridge.py
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#!/usr/bin/python3
import sys
from twisted.web import server, resource
from twisted.web.static import File
from twisted.internet import reactor, defer, utils
from twisted.python import log
from twisted.internet.defer import inlineCallbacks
from txdbus import client, error
import json
import logging
import cgi
try:
from aimCamera import aimCameraResource
except ImportError:
aimCameraResource = None
def asleep(secs):
"""
@brief Do a reactor-safe sleep call. Call with yield to block until done.
@param secs Time, in seconds
@retval Deferred whose callback will fire after time has expired
"""
d = defer.Deferred()
reactor.callLater(secs, d.callback, None)
return d
def allowCrossOrigin(request, methods='GET, POST, OPTION', contentType='application/json'):
# Append headers to allow cross-origin requests.
request.setHeader('Access-Control-Allow-Origin', '*')
request.setHeader('Access-Control-Allow-Methods', methods)
if ('POST' in methods):
request.setHeader('Access-Control-Allow-Headers', 'Content-Type')
request.setHeader('Content-Type', contentType)
request.setHeader('Access-Control-Max-Age', 2520)
eventList = {'test':'',
'control/notify':'/ca/krontech/chronos/control/notify',
'video/segment':'/ca/krontech/chronos/video/segment',
'video/eof':'/ca/krontech/chronos/video/eof',
'video/sof':'/ca/krontech/chronos/video/sof'}
class Root(resource.Resource):
"""
Root resource; serves JavaScript
"""
def getChild(self, name, request):
if name == '':
return self
return resource.Resource.getChild(self, name, request)
def render_GET(self, request):
returnString = """
<html>
<head>
<script language="JavaScript">
function updateEventDetails(event) {
eventName = document.getElementById("event-name");
eventData = document.getElementById("event-data");
eventName.innerHTML = event.type;
eventData.innerHTML = event.data;
}
eventSource = new EventSource("/subscribe");
"""
for name in eventList.keys():
returnString += '\n eventSource.addEventListener("{name}", updateEventDetails, false);'.format(name=name)
returnString += """
eventSource.addEventListener("test", updateEventDetails, false);
eventSource.onmessage = updateEventDetails;
</script>
</head>
<body>
<h3> Event name: </h3>
<p id="event-name"></p>
<h3> Event data: </h3>
<p id="event-data"></p>
</body>
</html>
"""
return bytes(returnString, 'utf8')
class GetMethod(resource.Resource):
"""
Implements a callable method with arguments on dbus
"""
isLeaf = True
def __init__(self, parent, bus, methodName='get'):
self.parent = parent
self.bus = bus
self.arguments = True
self.parent.putChild(bytes(methodName, 'utf8'), self)
def allowCrossOrigin(self, request):
# Append headers to allow cross-origin requests.
request.setHeader('Access-Control-Allow-Origin', '*')
request.setHeader('Access-Control-Allow-Methods', 'GET, POST, OPTION')
request.setHeader('Access-Control-Allow-Headers', 'Content-Type')
request.setHeader('Access-Control-Max-Age', 2520)
def render_OPTIONS(self, request):
allowCrossOrigin(request)
request.setHeader('Content-Type', 'application/json')
request.write('')
request.finish()
return server.NOT_DONE_YET
def render_GET(self, request):
names = []
logging.info('GET arguments: %s', request.args)
names = request.args.get(b'names')
if not names:
request.setResponseCode(400)
return b'"names" field required'
# this lets multiple copies of 'names' concatenate together then breaks
# them appart to individual items
names = names[0].decode('utf8').split(',')
allowCrossOrigin(request)
request.setHeader('Content-Type', 'application/json')
reactor.callLater(0.0, self.startDBusGetRequest, request, names)
return server.NOT_DONE_YET
def render_POST(self, request):
contentType = request.getHeader("Content-Type")
self.allowCrossOrigin(request)
if contentType == "application/json":
# Expect a JSON object for the POST data.
names = request.content.getvalue().decode("utf8")
request.setHeader('Content-Type', 'application/json')
reactor.callLater(0.0, self.startDBusGetRequest, request, json.loads(names))
