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controls and camera switching

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This commit is contained in:
Keyvan Fatehi
2023-01-24 23:25:39 -08:00
parent 33bf7584f3
commit a59c0727f6
3 changed files with 136 additions and 23 deletions
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10
desktop_stream_track.py
View File

@@ -42,11 +42,11 @@ class DesktopStreamTrack(VideoStreamTrack):
x = numpy.interp(data["cursorPositionX"], (0, data["displayWidth"]), (0, self.resolution.width))
y = numpy.interp(data["cursorPositionY"], (0, data["displayHeight"]), (0, self.resolution.height))
pyautogui.moveTo(x, y, _pause=False)
elif action == "joystick":
x = numpy.interp(data["x"], (-38, 38), (0, self.resolution.width))
y = numpy.interp(data["y"], (-38, 38), (self.resolution.height, 0))
print(f'{data["y"]} {self.resolution.height} {y}')
pyautogui.moveTo(x, y, _pause=False)
# elif action == "joystick":
# x = numpy.interp(data["x"], (-38, 38), (0, self.resolution.width))
# y = numpy.interp(data["y"], (-38, 38), (self.resolution.height, 0))
# print(f'{data["y"]} {self.resolution.height} {y}')
# pyautogui.moveTo(x, y, _pause=False)
elif action == "click":
pyautogui.click()
elif action == "rightclick":

50
dummy_streams.py Normal file
View File

@@ -0,0 +1,50 @@
#!/usr/bin/env python3
import av
import numpy as np
import cv2
import asyncio
from aiortc import VideoStreamTrack
from aiortc.mediastreams import AudioStreamTrack
class DummyVideoStreamTrack(VideoStreamTrack):
async def recv(self):
pts, time_base = await self.next_timestamp()
frame = None
while frame is None:
numpy_frame = np.zeros((480, 640, 3), dtype=np.uint8)
cv2.putText(numpy_frame, "hello", (200, 240), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2)
frame = av.VideoFrame.from_ndarray(numpy_frame, format="bgr24")
frame.pts = pts
frame.time_base = time_base
return frame
class DummyAudioStreamTrack(AudioStreamTrack):
pass
if __name__ == "__main__":
from time import time_ns
import sys
async def test():
frame_count=0
start_time=time_ns()
track = DummyVideoStreamTrack()
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)

