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bigMain.py
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bigMain.py
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#Copyright (c) 2019 UofRobotics
#Python Video Streaming Server over MJPEG
#Compatible with VLC as HTTP stream
#Server Runs on Ubuntu, Requires Camera
import pytest #This Line Can Be Removed on Installation
from PIL import Image
import numpy as np
import cv2
import io
import time
import socket
ip="0.0.0.0" #Don't Change This
port=8080 #Hosting Port, Don't Change This
buff=1500 #Also Don't Change This
#Pytest Build Temporary Fix
pytest.skip("No Test Functionality Implemented", allow_module_level=True)
#Initalisation of TCP Socket Server
s=socket.socket(socket.AF_INET, socket.SOCK_STREAM) #TCP/IP Socket
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) #Unbind when Done
s.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1) #Zero-Latency TCP
s.bind((ip,port)) #Start Server
s.listen(1) #Listen for Connections
#Initalisation of Camera
cap = cv2.VideoCapture(0)
#Initalisation of Log File
f = open('vidDebug.log','a') #Don't Change This
#Mandatory HTTP Headers (Required for Functionality)
iostr="\r\n--R2lpaXUgU3dmYW5iY2o0\r\nContent-Type: image/jpeg\r\nContent-Length: ".encode("utf-8")
estr="\r\n\r\n".encode("utf-8")
#Function Call Speedups
tc=time.clock
tt=time.time
ts=time.sleep
cr=cap.read
cvt=cv2.cvtColor
bgr=cv2.COLOR_BGR2RGB
ifa=Image.fromarray
bio=io.BytesIO
fw=f.write
ff=f.flush
st=s.settimeout
ste=socket.timeout
rdwr=socket.SHUT_RDWR
se=socket.error
#Initalisation of Address
print("READY!")
addr=["NC","NC"]
#Continuity Loop
while True:
#Do Not Change Anything Below, All of this is Security
print("Disconnected")
print(tt())
print(addr)
fw("Disconnected\n")
fw(str(tt())+"\n")
fw(str(addr[0])+", ")
fw(str(addr[1])+"\n")
ff()
#Ctrl-C Handler
st(None)
try:
conn,addr=s.accept()
except KeyboardInterrupt:
break
print("Connected")
print(tt())
print(addr)
fw("Connected\n")
fw(str(tt())+"\n")
fw(str(addr[0])+", ")
fw(str(addr[1])+"\n")
ff()
ct=conn.settimeout
ct(1.0)
#Do Not Change Anything Above
#Header Communication with Client
cs=conn.sendall #Connection Speedup
#Client Timeout Handler
try:
data=conn.recv(buff)
except ste:
print("BOT!")
fw("BOT!\n")
conn.shutdown(rdwr)
conn.close()
continue
except se:
conn.shutdown(rdwr)
conn.close()
continue
#Also Mandatory HTTP Headers
ostr="HTTP/1.1 200 OK\r\nConnection: close\r\nServer: PyVidStreamServer MJPEG SERVER\r\nCache-Control: no-store, no-cache, must-revalidate, pre-check=0, post-check=0, max-age=0\r\nPragma: no-cache\r\nExpires: -1\r\nAccess-Control-Allow-Origin: *\r\nContent-Type: multipart/x-mixed-replace;boundary=R2lpaXUgU3dmYW5iY2o0\r\n\r\n"
o=ostr.encode("utf-8")
#Server Connection Failure Handler
try:
cs(o) #Sending Header
except ste:
print("BOT!")
fw("BOT!\n")
conn.shutdown(rdwr)
conn.close()
continue
except se:
conn.shutdown(rdwr)
conn.close()
continue
#grab initial image here
ret, frame = cr()
frame = cvt(frame, bgr)
img=ifa(frame)
#getting image height and width for future use
h=img.height
w=img.width
#Capture Loop
while True:
a=tc()#Start Time for Frame Limiting
#img grabbing goes here
ret, frame = cr()
frame = cvt(frame, bgr)
img=ifa(frame)
#Converting Raw Image into Compressed JPEG Bytes
with bio() as output:
img.save(output,format="JPEG",quality=25)
contents=output.getvalue()
#Concatenating Contents and Headers
o=iostr
o+=str(len(contents)).encode("utf-8")
o+=estr
o+=contents
#Sending Contents to Client
try:
cs(o)
except:
break
#frame rate limiter
b=tc() #End Time for Frame Limiting
c=b-a
t=1/5 #seconds per frame
if t-c>0.0:
ts(t-c) #delay remaining seconds
elif c>t:
pass
#print(c)
#End of Program (when Ctrl-C)
f.close()
cap.release()
s.close()