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~300ms, fast camera switching

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This commit is contained in:
Keyvan Fatehi
2023-02-26 22:59:03 -08:00
parent 7a60a05e12
commit ac1cce4e50
3 changed files with 100 additions and 28 deletions
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19
main.go
View File

@@ -9,6 +9,7 @@ import (
)
var visionTrack *VisionIpcTrack
var peerConnection *webrtc.PeerConnection
func main() {
signal := signaling.Create("go-webrtc-body")
@@ -20,20 +21,32 @@ func main() {
log.Println("Waiting to pair.")
<-signal.PairWaitChannel
}
signal.OnPeerConnectionCreated = func(pc *webrtc.PeerConnection) {
ReplaceTrack("road", pc)
peerConnection = pc
InitStream(pc)
}
signal.OnMessage = func(msg signaling.Message) {
switch msg.PayloadType {
case "request_track":
{
visionTrack.ChangeCamera()
}
default:
log.Printf("unimplemented message type: %s\n", msg.PayloadType)
}
}
for {
select {}
}
}
func ReplaceTrack(prefix string, peerConnection *webrtc.PeerConnection) {
func InitStream(peerConnection *webrtc.PeerConnection) {
var err error
if visionTrack != nil {
visionTrack.Stop()
}
visionTrack, err = NewVisionIpcTrack(prefix + "EncodeData")
visionTrack, err = NewVisionIpcTrack()
if err != nil {
log.Fatal(fmt.Errorf("main: creating track failed: %w", err))
}

