ADPilot
/
modularization


			
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							#include <QCoreApplication>


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

#include "xmlparam.h"

#include "rawpic.pb.h"

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

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

#include "grpccivet.h"

#define DOCUMENT_ROOT "./frontend/dist"

QByteArray gbasnow;


grpcpc * ggrpc;

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 RemoteCtrl UI</title>\n");

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

    }

    return 1;


    }
};

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

        static int ncount;

        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;


        iv::vision::rawpic xrawpic;
        if(ggrpc->GetRawPic(0,xrawpic) == 1)
        {
            ba.append(xrawpic.picdata().data(),xrawpic.picdata().size());
        }
        else
        {
            ba = gbasnow;
        }
//        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;
    }
};


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

        static int ncount;

        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;


        iv::vision::rawpic xrawpic;
        if(ggrpc->GetRawPic(1,xrawpic) == 1)
        {
            ba.append(xrawpic.picdata().data(),xrawpic.picdata().size());
        }
        else
        {
            ba = gbasnow;
        }
//        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;
    }
};


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

        static int ncount;

        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;


        iv::vision::rawpic xrawpic;
        if(ggrpc->GetRawPic(2,xrawpic) == 1)
        {
            ba.append(xrawpic.picdata().data(),xrawpic.picdata().size());
        }
        else
        {
            ba = gbasnow;
        }
//        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;
    }
};


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

        static int ncount;

        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;


        iv::vision::rawpic xrawpic;
        if(ggrpc->GetRawPic(3,xrawpic) == 1)
        {
            ba.append(xrawpic.picdata().data(),xrawpic.picdata().size());
        }
        else
        {
            ba = gbasnow;
        }
//        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("./driver_cloud_grpc_civetweb.xml");
//    std::string strmsgname =  xp.GetParam("imagemsgname","picfront");
    std::string strport = xp.GetParam("Port","6101");
//    gpa = iv::modulecomm::RegisterRecv(strmsgname.data(),Listenpic);

    QFile xFile;
    xFile.setFileName("./frontend/tvsnow.jpg");
    if(xFile.open(QIODevice::ReadOnly))
    {
        gbasnow = xFile.readAll();

    }
    xFile.close();

    mg_init_library(0);


    const char *options[] = {
        "document_root", DOCUMENT_ROOT, "listening_ports", strport.data(), 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);

    PicFrontHandler h_picfront;
    server.addHandler("/picfront", h_picfront);

    PicRearHandler h_picrear;
    server.addHandler("/picrear", h_picrear);
    PicLeftHandler h_picleft;
    server.addHandler("/picleft", h_picleft);
    PicRightHandler h_picright;
    server.addHandler("/picright", h_picright);

    ggrpc = new grpcpc("test");
    ggrpc->start();

    return a.exec();
}