diff --git a/.canon.yaml b/.canon.yaml index 6f58db70f60..2ffe56aecac 100644 --- a/.canon.yaml +++ b/.canon.yaml @@ -1,18 +1,20 @@ # This file provides project-level configuration for the canon dev environment utility. https://github.com/viamrobotics/canon viam-rdk: default: true - image_amd64: ghcr.io/viamrobotics/canon:amd64-cache - image_arm64: ghcr.io/viamrobotics/canon:arm64-cache - minimum_date: 2023-04-20T00:00:00.0Z + image_amd64: ghcr.io/viamrobotics/rdk-devenv:amd64-cache + image_arm64: ghcr.io/viamrobotics/rdk-devenv:arm64-cache + image_arm: ghcr.io/viamrobotics/rdk-devenv:armhf-cache + minimum_date: 2023-10-26T20:00:00.0Z update_interval: 168h0m0s user: testbot group: testbot persistent: true viam-rdk-antique: - image_amd64: ghcr.io/viamrobotics/antique:amd64-cache - image_arm64: ghcr.io/viamrobotics/antique:arm64-cache - minimum_date: 2023-04-20T00:00:00.0Z + image_amd64: ghcr.io/viamrobotics/antique2:amd64-cache + image_arm64: ghcr.io/viamrobotics/antique2:arm64-cache + image_arm: ghcr.io/viamrobotics/antique2:armhf-cache + minimum_date: 2023-10-26T20:00:00.0Z update_interval: 168h0m0s user: testbot group: testbot diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index fbf98db3161..89a2c71eeb9 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -139,7 +139,7 @@ jobs: --platform linux/arm/v7 \ -v `pwd`:/rdk \ ghcr.io/viamrobotics/rdk-devenv:armhf-cache \ - sudo -Hu testbot bash -lc 'cd /rdk && go test -v -tags=no_tflite ./...' + sudo -Hu testbot bash -lc 'cd /rdk && go list -tags=no_tflite ./... | grep -v mmal | xargs go test -v -tags=no_tflite' test_pi: name: Test Raspberry Pi Code diff --git a/Makefile b/Makefile index 4a5cb6af428..c00b488f925 100644 --- a/Makefile +++ b/Makefile @@ -21,8 +21,12 @@ setup: build: build-web build-go +# Ignore mmal. +# Omit test-only packages: that is, packages that have no source files. +# This is done by default if `go build` uses a wildcard, for example, `go build ./...`. Here, we replicate that +# behavior. See https://github.com/golang/go/blob/fa4f951026f697bc042422d95a0806dcbab7ddd0/src/cmd/go/internal/work/build.go#L734 build-go: - go build ./... + go list -f '{{if or .CgoFiles .GoFiles}} {{.Dir}} {{end}}' ./... | grep -v mmal | xargs go build GOOS ?= $(shell go env GOOS) GOARCH ?= $(shell go env GOARCH) @@ -61,8 +65,8 @@ lint: lint-go lint-web lint-go: tool-install go mod tidy - export pkgs="`go list -f '{{.Dir}}' ./... | grep -v /proto/`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined - GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml + export pkgs="`go list -f '{{.Dir}}' ./... | grep -v -e /proto/ -e mmal`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined + export GOC=50 pkgs=`go list -f '{{.Dir}}' ./... | grep -v mmal` && echo "$$pkgs" | xargs $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml lint-web: check-web npm run lint --prefix web/frontend diff --git a/components/audioinput/audio_input.go b/components/audioinput/audio_input.go index f3f6212b34b..5a56366c278 100644 --- a/components/audioinput/audio_input.go +++ b/components/audioinput/audio_input.go @@ -6,9 +6,9 @@ import ( "errors" "github.com/pion/mediadevices/pkg/prop" - "github.com/viamrobotics/gostream" pb "go.viam.com/api/component/audioinput/v1" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" "go.viam.com/rdk/robot" ) diff --git a/components/audioinput/client.go b/components/audioinput/client.go index 0df7bc10051..934cfcf5a77 100644 --- a/components/audioinput/client.go +++ b/components/audioinput/client.go @@ -9,11 +9,11 @@ import ( "github.com/pion/mediadevices/pkg/prop" "github.com/pion/mediadevices/pkg/wave" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" pb "go.viam.com/api/component/audioinput/v1" "go.viam.com/utils" "go.viam.com/utils/rpc" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/protoutils" "go.viam.com/rdk/resource" diff --git a/components/audioinput/client_test.go b/components/audioinput/client_test.go index d4abf19c859..d1ece05bb25 100644 --- a/components/audioinput/client_test.go +++ b/components/audioinput/client_test.go @@ -8,11 +8,11 @@ import ( "github.com/pion/mediadevices/pkg/prop" "github.com/pion/mediadevices/pkg/wave" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/rpc" "go.viam.com/rdk/components/audioinput" + "go.viam.com/rdk/gostream" viamgrpc "go.viam.com/rdk/grpc" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" diff --git a/components/audioinput/fake/audio_input.go b/components/audioinput/fake/audio_input.go index 76d01bcd69d..860aed83a59 100644 --- a/components/audioinput/fake/audio_input.go +++ b/components/audioinput/fake/audio_input.go @@ -13,10 +13,10 @@ import ( "github.com/pion/mediadevices/pkg/prop" "github.com/pion/mediadevices/pkg/wave" - "github.com/viamrobotics/gostream" "go.viam.com/utils" "go.viam.com/rdk/components/audioinput" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" ) diff --git a/components/audioinput/microphone/microphone.go b/components/audioinput/microphone/microphone.go index 0e072994a0b..d1b3646a0ef 100644 --- a/components/audioinput/microphone/microphone.go +++ b/components/audioinput/microphone/microphone.go @@ -11,9 +11,9 @@ import ( "regexp" "github.com/pion/mediadevices" - "github.com/viamrobotics/gostream" "go.viam.com/rdk/components/audioinput" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" ) diff --git a/components/camera/align/extrinsics.go b/components/camera/align/extrinsics.go index 71630e6d371..41be2d84250 100644 --- a/components/camera/align/extrinsics.go +++ b/components/camera/align/extrinsics.go @@ -7,12 +7,12 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.uber.org/multierr" "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" diff --git a/components/camera/align/homography.go b/components/camera/align/homography.go index 66971f2e088..014b5fa5e01 100644 --- a/components/camera/align/homography.go +++ b/components/camera/align/homography.go @@ -6,12 +6,12 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.uber.org/multierr" "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" diff --git a/components/camera/align/join.go b/components/camera/align/join.go index 84319087701..e12e96abeb7 100644 --- a/components/camera/align/join.go +++ b/components/camera/align/join.go @@ -8,12 +8,12 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.uber.org/multierr" "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" diff --git a/components/camera/camera.go b/components/camera/camera.go index 77c39f2e320..d1343214116 100644 --- a/components/camera/camera.go +++ b/components/camera/camera.go @@ -11,13 +11,13 @@ import ( "github.com/pion/mediadevices/pkg/prop" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.uber.org/multierr" pb "go.viam.com/api/component/camera/v1" viamutils "go.viam.com/utils" "go.viam.com/rdk/data" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" diff --git a/components/camera/camera_test.go b/components/camera/camera_test.go index b155f7d6409..4871d512223 100644 --- a/components/camera/camera_test.go +++ b/components/camera/camera_test.go @@ -6,11 +6,11 @@ import ( "testing" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/artifact" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage" diff --git a/components/camera/client.go b/components/camera/client.go index 8436c72b94f..7da808f416f 100644 --- a/components/camera/client.go +++ b/components/camera/client.go @@ -8,13 +8,13 @@ import ( "sync" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" pb "go.viam.com/api/component/camera/v1" goutils "go.viam.com/utils" "go.viam.com/utils/rpc" "go.viam.com/rdk/data" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/protoutils" diff --git a/components/camera/client_test.go b/components/camera/client_test.go index 56886574c97..a79cd1d88d9 100644 --- a/components/camera/client_test.go +++ b/components/camera/client_test.go @@ -11,13 +11,13 @@ import ( "testing" "time" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/rpc" "google.golang.org/grpc" "google.golang.org/grpc/metadata" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" viamgrpc "go.viam.com/rdk/grpc" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" diff --git a/components/camera/ffmpeg/ffmpeg.go b/components/camera/ffmpeg/ffmpeg.go index 0b5b65307e3..8e9888fe70b 100644 --- a/components/camera/ffmpeg/ffmpeg.go +++ b/components/camera/ffmpeg/ffmpeg.go @@ -12,12 +12,12 @@ import ( "sync/atomic" ffmpeg "github.com/u2takey/ffmpeg-go" - "github.com/viamrobotics/gostream" "go.uber.org/zap" "go.uber.org/zap/zapio" viamutils "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/replaypcd/replaypcd.go b/components/camera/replaypcd/replaypcd.go index 7b7fc97dff7..34bd29ae1b4 100644 --- a/components/camera/replaypcd/replaypcd.go +++ b/components/camera/replaypcd/replaypcd.go @@ -8,7 +8,6 @@ import ( "time" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" datapb "go.viam.com/api/app/data/v1" goutils "go.viam.com/utils" "go.viam.com/utils/rpc" @@ -17,6 +16,7 @@ import ( "google.golang.org/protobuf/types/known/timestamppb" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/internal/cloud" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" diff --git a/components/camera/rtsp/rtsp.go b/components/camera/rtsp/rtsp.go index 6e22d694348..9b764cbef28 100644 --- a/components/camera/rtsp/rtsp.go +++ b/components/camera/rtsp/rtsp.go @@ -16,11 +16,11 @@ import ( "github.com/aler9/gortsplib/v2/pkg/url" "github.com/pion/rtp" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.uber.org/multierr" goutils "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/server.go b/components/camera/server.go index 974e29233ac..fa3d62296ea 100644 --- a/components/camera/server.go +++ b/components/camera/server.go @@ -6,13 +6,13 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" commonpb "go.viam.com/api/common/v1" pb "go.viam.com/api/component/camera/v1" "google.golang.org/genproto/googleapis/api/httpbody" "go.viam.com/rdk/data" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/protoutils" diff --git a/components/camera/server_test.go b/components/camera/server_test.go index 04e4188451b..574e8c0bfc5 100644 --- a/components/camera/server_test.go +++ b/components/camera/server_test.go @@ -10,11 +10,11 @@ import ( "testing" "time" - "github.com/viamrobotics/gostream" pb "go.viam.com/api/component/camera/v1" "go.viam.com/test" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage" diff --git a/components/camera/transformpipeline/classifier.go b/components/camera/transformpipeline/classifier.go index fbae4b3cbb9..bf15acb0d7a 100644 --- a/components/camera/transformpipeline/classifier.go +++ b/components/camera/transformpipeline/classifier.go @@ -5,10 +5,10 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage/transform" "go.viam.com/rdk/robot" diff --git a/components/camera/transformpipeline/composed.go b/components/camera/transformpipeline/composed.go index c3ce3eb90fc..333d9682c3e 100644 --- a/components/camera/transformpipeline/composed.go +++ b/components/camera/transformpipeline/composed.go @@ -5,10 +5,10 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage" diff --git a/components/camera/transformpipeline/composed_test.go b/components/camera/transformpipeline/composed_test.go index 606bc92b46e..bf288cf938e 100644 --- a/components/camera/transformpipeline/composed_test.go +++ b/components/camera/transformpipeline/composed_test.go @@ -6,10 +6,10 @@ import ( "image/color" "testing" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/rimage" diff --git a/components/camera/transformpipeline/depth_edges.go b/components/camera/transformpipeline/depth_edges.go index 0104b9465f7..e5c0f558126 100644 --- a/components/camera/transformpipeline/depth_edges.go +++ b/components/camera/transformpipeline/depth_edges.go @@ -5,10 +5,10 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/transformpipeline/depth_edges_test.go b/components/camera/transformpipeline/depth_edges_test.go index b8a3363f4cd..1db77683105 100644 --- a/components/camera/transformpipeline/depth_edges_test.go +++ b/components/camera/transformpipeline/depth_edges_test.go @@ -8,12 +8,12 @@ import ( "testing" "github.com/pion/mediadevices/pkg/prop" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/artifact" "go.viam.com/rdk/components/camera" "go.viam.com/rdk/components/camera/videosource" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/depthadapter" diff --git a/components/camera/transformpipeline/detector.go b/components/camera/transformpipeline/detector.go index 587799dcbf4..96f3065b6de 100644 --- a/components/camera/transformpipeline/detector.go +++ b/components/camera/transformpipeline/detector.go @@ -5,10 +5,10 @@ import ( "fmt" "image" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage/transform" "go.viam.com/rdk/robot" diff --git a/components/camera/transformpipeline/mods.go b/components/camera/transformpipeline/mods.go index 62c275b0ed7..776d51856fa 100644 --- a/components/camera/transformpipeline/mods.go +++ b/components/camera/transformpipeline/mods.go @@ -7,11 +7,11 @@ import ( "github.com/disintegration/imaging" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "golang.org/x/image/draw" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/transformpipeline/mods_test.go b/components/camera/transformpipeline/mods_test.go index 2ab19ac6dc7..ee441e56538 100644 --- a/components/camera/transformpipeline/mods_test.go +++ b/components/camera/transformpipeline/mods_test.go @@ -6,12 +6,12 @@ import ( "testing" "github.com/pion/mediadevices/pkg/prop" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/artifact" "go.viam.com/rdk/components/camera" "go.viam.com/rdk/components/camera/videosource" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/rimage" "go.viam.com/rdk/utils" ) diff --git a/components/camera/transformpipeline/pipeline.go b/components/camera/transformpipeline/pipeline.go index 6c335c19201..1185d09598e 100644 --- a/components/camera/transformpipeline/pipeline.go +++ b/components/camera/transformpipeline/pipeline.go @@ -9,12 +9,12 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.uber.org/multierr" goutils "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" diff --git a/components/camera/transformpipeline/pipeline_test.go b/components/camera/transformpipeline/pipeline_test.go index bc3abcf6e2a..152f2a4cbe6 100644 --- a/components/camera/transformpipeline/pipeline_test.go +++ b/components/camera/transformpipeline/pipeline_test.go @@ -5,12 +5,12 @@ import ( "testing" "github.com/pion/mediadevices/pkg/prop" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/artifact" "go.viam.com/rdk/components/camera" "go.viam.com/rdk/components/camera/videosource" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/transformpipeline/preprocessing.go b/components/camera/transformpipeline/preprocessing.go index 5902be97127..79ff11d5e00 100644 --- a/components/camera/transformpipeline/preprocessing.go +++ b/components/camera/transformpipeline/preprocessing.go @@ -5,10 +5,10 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" ) diff --git a/components/camera/transformpipeline/segmenter.go b/components/camera/transformpipeline/segmenter.go index 7a1e99f29b6..5ac4e57fb28 100644 --- a/components/camera/transformpipeline/segmenter.go +++ b/components/camera/transformpipeline/segmenter.go @@ -5,11 +5,11 @@ import ( "fmt" "image" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" goutils "go.viam.com/utils" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" "go.viam.com/rdk/robot" diff --git a/components/camera/transformpipeline/segmenter_test.go b/components/camera/transformpipeline/segmenter_test.go index fd5d27f140a..a00242a3999 100644 --- a/components/camera/transformpipeline/segmenter_test.go +++ b/components/camera/transformpipeline/segmenter_test.go @@ -6,17 +6,17 @@ import ( "image/color" "testing" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" pc "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" vizservices "go.viam.com/rdk/services/vision" "go.viam.com/rdk/testutils/inject" "go.viam.com/rdk/utils" - vision "go.viam.com/rdk/vision" + "go.viam.com/rdk/vision" segment "go.viam.com/rdk/vision/segmentation" ) diff --git a/components/camera/transformpipeline/transform.go b/components/camera/transformpipeline/transform.go index 5f764ae38a9..abe19c7e115 100644 --- a/components/camera/transformpipeline/transform.go +++ b/components/camera/transformpipeline/transform.go @@ -5,9 +5,9 @@ import ( "github.com/invopop/jsonschema" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/robot" "go.viam.com/rdk/utils" ) diff --git a/components/camera/transformpipeline/undistort.go b/components/camera/transformpipeline/undistort.go index 7ac287e88f1..7254fe2f64e 100644 --- a/components/camera/transformpipeline/undistort.go +++ b/components/camera/transformpipeline/undistort.go @@ -5,10 +5,10 @@ import ( "image" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.opencensus.io/trace" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/transformpipeline/undistort_test.go b/components/camera/transformpipeline/undistort_test.go index ca577edafbe..abdf83dd2c3 100644 --- a/components/camera/transformpipeline/undistort_test.go +++ b/components/camera/transformpipeline/undistort_test.go @@ -6,12 +6,12 @@ import ( "testing" "github.com/pion/mediadevices/pkg/prop" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/artifact" "go.viam.com/rdk/components/camera" "go.viam.com/rdk/components/camera/videosource" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" "go.viam.com/rdk/utils" diff --git a/components/camera/videosource/helpers.go b/components/camera/videosource/helpers.go index 86144ff7cfb..fa34adca7ff 100644 --- a/components/camera/videosource/helpers.go +++ b/components/camera/videosource/helpers.go @@ -9,9 +9,9 @@ import ( "strings" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" viamutils "go.viam.com/utils" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/rimage" "go.viam.com/rdk/utils" diff --git a/components/camera/videosource/server_test.go b/components/camera/videosource/server_test.go index 0c7e304f2c8..3a7749d2b3a 100644 --- a/components/camera/videosource/server_test.go +++ b/components/camera/videosource/server_test.go @@ -10,11 +10,11 @@ import ( "os" "testing" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/utils/artifact" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/rimage" "go.viam.com/rdk/rimage/transform" diff --git a/components/camera/videosource/webcam.go b/components/camera/videosource/webcam.go index 6107848d469..4906b6034db 100644 --- a/components/camera/videosource/webcam.go +++ b/components/camera/videosource/webcam.go @@ -18,7 +18,6 @@ import ( "github.com/pion/mediadevices/pkg/frame" "github.com/pion/mediadevices/pkg/prop" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.uber.org/multierr" pb "go.viam.com/api/component/camera/v1" goutils "go.viam.com/utils" @@ -26,6 +25,7 @@ import ( "go.viam.com/rdk/components/camera" jetsoncamera "go.viam.com/rdk/components/camera/platforms/jetson" debugLogger "go.viam.com/rdk/components/camera/videosource/logging" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" diff --git a/etc/analyzecoverage/main.go b/etc/analyzecoverage/main.go index 44ddbfaee6c..8d10e919234 100644 --- a/etc/analyzecoverage/main.go +++ b/etc/analyzecoverage/main.go @@ -39,7 +39,7 @@ func main() { utils.ContextualMain(mainWithArgs, logger) } -func mainWithArgs(ctx context.Context, args []string, logger logging.Logger) error { +func mainWithArgs(ctx context.Context, _ []string, logger logging.Logger) error { profileDataAll, err := io.ReadAll(os.Stdin) if err != nil { return err diff --git a/etc/setup.sh b/etc/setup.sh index 4988850d091..34febadc780 100755 --- a/etc/setup.sh +++ b/etc/setup.sh @@ -29,6 +29,9 @@ do_bullseye(){ # Install most things apt-get update && apt-get install -y build-essential nodejs libnlopt-dev libx264-dev libtensorflowlite-dev ffmpeg libjpeg62-turbo-dev + # Install Gostream dependencies + sudo apt-get install -y --no-install-recommends libopus-dev libvpx-dev libx11-dev libxext-dev libopusfile-dev + # Install backports apt-get install -y -t $(grep VERSION_CODENAME /etc/os-release | cut -d= -f2)-backports golang-go @@ -158,6 +161,9 @@ do_brew(){ brew "jpeg-turbo" brew "ffmpeg" brew "licensefinder" + brew "opus" + brew "opusfile" + brew "libvpx" brew "tensorflowlite" # Needs to be last EOS diff --git a/etc/test.sh b/etc/test.sh index b207e6b41a9..4fc0b41336e 100755 --- a/etc/test.sh +++ b/etc/test.sh @@ -17,7 +17,7 @@ if [[ "$1" == "race" ]]; then fi # We run analyzetests on every run, pass or fail. We only run analyzecoverage when all tests passed. -PION_LOG_WARN=webrtc,datachannel,sctp gotestsum --format standard-verbose --jsonfile json.log -- -tags=no_skip $RACE $COVER ./... +PION_LOG_WARN=webrtc,datachannel,sctp gotestsum --format standard-verbose --jsonfile json.log -- -tags=no_skip $RACE $COVER $(go list ./... | grep -v mmal) SUCCESS=$? cat json.log | go run ./etc/analyzetests/main.go diff --git a/examples/simpleserver/cmd.go b/examples/simpleserver/cmd.go index 5eb97116920..a979770abdc 100644 --- a/examples/simpleserver/cmd.go +++ b/examples/simpleserver/cmd.go @@ -4,11 +4,11 @@ package main import ( "context" - "github.com/viamrobotics/gostream/codec/x264" "go.viam.com/utils" "go.viam.com/rdk/components/arm" "go.viam.com/rdk/components/arm/fake" + "go.viam.com/rdk/gostream/codec/x264" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" robotimpl "go.viam.com/rdk/robot/impl" diff --git a/go.mod b/go.mod index a258329fa10..efb9b2ede58 100644 --- a/go.mod +++ b/go.mod @@ -23,12 +23,14 @@ require ( github.com/docker/go-units v0.5.0 github.com/edaniels/gobag v1.0.7-0.20220607183102-4242cd9e2848 github.com/edaniels/golinters v0.0.5-0.20220906153528-641155550742 + github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 github.com/edaniels/lidario v0.0.0-20220607182921-5879aa7b96dd github.com/erh/scheme v0.0.0-20210304170849-99d295c6ce9a github.com/fatih/color v1.15.0 github.com/fogleman/gg v1.3.0 github.com/fsnotify/fsnotify v1.6.0 github.com/fullstorydev/grpcurl v1.8.6 + github.com/gen2brain/malgo v0.11.10 github.com/go-audio/audio v1.0.0 github.com/go-audio/transforms v0.0.0-20180121090939-51830ccc35a5 github.com/go-audio/wav v1.1.0 @@ -43,6 +45,7 @@ require ( github.com/google/flatbuffers v2.0.6+incompatible github.com/google/go-cmp v0.5.9 github.com/google/uuid v1.3.1 + github.com/gotesttools/gotestfmt/v2 v2.4.1 github.com/grpc-ecosystem/go-grpc-middleware v1.4.0 github.com/grpc-ecosystem/grpc-gateway/v2 v2.15.2 github.com/invopop/jsonschema v0.6.0 @@ -72,7 +75,6 @@ require ( github.com/urfave/cli/v2 v2.10.3 github.com/viam-labs/go-libjpeg v0.3.1 github.com/viamrobotics/evdev v0.1.3 - github.com/viamrobotics/gostream v0.0.0-20231018165748-3173b15942b5 github.com/xfmoulet/qoi v0.2.0 go-hep.org/x/hep v0.32.1 go.einride.tech/vlp16 v0.7.0 @@ -81,11 +83,12 @@ require ( go.uber.org/atomic v1.10.0 go.uber.org/multierr v1.11.0 go.uber.org/zap v1.24.0 - go.viam.com/api v0.1.217 + go.viam.com/api v0.1.219 go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 go.viam.com/utils v0.1.52 goji.io v2.0.2+incompatible golang.org/x/image v0.12.0 + golang.org/x/time v0.3.0 golang.org/x/tools v0.8.0 gonum.org/v1/gonum v0.12.0 gonum.org/v1/plot v0.12.0 @@ -93,6 +96,7 @@ require ( google.golang.org/grpc v1.54.0 google.golang.org/grpc/cmd/protoc-gen-go-grpc v1.2.0 google.golang.org/protobuf v1.30.0 + gopkg.in/hraban/opus.v2 v2.0.0-20220302220929-eeacdbcb92d0 gopkg.in/src-d/go-billy.v4 v4.3.2 gorgonia.org/tensor v0.9.24 gotest.tools/gotestsum v1.10.0 @@ -160,7 +164,6 @@ require ( github.com/denis-tingaikin/go-header v0.4.3 // indirect github.com/desertbit/timer v0.0.0-20180107155436-c41aec40b27f // indirect github.com/dnephin/pflag v1.0.7 // indirect - github.com/edaniels/golog v0.0.0-20230215213219-28954395e8d0 // indirect github.com/edaniels/zeroconf v1.0.10 // indirect github.com/envoyproxy/go-control-plane v0.10.3 // indirect github.com/envoyproxy/protoc-gen-validate v0.9.1 // indirect @@ -170,7 +173,7 @@ require ( github.com/fatih/structtag v1.2.0 // indirect github.com/firefart/nonamedreturns v1.0.4 // indirect github.com/fzipp/gocyclo v0.6.0 // indirect - github.com/gen2brain/malgo v0.11.10 // indirect + github.com/gen2brain/shm v0.0.0-20230802011745-f2460f5984f7 // indirect github.com/gin-gonic/gin v1.8.1 // indirect github.com/go-audio/riff v1.0.0 // indirect github.com/go-chi/chi/v5 v5.0.7 // indirect @@ -226,6 +229,7 @@ require ( github.com/improbable-eng/grpc-web v0.15.0 // indirect github.com/inconshreveable/mousetrap v1.0.1 // indirect github.com/jdxcode/netrc v0.0.0-20210204082910-926c7f70242a // indirect + github.com/jezek/xgb v1.1.0 // indirect github.com/jgautheron/goconst v1.5.1 // indirect github.com/jhump/protocompile v0.0.0-20220216033700-d705409f108f // indirect github.com/jingyugao/rowserrcheck v1.1.1 // indirect @@ -233,6 +237,7 @@ require ( github.com/jmespath/go-jmespath v0.4.0 // indirect github.com/julz/importas v0.1.0 // indirect github.com/junk1tm/musttag v0.4.5 // indirect + github.com/kbinani/screenshot v0.0.0-20230812210009-b87d31814237 // indirect github.com/kisielk/errcheck v1.6.3 // indirect github.com/kisielk/gotool v1.0.0 // indirect github.com/kkHAIKE/contextcheck v1.1.3 // indirect @@ -251,6 +256,7 @@ require ( github.com/lestrrat-go/option v1.0.1 // indirect github.com/lib/pq v1.10.7 // indirect github.com/lufeee/execinquery v1.2.1 // indirect + github.com/lxn/win v0.0.0-20210218163916-a377121e959e // indirect github.com/magiconair/properties v1.8.6 // indirect github.com/maratori/testableexamples v1.0.0 // indirect github.com/maratori/testpackage v1.1.0 // indirect diff --git a/go.sum b/go.sum index b395b6a4cb1..f192c4c98ab 100644 --- a/go.sum +++ b/go.sum @@ -371,6 +371,8 @@ github.com/fzipp/gocyclo v0.6.0 h1:lsblElZG7d3ALtGMx9fmxeTKZaLLpU8mET09yN4BBLo= github.com/fzipp/gocyclo v0.6.0/go.mod h1:rXPyn8fnlpa0R2csP/31uerbiVBugk5whMdlyaLkLoA= github.com/gen2brain/malgo v0.11.10 h1:u41QchDBS7Z2rwEVPu7uycK6HA8IyzKoUOhLU7IvYW4= github.com/gen2brain/malgo v0.11.10/go.mod h1:f9TtuN7DVrXMiV/yIceMeWpvanyVzJQMlBecJFVMxww= +github.com/gen2brain/shm v0.0.0-20230802011745-f2460f5984f7 h1:VLEKvjGJYAMCXw0/32r9io61tEXnMWDRxMk+peyRVFc= +github.com/gen2brain/shm v0.0.0-20230802011745-f2460f5984f7/go.mod h1:uF6rMu/1nvu+5DpiRLwusA6xB8zlkNoGzKn8lmYONUo= github.com/ghodss/yaml v1.0.0/go.mod h1:4dBDuWmgqj2HViK6kFavaiC9ZROes6MMH2rRYeMEF04= github.com/gin-contrib/sse v0.1.0 h1:Y/yl/+YNO8GZSjAhjMsSuLt29uWRFHdHYUb5lYOV9qE= github.com/gin-contrib/sse v0.1.0/go.mod h1:RHrZQHXnP2xjPF+u1gW/2HnVO7nvIa9PG3Gm+fLHvGI= @@ -661,6 +663,8 @@ github.com/gostaticanalysis/nilerr v0.1.1 h1:ThE+hJP0fEp4zWLkWHWcRyI2Od0p7DlgYG3 github.com/gostaticanalysis/nilerr v0.1.1/go.mod h1:wZYb6YI5YAxxq0i1+VJbY0s2YONW0HU0GPE3+5PWN4A= github.com/gostaticanalysis/testutil v0.3.1-0.20210208050101-bfb5c8eec0e4/go.mod h1:D+FIZ+7OahH3ePw/izIEeH5I06eKs1IKI4Xr64/Am3M= github.com/gostaticanalysis/testutil v0.4.0 h1:nhdCmubdmDF6VEatUNjgUZBJKWRqugoISdUv3PPQgHY= +github.com/gotesttools/gotestfmt/v2 v2.4.1 h1:Ml+KPqPocp/KckpizL+tgsy/dlddI4/z2w6lgS7YIFE= +github.com/gotesttools/gotestfmt/v2 v2.4.1/go.mod h1:oQJg2KZ2aGoqEbMC2PDaAeBYm0tOkocgixK9FzsCdp4= github.com/gregjones/httpcache v0.0.0-20190611155906-901d90724c79/go.mod h1:FecbI9+v66THATjSRHfNgh1IVFe/9kFxbXtjV0ctIMA= github.com/grpc-ecosystem/go-grpc-middleware v1.0.0/go.mod h1:FiyG127CGDf3tlThmgyCl78X/SZQqEOJBCDaAfeWzPs= github.com/grpc-ecosystem/go-grpc-middleware v1.0.1-0.20190118093823-f849b5445de4/go.mod h1:FiyG127CGDf3tlThmgyCl78X/SZQqEOJBCDaAfeWzPs= @@ -739,6 +743,8 @@ github.com/jdxcode/netrc v0.0.0-20210204082910-926c7f70242a/go.mod h1:Zi/ZFkEqFH github.com/jedib0t/go-pretty/v6 v6.4.6 h1:v6aG9h6Uby3IusSSEjHaZNXpHFhzqMmjXcPq1Rjl9Jw= github.com/jedib0t/go-pretty/v6 v6.4.6/go.mod h1:Ndk3ase2CkQbXLLNf5QDHoYb6J9WtVfmHZu9n8rk2xs= github.com/jessevdk/go-flags v1.4.0/go.mod h1:4FA24M0QyGHXBuZZK/XkWh8h0e1EYbRYJSGM75WSRxI= +github.com/jezek/xgb v1.1.0 h1:wnpxJzP1+rkbGclEkmwpVFQWpuE2PUGNUzP8SbfFobk= +github.com/jezek/xgb v1.1.0/go.mod h1:nrhwO0FX/enq75I7Y7G8iN1ubpSGZEiA3v9e9GyRFlk= github.com/jgautheron/goconst v1.4.0/go.mod h1:aAosetZ5zaeC/2EfMeRswtxUFBpe2Hr7HzkgX4fanO4= github.com/jgautheron/goconst v1.5.1 h1:HxVbL1MhydKs8R8n/HE5NPvzfaYmQJA3o879lE4+WcM= github.com/jgautheron/goconst v1.5.1/go.mod h1:aAosetZ5zaeC/2EfMeRswtxUFBpe2Hr7HzkgX4fanO4= @@ -786,6 +792,8 @@ github.com/jung-kurt/gofpdf v1.0.0/go.mod h1:7Id9E/uU8ce6rXgefFLlgrJj/GYY22cpxn+ github.com/junk1tm/musttag v0.4.5 h1:d+mpJ1vn6WFEVKHwkgJiIedis1u/EawKOuUTygAUtCo= github.com/junk1tm/musttag v0.4.5/go.mod h1:XkcL/9O6RmD88JBXb+I15nYRl9W4ExhgQeCBEhfMC8U= github.com/k0kubun/colorstring v0.0.0-20150214042306-9440f1994b88/go.mod h1:3w7q1U84EfirKl04SVQ/s7nPm1ZPhiXd34z40TNz36k= +github.com/kbinani/screenshot v0.0.0-20230812210009-b87d31814237 h1:YOp8St+CM/AQ9Vp4XYm4272E77MptJDHkwypQHIRl9Q= +github.com/kbinani/screenshot v0.0.0-20230812210009-b87d31814237/go.mod h1:e7qQlOY68wOz4b82D7n+DdaptZAi+SHW0+yKiWZzEYE= github.com/kellydunn/golang-geo v0.7.0 h1:A5j0/BvNgGwY6Yb6inXQxzYwlPHc6WVZR+MrarZYNNg= github.com/kellydunn/golang-geo v0.7.0/go.mod