try with http post video

api/index.js

@@ -25,24 +25,6 @@ function send_events_to_clients(data) {
   });
 }
 
-function send_image_data_to_clients(frameData) {
-  sse_clients.forEach((client) => {
-    // Create a Buffer from the frame data
-    const buffer = Buffer.from(frameData);
-
-    // Set the SSE event name as 'message'
-    client.response.write("event: message\n");
-
-    // Convert the Buffer to a base64-encoded string
-    const base64Data = buffer.toString("base64");
-
-    // Set the SSE event data as the base64-encoded string
-    client.response.write(
-      "data: " + JSON.stringify({ image: base64Data }) + "\n\n"
-    );
-  });
-}
-
 function handle_sse_client(request, response, next) {
   console.log("handling sse client");
   const headers = {
@@ -79,7 +61,7 @@ var connect_to_api = function () {
   ws.on("message", function message(message) {
     try {
       var msg = JSON.parse(message);
-        if (msg.type != "IMAGE") {
+      if (msg.type != "IMAGE") {
         //   console.log("got message");
         send_events_to_clients(msg);
       } else {
@@ -87,7 +69,7 @@ var connect_to_api = function () {
       }
     } catch (error) {
       console.log("could not parse as json");
-    //   send_image_data_to_clients(message);
+      //   send_image_data_to_clients(message);
     }
   });
 
@@ -98,6 +80,42 @@ var connect_to_api = function () {
   });
 };
 
+function send_image_data_to_clients(videoData) {
+  sse_clients.forEach((client) => {
+
+    // Set the SSE event name as 'message'
+    client.response.write("event: message\n");
+
+    // Convert the Buffer to a base64-encoded string
+    const base64Data = videoData.toString("base64");
+
+    // Set the SSE event data as the base64-encoded string
+    client.response.write(
+      "data: " + JSON.stringify({ image: base64Data }) + "\n\n"
+    );
+  });
+}
+
+// Define the endpoint to receive video data
+app.post("/video", (req, res) => {
+    console.log("got video endpoint")
+  let videoData = Buffer.from("");
+
+  req.on("data", (chunk) => {
+    // Accumulate the received video data
+    videoData = Buffer.concat([videoData, chunk]);
+  });
+
+  req.on("end", () => {
+    // Process the received video data
+      console.log("Received video data:" + videoData.length);
+      send_image_data_to_clients(videoData); 
+
+    // Send a response indicating successful receipt
+    res.sendStatus(200);
+  });
+});
+
 // set the view engine to ejs
 app.set("view engine", "ejs");
 

src/camera/camera/camera_controller.py

@@ -10,10 +10,16 @@ import websockets.server
 import threading
 import cv2
 
+import requests
+
 #resolution of the camera
 RES_4K_H = 3496
 RES_4K_W = 4656
 
+video_url = "http://10.1.1.41:8080/video"
+# Set the headers for the POST request
+headers = {'Content-Type': 'application/octet-stream'}
+
 #TODO change to serve video stream through websockets connection
 
 class CameraController(Node):
@@ -63,16 +69,35 @@ class CameraController(Node):
         while True:
             try:
                 while vid.isOpened():
-                    if self.websocket is not None:
-                        img,frame = vid.read()
-                        frame = cv2.resize(frame,(640,480))
-                        encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 65]
-                        man = cv2.imencode('.jpg', frame, encode_param)[1]
-                        self.get_logger().info('Sending video')
-                        asyncio.ensure_future(self.websocket.send(man.tobytes()),loop=self.event_loop)
-                        await asyncio.sleep(1)
+                    pass
+                    ret, frame = vid.read()
+
+                    if not ret:
+                        # If reading the frame failed, break the loop
+                        break
+
+                    # Convert the frame to bytes
+                    _, img_encoded = cv2.imencode('.jpg', frame)
+                    frame_data = img_encoded.tobytes()
+
+                    # Send the frame data as the request body
+                    response = requests.post(video_url, data=frame_data, headers=headers)
+
+                    # Check the response status
+                    if response.status_code == 200:
+                        print('Frame sent successfully.')
                     else:
-                        self.get_logger().info('No websocket connection')
+                        print('Failed to send frame.')
+                    # if self.websocket is not None:
+                    #     img,frame = vid.read()
+                    #     frame = cv2.resize(frame,(640,480))
+                    #     encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 65]
+                    #     man = cv2.imencode('.jpg', frame, encode_param)[1]
+                    #     self.get_logger().info('Sending video')
+                    #     asyncio.ensure_future(self.websocket.send(man.tobytes()),loop=self.event_loop)
+                    #     await asyncio.sleep(1)
+                    # else:
+                    #     self.get_logger().info('No websocket connection')
 
             except Exception as e:
                 self.get_logger().error('Something went wrong while reading and sending video: ' + str(e))