# This file is part of the OpenMV project. # # Copyright (c) 2013-2020 Ibrahim Abdelkader # Copyright (c) 2013-2020 Kwabena W. Agyeman # # This work is licensed under the MIT license, see the file LICENSE for details. import pyb import re import socket import struct class rtsp_server: def __valid_tcp_socket(self): # private if self.__tcp__socket is None: try: s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.bind(self.__myaddr) s.listen(0) s.settimeout(5) self.__tcp__socket, self.__client_addr = s.accept() s.close() except OSError: self.__tcp__socket = None return self.__tcp__socket is not None def __close_tcp_socket(self): # private self.__tcp__socket.close() self.__tcp__socket = None def __valid_udp_socket(self): # private if self.__udp__socket is None: try: self.__udp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.__udp__socket.bind((self.__myip, self.__client_rtp_port)) except OSError: self.__udp__socket = None return self.__udp__socket is not None def __close_udp_socket(self): # private self.__udp__socket.close() self.__udp__socket = None def __init__(self, network_if, port=554): # private self.__network = network_if self.__myip = self.__network.ifconfig()[0] self.__myaddr = (self.__myip, port) self.__tcp__socket = None self.__udp__socket = None self.__setup_cb = None self.__play_cb = None self.__pause_cb = None self.__teardown_cb = None self.__pathname = "" self.__session = pyb.rng() self.__transport_is_tcp = False self.__client_rtp_addr = None self.__playing = False self.__sequence_number = pyb.rng() & 0xFFFF self.__ssrc = pyb.rng() print("IP Address:Port %s:%d\nRunning..." % self.__myaddr) def register_setup_cb(self, cb): # public self.__setup_cb = cb def register_play_cb(self, cb): # public self.__play_cb = cb def register_pause_cb(self, cb): # public self.__pause_cb = cb def register_teardown_cb(self, cb): # public self.__teardown_cb = cb def __send_rtsp_response(self, code, name, extra=""): # private self.__tcp__socket.send("RTSP/1.0 %d %s\r\n%s\r\n" % (code, name, extra)) def __send_rtsp_response_cseq(self, code, name, seq, extra=""): # private self.__send_rtsp_response(code, name, "CSeq: %d\r\n%s" % (seq, extra)) def __send_rtsp_response_ok(self, seq, extra=""): # private self.__send_rtsp_response_cseq(200, "OK", seq, extra) def __parse_rtsp_request(self, data): # private if data[0] == 0x24: return # Interleaved RTCP Packet if data[0] >= 0x80: return # Ressambled TCP s = list( filter(lambda x: x and not x.startswith("User-Agent"), data.decode().splitlines()) ) if s and len(s) >= 2: line0 = s[0].split(" ") request = line0[0] self.__pathname = re.sub("rtsp(u)?://[a-zA-Z0-9\-\.]+(:\d+)?(/)?", "/", line0[1]) if self.__pathname != "/" and self.__pathname.endswith("/"): self.__pathname = self.__pathname[:-1] if line0[2] == "RTSP/1.0": if len(s) >= 3 and s[1].split(" ")[0] != "CSeq:": for i in range(2, len(s)): if s[i].split(" ")[0] == "CSeq:": temp = s[i] s[i] = s[1] s[1] = temp break line1 = s[1].split(" ") if line1[0] == "CSeq:": seq = int(line1[1]) if request == "OPTIONS": if len(s) >= 3: m = re.match("(Proxy-)?Require: (\S)+", s[2]) if m: self.__send_rtsp_response_cseq( 551, "Option not supported", seq, "Unsupported: %s\r\n" % m.group(2), ) return self.__send_rtsp_response_ok( seq, "Public: DESCRIBE, SETUP, PLAY, PAUSE, TEARDOWN\r\n" ) return elif request == "DESCRIBE": payload = ( "v=0\r\no=- %d %d IN IP4 %s\r\ns=OpenMV Video\r\nt=0 0\r\nm=video 0 RTP/AVP 26" % (pyb.rng(), pyb.rng(), self.__myip) ) self.__send_rtsp_response_ok( seq, "Content-Type: application/sdp\r\nContent-Length: %d\r\n\r\n%s" % (len(payload) + 2, payload), ) return elif request == "SETUP": if len(s) >= 3: m = re.match( "Transport: RTP/AVP(/UDP)?;unicast;client_port=(\d+)-(\d+)", s[2] ) if m: self.__transport_is_tcp = False self.__client_rtp_port = int(m.group(2)) self.__client_rtcp_port = int(m.group(3)) self.__client_rtp_addr = ( self.