return server.NOT_DONE_YET
# Expect JSON data passed in URL-encoded form.
rawData = request.args.get(b'names', None)
if not rawData:
request.setResponseCode(400)
return b'"names" field required'
names = ''
for line in rawData:
names += line.decode('utf8')
names = json.loads(names)
request.setHeader('Content-Type', 'application/json')
reactor.callLater(0.0, self.startDBusGetRequest, request, names)
return server.NOT_DONE_YET
@inlineCallbacks
def startDBusGetRequest(self, request, names):
logging.debug('Get Request: %s (%s)', names, type(names))
reply = yield self.bus.callRemote('get', names)
returnData = json.dumps(reply)
request.write(bytes('{0}\n'.format(returnData), 'utf8'))
request.finish()
logging.info('Get Method requested with names: %s with response: %s', names, returnData)
class Method(resource.Resource):
"""
Implements a callable method with arguments on dbus
"""
isLeaf = True
def __init__(self, parent, bus, methodName, arguments=False):
self.parent = parent
self.bus = bus
self.methodName = methodName
self.arguments = arguments
self.parent.putChild(bytes(methodName, 'utf8'), self)
def allowCrossOrigin(self, request):
# Append headers to allow cross-origin requests.
request.setHeader('Access-Control-Allow-Origin', '*')
request.setHeader('Access-Control-Allow-Methods', 'GET, POST, OPTION')
request.setHeader('Access-Control-Allow-Headers', 'Content-Type')
request.setHeader('Access-Control-Max-Age', 2520)
def render_OPTIONS(self, request):
allowCrossOrigin(request)
request.setHeader('Content-Type', 'application/json')
request.write('')
request.finish()
return server.NOT_DONE_YET
def render_GET(self, request):
data = {}
if self.arguments:
logging.info('GET arguments: %s', request.args)
for key in request.args:
try:
data[key.decode('utf8')] = int(request.args[key][0])
except:
if request.args[key][0] == b'true': data[key.decode('utf8')] = True
elif request.args[key][0] == b'false': data[key.decode('utf8')] = False
else: data[key.decode('utf8')] = request.args[key][0].decode('utf8')
allowCrossOrigin(request)
request.setHeader('Content-Type', 'application/json')
if self.arguments:
reactor.callLater(0.0, self.startDbusRequestWData, request, data)
else:
reactor.callLater(0.0, self.startDbusRequest, request)
return server.NOT_DONE_YET
def render_POST(self, request):
contentType = request.getHeader("Content-Type")
self.allowCrossOrigin(request)
if contentType == "application/json":
# Expect a JSON object for the POST data.
data = request.content.getvalue().decode("utf8")
request.setHeader('Content-Type', 'application/json')
if self.arguments:
reactor.callLater(0.0, self.startDbusRequestWData, request, json.loads(data))
else:
reactor.callLater(0.0, self.startDbusRequest, request)
return server.NOT_DONE_YET
if self.arguments:
# Expect JSON data passed in URL-encoded form.
rawData = request.args.get(b'data', None)
if not rawData:
request.setResponseCode(400)
return b'"data" field required'
data = ''
for line in rawData:
data += line.decode('utf8')
data = json.loads(data)
request.setHeader('Content-Type', 'application/json')
reactor.callLater(0.0, self.startDbusRequestWData, request, data)
return server.NOT_DONE_YET
else:
reactor.callLater(0.0, self.startDbusRequest, request)
return server.NOT_DONE_YET
@inlineCallbacks
def startDbusRequestWData(self, request, data):
logging.debug('request: %s, (%s) %s', self.methodName, type(data), data)
reply = yield self.bus.callRemote(self.methodName, data)
returnData = json.dumps(reply)
request.write(bytes('{0}\n'.format(returnData), 'utf8'))
request.finish()
logging.info('method "%s" requested with data: %s with response: %s', self.methodName, data, returnData)
@inlineCallbacks
def startDbusRequest(self, request):
logging.debug('request: %s', self.methodName)
reply = yield self.bus.callRemote(self.methodName)
returnData = json.dumps(reply)
request.write(bytes('{0}\n'.format(returnData), 'utf8'))
request.finish()
logging.info('method "%s" requested with response: %s', self.methodName, returnData)
class Subscribe(resource.Resource):
"""
Implements the subscribe resource
"""
isLeaf = True
def __init__(self):
self.subscribers = set()
def render_GET(self, request):
allowCrossOrigin(request, methods='GET, OPTION')
request.setHeader('Content-Type', 'text/event-stream; charset=utf-8')
request.setResponseCode(200)
self.subscribers.add(request)
d = request.notifyFinish()
d.addBoth(self.removeSubscriber)
logging.info("Adding subscriber...")
request.write(b"")
return server.NOT_DONE_YET
def publishToAll(self, event, data):
"""
Publish an event to all recipients.