h1:YYlQPJ+DPEzrHx8kT3oPHC/NjyvCCXE+IuKGKdrjrcU= github.com/kisielk/errcheck v1.1.0/go.mod h1:EZBBE59ingxPouuu3KfxchcWSUPOHkagtvWXihfKN4Q= @@ -872,6 +880,8 @@ github.com/lucasb-eyer/go-colorful v1.2.0 h1:1nnpGOrhyZZuNyfu1QjKiUICQ74+3FNCN69 github.com/lucasb-eyer/go-colorful v1.2.0/go.mod h1:R4dSotOR9KMtayYi1e77YzuveK+i7ruzyGqttikkLy0= github.com/lufeee/execinquery v1.2.1 h1:hf0Ems4SHcUGBxpGN7Jz78z1ppVkP/837ZlETPCEtOM= github.com/lufeee/execinquery v1.2.1/go.mod h1:EC7DrEKView09ocscGHC+apXMIaorh4xqSxS/dy8SbM= +github.com/lxn/win v0.0.0-20210218163916-a377121e959e h1:H+t6A/QJMbhCSEH5rAuRxh+CtW96g0Or0Fxa9IKr4uc= +github.com/lxn/win v0.0.0-20210218163916-a377121e959e/go.mod h1:KxxjdtRkfNoYDCUP5ryK7XJJNTnpC8atvtmTheChOtk= github.com/lyft/protoc-gen-star v0.5.3/go.mod h1:V0xaHgaf5oCCqmcxYcWiDfTiKsZsRc87/1qhoTACD8w= github.com/lyft/protoc-gen-star v0.6.0/go.mod h1:TGAoBVkt8w7MPG72TrKIu85MIdXwDuzJYeZuUPFPNwA= github.com/lyft/protoc-gen-validate v0.0.13/go.mod h1:XbGvPuh87YZc5TdIa2/I4pLk0QoUACkjt2znoq26NVQ= @@ -1403,8 +1413,6 @@ github.com/viam-labs/go-libjpeg v0.3.1 h1:J/byavXHFqRI1PFPrnPbP+wFCr1y+Cn1CwKXrO github.com/viam-labs/go-libjpeg v0.3.1/go.mod h1:b0ISpf9lJv9MO1h1gXAmSA/osG19cKGYjfYc6aeEjqs= github.com/viamrobotics/evdev v0.1.3 h1:mR4HFafvbc5Wx4Vp1AUJp6/aITfVx9AKyXWx+rWjpfc= github.com/viamrobotics/evdev v0.1.3/go.mod h1:N6nuZmPz7HEIpM7esNWwLxbYzqWqLSZkfI/1Sccckqk= -github.com/viamrobotics/gostream v0.0.0-20231018165748-3173b15942b5 h1:ypbppgg8FIok7mHTP/ccdIDQOsnXFsrLcu3D1NmvBp8= -github.com/viamrobotics/gostream v0.0.0-20231018165748-3173b15942b5/go.mod h1:iZlR4tNvkiZ3m67vhPl0qBuBl79jYb6X9kLasVf6nzc= github.com/viki-org/dnscache v0.0.0-20130720023526-c70c1f23c5d8/go.mod h1:dniwbG03GafCjFohMDmz6Zc6oCuiqgH6tGNyXTkHzXE= github.com/wcharczuk/go-chart/v2 v2.1.0/go.mod h1:yx7MvAVNcP/kN9lKXM/NTce4au4DFN99j6i1OwDclNA= github.com/xdg-go/pbkdf2 v1.0.0 h1:Su7DPu48wXMwC3bs7MCNG+z4FhcyEuz5dlvchbq0B0c= @@ -1494,8 +1502,8 @@ go.uber.org/zap v1.18.1/go.mod h1:xg/QME4nWcxGxrpdeYfq7UvYrLh66cuVKdrbD1XF/NI= go.uber.org/zap v1.23.0/go.mod h1:D+nX8jyLsMHMYrln8A0rJjFt/T/9/bGgIhAqxv5URuY= go.uber.org/zap v1.24.0 h1:FiJd5l1UOLj0wCgbSE0rwwXHzEdAZS6hiiSnxJN/D60= go.uber.org/zap v1.24.0/go.mod h1:2kMP+WWQ8aoFoedH3T2sq6iJ2yDWpHbP0f6MQbS9Gkg= -go.viam.com/api v0.1.217 h1:nqKRKyFKQF3dmgsattYSrTPmjI3QwPRYEPYjNxlBbAA= -go.viam.com/api v0.1.217/go.mod h1:CwLz82Ie4+Z2lSH2F0oQGViP4/TV9uxjJs+rqHvFWE8= +go.viam.com/api v0.1.219 h1:vrUPMcEhB0Okz9jLmF9Cw9YkYDraljmXkhn3FDCDR/I= +go.viam.com/api v0.1.219/go.mod h1:CwLz82Ie4+Z2lSH2F0oQGViP4/TV9uxjJs+rqHvFWE8= go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2 h1:oBiK580EnEIzgFLU4lHOXmGAE3MxnVbeR7s1wp/F3Ps= go.viam.com/test v1.1.1-0.20220913152726-5da9916c08a2/go.mod h1:XM0tej6riszsiNLT16uoyq1YjuYPWlRBweTPRDanIts= go.viam.com/utils v0.1.52 h1:g5lw85utkAwkkGXEqbvcy2wRJA3/kypc3trRhv78+Jo= @@ -1741,6 +1749,7 @@ golang.org/x/sys v0.0.0-20200803210538-64077c9b5642/go.mod h1:h1NjWce9XRLGQEsW7w golang.org/x/sys v0.0.0-20200905004654-be1d3432aa8f/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= golang.org/x/sys v0.0.0-20200909081042-eff7692f9009/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= golang.org/x/sys v0.0.0-20200930185726-fdedc70b468f/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= +golang.org/x/sys v0.0.0-20201018230417-eeed37f84f13/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= golang.org/x/sys v0.0.0-20201024232916-9f70ab9862d5/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= golang.org/x/sys v0.0.0-20201119102817-f84b799fce68/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= golang.org/x/sys v0.0.0-20201201145000-ef89a241ccb3/go.mod h1:h1NjWce9XRLGQEsW7wpKNCjG9DtNlClVuFLEZdDNbEs= @@ -1827,6 +1836,8 @@ golang.org/x/time v0.0.0-20181108054448-85acf8d2951c/go.mod h1:tRJNPiyCQ0inRvYxb golang.org/x/time v0.0.0-20190308202827-9d24e82272b4/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20191024005414-555d28b269f0/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/time v0.0.0-20200416051211-89c76fbcd5d1/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= +golang.org/x/time v0.3.0 h1:rg5rLMjNzMS1RkNLzCG38eapWhnYLFYXDXj2gOlr8j4= +golang.org/x/time v0.3.0/go.mod h1:tRJNPiyCQ0inRvYxbN9jk5I+vvW/OXSQhTDSoE431IQ= golang.org/x/tools v0.0.0-20180221164845-07fd8470d635/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= golang.org/x/tools v0.0.0-20180525024113-a5b4c53f6e8b/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= golang.org/x/tools v0.0.0-20180828015842-6cd1fcedba52/go.mod h1:n7NCudcB/nEzxVGmLbDWY5pfWTLqBcC2KZ6jyYvM4mQ= @@ -2103,6 +2114,8 @@ gopkg.in/cheggaaa/pb.v1 v1.0.28/go.mod h1:V/YB90LKu/1FcN3WVnfiiE5oMCibMjukxqG/qS gopkg.in/errgo.v2 v2.1.0/go.mod h1:hNsd1EY+bozCKY1Ytp96fpM3vjJbqLJn88ws8XvfDNI= gopkg.in/fsnotify.v1 v1.4.7/go.mod h1:Tz8NjZHkW78fSQdbUxIjBTcgA1z1m8ZHf0WmKUhAMys= gopkg.in/gcfg.v1 v1.2.3/go.mod h1:yesOnuUOFQAhST5vPY4nbZsb/huCgGGXlipJsBn0b3o= +gopkg.in/hraban/opus.v2 v2.0.0-20220302220929-eeacdbcb92d0 h1:B8lK1KhYrE4H3urNYBAL/UquYftW65IHPY8JP3gpZ4M= +gopkg.in/hraban/opus.v2 v2.0.0-20220302220929-eeacdbcb92d0/go.mod h1:/L5E7a21VWl8DeuCPKxQBdVG5cy+L0MRZ08B1wnqt7g= gopkg.in/ini.v1 v1.51.0/go.mod h1:pNLf8WUiyNEtQjuu5G5vTm06TEv9tsIgeAvK8hOrP4k= gopkg.in/ini.v1 v1.67.0 h1:Dgnx+6+nfE+IfzjUEISNeydPJh9AXNNsWbGP9KzCsOA= gopkg.in/ini.v1 v1.67.0/go.mod h1:pNLf8WUiyNEtQjuu5G5vTm06TEv9tsIgeAvK8hOrP4k= diff --git a/gostream/.gitignore b/gostream/.gitignore new file mode 100644 index 00000000000..5bf6771bb9a --- /dev/null +++ b/gostream/.gitignore @@ -0,0 +1,56 @@ +# Binaries for programs and plugins +*.exe +*.exe~ +*.dll +*.so +*.dylib +*.dSYM +*.o +*.d +*.mtb +*.a +*.dpp + +# Test binary, built with `go test -c` +*.test + +# Perf output +*.pprog + +# output for pprof +*.prof +*.pprof + +# Output of the go coverage tool, specifically when used with LiteIDE +*.out + +# Dependency directories (remove the comment below to include it) +vendor/ + +# gRPC/Protocol Buffers +bin +dist/* +frontend/dist + +# Test data +coverage.txt + +*~ +*# +*.#* +*.DS_Store +*.swp + +# act +.secrets + +/data/ +out/ +.idea/* +bin/ + +# artifact +.artifact/cache +.artifact/data + +etc/test_keys diff --git a/gostream/README.md b/gostream/README.md new file mode 100644 index 00000000000..4bf31e2e5ec --- /dev/null +++ b/gostream/README.md @@ -0,0 +1,27 @@ +# gostream + +gostream is a library to simplify the streaming of images as video and audio chunks to audio to a series of WebRTC peers. The impetus for this existing was for doing simple GUI / audio/video streaming to a browser all within go with as little cgo as possible. The package will likely be refactored over time to support some more generalized use cases and as such will be in version 0 for the time being. Many parameters are hard coded and need to be configurable over time. Use at your own risk, and please file issues! + +## TODO + +- Support multiple codecs (e.g. Firefox macos-arm does not support h264 by default yet) +- Verify Windows Logitech StreamCam working +- Reconnect on server restart +- Check closes and frees +- Address code TODOs (including context.TODO) +- Documentation (inner func docs, package docs, example docs) +- Version 0.1.0 +- Support removal of streams +- Synchronize audio with video + +## With NixOS (Experimental) + +`nix-shell --pure` + +## Examples + +* Stream current desktop: `go run gostream/cmd/stream_video/main.go` +* Stream camera: `go run gostream/cmd/stream_video/main.go -camera` +* Stream microphone: `go run gostream/cmd/stream_audio/main.go -playback` +* Stream microphone and camera: `go run gostream/cmd/stream_av/main.go -camera` +* Playback microphone from browser: `go run gostream/cmd/stream_audio/main.go -playback` diff --git a/gostream/audio.go b/gostream/audio.go new file mode 100644 index 00000000000..207a128ec05 --- /dev/null +++ b/gostream/audio.go @@ -0,0 +1,59 @@ +package gostream + +import ( + "context" + + "github.com/pion/mediadevices/pkg/driver" + "github.com/pion/mediadevices/pkg/prop" + "github.com/pion/mediadevices/pkg/wave" +) + +type ( + // An AudioReader is anything that can read and recycle audio data. + AudioReader = MediaReader[wave.Audio] + + // An AudioReaderFunc is a helper to turn a function into an AudioReader. + AudioReaderFunc = MediaReaderFunc[wave.Audio] + + // An AudioSource is responsible for producing audio chunks when requested. A source + // should produce the chunk as quickly as possible and introduce no rate limiting + // of its own as that is handled internally. + AudioSource = MediaSource[wave.Audio] + + // An AudioStream streams audio forever until closed. + AudioStream = MediaStream[wave.Audio] + + // AudioPropertyProvider providers information about an audio source. + AudioPropertyProvider = MediaPropertyProvider[prop.Audio] +) + +// NewAudioSource instantiates a new audio read closer. +func NewAudioSource(r AudioReader, p prop.Audio) AudioSource { + return newMediaSource(nil, r, p) +} + +// NewAudioSourceForDriver instantiates a new audio read closer and references the given +// driver. +func NewAudioSourceForDriver(d driver.Driver, r AudioReader, p prop.Audio) AudioSource { + return newMediaSource(d, r, p) +} + +// ReadAudio gets a single audio wave from an audio source. Using this has less of a guarantee +// than AudioSource.Stream that the Nth wave follows the N-1th wave. +func ReadAudio(ctx context.Context, source AudioSource) (wave.Audio, func(), error) { + return ReadMedia(ctx, source) +} + +// NewEmbeddedAudioStream returns an audio stream from an audio source that is +// intended to be embedded/composed by another source. It defers the creation +// of its stream. +func NewEmbeddedAudioStream(src AudioSource) AudioStream { + return NewEmbeddedMediaStream[wave.Audio, prop.Audio](src) +} + +// NewEmbeddedAudioStreamFromReader returns an audio stream from an audio reader that is +// intended to be embedded/composed by another source. It defers the creation +// of its stream. +func NewEmbeddedAudioStreamFromReader(reader AudioReader) AudioStream { + return NewEmbeddedMediaStreamFromReader(reader, prop.Audio{}) +} diff --git a/gostream/buf.gen.yaml b/gostream/buf.gen.yaml new file mode 100644 index 00000000000..c94dd14fd32 --- /dev/null +++ b/gostream/buf.gen.yaml @@ -0,0 +1,19 @@ +version: v1 +plugins: + - remote: buf.build/protocolbuffers/plugins/go:v1.28.1-1 + out: . + opt: + - paths=source_relative + - remote: buf.build/grpc/plugins/go:v1.2.0-1 + out: . + opt: + - paths=source_relative + - remote: buf.build/grpc-ecosystem/plugins/grpc-gateway:v2.11.2-1 + out: . + opt: + - paths=source_relative + - generate_unbound_methods=true + - remote: buf.build/sawadashota/plugins/protoc-gen-doc:v1.5.1 + out: docs/proto + opt: + - html,index.html diff --git a/gostream/buf.lock b/gostream/buf.lock new file mode 100644 index 00000000000..c91b5810c29 --- /dev/null +++ b/gostream/buf.lock @@ -0,0 +1,2 @@ +# Generated by buf. DO NOT EDIT. +version: v1 diff --git a/gostream/buf.yaml b/gostream/buf.yaml new file mode 100644 index 00000000000..c835c13d83b --- /dev/null +++ b/gostream/buf.yaml @@ -0,0 +1,13 @@ +version: v1 +name: buf.build/erdaniels/gostream +build: + excludes: + - vendor + - frontend/node_modules +lint: + use: + - DEFAULT +breaking: + use: + - FILE + \ No newline at end of file diff --git a/gostream/cmd/stream_audio/main.go b/gostream/cmd/stream_audio/main.go new file mode 100644 index 00000000000..0b71b23d969 --- /dev/null +++ b/gostream/cmd/stream_audio/main.go @@ -0,0 +1,279 @@ +// Package main streams audio. +package main + +import ( + "bytes" + "context" + "encoding/binary" + "fmt" + "io" + "sync" + "unsafe" + + "github.com/edaniels/golog" + "github.com/gen2brain/malgo" + // register microphone drivers. + _ "github.com/pion/mediadevices/pkg/driver/microphone" + "github.com/pion/webrtc/v3" + "github.com/pkg/errors" + "go.uber.org/multierr" + goutils "go.viam.com/utils" + hopus "gopkg.in/hraban/opus.v2" + + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec/opus" +) + +func main() { + goutils.ContextualMain(mainWithArgs, logger) +} + +var ( + defaultPort = 5555 + logger = golog.Global().Named("server") +) + +// Arguments for the command. +type Arguments struct { + Port goutils.NetPortFlag `flag:"0"` + Dump bool `flag:"dump"` + Playback bool `flag:"playback"` +} + +func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) error { + var argsParsed Arguments + if err := goutils.ParseFlags(args, &argsParsed); err != nil { + return err + } + if argsParsed.Dump { + all := gostream.QueryAudioDevices() + for _, info := range all { + logger.Debugf("%s", info.ID) + logger.Debugf("\t labels: %v", info.Labels) + logger.Debugf("\t priority: %v", info.Priority) + for _, p := range info.Properties { + logger.Debugf("\t %+v", p.Audio) + } + } + return nil + } + if argsParsed.Port == 0 { + argsParsed.Port = goutils.NetPortFlag(defaultPort) + } + + return runServer( + ctx, + int(argsParsed.Port), + argsParsed.Playback, + logger, + ) +} + +func runServer( + ctx context.Context, + port int, + playback bool, + logger golog.Logger, +) (err error) { + audioSource, err := gostream.GetAnyAudioSource(gostream.DefaultConstraints, logger) + if err != nil { + return err + } + defer func() { + err = multierr.Combine(err, audioSource.Close(ctx)) + }() + + config := opus.DefaultStreamConfig + stream, err := gostream.NewStream(config) + if err != nil { + return err + } + + peerCancelations := map[*webrtc.PeerConnection][]func(){} + var peerCancelationMu sync.Mutex + var activePlayers sync.WaitGroup + defer activePlayers.Wait() + + var serverOpts []gostream.StandaloneStreamServerOption + if playback { + serverOpts = append(serverOpts, gostream.WithStandaloneAllowReceive(true)) + + serverOpts = append(serverOpts, gostream.WithStandaloneOnPeerAdded(func(pc *webrtc.PeerConnection) { + pc.OnTrack(func(track *webrtc.TrackRemote, receiver *webrtc.RTPReceiver) { + cancelCtx, cancelFunc := context.WithCancel(ctx) + peerCancelationMu.Lock() + peerCancelations[pc] = append(peerCancelations[pc], cancelFunc) + peerCancelationMu.Unlock() + activePlayers.Add(1) + defer activePlayers.Done() + decodeAndPlayTrack(cancelCtx, track) + }) + })) + serverOpts = append(serverOpts, gostream.WithStandaloneOnPeerRemoved(func(pc *webrtc.PeerConnection) { + peerCancelationMu.Lock() + cancelations := peerCancelations[pc] + peerCancelationMu.Unlock() + for _, cancel := range cancelations { + cancel() + } + })) + } + server, err := gostream.NewStandaloneStreamServer(port, logger, serverOpts, stream) + if err != nil { + return err + } + + if err := server.Start(ctx); err != nil { + return err + } + + defer func() { err = multierr.Combine(err, server.Stop(ctx)) }() + return gostream.StreamAudioSource(ctx, audioSource, stream) +} + +func decodeAndPlayTrack(ctx context.Context, track *webrtc.TrackRemote) { + var hostEndian binary.ByteOrder + + //nolint:gosec + switch v := *(*uint16)(unsafe.Pointer(&([]byte{0x12, 0x34}[0]))); v { + case 0x1234: + hostEndian = binary.BigEndian + case 0x3412: + hostEndian = binary.LittleEndian + default: + panic(fmt.Sprintf("failed to determine host endianness: %x", v)) + } + + switch track.Kind() { + case webrtc.RTPCodecTypeAudio: + { + mCtx, err := malgo.InitContext(nil, malgo.ContextConfig{}, func(message string) { + logger.Debugw("malgo", "msg", message) + }) + if err != nil { + panic(err) + } + defer func() { + goutils.UncheckedErrorFunc(mCtx.Uninit) + mCtx.Free() + }() + + codec := track.Codec() + channels := codec.Channels + sampleRate := codec.ClockRate + + dec, err := hopus.NewDecoder(int(sampleRate), int(channels)) + if err != nil { + panic(err) + } + + const maxOpusFrameSizeMs = 60 + maxFrameSize := float32(channels) * maxOpusFrameSizeMs * float32(sampleRate) / 1000 + dataPool := sync.Pool{ + New: func() interface{} { + newData := make([]float32, int(maxFrameSize)) + return &newData + }, + } + decodeRTPData := func() (*[]float32, int, error) { + data, _, err := track.ReadRTP() + if err != nil { + return nil, 0, err + } + if len(data.Payload) == 0 { + return nil, 0, nil + } + + pcmData := dataPool.Get().