www.py

#!/usr/bin/python
# coding: utf-8

import sys
reload(sys)
sys.setdefaultencoding('utf-8')

import sys
import time
from daemon import Daemon
from BaseHTTPServer import BaseHTTPRequestHandler, HTTPServer
from SocketServer import ThreadingMixIn
import threading
import cgi
import string, sys, time
import os
from cv2 import cv
#import Image, ImageDraw, ImageFont
#import StringIO
#my import
from const  import *
from robot  import Robot
from config import Config

#cam property
#see server.conf
ResMode = ((352, 288), (640, 480), (1280,1024))
textColor = cv.RGB(255,255,255)


#Web Port
#see server.conf
refreshTime = 5 #every xx sec

#DIRS
#see server.conf


class MyHandler(BaseHTTPRequestHandler):	
    def do_HEAD(self):
        self.send_response(200)
        self.send_header('Content-type', 'text/html')
        self.end_headers()

    def do_AUTHHEAD(self):
        if self.path == "/":
            self.send_response(401)
            self.send_header('WWW-Authenticate', 'Basic realm=\"Robot control\"')
        else:
            self.send_response(200)
		
    def do_Auth(self):
        if self.headers.get('Authorization') == 'Basic YWRtaW46cXdlcnR5':
            return True
        else:
            self.do_AUTHHEAD()
            self.log_error('[AUTH] Не авторизирован')
            return False

    def showAuthResult(self,message):
        self.send_header('Content-type', 'text/html')
        self.end_headers()
        self.wfile.write('<html>')
        self.wfile.write('<head>')
        self.wfile.write('<meta content="text/html; charset=UTF-8" http-equiv="content-type">')
        self.wfile.write('<title>Авторизация</title>')
        self.wfile.write('</head>')
        self.wfile.write('<body>')
        self.wfile.write('<p>')
        self.wfile.write(message)
        self.wfile.write('</p>')
        self.wfile.write('</body>')
        self.wfile.write('</html>')

    def showPage(self,method,get_data,post_data):
        if get_data.get('action') != None:
            action = get_data.get('action')[0]
        else: action = None

        if action == "mjpeg": #отдать mjpeg-поток
            self.send_response(200)
            self.wfile.write("Content-Type: multipart/x-mixed-replace; boundary=--aaboundary")
            self.wfile.write("\r\n\r\n")
            if not self.server.capture:
                return
            t = time.time()
            frameCount = 0
            frameFps = 0
            frameSize = 0
            frameSpeed = 0
            self.log_error("[WEBCAM] start while")
            #Пока Сервер запущен
            while self.server.run:
                #try:
                    frameCount = frameCount + 1
                    img = cv.QueryFrame(self.server.capture)

                    text = time.strftime("%d/%m/%Y %H:%M:%S",time.localtime())
                    textSize, baseline = cv.GetTextSize(text,self.server.font)
                    cv.PutText(img,text, (textSize[1],2*textSize[1]),self.server.font, textColor)
                    text = str(frameSpeed)+"kb/s"
                    text = text +"  "+str(frameFps)+"fps"
                    textSize, baseline = cv.GetTextSize(text,self.server.font)
                    cv.PutText(img,text, (self.server.camWidth-textSize[0]-textSize[1],self.server.camHeight-textSize[1]), self.server.font, textColor)