"""
for subscriber in self.subscribers:
if event:
subscriber.write(bytes('event: {event}\n'.format(event=event), 'utf8'))
subscriber.write(bytes('data: {data}\n'.format(data=data), 'utf8'))
# NOTE: the last CRLF is required to dispatch the event at the client
subscriber.write(b"\n")
def removeSubscriber(self, subscriber):
if subscriber in self.subscribers:
logging.info("Removing subscriber..")
self.subscribers.remove(subscriber)
class Publish(resource.Resource):
"""
Implements the publish resource
"""
isLeaf = True
def __init__(self, subscriber):
self.subscriber = subscriber
def render_POST(self, request):
eventlines = request.args.get(b'event', [b''])
event = ''
for line in eventlines:
event += line.decode('utf8')
rawData = request.args.get(b'data', None)
if not rawData:
request.setResponseCode(400)
return b"The parameter 'data' must be set\n"
data = ''
for line in rawData:
logging.info('line length: %d', len(line))
logging.info(' utf8 length: %d', len(line.decode('utf8')))
data += line.decode('utf8')
self.subscriber.publishToAll(event, data)
return bytes('event: {event}\ndata: {data}\n'.format(event=event, data=data), 'utf8')
class dbusPublisher:
def __init__(self, subscriber, controlApi, videoApi, ringApi):
self.subscriber = subscriber
self.controlApi = controlApi
self.videoApi = videoApi
self.ringApi = ringApi
self.controlApi.notifyOnSignal('notify', self.publishNotify)
self.videoApi.notifyOnSignal('segment', self.publishSegment)
self.videoApi.notifyOnSignal('sof', self.publishSOF)
self.videoApi.notifyOnSignal('eof', self.publishEOF)
def publishNotify(self, signal):
event = 'control/notify'
data = json.dumps(signal)
logging.info('%s: %s', event, data)
self.subscriber.publishToAll(event, data)
def publishSegment(self, signal):
event = 'video/segment'
data = json.dumps(signal)
logging.info('%s: %s', event, data)
self.subscriber.publishToAll(event, data)
def publishSOF(self, signal):
event = 'video/segment'
data = json.dumps(signal)
logging.info('%s: %s', event, data)
self.subscriber.publishToAll(event, data)
def publishEOF(self, signal):
event = 'video/segment'
data = json.dumps(signal)
logging.info('%s: %s', event, data)
self.subscriber.publishToAll(event, data)
class previewImage(resource.Resource):
isLeaf = True
def __init__(self, bus):
self.bus = bus
super().__init__()
def render_GET(self, request):
allowCrossOrigin(request, methods='GET, OPTION')
request.setHeader('Content-Type', 'image/jpeg')
reactor.callLater(0.0, self.requestPlaybackImage, request)
return server.NOT_DONE_YET
@inlineCallbacks
def requestPlaybackImage(self, request):
reply = yield self.bus.callRemote('livedisplay', {'hres':0,'vres':0})
yield asleep(2/60)
image = open('/tmp/cam-screencap.jpg', 'br').read()
request.write(image)
request.finish()
class playbackImage(resource.Resource):
isLeaf = True
def __init__(self, bus):
self.bus = bus
super().__init__()
def render_GET(self, request):
allowCrossOrigin(request, methods='GET, OPTION')
request.setHeader('Content-Type', 'image/jpeg')
reactor.callLater(0.0, self.requestPlaybackImage, request)
return server.NOT_DONE_YET
@inlineCallbacks
def requestPlaybackImage(self, request):
frameNum = int(request.args.get(b'frameNum', (0))[0])
reply = yield self.bus.callRemote('playback', {"framerate":0, "position":frameNum})
yield asleep(2/60)
image = open('/tmp/cam-screencap.jpg', 'br').read()
request.write(image)
request.finish()
class forceReboot(resource.Resource):
isLeaf = True
def render_OPTIONS(self, request):
allowCrossOrigin(request, methods='GET, POST, OPTION')
request.setHeader('Content-Type', 'application/json')
request.finish()
return server.NOT_DONE_YET
def render_GET(self, request):
allowCrossOrigin(request, methods='GET, POST, OPTION')
request.setHeader('Content-Type', 'application/json')
utils.getProcessOutput('/sbin/reboot', [])
return b'{"done":true}'
def render_POST(self, request):
allowCrossOrigin(request, methods='GET, POST, OPTION')
request.setHeader('Content-Type', 'application/json')
utils.getProcessOutput('/sbin/reboot', [])
return b'{"done":true}'
class waitForTouch(resource.Resource):
isLeaf = True
def render_GET(self, request):
