All/Go/Camera/lib/camera.go

package lib

import (
	"crypto/md5"
	"encoding/hex"
	"fmt"
	"io"
	"log"
	"net"
	"regexp"
	"strings"
	"time"
)

type Camera struct {
	host    string
	port    int
	alive   time.Duration
	biosUri string
	fullUri string

	seq     int
	sock    net.Conn
	realm   string
	nonce   string
	auth    string
	session string
	logger  *log.Logger
}

func (cam *Camera) Init(host string, port int, alive int, logger *log.Logger) {
	cam.logger = logger
	cam.host, cam.port, cam.alive = host, port, time.Duration(alive)
	cam.biosUri = fmt.Sprintf("rtsp://%s:%d", host, port)
	cam.fullUri = fmt.Sprintf("rtsp://%s:%d/cam/realmonitor?channel=1&subtype=0", host, port)
}

func (cam *Camera) Run(stream chan []byte) {
	sock, err := net.Dial("tcp", fmt.Sprintf("%s:%d", cam.host, cam.port))
	if err != nil {
		cam.logger.Fatal("camera connect failed")
	}
	cam.seq, cam.sock = 1, sock

	cam.prepare(false)
	go cam.keepAliveThread()
	go cam.transportThread(stream)
}

func (cam *Camera) Stop() {
	if cam.sock == nil {
		return
	}
	// TEARDOWN
	request := fmt.Sprintf(
		"TEARDOWN %s RTSP/1.0\r\n"+
			"CSeq: %d\r\n"+
			`Authorization: Digest username="%s", realm="%s", nonce="%s", uri="%s", response="%s"\r\n`+
			"Session: %s\r\n"+
			"User-Agent: Tinger.HM-HZ\r\n\r\n",
		cam.fullUri, cam.seq, User, cam.realm,
		cam.nonce, cam.fullUri, cam.auth, cam.session)
	cam.send(request)
	// response := cam.receive()  // no receive, as dirty data

	// close connection
	_ = cam.sock.Close()
	cam.seq, cam.sock = 1, nil
}

func (cam *Camera) show(title string, body string) {
	fmt.Printf("==============< %s> START ==============\n", title)
	fmt.Println(body)
	fmt.Printf("===============< %s> END ===============\n", title)
}

func (cam *Camera) hash(raw string) string {
	hash := md5.New()
	hash.Write([]byte(raw))
	hashBytes := hash.Sum(nil)
	return hex.EncodeToString(hashBytes)
}

func (cam *Camera) calcAuth(realm string, nonce string, method string) string {
	h1 := cam.hash(fmt.Sprintf("%s:%s:%s", User, realm, Pass))
	h2 := cam.hash(fmt.Sprintf("%s:%s", method, cam.biosUri))
	return cam.hash(fmt.Sprintf("%s:%s:%s", h1, nonce, h2))
}

func (cam *Camera) send(msg string) {
	_, err := cam.sock.Write([]byte(msg))
	if err != nil {
		// cam.logger.Print("message send failed")
		return
	}
	cam.seq++
}

func (cam *Camera) receive() string {
	buff := make([]byte, BlockSize)
	n, err := cam.sock.Read(buff)
	if err != nil {
		cam.logger.Fatal("camera message receive failed")
	}
	return string(buff[:n])
}

func (cam *Camera) prepare(verbose bool) {
	// OPTIONS 1: get realm, nonce
	request := fmt.Sprintf(
		"OPTIONS %s RTSP/1.0\r\n"+
			"CSeq: %d\r\n"+
			"User-Agent: Tinger.HM-HZ\r\n\r\n",
		cam.biosUri, cam.seq)
	cam.send(request)
	response := cam.receive()
	ptn := regexp.MustCompile(`Digest realm="(.+?)",nonce="(.+?)"\r\n`)
	search := ptn.FindStringSubmatch(response)
	if len(search) == 0 {
		cam.logger.Fatal("realm and nonce not matched")
	}
	cam.realm, cam.nonce = search[1], search[2]
	if verbose {
		cam.show("OPTIONS 1", request)
		cam.show("OPTIONS 1 RES", response)
	}

	// OPTIONS 2: auth
	cam.auth = cam.calcAuth(cam.realm, cam.nonce, "OPTIONS")
	request = fmt.Sprintf(
		"OPTIONS %s RTSP/1.0\r\n"+
			"Accept: application/sdp\r\n"+
			"CSeq: %d\r\n"+
			`Authorization: Digest username="%s", realm="%s", nonce="%s", uri="%s", response="%s"\r\n`+
			"User-Agent: Tinger.HM-HZ\r\n\r\n",
		cam.biosUri, cam.seq, User, cam.realm, cam.nonce, cam.biosUri, cam.auth)
	cam.send(request)
	response = cam.receive()
	if verbose {
		cam.show("OPTIONS 2", request)
		cam.show("OPTIONS 2 RES", response)
	}

