Script MJPEG server

1#!/usr/bin/env python3
2
3import depthai as dai
4import time
5
6# Start defining a pipeline
7pipeline = dai.Pipeline()
8
9# Define a source - color camera
10cam = pipeline.create(dai.node.ColorCamera)
11# VideoEncoder
12jpeg = pipeline.create(dai.node.VideoEncoder)
13jpeg.setDefaultProfilePreset(cam.getFps(), dai.VideoEncoderProperties.Profile.MJPEG)
14
15# Script node
16script = pipeline.create(dai.node.Script)
17script.setProcessor(dai.ProcessorType.LEON_CSS)
18script.setScript("""
19    import time
20    import socket
21    import fcntl
22    import struct
23    from socketserver import ThreadingMixIn
24    from http.server import BaseHTTPRequestHandler, HTTPServer
25
26    PORT = 8080
27
28    def get_ip_address(ifname):
29        s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
30        return socket.inet_ntoa(fcntl.ioctl(
31            s.fileno(),
32            -1071617759,  # SIOCGIFADDR
33            struct.pack('256s', ifname[:15].encode())
34        )[20:24])
35
36    class ThreadingSimpleServer(ThreadingMixIn, HTTPServer):
37        pass
38
39    class HTTPHandler(BaseHTTPRequestHandler):
40        def do_GET(self):
41            if self.path == '/':
42                self.send_response(200)
43                self.end_headers()
44                self.wfile.write(b'<h1>[DepthAI] Hello, world!</h1><p>Click <a href="img">here</a> for an image</p>')
45            elif self.path == '/img':
46                try:
47                    self.send_response(200)
48                    self.send_header('Content-type', 'multipart/x-mixed-replace; boundary=--jpgboundary')
49                    self.end_headers()
50                    fpsCounter = 0
51                    timeCounter = time.time()
52                    while True:
53                        jpegImage = node.io['jpeg'].get()
54                        self.wfile.write("--jpgboundary".encode())
55                        self.wfile.write(bytes([13, 10]))
56                        self.send_header('Content-type', 'image/jpeg')
57                        self.send_header('Content-length', str(len(jpegImage.getData())))
58                        self.end_headers()
59                        self.wfile.write(jpegImage.getData())
60                        self.end_headers()
61
62                        fpsCounter = fpsCounter + 1
63                        if time.time() - timeCounter > 1:
64                            node.warn(f'FPS: {fpsCounter}')
65                            fpsCounter = 0
66                            timeCounter = time.time()
67                except Exception as ex:
68                    node.warn(str(ex))
69
70    with ThreadingSimpleServer(("", PORT), HTTPHandler) as httpd:
71        node.warn(f"Serving at {get_ip_address('re0')}:{PORT}")
72        httpd.serve_forever()
73""")
74
75# Connections
76cam.video.link(jpeg.input)
77jpeg.bitstream.link(script.inputs['jpeg'])
78
79# Connect to device with pipeline
80with dai.Device(pipeline) as device:
81    while not device.isClosed():
82        time.sleep(1)