allowCrossOrigin(request, methods='GET, OPTION')
reactor.callLater(0.0, self.runCommand, request)
return server.NOT_DONE_YET
@inlineCallbacks
def runCommand(self, request):
message = cgi.escape(request.args.get(b'message', (b"Tap"))[0].decode('utf8'))
logging.info('started wait for touch')
yield utils.getProcessOutput('python3', ['/root/api/uiScripts/tap-to-exit-button.py', message], env={"QT_QPA_PLATFORM":"linuxfb:fb=/dev/fb0"})
logging.info('touch happened')
request.write(b'{"Touched":true}')
request.finish()
class waitForTouchThenBlackcal(resource.Resource):
isLeaf = True
def __init__(self, controlApi):
self.controlApi = controlApi
super().__init__()
def render_GET(self, request):
allowCrossOrigin(request, methods='GET, OPTION')
reactor.callLater(0.0, self.runCommand, request)
return server.NOT_DONE_YET
@inlineCallbacks
def runCommand(self, request):
message = cgi.escape(request.args.get(b'message', (b"Touch to cal"))[0].decode('utf8'))
logging.info('started wait for touch')
yield utils.getProcessOutput('python3', ['/root/api/uiScripts/tap-to-exit-button.py', message], env={"QT_QPA_PLATFORM":"linuxfb:fb=/dev/fb0"})
logging.info('touch happened; calibrating')
reply = yield self.controlApi.callRemote('calibrate', {"blackCal":True, "analogCal":True})
returnData = json.dumps(reply)
request.write(bytes('{0}\n'.format(returnData), 'utf8'))
request.finish()
@inlineCallbacks
def main():
subscribe = Subscribe()
webPublisher = Publish(subscribe)
root.putChild(b'subscribe', subscribe)
root.putChild(b'publish', webPublisher)
root.putChild(b'', root)
site = server.Site(root)
logging.info('Adding dbus signals')
system = yield client.connect(reactor, 'system')
controlApi = yield system.getRemoteObject('ca.krontech.chronos.control', '/ca/krontech/chronos/control')
videoApi = yield system.getRemoteObject('ca.krontech.chronos.video', '/ca/krontech/chronos/video')
ringApi = None
dbusSignalPublisher = dbusPublisher(subscribe, controlApi, videoApi, ringApi)
logging.info('Adding methods')
control = resource.Resource()
root.putChild(b'control', control)
GetMethod(control, controlApi, 'get')
Method(control, controlApi, 'set', arguments=True)
Method(control, controlApi, 'startAutoWhiteBalance', arguments=True)
Method(control, controlApi, 'revertAutoWhiteBalance', arguments=False)
Method(control, controlApi, 'startAutoFocus', arguments=True)
Method(control, controlApi, 'startCalibration', arguments=True)
Method(control, controlApi, 'startRecording', arguments=False)
Method(control, controlApi, 'stopRecording', arguments=False)
Method(control, controlApi, 'flushRecording', arguments=False)
Method(control, controlApi, 'startFilesave', arguments=False)
Method(control, controlApi, 'softTrigger', arguments=False)
Method(control, controlApi, 'revertToDefaults', arguments=False)
Method(control, controlApi, 'softReset', arguments=False)
Method(control, controlApi, 'getResolutionTimingLimits', arguments=True)
video = resource.Resource()
root.putChild(b'video', video)
Method(video, videoApi, 'status', arguments=False)
Method(video, videoApi, 'flush', arguments=False)
Method(video, videoApi, 'playback', arguments=True)
Method(video, videoApi, 'configure', arguments=True)
Method(video, videoApi, 'livedisplay', arguments=True)
Method(video, videoApi, 'recordfile', arguments=True)
Method(video, videoApi, 'stop', arguments=False)
Method(video, videoApi, 'overlay', arguments=True)
root.putChild(b'screenCap.jpg', previewImage(videoApi))
root.putChild(b'liveImage.jpg', previewImage(videoApi))
root.putChild(b'playbackImage.jpg', playbackImage(videoApi))
root.putChild(b'waitForTouch', waitForTouch())
root.putChild(b'waitForTouchThenBlackcal', waitForTouchThenBlackcal(controlApi))
if aimCameraResource:
root.putChild(b'aimCamera', aimCameraResource())
root.putChild(b'timingControl.html', File('timingControl.html'))
root.putChild(b'forceReboot', forceReboot())
reactor.listenTCP(12000, site)
yield asleep(0.1)
logging.info("All Systems Go")
if __name__ == "__main__":
root = Root()
logging.basicConfig(level=logging.DEBUG, format='%(levelname)s [%(funcName)s] %(message)s')
reactor.callWhenRunning( main )
log.startLogging(sys.stdout)
reactor.run()