organize things a bit, populate ICamera

6 files changed, 303 insertions, 0 deletions

diff --git a/src/protocols/httpserver.cpp b/src/protocols/httpserver.cpp
new file mode 100644
index 0000000..41226aa
--- /dev/null
+++ b/src/protocols/httpserver.cpp
@@ -0,0 +1,219 @@
+#include "httpserver.h"
+
+// qt
+#include <QHttpServer>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QJsonValue>
+
+// orpheus
+#include "camera/veyeimx287m.h"
+#include "constants.h"
+#include "image.h"
+#include "imagealgos.h"
+#include "macro.h"
+
+// rapidjson
+#include "rapidjson/document.h"
+#include "rapidjson/stringbuffer.h"
+#include "rapidjson/writer.h"
+
+extern uint8_t pgm_image[64 + img_width * img_height * sizeof(uint8_t)];
+extern size_t pgm_image_size;
+extern std::mutex pgm_image_mtx;
+
+HttpServer::HttpServer(ICamera *camera,
+                       // QObject *parent,
+                       const QHostAddress &address,
+                       const uint16_t port)
+    : ProtocolBase{camera}
+    , INIT_FIELD(address)
+    , INIT_FIELD(port)
+    , m_server{std::make_shared<QHttpServer>()}
+{
+    const auto apiPrefix = QStringLiteral("/v1");
+    const auto pixelsPath = apiPrefix + "/pixels";
+    qDebug().noquote() << Q_FUNC_INFO << ": pixelsPath: " << pixelsPath;
+
+    m_server->route(pixelsPath, [this]() { return GET_pixels(); });
+    m_server->route(apiPrefix + QStringLiteral("/sensor/params"),
+                    QHttpServerRequest::Method::Get,
+                    [this]() { return GET_params(); });
+    m_server->route(apiPrefix + QStringLiteral("/sensor/params"),
+                    QHttpServerRequest::Method::Post,
+                    [this](const QHttpServerRequest &request) {
+                        return POST_params(request);
+                    });
+
+    qDebug().noquote() << Q_FUNC_INFO << ": listen: " << m_server->listen(m_address, m_port);
+}
+
+QHttpServerResponse HttpServer::GET_pixels()
+{
+    QElapsedTimer t;
+    t.start();
+    // std::shared_ptr<std::nullptr_t> logTime = std::make_shared<std::nullptr_t>(nullptr, [t]() {
+    //     qDebug() << "HttpServer::GET_pixels: elapsed" << t.nsecsElapsed() / 1000 << "(us)";
+    // });
+    static constexpr bool logTime{false};
+    if constexpr (logTime) {
+        const std::shared_ptr<std::nullptr_t>
+            timeLogger{nullptr, [t](auto unused_ptr) {
+                           qDebug() << "HttpServer::GET_pixels: elapsed" << t.nsecsElapsed() / 1000
+                                    << "(us)";
+                       }};
+    }
+
+    Image img;
+    {
+        // const auto sharedCam = m_camera.lock();
+        // FIME: don't cast anything, use interface
+        // auto cam = dynamic_cast<VeyeIMX287m *>(sharedCam.get());
+        auto cam = dynamic_cast<VeyeIMX287m *>(m_camera);
+
+        if (!cam) {
+            qWarning() << "NO CAM";
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        }
+
+        // yeaah
+        // ::img = &img;
+        if (!cam->getImage(img)) {
+            qWarning() << "cannot get image";
+            return QHttpServerResponse::StatusCode::ServiceUnavailable;
+        }
+
+        // ::pixels = std::move(img.pixels());
+        ++cam->processedCounter;
+    }
+
+    // FIXME: not thread-safe, don't use this static shared_ptr at all
+    const auto pixels = img.sharedPixels();
+    // const auto lines = pixelsToLines(::pixels);
+    const auto lines = pixelsToLines(*pixels);
+
+    // qt json does not allow to limit double precision, so using rapidjson
