openmv/scripts/libraries/rtsp.py
2021-10-16 21:40:34 -07:00

222 lines
11 KiB
Python

# This file is part of the OpenMV project.
#
# Copyright (c) 2013-2020 Ibrahim Abdelkader <iabdalkader@openmv.io>
# Copyright (c) 2013-2020 Kwabena W. Agyeman <kwagyeman@openmv.io>
#
# This work is licensed under the MIT license, see the file LICENSE for details.
import network, pyb, re, socket, 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()