	// DESCRIBE
	request = fmt.Sprintf(
		"DESCRIBE %s RTSP/1.0\r\n"+
			"CSeq: %d\r\n"+
			"User-Agent: Tinger.HM-HZ\r\n\r\n",
		cam.fullUri, cam.seq)
	cam.send(request)
	response = cam.receive()
	if verbose {
		cam.show("DESCRIBE", request)
		cam.show("DESCRIBE RES", response)
	}

	// SETUP: get session id
	request = fmt.Sprintf(
		"SETUP %s/trackID=0 RTSP/1.0\r\n"+
			"CSeq: %d\r\n"+
			"Transport: RTP/AVP/TCP;unicast;interleaved=0-1\r\n"+
			"User-Agent: Tinger.HM-HZ\r\n\r\n",
		cam.fullUri, cam.seq)
	cam.send(request)
	response = cam.receive()
	ptn = regexp.MustCompile(`Session: (\d+)`)
	search = ptn.FindStringSubmatch(response)
	if len(search) == 0 {
		cam.logger.Fatal("session not matched")
	}
	cam.session = search[1]
	if verbose {
		cam.show("SETUP", request)
		cam.show("SETUP RES", response)
	}

	// PLAY
	request = fmt.Sprintf(
		"PLAY %s RTSP/1.0\r\n"+
			"CSeq: %d\r\n"+
			"Session: %s\r\n"+
			"Range: npt=0.000-\r\n"+
			"User-Agent: Tigner,HN-HZ\r\n\r\n",
		cam.fullUri, cam.seq, cam.session)
	cam.send(request)
	response = cam.receive()

	if !strings.HasPrefix(response, "RTSP/1.0 200 OK") {
		cam.logger.Fatal("PLAY failed")
	}
	if verbose {
		cam.show("PLAY", request)
		cam.show("PLAY RES", response)
	}
}

func (cam *Camera) transportThread(stream chan []byte) {
	/* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
	* a complicated situation:																			   *
	*   The actual reason is that every communication message are put in the same socket,				   *
	*   which leads to <image stream data> and <other message>(mostly keep alive response message)		   *
	*   will be mixed in the only socket message pool.													   *
	*   So header[0] maybe not b"$"(ASCII: 36), in this case, it means that there are another			   *
	*   response message which is not image data, what should we do is just find one by one				   *
	*   until b"$" appears, the bytes data which between the wrong header[0] and b"$" are recognized	   *
	*   as dirty data(are dropped in current process)													   *
	*																									   *
	* resolution in future:																				   *
	*   store all received data in a bytes buffer														   *
	*   data start with b"$" is image steam data														   *
	*		it is easy to read every block of this type of data											   *
	*   data start with b"RTSP 200 OK" is response data													   *
	*		problem: how to locate the end(\r\n\r\n not always the real end of a message)				   *
	*   you can try it, believe yourself! another words: you can you up.								   *
	* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * */
	defer cam.Stop()
	header := make([]byte, 4)
	buffer := make([]byte, BlockSize*2)
	syncer := make([]byte, 1)

	for {
		if count, err := io.ReadFull(cam.sock, header); err != nil || count != 4 {
			// cam.logger.Printf(fmt.Sprintf("header read error:\n%s\n", err))
			return
		}
		if header[0] != 36 {
			rid := 0
			for {
				if count, err := io.ReadFull(cam.sock, syncer); err != nil && count != 1 {
					// cam.logger.Printf("syncer read error:\n%s\n", err)
					return
				} else if syncer[0] == 36 {
					header[0] = 36
					if count, err = io.ReadFull(cam.sock, header[1:]); err != nil && count == 3 {
						// cam.logger.Printf("header remain read error:\n%s\n", err)
						return
					}
					break
				} else {
					rid++
				}
			}
			cam.logger.Printf("get rid of: %d\n", rid)
		}
		payloadLen := int(header[2])<<8 + int(header[3])
		fullLength := payloadLen + 4
		if fullLength > len(buffer) {
			buffer = make([]byte, fullLength)
		}
		copy(buffer, header)
		if count, err := io.ReadFull(cam.sock, buffer[4:fullLength]); err != nil || count != payloadLen {
			// cam.logger.Printf("payload read error:\n%s\n", err)
			return
		} else {
			stream <- buffer[:fullLength]
		}
	}
}

func (cam *Camera) keepAliveThread() {
	defer cam.Stop()

	for {
		time.Sleep(time.Second * cam.alive)

		if cam.sock == nil {
			continue
		}
		request := fmt.Sprintf(
			"OPTIONS %s RTSP/1.0\r\n"+
				"Accept: application/sdp\r\n"+
				"CSeq: %d\r\n"+
				`Authorization: Digest username="%s", realm="%s", nonce="%s", uri="%s", response="%s"\r\n`+
				"User-Agent: Tinger.HM-HZ\r\n\r\n",
			cam.biosUri, cam.seq, User, cam.realm, cam.nonce, cam.biosUri, cam.auth)
		cam.send(request)
		// response := cam.receive()  // no receive, as dirty data
	}
}