2
signaling

Submodule signaling updated: eb061314f5...d47c556754

107
vision_ipc_track.go
View File

@@ -15,6 +15,12 @@ import (
const V4L2_BUF_FLAG_KEYFRAME = uint32(8)
var cams = []string{
"roadEncodeData",
"wideRoadEncodeData",
"driverEncodeData",
}
type VisionIpcTrackTranscodeStream struct {
decCodecID astiav.CodecID
decCodec *astiav.Codec
@@ -30,6 +36,7 @@ type VisionIpcTrackTranscodeStream struct {
type VisionIpcTrack struct {
name string
stream *VisionIpcTrackTranscodeStream
camIdx int
context *zmq.Context
subscriber *zmq.Socket
lastIdx int64
@@ -48,6 +55,8 @@ type VisionIpcTrack struct {
logMonoTime uint64
timestampEof uint64
dataSize int
counter int
}
type Frame struct {
@@ -57,7 +66,7 @@ type Frame struct {
var Open = false
func NewVisionIpcTrack(name string) (track *VisionIpcTrack, err error) {
func NewVisionIpcTrack() (track *VisionIpcTrack, err error) {
// Create a new context
context, err := zmq.NewContext()
if err != nil {
@@ -65,15 +74,6 @@ func NewVisionIpcTrack(name string) (track *VisionIpcTrack, err error) {
return nil, err
}
// Connect to the socket
subscriber, err := context.NewSocket(zmq.SUB)
if err != nil {
log.Fatal(fmt.Errorf("vision_ipc_track: new zmq socket failed: %w", err))
return nil, err
}
subscriber.SetSubscribe("")
subscriber.Connect(GetServiceURI(name))
// Create stream
s := &VisionIpcTrackTranscodeStream{}
@@ -129,7 +129,7 @@ func NewVisionIpcTrack(name string) (track *VisionIpcTrack, err error) {
s.encCodecContext.SetHeight(s.decCodecContext.Height())
s.encCodecContext.SetFramerate(s.decCodecContext.Framerate())
s.encCodecContext.SetPixelFormat(s.decCodecContext.PixelFormat())
s.encCodecContext.SetBitRate(500_000)
s.encCodecContext.SetBitRate(1_500_000)
// s.encCodecContext.SetGopSize(0)
s.encCodecContext.SetSampleAspectRatio(s.decCodecContext.SampleAspectRatio())
s.encCodecContext.SetTimeBase(s.decCodecContext.TimeBase())
@@ -166,10 +166,9 @@ func NewVisionIpcTrack(name string) (track *VisionIpcTrack, err error) {
}
return &VisionIpcTrack{
name: name,
camIdx: 0,
stream: s,
context: context,
subscriber: subscriber,
lastIdx: -1,
seenIframe: false,
networkLatency: 0.0,
@@ -185,6 +184,8 @@ func NewVisionIpcTrack(name string) (track *VisionIpcTrack, err error) {
logMonoTime: 0,
timestampEof: 0,
dataSize: 0,
counter: 0,
}, nil
}
@@ -222,7 +223,6 @@ func (v *VisionIpcTrack) Stop() {
v.stream.decPkt.Free()
v.stream.encCodecContext.Free()
v.stream.decCodecContext.Free()
v.subscriber.Close()
v.context.Term()
}
@@ -231,19 +231,18 @@ func (v *VisionIpcTrack) Start() {
return
}
// adapter := NewAdapter()
v.Subscribe()
defer v.subscriber.Close()
// h264, h264Err := h264reader.NewReader(adapter)
// if h264Err != nil {
// panic(h264Err)
// }
counter := 0
v.counter = 0
duration := 50 * time.Millisecond
Open = true
for Open {
// if v.subscriber == nil {
// continue
// }
msgs := DrainSock(v.subscriber, false)
v.msgCount = len(msgs)
if v.msgCount > 0 {
@@ -253,7 +252,7 @@ func (v *VisionIpcTrack) Start() {
v.stream.decPkt.Unref()
v.stream.decFrame.Unref()
pts := int64(counter * 50) // 50ms per frame
pts := int64(v.counter * 50) // 50ms per frame
evt, err := cereal.ReadRootEvent(msg)
if err != nil {
@@ -261,7 +260,15 @@ func (v *VisionIpcTrack) Start() {
continue
}
encodeData, err := evt.RoadEncodeData()
var encodeData cereal.EncodeData
switch evt.Which() {
case cereal.Event_Which_roadEncodeData:
encodeData, err = evt.RoadEncodeData()
case cereal.Event_Which_wideRoadEncodeData:
encodeData, err = evt.WideRoadEncodeData()
case cereal.Event_Which_driverEncodeData:
encodeData, err = evt.DriverEncodeData()
}
if err != nil {
log.Println(fmt.Errorf("cereal read road encode data failed: %w", err))
continue
@@ -353,6 +360,16 @@ func (v *VisionIpcTrack) Start() {
v.pcLatency = ((float64(time.Now().UnixNano()) / 1e6) - float64(v.timeQ[0]))
v.timeQ = v.timeQ[1:]
// this didn't work
// // if counter is 0, we changed camera source, so encode a keyframe!
// if v.counter == 0 {
// // v.stream.encPkt.SetFlags(v.stream.encPkt.Flags().Add(astiav.PacketFlagKey))
// // av_opt_set(codec_ctx->priv_data, "x264opts", "keyint=1", 0);
// // v.stream.encCodecContext.SetOpt("keyint")
// // v.stream.encCodecContext.SetGopSize(1)
// v.stream.encCodecContext.SetOpt("x264opts", "keyint", 1)
// }
// Send frame
if err = v.stream.encCodecContext.SendFrame(v.stream.decFrame); err != nil {
log.Println(fmt.Errorf("vision_ipc_track encoder: sending frame failed: %w", err))
@@ -368,6 +385,16 @@ func (v *VisionIpcTrack) Start() {
continue
}
// this didn't work
// // if counter is 0, we changed camera source, so encode a keyframe!
// if v.counter == 0 {
// // v.stream.encPkt.SetFlags(v.stream.encPkt.Flags().Add(astiav.PacketFlagKey))
// // av_opt_set(codec_ctx->priv_data, "x264opts", "keyint=1", 0);
// // v.stream.encCodecContext.SetOpt("keyint")
// // v.stream.encCodecContext.SetGopSize(0)
// v.stream.encCodecContext.SetOpt("x264opts", "keyint", 0)
// }
if err != nil {
log.Println(fmt.Errorf("vision_ipc_track: encode error: %w", err))
continue
@@ -378,7 +405,7 @@ func (v *VisionIpcTrack) Start() {
continue
}
counter++
v.counter++
v.PrintStats()
}
@@ -401,3 +428,35 @@ func (v *VisionIpcTrack) PrintStats() {
v.name,
)
}
func (v *VisionIpcTrack) ChangeCamera() {
v.camIdx = (v.camIdx + 1) % len(cams)
v.Subscribe()
}
func (v *VisionIpcTrack) NewSocket() (socket *zmq.Socket, err error) {
socket, err = v.context.NewSocket(zmq.SUB)
if err != nil {
return nil, err
}
v.name = cams[v.camIdx]
err = socket.Connect(GetServiceURI(v.name))
if err != nil {
return nil, err
}
return socket, nil
}
func (v *VisionIpcTrack) Subscribe() {
oldSub := v.subscriber
subscriber, err := v.NewSocket()
if err != nil {
log.Println(fmt.Errorf("zmq subscribe failed: %w", err))
}
subscriber.SetSubscribe("")
v.counter = 0
v.subscriber = subscriber
if oldSub != nil {
oldSub.Close()
}
}