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#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(std::shared_ptr<ICamera> camera,
const QHostAddress &address,
const uint16_t port)
: IProtocol{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);
});
m_server->route(apiPrefix + QStringLiteral("/sensor/image"),
QHttpServerRequest::Method::Get,
[this]() { return GET_image(); });
m_server->route(apiPrefix + QStringLiteral("/sensor/image2"),
QHttpServerRequest::Method::Get,
[this]() { return GET_image(); });
qDebug().noquote() << Q_FUNC_INFO << ": listen: " << m_server->listen(m_address, m_port);
}
QHttpServerResponse HttpServer::GET_image()
{
static Image img;
if (!m_camera->getImage(&img)) {
qCritical() << "cannot get image";
return QHttpServerResponse::StatusCode::ServiceUnavailable;
}
pgm_save(&img);
std::lock_guard<std::mutex> lg(pgm_image_mtx);
return QHttpServerResponse{QByteArray{(const char *) (pgm_image),
static_cast<qsizetype>(
pgm_image_size)},
QHttpServerResponse::StatusCode::Ok};
}
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) {
if (!m_camera) {
qWarning() << "NO CAM";
return QHttpServerResponse::StatusCode::ServiceUnavailable;
}
// yeaah
// ::img = &img;
// if (!cam->getImage(img)) {
if (!m_camera->getImage(&img)) {
qWarning() << "cannot get image";
return QHttpServerResponse::StatusCode::ServiceUnavailable;
}
// ::pixels = std::move(img.pixels());
// ++cam->processedCounter;
// FIXME: take into account
// ++m_camera->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()};
}
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