__client_addr[0], self.__client_rtp_port, ) self.__client_rtcp_addr = ( self.__client_addr[0], self.__client_rtcp_port, ) self.__session = pyb.rng() self.__ssrc = pyb.rng() self.__send_rtsp_response_ok( seq, "%s;server_port=%d-%d;ssrc=%d\r\nSession: %d\r\n" % ( s[2], self.__client_rtp_port, self.__client_rtcp_port, self.__ssrc, self.__session, ), ) if self.__setup_cb: self.__setup_cb(self.__pathname, self.__session) return m = re.match( "Transport: RTP/AVP/TCP;unicast;interleaved=(\d+)-(\d+)", s[2] ) if m: self.__transport_is_tcp = True self.__client_rtp_channel = int(m.group(1)) self.__client_rtcp_channel = int(m.group(2)) self.__session = pyb.rng() self.__ssrc = pyb.rng() self.__send_rtsp_response_ok( seq, "%s\r\nSession: %d\r\n" % (s[2], self.__session) ) if self.__setup_cb: self.__setup_cb(self.__pathname, self.__session) return elif request == "PLAY": s = list(filter(lambda x: x and not x.startswith("Range"), s)) if len(s) >= 3: m = re.match("Session: (\d+)", s[2]) if m: self.__playing = True self.__send_rtsp_response_ok( seq, "RTP-Info: url=%s;seq=%d\r\n" % (line0[1], self.__sequence_number), ) if self.__play_cb: self.__play_cb(self.__pathname, int(m.group(1))) return elif request == "PAUSE": if len(s) >= 3: m = re.match("Session: (\d+)", s[2]) if m: self.__playing = False self.__send_rtsp_response_ok(seq) if self.__pause_cb: self.__pause_cb(self.__pathname, int(m.group(1))) return elif request == "TEARDOWN": if len(s) >= 3: m = re.match("Session: (\d+)", s[2]) if m: self.__playing = False self.__send_rtsp_response_ok(seq) if self.__teardown_cb: self.__teardown_cb(self.__pathname, int(m.group(1))) return else: self.__send_rtsp_response_cseq(501, "Not Implemented", seq) return self.__send_rtsp_response(400, "Bad Request") def __valid_socket(self): # private if self.__transport_is_tcp: return self.__client_rtp_channel is not None else: return self.__valid_udp_socket() and self.__client_rtp_addr is not None def __settimeout(self, timeout): # private if self.__transport_is_tcp: self.__tcp__socket.settimeout(timeout) else: self.__udp__socket.settimeout(timeout) def __send(self, data): # private if self.__transport_is_tcp: return self.__tcp__socket.send( struct.pack(">BBH", 0x24, self.__client_rtp_channel, len(data)) + data ) else: return self.__udp__socket.sendto(data, self.__client_rtp_addr) def __close_socket(self): # private if self.__transport_is_tcp: pass else: self.__close_udp_socket() def __send_rtp(self, image_callback, quality): # private img = image_callback(self.__pathname, self.__session).compress(quality) if img.width() >= 2040: raise ValueError("Maximum width is 2040") if img.height() >= 2040: raise ValueError("Maximum height is 2040") i = 0 l = img.size() rtp_header_size = 12 jpeg_header_size = 8 max_packet_size = 1400 - rtp_header_size - jpeg_header_size if self.__transport_is_tcp: max_packet_size -= 4 if self.__valid_socket(): try: self.__settimeout(0.1) timestamp = (pyb.millis() * 90) & 0xFFFFFFFF while l: rtp_header = struct.pack( ">BBHII", 0x80, 0x9A if l <= max_packet_size else 0x1A, self.__sequence_number, timestamp, self.__ssrc, ) self.__sequence_number = (self.__sequence_number + 1) & 0xFFFF jpeg_header = struct.pack( ">IBBBB", i, 0, quality, int(img.width() // 8), int(img.height() // 8) ) img_data = img.bytearray()[i : i + min(l, max_packet_size)] img_data_len = len(img_data) data_len = self.__send(rtp_header + jpeg_header + img_data) if not data_len: break i += img_data_len l -= img_data_len if l: self.__close_socket() except OSError: self.__close_socket() def stream(self, image_callback, quality=90): # public while True: if self.__valid_tcp_socket(): try: self.__tcp__socket.settimeout(0.1) while True: data = self.__tcp__socket.recv(1400) if data and len(data): self.__parse_rtsp_request(data) if self.__playing: self.__send_rtp(image_callback, quality) except OSError: self.__close_tcp_socket()