(*[]float32) + n, err := dec.DecodeFloat32(data.Payload, *pcmData) + pcmActual := (*pcmData)[:n*int(channels)] + return &pcmActual, n, err + } + + var periodSizeInFrames int + for { + // we assume all packets will contain this amount of samples going forward + // if it's anything larger than one RTP packet (or close to MTU?) then + // this could fail. + _, numSamples, err := decodeRTPData() + if err != nil { + panic(err) + } + if numSamples > 0 { + periodSizeInFrames = numSamples + break + } + } + + deviceConfig := malgo.DefaultDeviceConfig(malgo.Playback) + deviceConfig.Playback.Format = malgo.FormatF32 // tied to what we opus decode to + deviceConfig.Playback.Channels = uint32(channels) + deviceConfig.SampleRate = sampleRate + deviceConfig.PeriodSizeInFrames = uint32(periodSizeInFrames) + sizeInBytes := malgo.SampleSizeInBytes(deviceConfig.Playback.Format) + + pcmChan := make(chan *[]float32) + + onSendFrames := func(pOutput, _ []byte, frameCount uint32) { + if ctx.Err() != nil { + return + } + samplesRequested := frameCount * deviceConfig.Playback.Channels * uint32(sizeInBytes) + select { + case <-ctx.Done(): + return + case pcm := <-pcmChan: + pcmToWrite := *pcm + if len(pcmToWrite) > int(samplesRequested) { + logger.Errorw("not enough samples requested; trimming our own data", "samples_requested", samplesRequested) + pcmToWrite = pcmToWrite[:samplesRequested] + } + pOutput = pOutput[:0] + buf := bytes.NewBuffer(pOutput) + if err := binary.Write(buf, hostEndian, pcmToWrite); err != nil { + logger.Errorw("error writing to pcm buf", "error", err) + } + dataPool.Put(pcm) + } + } + + playbackCallbacks := malgo.DeviceCallbacks{ + Data: onSendFrames, + } + + device, err := malgo.InitDevice(mCtx.Context, deviceConfig, playbackCallbacks) + if err != nil { + panic(err) + } + + err = device.Start() + if err != nil { + panic(err) + } + + defer device.Uninit() + + for { + if ctx.Err() != nil { + return + } + pcmData, numSamples, err := decodeRTPData() + if errors.Is(err, io.EOF) { + return + } + if numSamples == 0 { + continue + } + select { + case <-ctx.Done(): + return + case pcmChan <- pcmData: + } + } + } + case webrtc.RTPCodecTypeVideo: + fallthrough + default: + panic(errors.Errorf("Unsupported track kind %v", track.Kind())) + } +} diff --git a/gostream/cmd/stream_av/main.go b/gostream/cmd/stream_av/main.go new file mode 100644 index 00000000000..27538018de6 --- /dev/null +++ b/gostream/cmd/stream_av/main.go @@ -0,0 +1,135 @@ +// Package main streams audio and video. +package main + +import ( + "context" + + "github.com/edaniels/golog" + // register drivers. + _ "github.com/pion/mediadevices/pkg/driver/camera" + _ "github.com/pion/mediadevices/pkg/driver/microphone" + _ "github.com/pion/mediadevices/pkg/driver/screen" + "go.uber.org/multierr" + goutils "go.viam.com/utils" + + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec/opus" + "go.viam.com/rdk/gostream/codec/vpx" +) + +func main() { + goutils.ContextualMain(mainWithArgs, logger) +} + +var ( + defaultPort = 5555 + logger = golog.Global().Named("server") +) + +// Arguments for the command. +type Arguments struct { + Port goutils.NetPortFlag `flag:"0"` + Camera bool `flag:"camera,usage=use camera"` + Dump bool `flag:"dump"` +} + +func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) error { + var argsParsed Arguments + if err := goutils.ParseFlags(args, &argsParsed); err != nil { + return err + } + if argsParsed.Dump { + allAudio := gostream.QueryAudioDevices() + if len(allAudio) > 0 { + logger.Debug("Audio:") + } + for _, info := range allAudio { + logger.Debugf("%s", info.ID) + logger.Debugf("\t labels: %v", info.Labels) + logger.Debugf("\t priority: %v", info.Priority) + for _, p := range info.Properties { + logger.Debugf("\t %+v", p.Audio) + } + } + var allVideo []gostream.DeviceInfo + if argsParsed.Camera { + allVideo = gostream.QueryVideoDevices() + } else { + allVideo = gostream.QueryScreenDevices() + } + if len(allVideo) > 0 { + logger.Debug("Video:") + } + for _, info := range allVideo { + logger.Debugf("%s", info.ID) + logger.Debugf("\t labels: %v", info.Labels) + logger.Debugf("\t priority: %v", info.Priority) + for _, p := range info.Properties { + logger.Debugf("\t %+v", p.Video) + } + } + return nil + } + if argsParsed.Port == 0 { + argsParsed.Port = goutils.NetPortFlag(defaultPort) + } + + return runServer( + ctx, + int(argsParsed.Port), + argsParsed.Camera, + logger, + ) +} + +func runServer( + ctx context.Context, + port int, + camera bool, + logger golog.Logger, +) (err error) { + audioSource, err := gostream.GetAnyAudioSource(gostream.DefaultConstraints, logger) + if err != nil { + return err + } + defer func() { + err = multierr.Combine(err, audioSource.Close(ctx)) + }() + var videoSrc gostream.VideoSource + if camera { + videoSrc, err = gostream.GetAnyVideoSource(gostream.DefaultConstraints, logger) + } else { + videoSrc, err = gostream.GetAnyScreenSource(gostream.DefaultConstraints, logger) + } + if err != nil { + return err + } + defer func() { + err = multierr.Combine(err, videoSrc.Close(ctx)) + }() + + var config gostream.StreamConfig + config.AudioEncoderFactory = opus.NewEncoderFactory() + config.VideoEncoderFactory = vpx.NewEncoderFactory(vpx.Version8) + stream, err := gostream.NewStream(config) + if err != nil { + return err + } + server, err := gostream.NewStandaloneStreamServer(port, logger, nil, stream) + if err != nil { + return err + } + if err := server.Start(ctx); err != nil { + return err + } + + audioErr := make(chan error) + defer func() { + err = multierr.Combine(err, <-audioErr, server.Stop(ctx)) + }() + + go func() { + audioErr <- gostream.StreamAudioSource(ctx, audioSource, stream) + }() + return gostream.StreamVideoSource(ctx, videoSrc, stream) +} diff --git a/gostream/cmd/stream_video/main.go b/gostream/cmd/stream_video/main.go new file mode 100644 index 00000000000..d72be1efed0 --- /dev/null +++ b/gostream/cmd/stream_video/main.go @@ -0,0 +1,132 @@ +// Package main streams video. +package main + +import ( + "context" + + "github.com/edaniels/golog" + // register video drivers. + _ "github.com/pion/mediadevices/pkg/driver/camera" + _ "github.com/pion/mediadevices/pkg/driver/screen" + "go.uber.org/multierr" + goutils "go.viam.com/utils" + + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec/vpx" + "go.viam.com/rdk/gostream/codec/x264" +) + +func main() { + goutils.ContextualMain(mainWithArgs, logger) +} + +var ( + defaultPort = 5555 + logger = golog.Global().Named("server") +) + +// Arguments for the command. +type Arguments struct { + Port goutils.NetPortFlag `flag:"0"` + Camera bool `flag:"camera,usage=use camera"` + DupeStream bool `flag:"dupe_stream,usage=duplicate stream"` + Dump bool `flag:"dump"` +} + +func mainWithArgs(ctx context.Context, args []string, logger golog.Logger) error { + var argsParsed Arguments + if err := goutils.ParseFlags(args, &argsParsed); err != nil { + return err + } + if argsParsed.Dump { + var all []gostream.DeviceInfo + if argsParsed.Camera { + all = gostream.QueryVideoDevices() + } else { + all = gostream.QueryScreenDevices() + } + for _, info := range all { + logger.Debugf("%s", info.ID) + logger.Debugf("\t labels: %v", info.Labels) + logger.Debugf("\t priority: %v", info.Priority) + for _, p := range info.Properties { + logger.Debugf("\t %+v", p.Video) + } + } + return nil + } + if argsParsed.Port == 0 { + argsParsed.Port = goutils.NetPortFlag(defaultPort) + } + + return runServer( + ctx, + int(argsParsed.Port), + argsParsed.Camera, + argsParsed.DupeStream, + logger, + ) +} + +func runServer( + ctx context.Context, + port int, + camera bool, + dupeStream bool, + logger golog.Logger, +) (err error) { + var videoSource gostream.VideoSource + if camera { + videoSource, err = gostream.GetAnyVideoSource(gostream.DefaultConstraints, logger) + } else { + videoSource, err = gostream.GetAnyScreenSource(gostream.DefaultConstraints, logger) + } + if err != nil { + return err + } + defer func() { + err = multierr.Combine(err, videoSource.Close(ctx)) + }() + + _ = x264.DefaultStreamConfig + _ = vpx.DefaultStreamConfig + config := vpx.DefaultStreamConfig + stream, err := gostream.NewStream(config) + if err != nil { + return err + } + server, err := gostream.NewStandaloneStreamServer(port, logger, nil, stream) + if err != nil { + return err + } + var secondStream gostream.Stream + if dupeStream { + config.Name = "dupe" + stream, err := gostream.NewStream(config) + if err != nil { + logger.Fatal(err) + } + + secondStream = stream + if err := server.AddStream(secondStream); err != nil { + return err + } + } + if err := server.Start(ctx); err != nil { + return err + } + + secondErr := make(chan error) + defer func() { + err = multierr.Combine(err, <-secondErr, server.Stop(ctx)) + }() + + if secondStream != nil { + go func() { + secondErr <- gostream.StreamVideoSource(ctx, videoSource, secondStream) + }() + } else { + close(secondErr) + } + return gostream.StreamVideoSource(ctx, videoSource, stream) +} diff --git a/gostream/codec/audio_encoder.go b/gostream/codec/audio_encoder.go new file mode 100644 index 00000000000..aeaed087a7e --- /dev/null +++ b/gostream/codec/audio_encoder.go @@ -0,0 +1,23 @@ +package codec + +import ( + "context" + "time" + + "github.com/edaniels/golog" + "github.com/pion/mediadevices/pkg/wave" +) + +// An AudioEncoder is anything that can encode audo chunks into bytes. This means that +// the encoder must follow some type of format dictated by a type (see AudioEncoderFactory.MimeType). +// An encoder that produces bytes of different encoding formats per call is invalid. +type AudioEncoder interface { + Encode(ctx context.Context, chunk wave.Audio) ([]byte, bool, error) + Close() +} + +// An AudioEncoderFactory produces AudioEncoders and provides information about the underlying encoder itself. +type AudioEncoderFactory interface { + New(sampleRate, channelCount int, latency time.Duration, logger golog.Logger) (AudioEncoder, error) + MIMEType() string +} diff --git a/gostream/codec/mmal/encoder.go b/gostream/codec/mmal/encoder.go new file mode 100644 index 00000000000..5b1c1a36bfb --- /dev/null +++ b/gostream/codec/mmal/encoder.go @@ -0,0 +1,66 @@ +// Package mmal contains the mmal video codec. +package mmal + +import ( + "context" + "image" + + ourcodec "go.viam.com/rdk/gostream/codec" + + "github.com/edaniels/golog" + "github.com/pion/mediadevices/pkg/codec" + "github.com/pion/mediadevices/pkg/codec/mmal" + "github.com/pion/mediadevices/pkg/prop" +) + +type encoder struct { + codec codec.ReadCloser + img image.Image + logger golog.Logger +} + +// Gives suitable results. Probably want to make this configurable this in the future. +const bitrate = 3_200_000 + +// NewEncoder returns an MMAL encoder that can encode images of the given width and height. It will +// also ensure that it produces key frames at the given interval. +func NewEncoder(width, height, keyFrameInterval int, logger golog.Logger) (ourcodec.VideoEncoder, error) { + enc := &encoder{logger: logger} + + var builder codec.VideoEncoderBuilder + params, err := mmal.NewParams() + if err != nil { + return nil, err + } + builder = ¶ms + params.BitRate = bitrate + params.KeyFrameInterval = keyFrameInterval + + codec, err := builder.BuildVideoEncoder(enc, prop.Media{ + Video: prop.Video{ + Width: width, + Height: height, + }, + }) + if err != nil { + return nil, err + } + enc.codec = codec + + return enc, nil +} + +// Read returns an image for codec to process. +func (v *encoder) Read() (img image.Image, release func(), err error) { + return v.img, nil, nil +} + +// Encode asks the codec to process the given image. +func (v *encoder) Encode(_ context.Context, img image.Image) ([]byte, error) { + v.img = img + data, release, err := v.codec.Read() + dataCopy := make([]byte, len(data)) + copy(dataCopy, data) + release() + return dataCopy, err +} diff --git a/gostream/codec/mmal/utils.go b/gostream/codec/mmal/utils.go new file mode 100644 index 00000000000..0db63aef5da --- /dev/null +++ b/gostream/codec/mmal/utils.go @@ -0,0 +1,30 @@ +package mmal + +import ( + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec" + + "github.com/edaniels/golog" +) + +// DefaultStreamConfig configures MMAL as the encoder for a stream. +var DefaultStreamConfig gostream.StreamConfig + +func init() { + DefaultStreamConfig.VideoEncoderFactory = NewEncoderFactory() +} + +// NewEncoderFactory returns an MMAL encoder factory. +func NewEncoderFactory() codec.VideoEncoderFactory { + return &factory{} +} + +type factory struct{} + +func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) { + return NewEncoder(width, height, keyFrameInterval, logger) +} + +func (f *factory) MIMEType() string { + return "video/H264" +} diff --git a/gostream/codec/opus/encoder.go b/gostream/codec/opus/encoder.go new file mode 100644 index 00000000000..41e71e1abe4 --- /dev/null +++ b/gostream/codec/opus/encoder.go @@ -0,0 +1,142 @@ +// Package opus contains the opus video codec. +package opus + +import ( + "context" + "io" + "sync" + "time" + + "github.com/edaniels/golog" + "github.com/pion/mediadevices/pkg/codec" + "github.com/pion/mediadevices/pkg/codec/opus" + "github.com/pion/mediadevices/pkg/prop" + "github.com/pion/mediadevices/pkg/wave" + "go.viam.com/utils" + + ourcodec "go.viam.com/rdk/gostream/codec" +) + +type encoder struct { + codec codec.ReadCloser + chunkCh chan wave.Audio + encodedCh chan encodedData + logger golog.Logger + cancelCtx context.Context + cancelFunc func() + activeBackgroundWorkers sync.WaitGroup +} + +// Gives suitable results. Probably want to make this configurable this in the future. +const bitrate = 32000 + +type encodedData struct { + data []byte + err error +} + +// NewEncoder returns an Opus encoder that can encode images of the given width and height. It will +// also ensure that it produces key frames at the given interval. +func NewEncoder(sampleRate, channelCount int, latency time.Duration, logger golog.Logger) (ourcodec.AudioEncoder, error) { + cancelCtx, cancelFunc := context.WithCancel(context.Background()) + enc := &encoder{ + chunkCh: make(chan wave.Audio, 1), + encodedCh: make(chan encodedData, 1), + logger: logger, + cancelCtx: cancelCtx, + cancelFunc: cancelFunc, + } + + var builder codec.AudioEncoderBuilder + params, err := opus.NewParams() + if err != nil { + return nil, err + } + builder = ¶ms + params.BitRate = bitrate + params.Latency = opus.Latency(latency) + + codec, err := builder.BuildAudioEncoder(enc, prop.Media{ + Audio: prop.Audio{ + Latency: latency, + SampleRate: sampleRate, + ChannelCount: channelCount, + }, + }) + if err != nil { + return nil, err + } + enc.codec = codec + + enc.activeBackgroundWorkers.Add(1) + utils.ManagedGo(func() { + for { + if cancelCtx.Err() != nil { + return + } + data, release, err := enc.codec.Read() + dataCopy := make([]byte, len(data)) + copy(dataCopy, data) + release() + + select { + case <-cancelCtx.Done(): + return + case enc.encodedCh <- encodedData{dataCopy, err}: + } + } + }, func() { + defer enc.activeBackgroundWorkers.Done() + close(enc.encodedCh) + }) + + return enc, nil +} + +// Read returns an audio chunk for codec to process. +func (a *encoder) Read() (chunk wave.Audio, release func(), err error) { + if err := a.cancelCtx.Err(); err != nil { + return nil, func() {}, err + } + + select { + case <-a.cancelCtx.Done(): + return nil, func() {}, io.EOF + case chunk := <-a.chunkCh: + return chunk, func() {}, nil + } +} + +// Encode asks the codec to process the given audio chunk. +func (a *encoder) Encode(ctx context.Context, chunk wave.Audio) ([]byte, bool, error) { + defer func() { + select { + case <-ctx.Done(): + return + case <-a.cancelCtx.Done(): + return + case a.chunkCh <- chunk: + } + }() + if err := a.cancelCtx.Err(); err != nil { + return nil, false, err + } + select { + case <-ctx.Done(): + return nil, false, ctx.Err() + case <-a.cancelCtx.Done(): + return nil, false, a.cancelCtx.Err() + case encoded := <-a.encodedCh: + if encoded.err != nil { + return nil, false, encoded.err + } + return encoded.data, true, nil + default: + return nil, false, nil + } +} + +func (a *encoder) Close() { + a.cancelFunc() + a.activeBackgroundWorkers.Wait() +} diff --git a/gostream/codec/opus/utils.go b/gostream/codec/opus/utils.go new file mode 100644 index 00000000000..e0de5bc1c7d --- /dev/null +++ b/gostream/codec/opus/utils.go @@ -0,0 +1,32 @@ +package opus + +import ( + "time" + + "github.com/edaniels/golog" + + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec" +) + +// DefaultStreamConfig configures Opus as the audio encoder for a stream. +var DefaultStreamConfig gostream.StreamConfig + +func init() { + DefaultStreamConfig.AudioEncoderFactory = NewEncoderFactory() +} + +// NewEncoderFactory returns an Opus audio encoder factory. +func NewEncoderFactory() codec.AudioEncoderFactory { + return &factory{} +} + +type factory struct{} + +func (f *factory) New(sampleRate, channelCount int, latency time.Duration, logger golog.Logger) (codec.AudioEncoder, error) { + return NewEncoder(sampleRate, channelCount, latency, logger) +} + +func (f *factory) MIMEType() string { + return "audio/opus" +} diff --git a/gostream/codec/video_encoder.go b/gostream/codec/video_encoder.go new file mode 100644 index 00000000000..3976614ba99 --- /dev/null +++ b/gostream/codec/video_encoder.go @@ -0,0 +1,27 @@ +// Package codec defines the encoder and factory interfaces for encoding video frames and audio chunks. +package codec + +import ( + "context" + "image" + + "github.com/edaniels/golog" +) + +// DefaultKeyFrameInterval is the default interval chosen +// in order to produce high enough quality results at a low +// latency. +const DefaultKeyFrameInterval = 30 + +// A VideoEncoder is anything that can encode images into bytes. This means that +// the encoder must follow some type of format dictated by a type (see EncoderFactory.MimeType). +// An encoder that produces bytes of different encoding formats per call is invalid. +type VideoEncoder interface { + Encode(ctx context.Context, img image.Image) ([]byte, error) +} + +// A VideoEncoderFactory produces VideoEncoders and provides information about the underlying encoder itself. +type VideoEncoderFactory interface { + New(height, width, keyFrameInterval int, logger golog.Logger) (VideoEncoder, error) + MIMEType() string +} diff --git a/gostream/codec/vpx/encoder.go b/gostream/codec/vpx/encoder.go new file mode 100644 index 00000000000..28427480b39 --- /dev/null +++ b/gostream/codec/vpx/encoder.go @@ -0,0 +1,89 @@ +// Package vpx contains the vpx video codec. +package vpx + +import ( + "context" + "fmt" + "image" + + "github.com/edaniels/golog" + "github.com/pion/mediadevices/pkg/codec" + "github.com/pion/mediadevices/pkg/codec/vpx" + "github.com/pion/mediadevices/pkg/prop" + + ourcodec "go.viam.com/rdk/gostream/codec" +) + +type encoder struct { + codec codec.ReadCloser + img image.Image + logger golog.Logger +} + +// Version determines the version of a vpx codec. +type Version string + +// The set of allowed vpx versions. +const ( + Version8 Version = "vp8" + Version9 Version = "vp9" +) + +// Gives suitable results. Probably want to make this configurable this in the future. +const bitrate = 3_200_000 + +// NewEncoder returns a vpx encoder of the given type that can encode images of the given width and height. It will +// also ensure that it produces key frames at the given interval. +func NewEncoder(codecVersion Version, width, height, keyFrameInterval int, logger golog.Logger) (ourcodec.VideoEncoder, error) { + enc := &encoder{logger: logger} + + var builder codec.VideoEncoderBuilder + switch codecVersion { + case Version8: + params, err := vpx.NewVP8Params() + if err != nil { + return nil, err + } + builder = ¶ms + params.BitRate = bitrate + params.KeyFrameInterval = keyFrameInterval + case Version9: + params, err := vpx.NewVP9Params() + if err != nil { + return nil, err + } + builder = ¶ms + params.BitRate = bitrate + params.KeyFrameInterval = keyFrameInterval + default: + return nil, fmt.Errorf("unsupported vpx version: %s", codecVersion) + } + + codec, err := builder.BuildVideoEncoder(enc, prop.Media{ + Video: prop.Video{ + Width: width, + Height: height, + }, + }) + if err != nil { + return nil, err + } + enc.codec = codec + + return enc, nil +} + +// Read returns an image for codec to process. +func (v *encoder) Read() (img image.Image, release func(), err error) { + return v.img, nil, nil +} + +// Encode asks the codec to process the given image. +func (v *encoder) Encode(_ context.Context, img image.Image) ([]byte, error) { + v.img = img + data, release, err := v.codec.Read() + dataCopy := make([]byte, len(data)) + copy(dataCopy, data) + release() + return dataCopy, err +} diff --git a/gostream/codec/vpx/utils.go b/gostream/codec/vpx/utils.go new file mode 100644 index 00000000000..4d4b80991df --- /dev/null +++ b/gostream/codec/vpx/utils.go @@ -0,0 +1,41 @@ +package vpx + +import ( + "fmt" + + "github.com/edaniels/golog" + + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec" +) + +// DefaultStreamConfig configures vpx as the encoder for a stream. +var DefaultStreamConfig gostream.StreamConfig + +func init() { + DefaultStreamConfig.VideoEncoderFactory = NewEncoderFactory(Version8) +} + +// NewEncoderFactory returns a vpx factory for the given vpx codec. +func NewEncoderFactory(codecVersion Version) codec.VideoEncoderFactory { + return &factory{codecVersion} +} + +type factory struct { + codecVersion Version +} + +func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) { + return NewEncoder(f.codecVersion, width, height, keyFrameInterval, logger) +} + +func (f *factory) MIMEType() string { + switch f.codecVersion { + case Version8: + return "video/vp8" + case Version9: + return "video/vp9" + default: + panic(fmt.Errorf("unknown codec version %q", f.codecVersion)) + } +} diff --git a/gostream/codec/x264/encoder.go b/gostream/codec/x264/encoder.go new file mode 100644 index 00000000000..c280f490fe6 --- /dev/null +++ b/gostream/codec/x264/encoder.go @@ -0,0 +1,66 @@ +// Package x264 contains the x264 video codec. +package x264 + +import ( + "context" + "image" + + "github.com/edaniels/golog" + "github.com/pion/mediadevices/pkg/codec" + "github.com/pion/mediadevices/pkg/codec/x264" + "github.com/pion/mediadevices/pkg/prop" + + ourcodec "go.viam.com/rdk/gostream/codec" +) + +type encoder struct { + codec codec.ReadCloser + img image.Image + logger golog.Logger +} + +// Gives suitable results. Probably want to make this configurable this in the future. +const bitrate = 3_200_000 + +// NewEncoder returns an x264 encoder that can encode images of the given width and height. It will +// also ensure that it produces key frames at the given interval. +func NewEncoder(width, height, keyFrameInterval int, logger golog.Logger) (ourcodec.VideoEncoder, error) { + enc := &encoder{logger: logger} + + var builder codec.VideoEncoderBuilder + params, err := x264.NewParams() + if err != nil { + return nil, err + } + builder = ¶ms + params.BitRate = bitrate + params.KeyFrameInterval = keyFrameInterval + + codec, err := builder.BuildVideoEncoder(enc, prop.Media{ + Video: prop.Video{ + Width: width, + Height: height, + }, + }) + if err != nil { + return nil, err + } + enc.codec = codec + + return enc, nil +} + +// Read returns an image for codec to process. +func (v *encoder) Read() (img image.Image, release func(), err error) { + return v.img, nil, nil +} + +// Encode asks the codec to process the given image. +func (v *encoder) Encode(_ context.Context, img image.Image) ([]byte, error) { + v.img = img + data, release, err := v.codec.Read() + dataCopy := make([]byte, len(data)) + copy(dataCopy, data) + release() + return dataCopy, err +} diff --git a/gostream/codec/x264/encoder_test.go b/gostream/codec/x264/encoder_test.go new file mode 100644 index 00000000000..b9285b627d8 --- /dev/null +++ b/gostream/codec/x264/encoder_test.go @@ -0,0 +1,105 @@ +package x264 + +import ( + "bytes" + "context" + "image" + "image/color" + "image/jpeg" + "image/png" + "os" + "testing" + + "github.com/edaniels/golog" + "github.com/nfnt/resize" + "go.viam.com/test" +) + +const ( + DefaultKeyFrameInterval = 30 + Width = 640 + Height = 480 +) + +func pngToImage(b *testing.B, loc string) (image.Image, error) { + b.Helper() + openBytes, err := os.ReadFile(loc) + test.That(b, err, test.ShouldBeNil) + return png.Decode(bytes.NewReader(openBytes)) +} + +func resizeImg(b *testing.B, img image.Image, width, height uint) image.Image { + b.Helper() + newImage := resize.Resize(width, height, img, resize.Lanczos3) + return newImage +} + +func convertToYCbCr(b *testing.B, src image.Image) (image.Image, error) { + b.Helper() + bf := new(bytes.Buffer) + err := jpeg.Encode(bf, src, nil) + test.That(b, err, test.ShouldBeNil) + dst, _, err := image.Decode(bf) + test.That(b, err, test.ShouldBeNil) + test.That(b, dst.ColorModel(), test.ShouldResemble, color.YCbCrModel) + return dst, err +} + +func getResizedImageFromFile(b *testing.B, loc string) image.Image { + b.Helper() + img, err := pngToImage(b, loc) + test.That(b, err, test.ShouldBeNil) + return resizeImg(b, img, uint(Width), uint(Height)) +} + +func BenchmarkEncodeRGBA(b *testing.B) { + var w bool + var logger golog.Logger + + imgCyan := getResizedImageFromFile(b, "../../data/cyan.png") + imgFuchsia := getResizedImageFromFile(b, "../../data/fuchsia.png") + ctx := context.Background() + encoder, err := NewEncoder(Width, Height, DefaultKeyFrameInterval, logger) + test.That(b, err, test.ShouldBeNil) + + b.ResetTimer() + for i := 0; i < b.N; i++ { + if w { + _, err = encoder.Encode(ctx, imgCyan) + test.That(b, err, test.ShouldBeNil) + } else { + _, err = encoder.Encode(ctx, imgFuchsia) + test.That(b, err, test.ShouldBeNil) + } + w = !w + } +} + +func BenchmarkEncodeYCbCr(b *testing.B) { + var w bool + var logger golog.Logger + imgCyan := getResizedImageFromFile(b, "../../data/cyan.png") + imgFuchsia := getResizedImageFromFile(b, "../../data/fuchsia.png") + + imgFY, err := convertToYCbCr(b, imgFuchsia) + test.That(b, err, test.ShouldBeNil) + + imgCY, err := convertToYCbCr(b, imgCyan) + test.That(b, err, test.ShouldBeNil) + + encoder, err := NewEncoder(Width, Height, DefaultKeyFrameInterval, logger) + test.That(b, err, test.ShouldBeNil) + + ctx := context.Background() + b.ResetTimer() + for i := 0; i < b.N; i++ { + if w { + _, err = encoder.Encode(ctx, imgFY) + test.That(b, err, test.ShouldBeNil) + } else { + _, err = encoder.Encode(ctx, imgCY) + test.That(b, err, test.ShouldBeNil) + } + w = !w + } +} diff --git a/gostream/codec/x264/utils.go b/gostream/codec/x264/utils.go new file mode 100644 index 00000000000..36421f3a554 --- /dev/null +++ b/gostream/codec/x264/utils.go @@ -0,0 +1,30 @@ +package x264 + +import ( + "github.com/edaniels/golog" + + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec" +) + +// DefaultStreamConfig configures x264 as the encoder for a stream. +var DefaultStreamConfig gostream.StreamConfig + +func init() { + DefaultStreamConfig.VideoEncoderFactory = NewEncoderFactory() +} + +// NewEncoderFactory returns an x264 encoder factory. +func NewEncoderFactory() codec.VideoEncoderFactory { + return &factory{} +} + +type factory struct{} + +func (f *factory) New(width, height, keyFrameInterval int, logger golog.Logger) (codec.VideoEncoder, error) { + return NewEncoder(width, height, keyFrameInterval, logger) +} + +func (f *factory) MIMEType() string { + return "video/H264" +} diff --git a/gostream/driver.go b/gostream/driver.go new file mode 100644 index 00000000000..c4d23cc95f5 --- /dev/null +++ b/gostream/driver.go @@ -0,0 +1,27 @@ +package gostream + +import ( + "fmt" + "sync" + + "go.viam.com/utils" +) + +// DriverInUseError