mirror of
https://github.com/comma-hacks/webrtc.git
synced 2025-09-26 20:21:26 +08:00
generate services in go and extract a helper
This commit is contained in:
Keyvan Fatehi
52
cereal_helper.go
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52
cereal_helper.go
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@@ -0,0 +1,52 @@
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package main
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import (
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"fmt"
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"capnproto.org/go/capnp/v3"
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"github.com/commaai/cereal"
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zmq "github.com/pebbe/zmq4"
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)
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func GetServicePort(name string) int {
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port := -1
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for _, s := range cereal.GetServices() {
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if s.Name == name {
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port = s.Port
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break
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}
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}
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if port < 0 {
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panic("invalid endpoint")
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}
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return port
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}
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func DrainSock(socket *zmq.Socket, waitForOne bool) []*capnp.Message {
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var ret []*capnp.Message
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for {
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var dat []byte
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var err error
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if waitForOne && len(ret) == 0 {
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dat, err = socket.RecvBytes(0)
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} else {
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dat, err = socket.RecvBytes(zmq.DONTWAIT)
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}
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if err != nil {
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break
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}
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msg, err := capnp.Unmarshal(dat)
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if err != nil {
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panic(err)
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}
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ret = append(ret, msg)
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}
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return ret
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}
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func GetServiceURI(name string) string {
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port := GetServicePort(name)
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return fmt.Sprintf("tcp://tici:%d", port)
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}
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60
compile.sh
60
compile.sh
@@ -1,30 +1,56 @@
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#!/bin/bash
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set -euo pipefail
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set -euxo 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 $f.bak
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rm -rf gen/go tmp/go
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mkdir -p gen/go tmp/go
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pushd tmp/go
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for f in ../../*.capnp; do
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out=$(basename $f)
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echo "using Go = import \"/go.capnp\";" > $out
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echo "\$Go.package(\"cereal\");" >> $out
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echo "\$Go.import(\"cereal\");" >> $out
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cat $f | grep -v 'c++.capnp' | grep -v '$Cxx.namespace' >> $out
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done
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mkdir gen/go
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go install capnproto.org/go/capnp/v3/capnpc-go@latest
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capnp compile -I$(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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capnp compile -I$(go env GOPATH)/src/capnproto.org/go/capnp/std -o go:../../gen/go *.capnp
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popd # leave ./tmp/go
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## Services
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cat <<EOF > gen/go/services.go
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// Code generated. DO NOT EDIT.
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package cereal
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type Service struct {
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Name string
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Port int
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ShouldLog bool
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Frequency int
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Decimation int
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}
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var services = []Service{
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EOF
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grep ' {' services.h >> gen/go/services.go
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cat <<EOF >> gen/go/services.go
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}
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func GetServices() []Service {
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return services
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}
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EOF
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cat <<EOF > gen/go/go.mod
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// Code generated. DO NOT EDIT.
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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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popd # leave ./cereal
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# Go program
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go build -o webrtc-body main.go
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# go build -o webrtc-body main.go
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145
main.go
145
main.go
@@ -5,65 +5,13 @@ import (
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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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zmq "github.com/pebbe/zmq4"
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)
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type Service struct {
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name string
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port int
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should_log bool
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frequency int
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decimation int
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}
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var services = []Service{
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{"roadEncodeData", 8062, false, 20, -1},
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{"driverEncodeData", 8063, false, 20, -1},
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{"wideRoadEncodeData", 8064, false, 20, -1},
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}
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func getPort(endpoint string) int {
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port := -1
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for _, s := range services {
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if s.name == endpoint {
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port = s.port
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break
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}
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}
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if port < 0 {
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panic("invalid endpoint")
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}
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return port
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}
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func drainSock(socket *zmq.Socket, waitForOne bool) [][]byte {
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// XXX need to use captproto
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// https://github.com/capnproto/go-capnproto2
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var ret [][]byte
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for {
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var dat []byte
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var err error
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if waitForOne && len(ret) == 0 {
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dat, err = socket.RecvBytes(0)
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} else {
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dat, err = socket.RecvBytes(zmq.DONTWAIT)
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}
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if err != nil {
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break
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}
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ret = append(ret, dat)
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}
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return ret
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}
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func main() {
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// Create a new context
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context, _ := zmq.NewContext()
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@@ -72,9 +20,8 @@ func main() {
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// Connect to the socket
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subscriber, _ := context.NewSocket(zmq.SUB)
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defer subscriber.Close()
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service := "roadEncodeData"
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port := getPort(service)
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out := fmt.Sprintf("tcp://tici:%d", port)
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out := GetServiceURI("roadEncodeData")
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fmt.Println(out)
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subscriber.SetSubscribe("")
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subscriber.Connect(out)
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@@ -108,13 +55,9 @@ func main() {
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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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msgs := DrainSock(subscriber, true)
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if len(msgs) > 0 {
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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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for _, msg := range msgs {
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evt, err := cereal.ReadRootEncodeData(msg)
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if err != nil {
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@@ -128,48 +71,60 @@ func main() {
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panic(err)
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}
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encodeId := idx.EncodeId()
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idxFlags := idx.Flags()
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frameId := idx.FrameId()
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segmentNum := idx.SegmentNum()
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fmt.Printf("ts: %d,encodeId: %d\n", ts, encodeId)
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fmt.Printf("ts: %d,frameId: %d,segmentNum: %d,encodeId: %d,idxFlags: %d\n", ts, frameId, segmentNum, encodeId, idxFlags)
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continue
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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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}
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idxFlags := idx.Flags()
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lastIdx = int(encodeId)
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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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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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}
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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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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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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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}
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seenIframe = true
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}
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// AvPacketFromData
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header, err := evt.Header()
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if err != nil {
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panic(err)
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}
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headerPtr := unsafe.Pointer(&header[0])
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pkt.AvPacketFromData((*uint8)(headerPtr), len(header))
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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(pkt)
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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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fmt.Println("decode error")
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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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}
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fmt.Println("??")
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seenIframe = true
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}
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fmt.Println("sss")
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// frames, err := codec.Decode(av.Packet{Data: evt.Data()})
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// if err != nil {
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