99
server.py
View File

@@ -9,11 +9,14 @@ from typing import OrderedDict
from aiortc import RTCPeerConnection, RTCSessionDescription, RTCIceCandidate, RTCRtpCodecCapability, RTCConfiguration, RTCIceServer
from compressed_vipc_track import VisionIpcTrack
from desktop_stream_track import DesktopStreamTrack
from dummy_streams import DummyAudioStreamTrack, DummyVideoStreamTrack
from aiortc.contrib.signaling import BYE
from secureput.secureput_signaling import SecureputSignaling
from aiortc.contrib.media import MediaBlackhole
import requests
import numpy
# optional, for better performance
# try:
# import uvloop
@@ -40,9 +43,21 @@ async def heap_snapshot():
await asyncio.sleep(10)
def webjoystick(x, y):
x = numpy.interp(x, (-150, 150), (1, -1))
y = numpy.interp(y, (-150, 150), (1, -1))
request_url = f"http://tici:5000/control/{x:.4f}/{y:.4f}"
print(request_url)
response = requests.get(request_url)
# if response.status_code != 200:
# print(f"Error: {response.status_code}")
pc = None
cams = ["roadEncodeData","wideRoadEncodeData","driverEncodeData"]
cam = 2
video_sender = None
desktop_track = None
recorder = None
@@ -53,8 +68,38 @@ def get_desktop_track():
desktop_track = DesktopStreamTrack()
return desktop_track
async def signal(pc, signaling):
current_track_name = None
current_track = None
track_map = {
"dummy": lambda : DummyVideoStreamTrack(),
"pc": lambda : get_desktop_track(),
"cam1": lambda : VisionIpcTrack(cams[int(0)], "tici"),
"cam2": lambda : VisionIpcTrack(cams[int(1)], "tici"),
"cam3": lambda : VisionIpcTrack(cams[int(2)], "tici")
}
async def change_tracks(name):
global current_track_name
global current_track
global video_sender
if current_track_name != name:
mktrack = track_map[name]
track = mktrack()
if current_track_name == None:
video_sender = pc.addTrack(track)
else:
print(f"Changing track to {name}")
video_sender.replaceTrack(track)
current_track = track
current_track_name = name
return current_track
async def signal(signaling):
global pc
global recorder
global current_track
global current_track_name
await signaling.connect()
print("Connected to signaling server")
@@ -70,17 +115,34 @@ async def signal(pc, signaling):
if isinstance(obj, RTCSessionDescription):
print("Got SDP")
if pc != None and pc.iceConnectionState != "failed":
print("Closing previous connection")
if pc != None:
await pc.close()
pc = RTCPeerConnection(configuration=RTCConfiguration([RTCIceServer("stun:stun.secureput.com:3478")]))
current_track = None
current_track_name = None
print("Closed previous peer connection")
pc = RTCPeerConnection(configuration=RTCConfiguration([RTCIceServer("stun:stun.secureput.com:3478")]))
if recorder != None:
await recorder.stop()
print("Stopped previous recorder")
recorder = MediaBlackhole()
@pc.on("connectionstatechange")
async def on_connectionstatechange():
print("Connection state is %s" % pc.iceConnectionState)
if pc.iceConnectionState == "failed":
await pc.close()
print("ICE connection failed.")
if pc != None:
await pc.close()
pc = None
if recorder != None:
await recorder.stop()
recorder = None
@pc.on('datachannel')
def on_datachannel(channel):
@@ -91,7 +153,15 @@ async def signal(pc, signaling):
if "type" in data:
if data["type"] == "wrapped":
data = json.loads(signaling.decrypt(data["payload"]["data"]))
if desktop_track and data["type"] in desktop_track.valid_actions:
elif data["type"] == "request_track":
if data["name"] in track_map:
await change_tracks(data["name"])
else:
print("unknown track requested")
print(data)
elif data["type"] == "joystick":
webjoystick(data["x"], data["y"])
elif desktop_track and data["type"] in desktop_track.valid_actions:
desktop_track.handle_action(data["type"], data)
else:
print("ignored message")
@@ -113,10 +183,8 @@ async def signal(pc, signaling):
# TODO: stream the microphone
audio = None
# video = VisionIpcTrack(cams[int(cam)], "tici")
# pc.addTrack(video)
pc.addTrack(get_desktop_track())
await change_tracks("cam2")
answer = await pc.createAnswer()
await pc.setLocalDescription(answer)
await signaling.send(pc.localDescription)
@@ -133,18 +201,15 @@ if __name__ == "__main__":
parser.add_argument("--verbose", "-v", action="count")
args = parser.parse_args()
recorder = MediaBlackhole()
if args.verbose:
logging.basicConfig(level=logging.DEBUG)
# if uvloop is not None:
# asyncio.set_event_loop_policy(uvloop.EventLoopPolicy())
pc = RTCPeerConnection(configuration=RTCConfiguration([RTCIceServer(args.stun_server)]))
signaling = SecureputSignaling(args.signaling_server)
coro = signal(pc, signaling)
coro = signal(signaling)
# coro = asyncio.gather(watchdog.check_memory(), signal(pc, signaling))
# coro = asyncio.gather(heap_snapshot(), signal(pc, signaling))
@@ -156,6 +221,4 @@ if __name__ == "__main__":
except KeyboardInterrupt:
pass
finally:
loop.run_until_complete(recorder.stop())
loop.run_until_complete(pc.close())
loop.run_until_complete(signaling.close())