mirror of
https://github.com/comma-hacks/webrtc.git
synced 2025-10-05 00:02:44 +08:00
capnp generating, struggling to decode
This commit is contained in:
Keyvan Fatehi
1
TODO
1
TODO
@@ -2,6 +2,7 @@
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- [x] control interface
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- [x] camera switcher
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- [ ] replacetrack is broken https://github.com/aiortc/aiortc/issues/304 and the team seems uninterested, meanwhile Pion has been supporting it for 3 years https://github.com/pion/webrtc/pull/1527 so porting to go may really make sense. maybe other issues around performance will be resolved too by doing so.
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currently struggling with decoding the hevc but perhaps we can remove goav now and start using pion for these functions... https://github.com/pion/rtp/blob/master/codecs/h265_packet_test.go
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- battery view
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- lowcam view
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- multicam
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2
cereal
2
cereal
Submodule cereal updated: f200875ca3...92a98ff3fd
30
compile.sh
Executable file
30
compile.sh
Executable file
@@ -0,0 +1,30 @@
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#!/bin/bash
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set -euo pipefail
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# Cap’n Proto
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pushd cereal
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git checkout *.capnp
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rm -rf gen/go
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for f in *.capnp; do
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name=$(echo $f | sed 's/.capnp//')
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mv $f $f.bak
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echo "using Go = import \"/go.capnp\";" > $name.capnp
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echo "\$Go.package(\"cereal\");" >> $name.capnp
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echo "\$Go.import(\"cereal\");" >> $name.capnp
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cat $f.bak >> $name.capnp
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rm $f.bak
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done
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mkdir gen/go
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go install capnproto.org/go/capnp/v3/capnpc-go@latest
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capnp compile -I$(go env GOPATH)/src/capnproto.org/go/capnp/std -o go:gen/go *.capnp
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git checkout *.capnp
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cat <<EOF > gen/go/go.mod
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module github.com/commaai/cereal
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go 1.19
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EOF
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popd
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# Go program
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go build -o webrtc-body main.go
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9
go.mod
9
go.mod
@@ -5,3 +5,12 @@ go 1.19
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require github.com/pebbe/zmq4 v1.2.9
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require github.com/giorgisio/goav v0.1.0
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require (
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capnproto.org/go/capnp/v3 v3.0.0-alpha.24 // indirect
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golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9 // indirect
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github.com/commaai/cereal v0.0.0
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)
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replace "github.com/commaai/cereal" v0.0.0 => "./cereal/gen/go"
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4
go.sum
4
go.sum
@@ -1,6 +1,10 @@
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capnproto.org/go/capnp/v3 v3.0.0-alpha.24 h1:Vxks4FsGgR6hE4A1wcrQC4BOkQANvgOXCcFmPYhHqls=
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capnproto.org/go/capnp/v3 v3.0.0-alpha.24/go.mod h1:Dynqh9/LE2Wy7jYd2wIoYgqFwh3hZHCmG7j6/uCWX6c=
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github.com/giorgisio/goav v0.1.0 h1:ZyfG3NfX7PMSimv4ulhmnQJf/XeHpMdGCn+afRmY5Oc=
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github.com/giorgisio/goav v0.1.0/go.mod h1:RtH8HyxLRLU1iY0pjfhWBKRhnbsnmfoI+FxMwb5bfEo=
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github.com/gosuri/uilive v0.0.0-20170323041506-ac356e6e42cd/go.mod h1:qkLSc0A5EXSP6B04TrN4oQoxqFI7A8XvoXSlJi8cwk8=
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github.com/gosuri/uiprogress v0.0.0-20170224063937-d0567a9d84a1/go.mod h1:C1RTYn4Sc7iEyf6j8ft5dyoZ4212h8G1ol9QQluh5+0=
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github.com/pebbe/zmq4 v1.2.9 h1:JlHcdgq6zpppNR1tH0wXJq0XK03pRUc4lBlHTD7aj/4=
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github.com/pebbe/zmq4 v1.2.9/go.mod h1:nqnPueOapVhE2wItZ0uOErngczsJdLOGkebMxaO8r48=
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golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9 h1:SQFwaSi55rU7vdNs9Yr0Z324VNlrF+0wMqRXT4St8ck=
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golang.org/x/sync v0.0.0-20201020160332-67f06af15bc9/go.mod h1:RxMgew5VJxzue5/jJTE5uejpjVlOe/izrB70Jof72aM=
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107
main.go
107
main.go
@@ -3,10 +3,15 @@ package main
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import (
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"fmt"
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"os"
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"unsafe"
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"capnproto.org/go/capnp/v3"
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"github.com/giorgisio/goav/avcodec"
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"github.com/giorgisio/goav/avutil"
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zmq "github.com/pebbe/zmq4"
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"github.com/commaai/cereal"
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)
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type Service struct {
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@@ -95,37 +100,97 @@ func main() {
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os.Exit(1)
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}
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var lastIdx = -1
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var seenIframe = false
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var V4L2_BUF_FLAG_KEYFRAME = uint32(8)
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for {
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// Allocate video frame
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pFrame := avutil.AvFrameAlloc()
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var frame []byte
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for frame == nil {
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msgs := drainSock(subscriber, true)
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if len(msgs) > 0 {
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/* Port the following Python aiortc code to Golang for Pion
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with evt_context as evt:
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evta = getattr(evt, evt.which())
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if evta.idx.encodeId != 0 and evta.idx.encodeId != (self.last_idx+1):
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print("DROP PACKET!")
