openmv/scripts/libraries/rtsp.py
2024-03-20 10:33:57 -07:00

371 lines
16 KiB
Python

# This file is part of the OpenMV project.
#
# Copyright (c) 2013-2023 Ibrahim Abdelkader <iabdalkader@openmv.io>
# Copyright (c) 2013-2023 Kwabena W. Agyeman <kwagyeman@openmv.io>
#
# This work is licensed under the MIT license, see the file LICENSE for details.
import errno
import image
import random
import re
import socket
import struct
import time
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)
try:
if hasattr(socket, "SO_REUSEADDR"):
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.bind(self.__myaddr)
s.listen(0)
s.settimeout(5)
self.__tcp__socket, self.__client_addr = s.accept()
except OSError:
pass
s.close()
except OSError:
self.__tcp__socket = None
return self.__tcp__socket is not None
def __close_tcp_socket(self): # private
if self.__tcp__socket is not None:
self.__tcp__socket.close()
self.__tcp__socket = None
if self.__playing:
self.__playing = False
if self.__teardown_cb:
self.__teardown_cb(self.__pathname, self.__playing_session)
def __valid_udp_socket(self): # private
if self.__udp_rtp__socket is None:
try:
self.__udp_rtp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
if hasattr(socket, "SO_REUSEADDR"):
self.__udp_rtp__socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.__udp_rtp__socket.bind((self.__myip, self.__client_rtp_port))
except OSError:
self.__udp_rtp__socket.close()
self.__udp_rtp__socket = None
except OSError:
self.__udp_rtp__socket = None
if self.__udp_rtcp__socket is None:
try:
self.__udp_rtcp__socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
if hasattr(socket, "SO_REUSEADDR"):
self.__udp_rtcp__socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.__udp_rtcp__socket.bind((self.__myip, self.__client_rtcp_port))
except OSError:
self.__udp_rtcp__socket.close()
self.__udp_rtcp__socket = None
except OSError:
self.__udp_rtcp__socket = None
return self.__udp_rtp__socket is not None and self.__udp_rtcp__socket is not None
def __close_udp_socket(self): # private
if self.__udp_rtp__socket is not None:
self.__udp_rtp__socket.close()
self.__udp_rtp__socket = None
if self.__udp_rtcp__socket is not None:
self.__udp_rtcp__socket.close()
self.__udp_rtcp__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_rtp__socket = None
self.__udp_rtcp__socket = None
self.__setup_cb = None
self.__play_cb = None
self.__pause_cb = None
self.__teardown_cb = None
self.__pathname = ""
self.__session = random.getrandbits(30)
self.__transport_is_tcp = False
self.__client_rtp_addr = None
self.__playing = False
self.__playing_session = 0
self.__sequence_number = random.getrandbits(16)
self.__ssrc = random.getrandbits(30)
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"
% (random.getrandbits(30), random.getrandbits(30), 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 = random.getrandbits(30)
self.__ssrc = random.getrandbits(30)
self.__valid_udp_socket()
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 = random.getrandbits(30)
self.__ssrc = random.getrandbits(30)
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.__playing_session = int(m.group(1))
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, self.__playing_session)
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 __parse_rtcp_packet(self, data): # private
pass
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_rtp__socket.settimeout(timeout)
self.__udp_rtcp__socket.settimeout(timeout)
def __send(self, data): # private
if self.__transport_is_tcp:
self.__tcp__socket.sendall(
struct.pack(">BBH", 0x24, self.__client_rtp_channel, len(data)) + data
)
return True
else:
return self.__udp_rtp__socket.sendto(data, self.__client_rtp_addr)
def __recv(self): # private
if self.__transport_is_tcp:
return self.__tcp__socket.recv(1400)
else:
return self.__udp_rtcp__socket.recv(1400)
def __close_socket(self): # private
if self.__transport_is_tcp:
self.__close_tcp_socket()
else:
self.__close_udp_socket()
def __send_rtp(self, image_callback, quality): # private
img = image_callback(self.__pathname, self.__session)
img = img.to_jpeg(quality=quality, subsampling=image.JPEG_SUBSAMPLING_422)
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(5)
timestamp = (time.ticks_ms() * 90) & 0xFFFFFFFF
mv = memoryview(img)
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 = mv[i : i + min(l, max_packet_size)]
img_data_len = len(img_data)
if not self.__send(rtp_header + jpeg_header + img_data):
break
i += img_data_len
l -= img_data_len
if l:
self.__close_socket()
except OSError:
self.__close_socket()
if not self.__transport_is_tcp and self.__valid_socket():
try:
self.__settimeout(0.001)
try:
data = self.__recv()
if data and len(data):
self.__parse_rtcp_packet(data)
except OSError as e:
if e.errno != errno.EAGAIN and e.errno != errno.ETIMEDOUT:
raise e
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(0.001)
try:
data = self.__tcp__socket.recv(1400)
if data and len(data):
self.__parse_rtsp_request(data)
else:
raise OSError
except OSError as e:
if e.errno != errno.EAGAIN and e.errno != errno.ETIMEDOUT:
raise e
if self.__playing:
self.__send_rtp(image_callback, quality)
except OSError:
self.__close_tcp_socket()
self.__close_udp_socket()