ADPilot
/
modularization


			
							123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107108109110111112113114115116117118119120121122123124125126127128129130131132133134135136137138139140141142143144145146147148149150151152153154155156157158159160161162163164165166167168169170171172173174175176
							#include <QCoreApplication>

#include <QMutex>
#include <iostream>
#include <QFile>

#include "xmlparam.h"
#include "modulecomm.h"

#include "rawpic.pb.h"

#include "CivetServer.h"
#include <cstring>

#ifdef _WIN32
#include <windows.h>
#else
#include <unistd.h>
#endif


iv::vision::rawpic mRawPic;
QMutex gMutex;
qint64 gLastUpdate = 0;
void * gpa;

#define DOCUMENT_ROOT "./frontend/dist"
#define PORT "8081"

void Listenpic(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    if(nSize<1000)return;
    iv::vision::rawpic pic;
    if(false == pic.ParseFromArray(strdata,nSize))
    {
        std::cout<<"picview Listenpic fail."<<std::endl;
        return;
    }

    gMutex.lock();
    mRawPic.CopyFrom(pic);
    gMutex.unlock();
    gLastUpdate = QDateTime::currentMSecsSinceEpoch();

}


class WsStartHandler : public CivetHandler
{
  public:
    bool
    handleGet(CivetServer *server, struct mg_connection *conn)
    {

    mg_printf(conn,
              "HTTP/1.1 200 OK\r\nContent-Type: text/html\r\nConnection: "
              "close\r\n\r\n");

    mg_printf(conn, "<!DOCTYPE html>\n");
    mg_printf(conn, "<html>\n<head>\n");
    mg_printf(conn, "<meta charset=\"UTF-8\">\n");
    mg_printf(conn, "<title>ADC IV Web UI</title>\n");

    QFile xFile;
    xFile.setFileName("./frontend/indexpic.html");
    if(xFile.open(QIODevice::ReadOnly))
    {
        QByteArray ba = xFile.readAll();
        mg_printf(conn,ba.data());

    }

    return 1;


    }
};

class PicHandler : public CivetHandler
{
  public:
    bool
    handleGet(CivetServer *server, struct mg_connection *conn)
    {

        static int ncount;
 //       return false;
//        mg_printf(conn,
//                  "HTTP/1.1 200 OK\r\nContent-Type: "
//                  "text/html\r\nConnection: close\r\n\r\n");
//        mg_printf(conn, "<html><body>");
//        mg_printf(conn, "<h2>This is the Pic handler!!!</h2>");
//        mg_printf(conn, "</body></html>\n");

        mg_printf(conn,
                  "HTTP/1.1 200 OK\r\n"
                  "Connection: close\r\n"
                  "Max-Age: 0\r\n"
                  "Expires: 0\r\n"
                  "Cache-Control: no-cache, no-store, must-revalidate, private\r\n"
                  "Pragma: no-cache\r\n"
                  "Content-Type: multipart/x-mixed-replace; "
                  "boundary=--BoundaryString\r\n"
                  "\r\n");

        mg_printf(conn,"<meta http-equiv=\"refresh\" content=\"1\">");
        mg_printf(conn,
        "<script type=\"text/javascript\">\r\n"
            "function myrefresh() {\r\n"
                "window.location.reload();\r\n"
            "}\r\n"
            "setTimeout('myrefresh()', 1000);\r\n"
        "</script>\r\n");

        QByteArray ba;
        if(gLastUpdate > 0)
        {
        iv::vision::rawpic xrawpic;
        gMutex.lock();
        xrawpic.CopyFrom(mRawPic);
        gMutex.unlock();
        ba.append(xrawpic.picdata().data(),xrawpic.picdata().size());

        }
        mg_printf(conn,
                  "--BoundaryString\r\n"
                  "Content-type: image/jpeg\r\n"
                  "Content-Length: %zu\r\n"
                  "\r\n",
                  ba.size());


        mg_write(conn, ba.data(), ba.size());


        mg_printf(conn, "\r\n\r\n");


        ncount++;
        printf("send pic. %d\n",ncount);

        return true;
    }
};

int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    iv::xmlparam::Xmlparam xp("./picview_civetweb.xml");
    std::string strmsgname =  xp.GetParam("imagemsgname","picfront");
    gpa = iv::modulecomm::RegisterRecv(strmsgname.data(),Listenpic);

    mg_init_library(0);


    const char *options[] = {
        "document_root", DOCUMENT_ROOT, "listening_ports", PORT, 0};

    std::vector<std::string> cpp_options;
    for (int i=0; i<(sizeof(options)/sizeof(options[0])-1); i++) {
        cpp_options.push_back(options[i]);
    }

    // CivetServer server(options); // <-- C style start
    CivetServer server(cpp_options); // <-- C++ style start

    WsStartHandler h_ws;
    server.addHandler("/", h_ws);

    PicHandler h_pic;
    server.addHandler("/pic", h_pic);

    return a.exec();
}