                    cv2mat=cv.EncodeImage(".jpeg",img,(cv.CV_IMWRITE_JPEG_QUALITY,self.server.camQlt))
                    JpegData=cv2mat.tostring()
                    self.wfile.write("--aaboundary\r\n")
                    self.wfile.write("Content-Type: image/jpeg\r\n")
                    self.wfile.write("Content-length: "+str(len(JpegData))+"\r\n\r\n" )
                    self.wfile.write(JpegData)
                    self.wfile.write("\r\n\r\n\r\n")
                    if time.time() - t > refreshTime : #every Step sec
                        t = time.time()
                        frameFps = round(frameCount/refreshTime,1)
                        frameCount = 0
                        frameSize = len(JpegData)/1024
                        frameSpeed = int(8*len(JpegData)*frameFps/1024)
                        text = u'Захват %s к/с' % str(frameFps)
                        text = text + u', размер изображения: '+str(frameSize)+u'кБ'
                        text = text + u', скорость захвата: '+str(frameSpeed)+u'кб/с'
                        self.log_error('[WEBCAM] ' + text)
                        #if not self.do_Auth():
                            #self.log_error(u'Не авторизирован')
                            #break
                    #time.sleep(0.05)
                    cv.WaitKey(20)
                #except:
                    #time.sleep(1)
                    #break 
            self.log_error("[WEBCAM] stop while")
        elif action == "jpeg": #Отдать один кадр JPEG
            self.send_response(200)
            self.send_header('Content-type','image/jpeg')
            self.end_headers()
            img = cv.QueryFrame(self.server.capture)
            text = time.strftime("%d/%m/%Y %H:%M:%S",time.localtime())
            textSize, baseline = cv.GetTextSize(text,self.server.font)
            cv.PutText(img,text, (textSize[1],2*textSize[1]),self.server.font, textColor)
            cv2mat=cv.EncodeImage(".jpeg",img,(cv.CV_IMWRITE_JPEG_QUALITY,self.server.camQlt))
            JpegData=cv2mat.tostring()
            self.wfile.write(JpegData)
        elif action == "temperature": #Вернуть температуру
            text =  self.server.robot.get_temperature()
            self.wfile.write(text)
        elif action == "pressure": #Вернуть давление
            temp = int(self.server.robot.get_pressure())
            text = str(int(temp/133.33))
            self.wfile.write(text)
        elif self.path != "/": #Вернуть файл
            #Проверка что файл разрешен
            if file_allow(self.path):
                try:
                    f = open(self.server.Config.www_home + self.path)
                    self.send_response(200)
                    self.send_header('Content-type',file_type(self.path))
	            self.end_headers()
	            self.wfile.write(f.read())
                    f.close()
                except IOError:
                    self.send_error(404,u'Файл не найден: %s' % self.path)
            else: #Файл не разрешен
                self.send_error(404,u'Файл не найден: %s' % self.path)
        else: #Главная страница
            try:
               f = open(self.server.Config.www_home + '/' + self.server.Config.www_main)
               self.send_response(200)
               self.send_header('Content-type',"text/html")
               self.end_headers()
               self.wfile.write(f.read())
               f.close()
            except IOError:
               self.send_error(404, u'Файл не найден: %s' % self.path)

    def do_GET(self):
        #GET
        get_data = cgi.parse_qs(self.path[2:])
        #Вернем action
        if get_data.get('action') != None:
            action = get_data.get('action')[0]
        else: action = None

        #Проверка авторизации
        if not self.do_Auth():
            #если запрос на получение температуры или давнения, то вернуть пусто
            if action != "temperature" and action != "pressure":
                self.showAuthResult(u'Не авторизирован')
            else: 
                self.wfile.write('0')
            return
        #Обработать запрос
        self.showPage('GET',get_data,{})

    def do_POST(self):
        if not self.do_Auth():
            self.showAuthResult(u'Не авторизирован')
            return
        #GET
        get_data = cgi.parse_qs(self.path[2:])
        cl, cl2 = cgi.parse_header(self.headers.get('content-length'))
        qs = self.rfile.read(int(cl))
        post_data = cgi.parse_qs(qs.decode())
        #Разрешение кадра с камеры
        if post_data.get('resolution') != None:
            if (len(post_data.get('resolution')) > 0):
                mode = post_data.get('resolution')[0]
                if ((mode >= "0") and (mode <= "2")):
                    self.server.SetResolution(int(mode))
                else: 
                    None
            return 
        #Комманды
        if post_data.get('action') != None:
            cmd = post_data.get('action')[0]
            result = self.server.robot.sendCommand(cmd)
            self.wfile.write(result)
            self.log_error("[COMMAND] %s" % result)
            return
        #Обработать запрос
	self.showPage('GET',get_data,post_data)


