1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
|
#include "httpservice.h"
// qt
#include <QHttpServer>
// 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)
// : QObject{parent}
: INIT_FIELD(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(); });
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};
}
|