+    rapidjson::Document jd;
+    jd.SetObject();
+    auto &al = jd.GetAllocator();
+
+    const auto nan2zero = [](const auto &value) { return qIsNaN(value) ? 0 : value; };
+
+    rapidjson::Value rjPixels{rapidjson::kArrayType};
+
+    for (size_t i = 0; i < img_width; ++i) {
+        rjPixels.PushBack(nan2zero(pixels->pixels[i]), al);
+    }
+
+    rapidjson::Value rjLines{rapidjson::kArrayType};
+
+    for (const auto &l : lines) {
+        rapidjson::Value rjLineP1{rapidjson::kArrayType};
+        rjLineP1.PushBack(nan2zero(l.p1().x()), al).PushBack(nan2zero(l.p1().y()), al);
+        rapidjson::Value rjLineP2{rapidjson::kArrayType};
+        rjLineP2.PushBack(nan2zero(l.p2().x()), al).PushBack(nan2zero(l.p2().y()), al);
+        rapidjson::Value rjLinePoints{rapidjson::kArrayType};
+        rjLinePoints.PushBack(rjLineP1, al).PushBack(rjLineP2, al);
+
+        rjLines.PushBack(rjLinePoints, al);
+    }
+
+    // jd.AddMember("encoderPosition", qint64{encoder.position()});
+    // FIXME: get prom pixels struct
+    jd.AddMember("measurementCounter", img.counters.measurementCounter, al);
+    jd.AddMember("timestampUs", img.counters.timestampUs, al);
+    jd.AddMember("pixels", rjPixels.Move(), al);
+    jd.AddMember("lines", rjLines.Move(), al);
+
+    rapidjson::StringBuffer buffer;
+    rapidjson::Writer<rapidjson::StringBuffer> writer(buffer);
+    writer.SetMaxDecimalPlaces(2);
+    jd.Accept(writer);
+    const QString res{(const char *) buffer.GetString()};
+    // qDebug() << "size:" << res.size();
+    // qDebug().noquote() << "ret pix";
+
+    return QHttpServerResponse{res};
+}
+
+QHttpServerResponse HttpServer::POST_params(const QHttpServerRequest &request)
+{
+    const auto json = QJsonDocument::fromJson(request.body()).object();
+    qDebug().noquote() << __func__ << ": " << json;
+
+    const auto jsonError = [](const auto message) -> const QString {
+        return QJsonDocument{QJsonObject{{QStringLiteral("error"), message}}}
+            .toJson();
+    };
+    const auto invalidValue =
+        [jsonError](const auto fieldName) -> const QString {
+        return jsonError(fieldName + QStringLiteral(" has invalid value"));
+    };
+
+    const auto autoExposure = json["autoExposure"];
+    const auto exposureTime = json["exposureTime"];
+    const auto autoGain = json["autoGain"];
+    const auto gain = json["gain"];
+
+    if (!autoExposure.isNull()) {
+        if (autoExposure.isBool()) {
+            m_camera->set_autoExposure(autoExposure.toBool());
+        } else {
+            return {invalidValue("autoExposure"),
+                    QHttpServerResponse::StatusCode::BadRequest};
+        }
+    }
+
+    if (!exposureTime.isNull()) {
+        if (exposureTime.isDouble()) {
+            m_camera->set_exposureTime(
+                std::chrono::microseconds{exposureTime.toInt()});
+        } else {
+            return {invalidValue("exposureTime"),
+                    QHttpServerResponse::StatusCode::BadRequest};
+        }
+    }
+
+    if (!autoGain.isNull()) {
+        if (autoGain.isBool()) {
+            m_camera->set_autoGain(autoGain.toBool());
+        } else {
+            return {invalidValue("autoGain"),
+                    QHttpServerResponse::StatusCode::BadRequest};
+        }
+    }
+
+    if (!gain.isNull()) {
+        if (gain.isDouble()) {
+            m_camera->set_gain(gain.toDouble());
+        } else {
+            return {invalidValue("gain"),
+                    QHttpServerResponse::StatusCode::BadRequest};
