commit 6838d51074bacdeaf032d770e17a17c5399a4af4 Author: Keyvan Fatehi Date: Sun Jan 1 17:36:12 2023 -0800 init diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..ba7d5e2 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "cereal"] + path = cereal + url = https://github.com/commaai/cereal.git diff --git a/bash_history.txt b/bash_history.txt new file mode 100644 index 0000000..a6ecde7 --- /dev/null +++ b/bash_history.txt @@ -0,0 +1,26 @@ + 1 sudo apt update + 2 sudo apt upgrade + 12 sudo apt install vim git + 14 sudo apt install python3-distutils + 31 sudo apt update + 33 sudo apt install tmux apt git + 49 sudo apt install python-dev + 50 sudo apt install python3-dev + 91 sudo apt install iputils-tracepathj + 92 sudo apt install iputils-tracepath + 167 apt-get update && apt-get install -y --no-install-recommends autoconf build-essential ca-certificates capnproto clang cppcheck curl git libbz2-dev libcapnp-dev libffi-dev liblzma-dev libncurses5-dev libncursesw5-dev libreadline-dev libsqlite3-dev libssl-dev libtool libzmq3-dev llvm make ocl-icd-opencl-dev opencl-headers python-openssl tk-dev wget xz-utils zlib1g-dev + 168 sudo apt-get update && sudo apt-get install -y --no-install-recommends autoconf build-essential ca-certificates capnproto clang cppcheck curl git libbz2-dev libcapnp-dev libffi-dev liblzma-dev libncurses5-dev libncursesw5-dev libreadline-dev libsqlite3-dev libssl-dev libtool libzmq3-dev llvm make ocl-icd-opencl-dev opencl-headers python-openssl tk-dev wget xz-utils zlib1g-dev + 176 apt install libcapnp-dev + 177 sudo apt install libcapnp-dev + 178 apt install libcapnp-dev + 180 sudo apt install capnp + 181 sudo apt install capnproto + 183 sudo apt install clang + 185 sudo apt install libzmq3-dev + 187 sudo apt install opencl-headers + 190 sudo apt install ocl-icd-opencl-dev + +# curl -sSL https://install.python-poetry.org | python3 - +# poetry add ./cereal +# poetry add pyyaml==5.1.2 Cython==0.29.14 scons==3.1.1 pycapnp==1.0.0 parameterized==0.7.4 numpy==1.21.1 + diff --git a/cereal b/cereal new file mode 160000 index 0000000..959ff79 --- /dev/null +++ b/cereal @@ -0,0 +1 @@ +Subproject commit 959ff79963b80829be9902d146c31fda44dbbd20 diff --git a/client.js b/client.js new file mode 100644 index 0000000..06dc527 --- /dev/null +++ b/client.js @@ -0,0 +1,76 @@ +var pc = null; + +function negotiate() { + pc.addTransceiver('video', {direction: 'recvonly'}); + pc.addTransceiver('audio', {direction: 'recvonly'}); + return pc.createOffer().then(function(offer) { + return pc.setLocalDescription(offer); + }).then(function() { + // wait for ICE gathering to complete + return new Promise(function(resolve) { + if (pc.iceGatheringState === 'complete') { + resolve(); + } else { + function checkState() { + if (pc.iceGatheringState === 'complete') { + pc.removeEventListener('icegatheringstatechange', checkState); + resolve(); + } + } + pc.addEventListener('icegatheringstatechange', checkState); + } + }); + }).then(function() { + var offer = pc.localDescription; + return fetch('/offer', { + body: JSON.stringify({ + sdp: offer.sdp, + type: offer.type, + }), + headers: { + 'Content-Type': 'application/json' + }, + method: 'POST' + }); + }).then(function(response) { + return response.json(); + }).then(function(answer) { + return pc.setRemoteDescription(answer); + }).catch(function(e) { + alert(e); + }); +} + +function start() { + var config = { + sdpSemantics: 'unified-plan' + }; + + if (document.getElementById('use-stun').checked) { + config.iceServers = [{urls: ['stun:stun.l.google.com:19302']}]; + } + + pc = new RTCPeerConnection(config); + + // connect audio / video + pc.addEventListener('track', function(evt) { + if (evt.track.kind == 'video') { + document.getElementById('video').srcObject = evt.streams[0]; + } else { + document.getElementById('audio').srcObject = evt.streams[0]; + } + }); + + document.getElementById('start').style.display = 'none'; + negotiate(); + document.getElementById('stop').style.display = 'inline-block'; +} + +function stop() { + document.getElementById('stop').style.display = 'none'; + + // close peer connection + setTimeout(function() { + pc.close(); + }, 500); +} \ No newline at end of file diff --git a/compressed_vipc_track.py b/compressed_vipc_track.py new file mode 100644 index 0000000..2ef363c --- /dev/null +++ b/compressed_vipc_track.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 +import cereal.messaging as messaging +from aiortc import VideoStreamTrack +import asyncio +import numpy as np +import av +import os +import sys +import time + +W, H = 1928, 1208 +V4L2_BUF_FLAG_KEYFRAME = 8 + +class VisionIpcTrack(VideoStreamTrack): + def __init__(self, sock_name, addr): + super().__init__() + self.codec = av.CodecContext.create("hevc", "r") + os.environ["ZMQ"] = "1" + messaging.context = messaging.Context() + self.sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False) + self.cnt = 0 + self.last_idx = -1 + self.seen_iframe = False + self.time_q = [] + self.sock_name = sock_name + + async def recv(self): + pts, time_base = await self.next_timestamp() + frame = None + while frame is None: + msgs = messaging.drain_sock(self.sock, wait_for_one=True) + for evt in msgs: + print(type(evt).