is returned when closing drivers that still being read from. +type DriverInUseError struct { + label string +} + +func (err *DriverInUseError) Error() string { + return fmt.Sprintf("driver is still in use: %s", err.label) +} + +// driverRefManager is a lockable map of drivers and reference counts of video readers +// that use them. +type driverRefManager struct { + refs map[string]utils.RefCountedValue + mu sync.Mutex +} + +// initialize a global driverRefManager. +var driverRefs = driverRefManager{refs: map[string]utils.RefCountedValue{}} diff --git a/gostream/etc/.golangci.yaml b/gostream/etc/.golangci.yaml new file mode 100644 index 00000000000..db44e4cd5b8 --- /dev/null +++ b/gostream/etc/.golangci.yaml @@ -0,0 +1,94 @@ +service: + golangci-lint-version: 1.50.x +run: + deadline: 900s + modules-download-mode: readonly + skip-dirs: + - genfiles$ + - gen$ + - vendor$ + - test$ + tests: true +linters: + enable-all: true + disable: + - asasalint + - containedctx + - cyclop + - deadcode + - exhaustivestruct + - exhaustruct + - forcetypeassert + - funlen + - gocognit + - godox + - goerr113 + - gochecknoglobals + - gochecknoinits + - gocyclo + - gofmt + - goimports + - golint + - gomnd + - ifshort + - importas + - interfacebloat + - interfacer + - ireturn + - maintidx + - maligned + - makezero + - nestif + - nlreturn + - nosnakecase + - nonamedreturns + - nosprintfhostport + - paralleltest + - prealloc + - scopelint + - structcheck + - tagliatelle + - testpackage + - unparam # broken with generics + - varcheck + - varnamelen + - wrapcheck + - wsl +linters-settings: + errcheck: + check-blank: true + gci: + sections: + - standard + - default + - prefix(gostream) + gofumpt: + lang-version: "1.18" + extra-rules: true + gosec: + excludes: + - G601 + govet: + enable-all: true + disable: + - fieldalignment + - shadow + lll: + line-length: 140 +issues: + exclude: + - composites + exclude-rules: + - path: _test\.go$|^tests/|^samples/ + linters: + - errcheck + - contextcheck + - exhaustive + - forcetypeassert + - goconst + - gosec + - govet + - noctx + exclude-use-default: false + max-per-linter: 0 + max-same-issues: 0 diff --git a/gostream/etc/buf.web.gen.yaml b/gostream/etc/buf.web.gen.yaml new file mode 100644 index 00000000000..7759d726aed --- /dev/null +++ b/gostream/etc/buf.web.gen.yaml @@ -0,0 +1,15 @@ +version: v1 +plugins: + - remote: buf.build/protocolbuffers/plugins/js:v3.20.1-1 + out: dist/js + opt: + - import_style=commonjs + - remote: buf.build/grpc/plugins/web:v1.3.1-2 + out: dist/js + opt: + - import_style=commonjs + - mode=grpcwebtext + - remote: buf.build/euskadi31/plugins/protoc-gen-ts:v0.15.0-1 + out: dist/js + opt: + - service=grpc-web diff --git a/gostream/frontend/.gitignore b/gostream/frontend/.gitignore new file mode 100644 index 00000000000..82a5faee0ef --- /dev/null +++ b/gostream/frontend/.gitignore @@ -0,0 +1,2 @@ +node_modules 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"^8.0.14", + "typescript": "^4.1.3" + }, + "scripts": { + "prepare": "./etc/prepare.sh", + "test": "echo \"Error: no test specified\" && exit 1" + } +} diff --git a/gostream/frontend/src/index.ts b/gostream/frontend/src/index.ts new file mode 100644 index 00000000000..e388f385172 --- /dev/null +++ b/gostream/frontend/src/index.ts @@ -0,0 +1,153 @@ +import { dialWebRTC } from "@viamrobotics/rpc"; +import { AddStreamRequest, AddStreamResponse, RemoveStreamRequest, RemoveStreamResponse, ListStreamsRequest, ListStreamsResponse } from "./gen/proto/stream/v1/stream_pb"; +import { ServiceError, StreamServiceClient } from "./gen/proto/stream/v1/stream_pb_service"; + +const signalingAddress = `${window.location.protocol}//${window.location.host}`; +const host = "local"; + +declare global { + interface Window { + allowSendAudio: boolean; + } +} + +async function startup() { + const webRTCConn = await dialWebRTC(signalingAddress, host); + const streamClient = new StreamServiceClient(host, { transport: webRTCConn.transportFactory }); + + let pResolve: (value: string[]) => void; + let pReject: (reason?: any) => void; + let namesPromise = new Promise((resolve, reject) => { + pResolve = resolve; + pReject = reject; + }); + const listRequest = new ListStreamsRequest(); + streamClient.listStreams(listRequest, (err: ServiceError, resp: ListStreamsResponse) => { + if (err) { + pReject(err); + return + } + pResolve(resp.getNamesList()); + }); + const names = await namesPromise; + + const makeButtonClick = (button: HTMLButtonElement, streamName: string, add: boolean) => async (e: Event) => { + e.preventDefault(); + + button.disabled = true; + + if (add) { + const addRequest = new AddStreamRequest(); + addRequest.setName(streamName); + streamClient.addStream(addRequest, (err: ServiceError, resp: AddStreamResponse) => { + if (err) { + console.error(err); + button.disabled = false; + } + }); + } else { + const removeRequest = new RemoveStreamRequest(); + removeRequest.setName(streamName); + streamClient.removeStream(removeRequest, (err: ServiceError, resp: RemoveStreamResponse) => { + if (err) { + console.error(err); + button.disabled = false; + } + }); + } + }; + + webRTCConn.peerConnection.ontrack = async event => { + const mediaElementContainer = document.createElement('div'); + mediaElementContainer.id = event.track.id; + const mediaElement = document.createElement(event.track.kind); + if (mediaElement instanceof HTMLVideoElement || mediaElement instanceof HTMLAudioElement) { + mediaElement.srcObject = event.streams[0]; + mediaElement.autoplay = true; + if (mediaElement instanceof HTMLVideoElement) { + mediaElement.playsInline = true; + mediaElement.controls = false; + } else { + mediaElement.controls = true; + } + } + + const stream = event.streams[0]; + const streamName = stream.id; + const streamContainer = document.getElementById(`stream-${streamName}`)!; + let btns = streamContainer.getElementsByTagName("button"); + if (btns.length) { + const button = btns[0]; + button.innerText = `Stop ${streamName}`; + button.onclick = makeButtonClick(button, streamName, false); + button.disabled = false; + + let audioSender: RTCRtpSender; + stream.onremovetrack = async event => { + const mediaElementContainer = document.getElementById(event.track.id)!; + const mediaElement = mediaElementContainer.getElementsByTagName(event.track.kind)[0]; + if (audioSender) { + webRTCConn.peerConnection.removeTrack(audioSender); + } + if (mediaElement instanceof HTMLVideoElement || mediaElement instanceof HTMLAudioElement) { + mediaElement.pause(); + mediaElement.removeAttribute('srcObject'); + mediaElement.removeAttribute('src'); + mediaElement.load(); + } + mediaElementContainer.remove(); + + button.innerText = `Start ${streamName}` + button.onclick = makeButtonClick(button, streamName, true); + button.disabled = false; + }; + + if (mediaElement instanceof HTMLAudioElement && window.allowSendAudio) { + const button = document.createElement("button"); + button.innerText = `Send audio` + button.onclick = async (e) => { + e.preventDefault(); + + button.remove(); + + navigator.mediaDevices.getUserMedia({ + audio: { + deviceId: 'default', + autoGainControl: false, + channelCount: 2, + echoCancellation: false, + latency: 0, + noiseSuppression: false, + sampleRate: 48000, + sampleSize: 16, + volume: 1.0 + }, + video: false + }).then((stream) => { + audioSender = webRTCConn.peerConnection.addTrack(stream.getAudioTracks()[0]); + }).catch((err) => { + console.error(err) + }); + } + mediaElementContainer.appendChild(button); + mediaElementContainer.appendChild(document.createElement("br")); + } + } + mediaElementContainer.appendChild(document.createElement("br")); + mediaElementContainer.appendChild(mediaElement); + streamContainer.appendChild(mediaElementContainer); + } + + for (const name of names) { + const container = document.createElement("div"); + container.id = `stream-${name}`; + const button = document.createElement("button"); + button.innerText = `Start ${name}` + button.onclick = makeButtonClick(button, name, true); + container.appendChild(button); + document.body.appendChild(container); + } +} +startup().catch(e => { + console.error(e); +}); diff --git a/gostream/frontend/tsconfig.json b/gostream/frontend/tsconfig.json new file mode 100644 index 00000000000..760f28aa667 --- /dev/null +++ b/gostream/frontend/tsconfig.json @@ -0,0 +1,24 @@ +{ + "compilerOptions": { + "alwaysStrict": true, + "sourceMap": true, + "target": "es5", + "removeComments": true, + "noImplicitReturns": true, + "noImplicitAny": true, + "strictNullChecks": true, + "stripInternal": true, + "noFallthroughCasesInSwitch": true, + "noEmitOnError": true, + "esModuleInterop": true, + "lib": [ + "es2015", + "es2017.object", + "dom" + ], + "baseUrl": "./", + "types": [ + "webrtc" + ] + } +} diff --git a/gostream/frontend/webpack.config.js b/gostream/frontend/webpack.config.js new file mode 100644 index 00000000000..609a8f96f78 --- /dev/null +++ b/gostream/frontend/webpack.config.js @@ -0,0 +1,18 @@ +module.exports = { + mode: "production", + entry: "./src/index.ts", + devtool: 'inline-source-map', + module: { + rules: [ + { + test: /\.ts$/, + include: /src/, + exclude: /node_modules/, + loader: "ts-loader" + } + ] + }, + resolve: { + extensions: [".ts", ".js"] + } +}; diff --git a/gostream/logger.go b/gostream/logger.go new file mode 100644 index 00000000000..a3a8eabf395 --- /dev/null +++ b/gostream/logger.go @@ -0,0 +1,4 @@ +package gostream + +// Debug is helpful to turn on when the library isn't working quite right. +var Debug = false diff --git a/gostream/media.go b/gostream/media.go new file mode 100644 index 00000000000..223c137ed63 --- /dev/null +++ b/gostream/media.go @@ -0,0 +1,656 @@ +package gostream + +import ( + "context" + "strings" + "sync" + "sync/atomic" + + "github.com/pion/mediadevices/pkg/driver" + "github.com/pion/mediadevices/pkg/driver/camera" + "github.com/pion/mediadevices/pkg/prop" + "github.com/pkg/errors" + "go.opencensus.io/trace" + "go.uber.org/multierr" + "go.viam.com/utils" +) + +type ( + // A MediaReader is anything that can read and recycle data. It is expected + // that reader can handle multiple reads at the same time. This would ideally only + // happen during streaming when a specific MIME type is requested. In the future, + // we may be able to notice multiple MIME types and either do deferred encode/decode + // or have the reader do it for us. + MediaReader[T any] interface { + Read(ctx context.Context) (data T, release func(), err error) + Close(ctx context.Context) error + } + + // A MediaReaderFunc is a helper to turn a function into a MediaReader. + MediaReaderFunc[T any] func(ctx context.Context) (T, func(), error) + + // A MediaStream streams media forever until closed. + MediaStream[T any] interface { + // Next returns the next media element in the sequence (best effort). + // Note: This element is mutable and shared globally; it MUST be copied + // before it is mutated. + Next(ctx context.Context) (T, func(), error) + + // Close signals this stream is no longer needed and releases associated + // resources. + Close(ctx context.Context) error + } + + // A MediaSource can produce Streams of Ts. + MediaSource[T any] interface { + // Stream returns a stream that makes a best effort to return consecutive media elements + // that may have a MIME type hint dictated in the context via WithMIMETypeHint. + Stream(ctx context.Context, errHandlers ...ErrorHandler) (MediaStream[T], error) + + // Close cleans up any associated resources with the Source (e.g. a Driver). + Close(ctx context.Context) error + } + + // MediaPropertyProvider providers information about a source. + MediaPropertyProvider[U any] interface { + MediaProperties(ctx context.Context) (U, error) + } +) + +// Read calls the underlying function to get a media. +func (mrf MediaReaderFunc[T]) Read(ctx context.Context) (T, func(), error) { + ctx, span := trace.StartSpan(ctx, "gostream::MediaReaderFunc::Read") + defer span.End() + return mrf(ctx) +} + +// Close does nothing. +func (mrf MediaReaderFunc[T]) Close(ctx context.Context) error { + return nil +} + +// A mediaReaderFuncNoCtx is a helper to turn a function into a MediaReader that cannot +// accept a context argument. +type mediaReaderFuncNoCtx[T any] func() (T, func(), error) + +// Read calls the underlying function to get a media. +func (mrf mediaReaderFuncNoCtx[T]) Read(ctx context.Context) (T, func(), error) { + _, span := trace.StartSpan(ctx, "gostream::MediaReaderFuncNoCtx::Read") + defer span.End() + return mrf() +} + +// Close does nothing. +func (mrf mediaReaderFuncNoCtx[T]) Close(ctx context.Context) error { + return nil +} + +// ReadMedia gets a single media from a source. Using this has less of a guarantee +// than MediaSource.Stream that the Nth media element follows the N-1th media element. +func ReadMedia[T any](ctx context.Context, source MediaSource[T]) (T, func(), error) { + ctx, span := trace.StartSpan(ctx, "gostream::ReadMedia") + defer span.End() + + if reader, ok := source.(MediaReader[T]); ok { + // more efficient if there is a direct way to read + return reader.Read(ctx) + } + stream, err := source.Stream(ctx) + var zero T + if err != nil { + return zero, nil, err + } + defer func() { + utils.UncheckedError(stream.Close(ctx)) + }() + return stream.Next(ctx) +} + +type mediaSource[T any, U any] struct { + driver driver.Driver + reader MediaReader[T] + props U + rootCancelCtx context.Context + rootCancel func() + + producerConsumers map[string]*producerConsumer[T, U] + producerConsumersMu sync.Mutex +} + +type producerConsumer[T any, U any] struct { + rootCancelCtx context.Context + cancelCtx context.Context + interestedConsumers int64 + cancelCtxMu *sync.RWMutex + cancel func() + mimeType string + activeBackgroundWorkers sync.WaitGroup + readWrapper MediaReader[T] + current *mediaRefReleasePairWithError[T] + currentMu sync.RWMutex + producerCond *sync.Cond + consumerCond *sync.Cond + condMu *sync.RWMutex + errHandlers map[*mediaStream[T, U]][]ErrorHandler + listeners int + stateMu sync.Mutex + listenersMu sync.Mutex + errHandlersMu sync.Mutex +} + +// ErrorHandler receives the error returned by a TSource.Next +// regardless of whether or not the error is nil (This allows +// for error handling logic based on consecutively retrieved errors). +type ErrorHandler func(ctx context.Context, mediaErr error) + +// PropertiesFromMediaSource returns properties from underlying driver in the given MediaSource. +func PropertiesFromMediaSource[T, U any](src MediaSource[T]) ([]prop.Media, error) { + d, err := DriverFromMediaSource[T, U](src) + if err != nil { + return nil, err + } + return d.Properties(), nil +} + +// LabelsFromMediaSource returns the labels from the underlying driver in the MediaSource. +func LabelsFromMediaSource[T, U any](src MediaSource[T]) ([]string, error) { + d, err := DriverFromMediaSource[T, U](src) + if err != nil { + return nil, err + } + return strings.Split(d.Info().Label, camera.LabelSeparator), nil +} + +// DriverFromMediaSource returns the underlying driver from the MediaSource. +func DriverFromMediaSource[T, U any](src MediaSource[T]) (driver.Driver, error) { + if asMedia, ok := src.