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self.last_idx = evta.idx.encodeId
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if not self.seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
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print("waiting for iframe")
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for _, rawMsg := range msgs {
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msg, err := capnp.Unmarshal(rawMsg)
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if err != nil {
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panic(err)
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}
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evt, err := cereal.ReadRootEncodeData(msg)
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if err != nil {
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panic(err)
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}
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ts := evt.UnixTimestampNanos()
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idx, err := evt.Idx()
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if err != nil {
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panic(err)
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}
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encodeId := idx.EncodeId()
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fmt.Printf("ts: %d,encodeId: %d\n", ts, encodeId)
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if encodeId != 0 && encodeId != uint32(lastIdx+1) {
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fmt.Println("DROP PACKET!")
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} else {
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lastIdx = int(encodeId)
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idxFlags := idx.Flags()
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if !seenIframe && (idxFlags&V4L2_BUF_FLAG_KEYFRAME) != 0 {
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fmt.Println("waiting for iframe")
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continue
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self.time_q.append(time.monotonic())
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}
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# put in header (first)
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if not self.seen_iframe:
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self.codec.decode(av.packet.Packet(evta.header))
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self.seen_iframe = True
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if !seenIframe {
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// Decode video frame
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pkt := avcodec.AvPacketAlloc()
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if pkt == nil {
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panic("cannot allocate packet")
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}
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frames = self.codec.decode(av.packet.Packet(evta.data))
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if len(frames) == 0:
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print("DROP SURFACE")
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pkt.AvInitPacket()
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pkt.SetFlags(pkt.Flags() | avcodec.AV_CODEC_FLAG_TRUNCATED)
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response := codecContext.AvcodecSendPacket(packet)
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if response < 0 {
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fmt.Printf("Error while sending a packet to the decoder: %s\n", avutil.ErrorFromCode(response))
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panic("decoding error")
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}
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if response >= 0 {
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response = codecContext.AvcodecReceiveFrame((*avcodec.Frame)(unsafe.Pointer(pFrame)))
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if response == avutil.AvErrorEAGAIN || response == avutil.AvErrorEOF {
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break
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} else if response < 0 {
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fmt.Printf("Error while receiving a frame from the decoder: %s\n", avutil.ErrorFromCode(response))
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fmt.Println("DROP SURFACE")
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continue
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assert len(frames) == 1
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}
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seenIframe = true
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}
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}
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frame = frames[0]
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frame.pts = pts
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frame.time_base = time_base
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*/
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// frames, err := codec.Decode(av.Packet{Data: evt.Data()})
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// if err != nil {
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// fmt.Println("DROP SURFACE")
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// continue
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// }
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// if len(frames) == 0 {
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// fmt.Println("DROP SURFACE")
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// continue
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// }
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// assert(len(frames) == 1)
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// frame = frames[0].Data
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// framePts := frames[0].Pts
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// frameTimebase := frames[0].Timebase
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// frame = append(append(make([]byte, 0, len(frame)+FrameHeaderLen), encodeUint32(uint32(len(frame)))...), frame...)
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// binary.LittleEndian.PutUint32(frame[4:], encodeUint64(framePts))
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// binary.LittleEndian.PutUint32(frame[12:], encodeUint64(frameTimebase))
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}
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}
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}
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}
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fmt.Println("Received frame with size:", len(frame), "bytes")
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