#!/usr/bin/env python3
import http.server
import socketserver
import subprocess
import threading
import time

BOUNDARY = b'--frame'
LATEST_JPEG = None
LATEST_LOCK = threading.Lock()

WIDTH = 1280
HEIGHT = 720
FPS = 10
PORT = 8081


def camera_reader():
    global LATEST_JPEG
    cmd = [
        'rpicam-vid',
        '--timeout', '0',
        '--nopreview',
        '--width', str(WIDTH),
        '--height', str(HEIGHT),
        '--framerate', str(FPS),
        '--codec', 'mjpeg',
        '-o', '-',
    ]

    while True:
        proc = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, bufsize=0)
        buffer = bytearray()
        try:
            while True:
                chunk = proc.stdout.read(4096)
                if not chunk:
                    break
                buffer.extend(chunk)

                while True:
                    start = buffer.find(b'\xff\xd8')
                    if start == -1:
                        if len(buffer) > 1024 * 1024:
                            del buffer[:-2]
                        break
                    end = buffer.find(b'\xff\xd9', start + 2)
                    if end == -1:
                        if start > 0:
                            del buffer[:start]
                        break

                    jpeg = bytes(buffer[start:end + 2])
                    del buffer[:end + 2]
                    with LATEST_LOCK:
                        LATEST_JPEG = jpeg
        finally:
            proc.kill()
            proc.wait()
            time.sleep(1)


class ReusableThreadingTCPServer(socketserver.ThreadingTCPServer):
    allow_reuse_address = True


class Handler(http.server.BaseHTTPRequestHandler):
    def do_HEAD(self):
        if self.path in ('/', '/index.html'):
            self.send_response(200)
            self.send_header('Content-Type', 'text/html; charset=utf-8')
            self.end_headers()
            return

        if self.path == '/stream.mjpg':
            self.send_response(200)
            self.send_header('Age', '0')
            self.send_header('Cache-Control', 'no-cache, private')
            self.send_header('Pragma', 'no-cache')
            self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=frame')
            self.end_headers()
            return

        self.send_error(404)

    def do_GET(self):
        if self.path in ('/', '/index.html'):
            body = b'<html><body><img src="/stream.mjpg" /></body></html>'
            self.send_response(200)
            self.send_header('Content-Type', 'text/html; charset=utf-8')
            self.send_header('Content-Length', str(len(body)))
            self.end_headers()
            self.wfile.write(body)
            return

        if self.path != '/stream.mjpg':
            self.send_error(404)
            return

        self.send_response(200)
        self.send_header('Age', '0')
        self.send_header('Cache-Control', 'no-cache, private')
        self.send_header('Pragma', 'no-cache')
        self.send_header('Content-Type', 'multipart/x-mixed-replace; boundary=frame')
        self.end_headers()

        while True:
            with LATEST_LOCK:
                frame = LATEST_JPEG
            if frame is None:
                time.sleep(0.1)
                continue
            try:
                self.wfile.write(BOUNDARY + b'\r\n')
                self.wfile.write(b'Content-Type: image/jpeg\r\n')
                self.wfile.write(f'Content-Length: {len(frame)}\r\n\r\n'.encode('ascii'))
                self.wfile.write(frame)
                self.wfile.write(b'\r\n')
                self.wfile.flush()
                time.sleep(1.0 / FPS)
            except (BrokenPipeError, ConnectionResetError):
                break

    def log_message(self, fmt, *args):
        return


if __name__ == '__main__':
    threading.Thread(target=camera_reader, daemon=True).start()
    with ReusableThreadingTCPServer(('0.0.0.0', PORT), Handler) as server:
        server.daemon_threads = True
        server.serve_forever()