+        }
+    }
+
+    return QHttpServerResponse::StatusCode::Ok;
+}
+
+QHttpServerResponse HttpServer::GET_params()
+{
+    const auto val_or_null = [](const auto &optional) -> QJsonValue {
+        return optional ? QJsonValue{*optional} : QJsonValue::Null;
+    };
+
+    const auto chrono_val_or_null = [](const auto &optional) -> QJsonValue {
+        return optional ? static_cast<qint64>(optional->count())
+                        : QJsonValue::Null;
+    };
+
+    const auto json = QJsonObject{
+        {"autoExposure", val_or_null(m_camera->get_autoExposure())},
+        {"exposureTime", chrono_val_or_null(m_camera->get_exposureTime())},
+        {"autoGain", val_or_null(m_camera->get_autoGain())},
+        {"gain", val_or_null(m_camera->get_gain())},
+    };
+
+    qDebug().noquote() << __func__ << ": " << json;
+
+    return QHttpServerResponse{QJsonDocument{json}.toJson()};
+}
diff --git a/src/protocols/httpserver.h b/src/protocols/httpserver.h
new file mode 100644
index 0000000..86b6ad6
--- /dev/null
+++ b/src/protocols/httpserver.h
@@ -0,0 +1,47 @@
+#pragma once
+
+// qt
+#include <QHostAddress>
+#include <QHttpServerResponse>
+// #include <QObject>
+
+// orpheus
+#include "iprotocol.h"
+
+class ICamera;
+class QHttpServer;
+
+class HttpServer : public ProtocolBase
+{
+    // Q_OBJECT
+
+private:
+    struct Stats
+    {
+        uint64_t GET_pixels_us{0};
+    } m_stats{0};
+
+public:
+    static constexpr auto DefaultAddress = QHostAddress::Any;
+    static constexpr uint16_t DefaultPort{8080};
+
+public:
+    explicit HttpServer(ICamera *camera,
+                        // QObject *parent = nullptr,
+                        const QHostAddress &address = DefaultAddress,
+                        const uint16_t port = DefaultPort);
+    ~HttpServer() override = default;
+
+    // TODO: methods starting with GET_/POST_ will be routed automatically
+public:
+    QHttpServerResponse GET_pixels();
+
+    QHttpServerResponse POST_params(const QHttpServerRequest &request);
+    QHttpServerResponse GET_params();
+
+private:
+    QHostAddress m_address{DefaultAddress};
+    uint16_t m_port{DefaultPort};
+
+    std::shared_ptr<QHttpServer> m_server;
+};
diff --git a/src/protocols/iprotocol.cpp b/src/protocols/iprotocol.cpp
new file mode 100644
index 0000000..f85d990
--- /dev/null
+++ b/src/protocols/iprotocol.cpp
@@ -0,0 +1,5 @@
+#include "iprotocol.h"
+
+ProtocolBase::ProtocolBase(ICamera *camera)
+    : m_camera{camera}
+{}
diff --git a/src/protocols/iprotocol.h b/src/protocols/iprotocol.h
new file mode 100644
index 0000000..3827550
--- /dev/null
+++ b/src/protocols/iprotocol.h
@@ -0,0 +1,19 @@
+#pragma once
+
+class ICamera;
+
+class IProtocol
+{
+public:
+    virtual ~IProtocol() = default;
+};
+
+class ProtocolBase : public IProtocol
+{
+public:
+    explicit ProtocolBase(ICamera *camera);
+    ~ProtocolBase() override = default;
+
+protected:
+    ICamera *m_camera{nullptr};
+};
diff --git a/src/protocols/protocolbase.cpp b/src/protocols/protocolbase.cpp
new file mode 100644
index 0000000..9116d25
--- /dev/null
+++ b/src/protocols/protocolbase.cpp
@@ -0,0 +1,3 @@
+#include "protocolbase.h"
+
+ProtocolBase::ProtocolBase() {}
diff --git a/src/protocols/protocolbase.h b/src/protocols/protocolbase.h
new file mode 100644
index 0000000..fb41dca
--- /dev/null
+++ b/src/protocols/protocolbase.h
@@ -0,0 +1,10 @@
+#ifndef PROTOCOLBASE_H
+#define PROTOCOLBASE_H
+
+class ProtocolBase
+{
+public:
+    ProtocolBase();
+};
+
+#endif // PROTOCOLBASE_H