__name__) + evta = getattr(evt, evt.which()) + if evta.idx.encodeId != 0 and evta.idx.encodeId != (self.last_idx+1): + print("DROP PACKET!") + self.last_idx = evta.idx.encodeId + if not self.seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME): + print("waiting for iframe") + continue + self.time_q.append(time.monotonic()) + + # put in header (first) + if not self.seen_iframe: + self.codec.decode(av.packet.Packet(evta.header)) + self.seen_iframe = True + + frames = self.codec.decode(av.packet.Packet(evta.data)) + if len(frames) == 0: + print("DROP SURFACE") + continue + assert len(frames) == 1 + + frame = frames[0] + frame.pts = pts + frame.time_base = time_base + return frame + +if __name__ == "__main__": + from time import time_ns + import sys + + async def test(): + frame_count=0 + start_time=time_ns() + track = VisionIpcTrack("roadEncodeData", "192.168.99.200") + while True: + await track.recv() + now = time_ns() + playtime = now - start_time + playtime_sec = playtime * 0.000000001 + if playtime_sec >= 1: + print(f'fps: {frame_count}') + frame_count = 0 + start_time = time_ns() + else: + frame_count+=1 + + # Run event loop + loop = asyncio.new_event_loop() + try: + loop.run_until_complete(test()) + except KeyboardInterrupt: + sys.exit(0) \ No newline at end of file diff --git a/index.html b/index.html new file mode 100644 index 0000000..bd17950 --- /dev/null +++ b/index.html @@ -0,0 +1,40 @@ + + + + + WebRTC webcam + + + + +
+ + +
+ + + +
+ + +
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100644 index 0000000..174e210 --- /dev/null +++ b/pyproject.toml @@ -0,0 +1,23 @@ +[tool.poetry] +name = "test" +version = "0.1.0" +description = "" +authors = ["Your Name "] +readme = "README.md" + +[tool.poetry.dependencies] +python = "^3.9" +scons = "3.1.1" +pycapnp = "1.0.0" +pyyaml = "5.1.2" +cython = "0.29.14" +parameterized = "0.7.4" +numpy = "1.21.1" +aiohttp = "^3.8.3" +aiortc = "^1.3.2" + + + +[build-system] +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" diff --git a/server.py b/server.py new file mode 100755 index 0000000..9c25b05 --- /dev/null +++ b/server.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python +import argparse +import asyncio +import json +import logging +import os +import ssl +from typing import OrderedDict +from aiohttp import web +from aiortc import RTCPeerConnection, RTCSessionDescription, RTCRtpCodecCapability +from compressed_vipc_track import VisionIpcTrack + +ROOT = os.path.dirname(__file__) + +cams = ["roadEncodeData","wideRoadEncodeData","driverEncodeData"] + +async def index(request): + content = open(os.path.join(ROOT, "index.html"), "r").read() + return web.Response(content_type="text/html", text=content) + +async def javascript(request): + content = open(os.path.join(ROOT, "client.js"), "r").read() + return web.Response(content_type="application/javascript", text=content) + + +async def offer(request): + params = await request.json() + offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"]) + + pc = RTCPeerConnection() + pcs.add(pc) + + @pc.on("connectionstatechange") + async def on_connectionstatechange(): + print("Connection state is %s" % pc.connectionState) + if pc.connectionState == "failed": + await pc.close() + pcs.discard(pc) + + # TODO: stream the microphone + audio = None + + video = VisionIpcTrack(cams[int(args.cam)], args.addr) + + video_sender = pc.addTrack(video) + transceiver = next(t for t in pc.getTransceivers() if t.sender == video_sender) + transceiver.setCodecPreferences( + # [codec for codec in codecs if codec.mimeType == forced_codec] + [RTCRtpCodecCapability( + mimeType="video/H264", + clockRate=90000, + channels=None, + parameters=OrderedDict([ + ("packetization-mode", "1"), + ("level-asymmetry-allowed", "1"), + ("profile-level-id", "42001f"), + ]) + )] + ) + + await pc.setRemoteDescription(offer) + + answer = await pc.createAnswer() + await pc.setLocalDescription(answer) + + return web.Response( + content_type="application/json", + text=json.dumps( + {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type} + ), + ) + + +pcs = set() + + +async def on_shutdown(app): + # close peer connections + coros = [pc.close() for pc in pcs] + await asyncio.gather(*coros) + pcs.clear() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Decode video streams and broadcast via WebRTC") + parser.add_argument("addr", help="Address of comma three") + + # Not implemented (yet?). Geo already made the PoC for this, it should be possible. + # parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg") + + parser.add_argument("--cam", default="0", help="Camera to stream") + + parser.add_argument("--cert-file", help="SSL certificate file (for HTTPS)") + parser.add_argument("--key-file", help="SSL key file (for HTTPS)") + parser.add_argument( + "--host", default="0.0.0.0", help="Host for HTTP server (default: 0.0.0.0)" + ) + parser.add_argument( + "--port", type=int, default=8080, help="Port for HTTP server (default: 8080)" + ) + parser.add_argument("--verbose", "-v", action="count") + + args = parser.parse_args() + + if args.verbose: + logging.basicConfig(level=logging.DEBUG) + else: + logging.basicConfig(level=logging.INFO) + + if args.cert_file: + ssl_context = ssl.SSLContext() + ssl_context.load_cert_chain(args.cert_file, args.key_file) + else: + ssl_context = None + + app = web.Application() + app.on_shutdown.append(on_shutdown) + app.router.add_get("/", index) + app.router.add_get("/client.js", javascript) + app.router.add_post("/offer", offer) + web.run_app(app, host=args.host, port=args.port, ssl_context=ssl_context) \ No newline at end of file