class ThreadedHTTPServer(ThreadingMixIn, HTTPServer):
    #Handle requests in a separate thread.
    def __init__(self,handler, Config):
        self.Config = Config
        HTTPServer.__init__(self,(Config.www_host,Config.www_port),handler)
        self.run = False
        self.timeout = 1 #XXX sec timeout
        self.socket.settimeout(1)
        self.capture = None
        self.font = None
        self.camNum  = self.Config.cam_num
        self.camMode = self.Config.cam_mode
        self.camFps  = self.Config.cam_fps
        self.camQlt  = self.Config.cam_quality
        #Инициализация робота
        self.robot = Robot(Config.robot_port, Config.robot_baudrate)

    def CamStart(self):
        self.capture = cv.CaptureFromCAM(self.camNum)
        #Пробуем захватить кадр
        try:
            cv.QueryFrame(self.capture)
        except:
            self.capture = None

        #print cv.GetCaptureProperty(self.capture, cv.CV_CAP_PROP_FPS)
        #print cv.GetCaptureProperty(self.capture,cv.CV_CAP_PROP_FRAME_WIDTH)
        #print cv.GetCaptureProperty(self.capture,cv.CV_CAP_PROP_FRAME_HEIGHT)

        if not self.capture:
            sys.stderr.write(u'[WEBCAM] Ошибка открытия\r')
            return

        sys.stderr.write(u'[WEBCAM] Начало захвата\r')
        cv.SetCaptureProperty(self.capture,cv.CV_CAP_PROP_FPS,self.camFps)
        self.SetResolution(self.camMode)
		
    def CamStop(self):
        if not self.capture:
            del self.capture
        sys.stderr.write(u'[WEBCAM] Конец захвата\r')

    def SetResolution(self, mode):
        self.camWidth, self.camHeight = ResMode[mode]
        cv.SetCaptureProperty(self.capture,cv.CV_CAP_PROP_FRAME_WIDTH,self.camWidth)
        cv.SetCaptureProperty(self.capture,cv.CV_CAP_PROP_FRAME_HEIGHT,self.camHeight)
        self.font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5*(mode+1), 0.5*(mode+1), 0, mode+1, 8)

 
    def Start(self):
        self.CamStart()
        self.run = True
        #self.serve_forever()

    def Stop(self):
        self.run = False
        self.shutdown()
        time.sleep(1)
        self.socket.close()
        self.CamStop()	
        self.robot.close()


class MyDaemon(Daemon):
    def __init__(self,Config):
        self.Config = Config
        pidfile = Config.pid_filename
        stdin   = '/dev/null'
        stdout  = '/dev/null'
        stderr  = '/dev/null'
        if Config.log_filename != "":
            stderr = Config.log_filename  
	Daemon.__init__(self, pidfile, stdin, stdout, stderr)

    def run(self):
        server = ThreadedHTTPServer(MyHandler, self.Config)
        server.Start()
        while True:
            server.handle_request()
            #time.sleep(1)
        server.Stop()

    def stop(self):
        Daemon.stop(self)


if __name__ == "__main__":

    BaseDir  = os.path.dirname(sys.argv[0])
    config_filename = "server.conf"
    config_filename = os.path.join(BaseDir, config_filename)
    Config = Config(config_filename)
    
    try:
        os.makedirs(os.path.dirname(Config.log_filename))
        os.makedirs(os.path.dirname(Config.pid_filename))
    except:
        None

    daemon = MyDaemon(Config)
    if len(sys.argv) == 2:
        if 'start' == sys.argv[1]:
            daemon.start()
        elif 'stop' == sys.argv[1]:
            daemon.stop()
        elif 'restart' == sys.argv[1]:
            daemon.restart()
        else:
            print u'Неизвестный параметр'
            sys.exit(2)
        sys.exit(0)
    else:
        print u'Запуск: %s start|stop|restart' % sys.argv[0]
        sys.exit(2)