(*mediaSource[T, U]); ok { + if asMedia.driver != nil { + return asMedia.driver, nil + } + } + return nil, errors.Errorf("cannot convert media source (type %T) to type (%T)", src, (*mediaSource[T, U])(nil)) +} + +// newMediaSource instantiates a new media read closer and possibly references the given driver. +func newMediaSource[T, U any](d driver.Driver, r MediaReader[T], p U) MediaSource[T] { + if d != nil { + driverRefs.mu.Lock() + defer driverRefs.mu.Unlock() + + label := d.Info().Label + if rcv, ok := driverRefs.refs[label]; ok { + rcv.Ref() + } else { + driverRefs.refs[label] = utils.NewRefCountedValue(d) + driverRefs.refs[label].Ref() + } + } + + cancelCtx, cancel := context.WithCancel(context.Background()) + ms := &mediaSource[T, U]{ + driver: d, + reader: r, + props: p, + rootCancelCtx: cancelCtx, + rootCancel: cancel, + producerConsumers: map[string]*producerConsumer[T, U]{}, + } + return ms +} + +func (pc *producerConsumer[T, U]) start() { + var startLocalCtx context.Context + var span *trace.Span + + func() { + pc.cancelCtxMu.RLock() + defer pc.cancelCtxMu.RUnlock() + startLocalCtx, span = trace.StartSpan(pc.cancelCtx, "gostream::producerConsumer::start") + }() + + pc.listenersMu.Lock() + defer pc.listenersMu.Unlock() + + pc.listeners++ + + if pc.listeners != 1 { + span.End() + return + } + + pc.activeBackgroundWorkers.Add(1) + + utils.ManagedGo(func() { + defer span.End() + + first := true + for { + pc.cancelCtxMu.RLock() + if pc.cancelCtx.Err() != nil { + pc.cancelCtxMu.RUnlock() + return + } + pc.cancelCtxMu.RUnlock() + + waitForNext := func() (int64, bool) { + _, waitForNextSpan := trace.StartSpan(startLocalCtx, "gostream::producerConsumer::waitForNext") + defer waitForNextSpan.End() + + for { + pc.producerCond.L.Lock() + requests := atomic.LoadInt64(&pc.interestedConsumers) + if requests == 0 { + pc.cancelCtxMu.RLock() + if err := pc.cancelCtx.Err(); err != nil { + pc.cancelCtxMu.RUnlock() + pc.producerCond.L.Unlock() + return 0, false + } + pc.cancelCtxMu.RUnlock() + + pc.producerCond.Wait() + requests = atomic.LoadInt64(&pc.interestedConsumers) + pc.producerCond.L.Unlock() + if requests == 0 { + continue + } + } else { + pc.producerCond.L.Unlock() + } + return requests, true + } + } + requests, cont := waitForNext() + if !cont { + return + } + + pc.cancelCtxMu.RLock() + if err := pc.cancelCtx.Err(); err != nil { + pc.cancelCtxMu.RUnlock() + return + } + pc.cancelCtxMu.RUnlock() + + func() { + var doReadSpan *trace.Span + startLocalCtx, doReadSpan = trace.StartSpan(startLocalCtx, "gostream::producerConsumer (anonymous function to read)") + + defer func() { + pc.producerCond.L.Lock() + atomic.AddInt64(&pc.interestedConsumers, -requests) + pc.consumerCond.Broadcast() + pc.producerCond.L.Unlock() + doReadSpan.End() + }() + + var lastRelease func() + if !first { + // okay to not hold a lock because we are the only both reader AND writer; + // other goroutines are just readers. + lastRelease = pc.current.Release + } else { + first = false + } + + startLocalCtx, span := trace.StartSpan(startLocalCtx, "gostream::producerConsumer::readWrapper::Read") + media, release, err := pc.readWrapper.Read(startLocalCtx) + span.End() + + ref := utils.NewRefCountedValue(struct{}{}) + ref.Ref() + + // hold write lock long enough to set current but not for lastRelease + // since the reader (who will call ref) will hold a similar read lock + // to ref before unlocking. This ordering makes sure that we only ever + // call a deref of the previous media once a new one can be fetched. + pc.currentMu.Lock() + pc.current = &mediaRefReleasePairWithError[T]{media, ref, func() { + if ref.Deref() { + if release != nil { + release() + } + } + }, err} + pc.currentMu.Unlock() + if lastRelease != nil { + lastRelease() + } + }() + } + }, func() { defer pc.activeBackgroundWorkers.Done(); pc.cancel() }) +} + +type mediaRefReleasePairWithError[T any] struct { + Media T + Ref utils.RefCountedValue + Release func() + Err error +} + +func (pc *producerConsumer[T, U]) Stop() { + pc.stateMu.Lock() + defer pc.stateMu.Unlock() + + pc.stop() +} + +// assumes stateMu lock is held. +func (pc *producerConsumer[T, U]) stop() { + var span *trace.Span + func() { + pc.cancelCtxMu.RLock() + defer pc.cancelCtxMu.RUnlock() + _, span = trace.StartSpan(pc.cancelCtx, "gostream::producerConsumer::stop") + }() + + defer span.End() + + pc.cancel() + + pc.producerCond.L.Lock() + pc.producerCond.Signal() + pc.producerCond.L.Unlock() + pc.consumerCond.L.Lock() + pc.consumerCond.Broadcast() + pc.consumerCond.L.Unlock() + pc.activeBackgroundWorkers.Wait() + + // reset + cancelCtx, cancel := context.WithCancel(WithMIMETypeHint(pc.rootCancelCtx, pc.mimeType)) + pc.cancelCtxMu.Lock() + pc.cancelCtx = cancelCtx + pc.cancelCtxMu.Unlock() + pc.cancel = cancel +} + +func (pc *producerConsumer[T, U]) stopOne() { + var span *trace.Span + func() { + pc.cancelCtxMu.RLock() + defer pc.cancelCtxMu.RUnlock() + _, span = trace.StartSpan(pc.cancelCtx, "gostream::producerConsumer::stopOne") + }() + + defer span.End() + + pc.stateMu.Lock() + defer pc.stateMu.Unlock() + pc.listenersMu.Lock() + defer pc.listenersMu.Unlock() + pc.listeners-- + if pc.listeners == 0 { + pc.stop() + } +} + +func (ms *mediaSource[T, U]) MediaProperties(_ context.Context) (U, error) { + return ms.props, nil +} + +// MediaReleasePairWithError contains the result of fetching media. +type MediaReleasePairWithError[T any] struct { + Media T + Release func() + Err error +} + +// NewMediaStreamForChannel returns a MediaStream backed by a channel. +func NewMediaStreamForChannel[T any](ctx context.Context) (context.Context, MediaStream[T], chan<- MediaReleasePairWithError[T]) { + cancelCtx, cancel := context.WithCancel(ctx) + ch := make(chan MediaReleasePairWithError[T]) + return cancelCtx, &mediaStreamFromChannel[T]{ + media: ch, + cancelCtx: cancelCtx, + cancel: cancel, + }, ch +} + +type mediaStreamFromChannel[T any] struct { + media chan MediaReleasePairWithError[T] + cancelCtx context.Context + cancel func() +} + +func (ms *mediaStreamFromChannel[T]) Next(ctx context.Context) (T, func(), error) { + ctx, span := trace.StartSpan(ctx, "gostream::mediaStreamFromChannel::Next") + defer span.End() + + var zero T + select { + case <-ms.cancelCtx.Done(): + return zero, nil, ms.cancelCtx.Err() + case <-ctx.Done(): + return zero, nil, ctx.Err() + case pair := <-ms.media: + return pair.Media, pair.Release, pair.Err + } +} + +func (ms *mediaStreamFromChannel[T]) Close(ctx context.Context) error { + ms.cancel() + return nil +} + +type mediaStream[T any, U any] struct { + mu sync.Mutex + ms *mediaSource[T, U] + prodCon *producerConsumer[T, U] + cancelCtx context.Context + cancel func() +} + +func (ms *mediaStream[T, U]) Next(ctx context.Context) (T, func(), error) { + ctx, nextSpan := trace.StartSpan(ctx, "gostream::mediaStream::Next") + defer nextSpan.End() + + ms.mu.Lock() + defer ms.mu.Unlock() + // lock keeps us sequential and prevents misuse + + var zero T + if err := ms.cancelCtx.Err(); err != nil { + return zero, nil, err + } + + ms.prodCon.consumerCond.L.Lock() + // Even though interestedConsumers is atomic, this is a critical section! + // That's because if the producer sees zero interested consumers, it's going + // to Wait but we only want it to do that once we are ready to signal it. + // It's also a RLock because we have many consumers (readers) and one producer (writer). + atomic.AddInt64(&ms.prodCon.interestedConsumers, 1) + ms.prodCon.producerCond.Signal() + + select { + case <-ms.cancelCtx.Done(): + ms.prodCon.consumerCond.L.Unlock() + return zero, nil, ms.cancelCtx.Err() + case <-ctx.Done(): + ms.prodCon.consumerCond.L.Unlock() + return zero, nil, ctx.Err() + default: + } + + waitForNext := func() error { + _, span := trace.StartSpan(ctx, "gostream::mediaStream::Next::waitForNext") + defer span.End() + + ms.prodCon.consumerCond.Wait() + ms.prodCon.consumerCond.L.Unlock() + if err := ms.cancelCtx.Err(); err != nil { + return err + } + if err := ctx.Err(); err != nil { + return err + } + return nil + } + + if err := waitForNext(); err != nil { + return zero, nil, err + } + + isAvailable := func() bool { + ms.prodCon.currentMu.RLock() + available := ms.prodCon.current != nil + ms.prodCon.currentMu.RUnlock() + return available + } + for !isAvailable() { + ms.prodCon.consumerCond.L.Lock() + if err := waitForNext(); err != nil { + return zero, nil, err + } + } + + ctx, prodConLockSpan := trace.StartSpan(ctx, "gostream::mediaStream::Next (waiting for ms.prodCon lock)") + defer prodConLockSpan.End() + + // hold a read lock long enough before current.Ref can be dereffed + // due to a new current being set. + ms.prodCon.currentMu.RLock() + defer ms.prodCon.currentMu.RUnlock() + current := ms.prodCon.current + if current.Err != nil { + return zero, nil, current.Err + } + current.Ref.Ref() + return current.Media, current.Release, nil +} + +func (ms *mediaStream[T, U]) Close(ctx context.Context) error { + if parentSpan := trace.FromContext(ctx); parentSpan != nil { + func() { + ms.prodCon.cancelCtxMu.Lock() + defer ms.prodCon.cancelCtxMu.Unlock() + ms.prodCon.cancelCtx = trace.NewContext(ms.prodCon.cancelCtx, parentSpan) + }() + } + + var span *trace.Span + func() { + ms.prodCon.cancelCtxMu.Lock() + defer ms.prodCon.cancelCtxMu.Unlock() + ms.prodCon.cancelCtx, span = trace.StartSpan(ms.prodCon.cancelCtx, "gostream::mediaStream::Close") + }() + + defer span.End() + + ms.cancel() + ms.prodCon.errHandlersMu.Lock() + delete(ms.prodCon.errHandlers, ms) + ms.prodCon.errHandlersMu.Unlock() + ms.prodCon.stopOne() + return nil +} + +func (ms *mediaSource[T, U]) Stream(ctx context.Context, errHandlers ...ErrorHandler) (MediaStream[T], error) { + ms.producerConsumersMu.Lock() + mimeType := MIMETypeHint(ctx, "") + prodCon, ok := ms.producerConsumers[mimeType] + if !ok { + // TODO(erd): better to have no max like this and instead clean up over time. + if len(ms.producerConsumers)+1 == 256 { + return nil, errors.New("reached max producer consumers of 256") + } + cancelCtx, cancel := context.WithCancel(WithMIMETypeHint(ms.rootCancelCtx, mimeType)) + condMu := &sync.RWMutex{} + producerCond := sync.NewCond(condMu) + consumerCond := sync.NewCond(condMu.RLocker()) + + prodCon = &producerConsumer[T, U]{ + rootCancelCtx: ms.rootCancelCtx, + cancelCtx: cancelCtx, + cancelCtxMu: &sync.RWMutex{}, + cancel: cancel, + mimeType: mimeType, + producerCond: producerCond, + consumerCond: consumerCond, + condMu: condMu, + errHandlers: map[*mediaStream[T, U]][]ErrorHandler{}, + } + prodCon.readWrapper = MediaReaderFunc[T](func(ctx context.Context) (T, func(), error) { + media, release, err := ms.reader.Read(ctx) + if err == nil { + return media, release, nil + } + + prodCon.errHandlersMu.Lock() + defer prodCon.errHandlersMu.Unlock() + for _, handlers := range prodCon.errHandlers { + for _, handler := range handlers { + handler(ctx, err) + } + } + var zero T + return zero, nil, err + }) + ms.producerConsumers[mimeType] = prodCon + } + ms.producerConsumersMu.Unlock() + + prodCon.stateMu.Lock() + defer prodCon.stateMu.Unlock() + + if currentSpan := trace.FromContext(ctx); currentSpan != nil { + func() { + prodCon.cancelCtxMu.Lock() + defer prodCon.cancelCtxMu.Unlock() + prodCon.cancelCtx = trace.NewContext(prodCon.cancelCtx, currentSpan) + }() + } + + var cancelCtx context.Context + var cancel context.CancelFunc + func() { + prodCon.cancelCtxMu.RLock() + defer prodCon.cancelCtxMu.RUnlock() + cancelCtx, cancel = context.WithCancel(prodCon.cancelCtx) + }() + stream := &mediaStream[T, U]{ + ms: ms, + prodCon: prodCon, + cancelCtx: cancelCtx, + cancel: cancel, + } + + if len(errHandlers) != 0 { + prodCon.errHandlersMu.Lock() + prodCon.errHandlers[stream] = errHandlers + prodCon.errHandlersMu.Unlock() + } + prodCon.start() + + return stream, nil +} + +func (ms *mediaSource[T, U]) Close(ctx context.Context) error { + func() { + ms.producerConsumersMu.Lock() + defer ms.producerConsumersMu.Unlock() + for _, prodCon := range ms.producerConsumers { + prodCon.Stop() + } + }() + err := ms.reader.Close(ctx) + + if ms.driver == nil { + return err + } + driverRefs.mu.Lock() + defer driverRefs.mu.Unlock() + + label := ms.driver.Info().Label + if rcv, ok := driverRefs.refs[label]; ok { + if rcv.Deref() { + delete(driverRefs.refs, label) + return multierr.Combine(err, ms.driver.Close()) + } + } else { + return multierr.Combine(err, ms.driver.Close()) + } + + // Do not close if a driver is being referenced. Client will decide what to do if + // they encounter this error. + return multierr.Combine(err, &DriverInUseError{label}) +} diff --git a/gostream/media_test.go b/gostream/media_test.go new file mode 100644 index 00000000000..2c8e36e5b49 --- /dev/null +++ b/gostream/media_test.go @@ -0,0 +1,82 @@ +package gostream + +import ( + "context" + _ "embed" + "image" + "image/color" + "testing" + + "github.com/pion/mediadevices/pkg/prop" + "go.viam.com/test" + + "go.viam.com/rdk/rimage" +) + +type imageSource struct { + Images []image.Image + idx int +} + +// Returns the next image or nil if there are no more images left. This should never error. +func (is *imageSource) Read(_ context.Context) (image.Image, func(), error) { + if is.idx >= len(is.Images) { + return nil, func() {}, nil + } + img := is.Images[is.idx] + is.idx++ + return img, func() {}, nil +} + +func (is *imageSource) Close(_ context.Context) error { + return nil +} + +func createImage(c color.Color) image.Image { + w, h := 640, 480 + img := image.NewRGBA(image.Rect(0, 0, w, h)) + for x := 0; x < w; x++ { + for y := 0; y < h; y++ { + img.Set(x, y, c) + } + } + return img +} + +func TestReadMedia(t *testing.T) { + colors := []image.Image{ + createImage(rimage.Red), + createImage(rimage.Blue), + createImage(rimage.Green), + createImage(rimage.Yellow), + createImage(rimage.Purple), + createImage(rimage.Cyan), + } + + imgSource := imageSource{Images: colors} + videoSrc := NewVideoSource(&imgSource, prop.Video{}) + // Test all images are returned in order. + for i, expected := range colors { + actual, _, err := ReadMedia(context.Background(), videoSrc) + test.That(t, err, test.ShouldBeNil) + test.That(t, actual, test.ShouldNotBeNil) + for j, col := range colors { + if col == expected { + continue + } + if actual == col { + t.Logf("did not expect actual color to equal other color at %d when expecting %d", j, i) + } + } + test.That(t, actual, test.ShouldEqual, expected) + } + + // Test image comparison can fail if two images are not the same + imgSource.Images = []image.Image{createImage(rimage.Red)} + videoSrc = NewVideoSource(&imgSource, prop.Video{}) + + blue := createImage(rimage.Blue) + red, _, err := ReadMedia(context.Background(), videoSrc) + test.That(t, err, test.ShouldBeNil) + test.That(t, red, test.ShouldNotEqual, blue) +} diff --git a/gostream/media_utils.go b/gostream/media_utils.go new file mode 100644 index 00000000000..38a25b2ea1b --- /dev/null +++ b/gostream/media_utils.go @@ -0,0 +1,96 @@ +package gostream + +import ( + "context" + "sync" + + "go.uber.org/multierr" +) + +// NewEmbeddedMediaStream returns a media stream from a media source that is +// intended to be embedded/composed by another source. It defers the creation +// of its media stream. +func NewEmbeddedMediaStream[T, U any](src MediaSource[T]) MediaStream[T] { + return &embeddedMediaStream[T, U]{src: src} +} + +type embeddedMediaStream[T, U any] struct { + mu sync.Mutex + src MediaSource[T] + stream MediaStream[T] +} + +func (ems *embeddedMediaStream[T, U]) initStream(ctx context.Context) error { + if ems.stream != nil { + return nil + } + stream, err := ems.src.Stream(ctx) + if err != nil { + return err + } + ems.stream = stream + return nil +} + +func (ems *embeddedMediaStream[T, U]) Next(ctx context.Context) (T, func(), error) { + ems.mu.Lock() + defer ems.mu.Unlock() + if err := ems.initStream(ctx); err != nil { + var zero T + return zero, nil, err + } + return ems.stream.Next(ctx) +} + +func (ems *embeddedMediaStream[T, U]) Close(ctx context.Context) error { + ems.mu.Lock() + defer ems.mu.Unlock() + if ems.stream == nil { + return nil + } + return ems.stream.Close(ctx) +} + +// NewEmbeddedMediaStreamFromReader returns a media stream from a media reader that is +// intended to be embedded/composed by another source. It defers the creation +// of its media stream. +func NewEmbeddedMediaStreamFromReader[T, U any](reader MediaReader[T], p U) MediaStream[T] { + src := newMediaSource[T](nil, MediaReaderFunc[T](reader.Read), p) + stream := NewEmbeddedMediaStream[T, U](src) + return &embeddedMediaReaderStream[T, U]{ + src: src, + stream: stream, + } +} + +type embeddedMediaReaderStream[T, U any] struct { + src MediaSource[T] + stream MediaStream[T] +} + +func (emrs *embeddedMediaReaderStream[T, U]) Next(ctx context.Context) (T, func(), error) { + return emrs.stream.Next(ctx) +} + +func (emrs *embeddedMediaReaderStream[T, U]) Close(ctx context.Context) error { + return multierr.Combine(emrs.stream.Close(ctx), emrs.src.Close(ctx)) +} + +type contextValue byte + +const contextValueMIMETypeHint contextValue = iota + +// WithMIMETypeHint provides a hint to readers that media should be encoded to +// this type. +func WithMIMETypeHint(ctx context.Context, mimeType string) context.Context { + return context.WithValue(ctx, contextValueMIMETypeHint, mimeType) +} + +// MIMETypeHint gets the hint of what MIME type to use in encoding; if nothing is +// set, the default provided is used. +func MIMETypeHint(ctx context.Context, defaultType string) string { + if val, ok := ctx.Value(contextValueMIMETypeHint).(string); ok { + return val + } + return defaultType +} diff --git a/gostream/query.go b/gostream/query.go new file mode 100644 index 00000000000..ece276598ff --- /dev/null +++ b/gostream/query.go @@ -0,0 +1,583 @@ +package gostream + +import ( + "image" + "math" + "regexp" + "strings" + "time" + + "github.com/edaniels/golog" + "github.com/pion/mediadevices" + "github.com/pion/mediadevices/pkg/driver" + "github.com/pion/mediadevices/pkg/driver/availability" + "github.com/pion/mediadevices/pkg/driver/camera" + "github.com/pion/mediadevices/pkg/frame" + "github.com/pion/mediadevices/pkg/prop" + "github.com/pion/mediadevices/pkg/wave" + "github.com/pkg/errors" +) + +// below adapted from github.com/pion/mediadevices + +// ErrNotFound happens when there is no driver found in a query. +var ErrNotFound = errors.New("failed to find the best driver that fits the constraints") + +// DefaultConstraints are suitable for finding any available device. +var DefaultConstraints = mediadevices.MediaStreamConstraints{ + Video: func(constraint *mediadevices.MediaTrackConstraints) { + constraint.Width = prop.IntRanged{640, 4096, 1920} + constraint.Height = prop.IntRanged{400, 2160, 1080} + constraint.FrameRate = prop.FloatRanged{0, 200, 60} + constraint.FrameFormat = prop.FrameFormatOneOf{ + frame.FormatI420, + frame.FormatI444, + frame.FormatYUY2, + frame.FormatYUYV, + frame.FormatUYVY, + frame.FormatRGBA, + frame.FormatMJPEG, + frame.FormatNV12, + frame.FormatZ16, + frame.FormatNV21, // gives blue tinted image? + } + }, +} + +// GetNamedScreenSource attempts to find a screen device by the given name. +func GetNamedScreenSource( + name string, + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[image.Image], error) { + d, selectedMedia, err := getScreenDriver(constraints, &name, logger) + if err != nil { + return nil, err + } + return newVideoSourceFromDriver(d, selectedMedia) +} + +// GetPatternedScreenSource attempts to find a screen device by the given label pattern. +func GetPatternedScreenSource( + labelPattern *regexp.Regexp, + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[image.Image], error) { + d, selectedMedia, err := getScreenDriverPattern(constraints, labelPattern, logger) + if err != nil { + return nil, err + } + return newVideoSourceFromDriver(d, selectedMedia) +} + +// GetNamedVideoSource attempts to find a video device (not a screen) by the given name. +func GetNamedVideoSource( + name string, + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[image.Image], error) { + d, selectedMedia, err := getUserVideoDriver(constraints, &name, logger) + if err != nil { + return nil, err + } + return newVideoSourceFromDriver(d, selectedMedia) +} + +// GetPatternedVideoSource attempts to find a video device (not a screen) by the given label pattern. +func GetPatternedVideoSource( + labelPattern *regexp.Regexp, + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[image.Image], error) { + d, selectedMedia, err := getUserVideoDriverPattern(constraints, labelPattern, logger) + if err != nil { + return nil, err + } + return newVideoSourceFromDriver(d, selectedMedia) +} + +// GetAnyScreenSource attempts to find any suitable screen device. +func GetAnyScreenSource( + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[image.Image], error) { + d, selectedMedia, err := getScreenDriver(constraints, nil, logger) + if err != nil { + return nil, err + } + return newVideoSourceFromDriver(d, selectedMedia) +} + +// GetAnyVideoSource attempts to find any suitable video device (not a screen). +func GetAnyVideoSource( + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[image.Image], error) { + d, selectedMedia, err := getUserVideoDriver(constraints, nil, logger) + if err != nil { + return nil, err + } + return newVideoSourceFromDriver(d, selectedMedia) +} + +// GetAnyAudioSource attempts to find any suitable audio device. +func GetAnyAudioSource( + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[wave.Audio], error) { + d, selectedMedia, err := getUserAudioDriver(constraints, nil, logger) + if err != nil { + return nil, err + } + return newAudioSourceFromDriver(d, selectedMedia, logger) +} + +// GetNamedAudioSource attempts to find an audio device by the given name. +func GetNamedAudioSource( + name string, + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[wave.Audio], error) { + d, selectedMedia, err := getUserAudioDriver(constraints, &name, logger) + if err != nil { + return nil, err + } + return newAudioSourceFromDriver(d, selectedMedia, logger) +} + +// GetPatternedAudioSource attempts to find an audio device by the given label pattern. +func GetPatternedAudioSource( + labelPattern *regexp.Regexp, + constraints mediadevices.MediaStreamConstraints, + logger golog.Logger, +) (MediaSource[wave.Audio], error) { + d, selectedMedia, err := getUserAudioDriverPattern(constraints, labelPattern, logger) + if err != nil { + return nil, err + } + return newAudioSourceFromDriver(d, selectedMedia, logger) +} + +// DeviceInfo describes a driver. +type DeviceInfo struct { + ID string + Labels []string + Properties []prop.Media + Priority driver.Priority + Error error +} + +// QueryVideoDevices lists all known video devices (not a screen). +func QueryVideoDevices() []DeviceInfo { + return getDriverInfo(driver.GetManager().Query(getVideoFilterBase()), true) +} + +// QueryScreenDevices lists all known screen devices. +func QueryScreenDevices() []DeviceInfo { + return getDriverInfo(driver.GetManager().Query(getScreenFilterBase()), true) +} + +// QueryAudioDevices lists all known audio devices. +func QueryAudioDevices() []DeviceInfo { + return getDriverInfo(driver.GetManager().Query(getAudioFilterBase()), true) +} + +func getDriverInfo(drivers []driver.Driver, useSep bool) []DeviceInfo { + infos := make([]DeviceInfo, len(drivers)) + for i, d := range drivers { + if d.Status() == driver.StateClosed { + if err := d.Open(); err != nil { + infos[i].Error = err + } else { + defer func() { + infos[i].Error = d.Close() + }() + } + } + infos[i].ID = d.ID() + infos[i].Labels = getDriverLabels(d, useSep) + infos[i].Properties = d.Properties() + infos[i].Priority = d.Info().Priority + } + return infos +} + +// QueryScreenDevicesLabels lists all known screen devices. +func QueryScreenDevicesLabels() []string { + return getDriversLabels(driver.GetManager().Query(getScreenFilterBase()), false) +} + +// QueryVideoDeviceLabels lists all known video devices (not a screen). +func QueryVideoDeviceLabels() []string { + return getDriversLabels(driver.GetManager().Query(getVideoFilterBase()), true) +} + +// QueryAudioDeviceLabels lists all known audio devices. +func QueryAudioDeviceLabels() []string { + return getDriversLabels(driver.GetManager().Query(getAudioFilterBase()), true) +} + +func getDriversLabels(drivers []driver.Driver, useSep bool) []string { + var labels []string + for _, d := range drivers { + labels = append(labels, getDriverLabels(d, useSep)...) + } + return labels +} + +func getDriverLabels(d driver.Driver, useSep bool) []string { + if !useSep { + return []string{d.Info().Label} + } + return strings.Split(d.Info().Label, camera.LabelSeparator) +} + +func getScreenDriver( + constraints mediadevices.MediaStreamConstraints, + label *string, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var videoConstraints mediadevices.MediaTrackConstraints + if constraints.Video != nil { + constraints.Video(&videoConstraints) + } + return selectScreen(videoConstraints, label, logger) +} + +func getScreenDriverPattern( + constraints mediadevices.MediaStreamConstraints, + labelPattern *regexp.Regexp, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var videoConstraints mediadevices.MediaTrackConstraints + if constraints.Video != nil { + constraints.Video(&videoConstraints) + } + return selectScreenPattern(videoConstraints, labelPattern, logger) +} + +func getUserVideoDriver( + constraints mediadevices.MediaStreamConstraints, + label *string, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var videoConstraints mediadevices.MediaTrackConstraints + if constraints.Video != nil { + constraints.Video(&videoConstraints) + } + return selectVideo(videoConstraints, label, logger) +} + +func getUserVideoDriverPattern( + constraints mediadevices.MediaStreamConstraints, + labelPattern *regexp.Regexp, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var videoConstraints mediadevices.MediaTrackConstraints + if constraints.Video != nil { + constraints.Video(&videoConstraints) + } + return selectVideoPattern(videoConstraints, labelPattern, logger) +} + +func newVideoSourceFromDriver( + videoDriver driver.Driver, + mediaProp prop.Media, +) (MediaSource[image.Image], error) { + recorder, ok := videoDriver.(driver.VideoRecorder) + if !ok { + return nil, errors.New("driver not a driver.VideoRecorder") + } + + if ok, err := driver.IsAvailable(videoDriver); !errors.Is(err, availability.ErrUnimplemented) && !ok { + return nil, errors.Wrap(err, "video driver not available") + } else if driverStatus := videoDriver.Status(); driverStatus != driver.StateClosed { + return nil, errors.New("video driver in use") + } else if err := videoDriver.Open(); err != nil { + return nil, errors.Wrap(err, "cannot open video driver") + } + + mediaProp.DiscardFramesOlderThan = time.Second + reader, err := recorder.VideoRecord(mediaProp) + if err != nil { + return nil, err + } + return newMediaSource[image.Image](videoDriver, mediaReaderFuncNoCtx[image.Image](reader.Read), mediaProp.Video), nil +} + +func getUserAudioDriver( + constraints mediadevices.MediaStreamConstraints, + label *string, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var audioConstraints mediadevices.MediaTrackConstraints + if constraints.Audio != nil { + constraints.Audio(&audioConstraints) + } + return selectAudio(audioConstraints, label, logger) +} + +func getUserAudioDriverPattern( + constraints mediadevices.MediaStreamConstraints, + labelPattern *regexp.Regexp, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var audioConstraints mediadevices.MediaTrackConstraints + if constraints.Audio != nil { + constraints.Audio(&audioConstraints) + } + return selectVideoPattern(audioConstraints, labelPattern, logger) +} + +func newAudioSourceFromDriver( + audioDriver driver.Driver, + mediaProp prop.Media, + logger golog.Logger, +) (MediaSource[wave.Audio], error) { + recorder, ok := audioDriver.(driver.AudioRecorder) + if !ok { + return nil, errors.New("driver not a driver.AudioRecorder") + } + + if driverStatus := audioDriver.Status(); driverStatus != driver.StateClosed { + logger.Warnw("audio driver is not closed, attempting to close and reopen", "status", driverStatus) + if err := audioDriver.Close(); err != nil { + logger.Errorw("error closing driver", "error", err) + } + } + if err := audioDriver.Open(); err != nil { + return nil, err + } + reader, err := recorder.AudioRecord(mediaProp) + if err != nil { + return nil, err + } + return newMediaSource[wave.Audio](audioDriver, mediaReaderFuncNoCtx[wave.Audio](reader.Read), mediaProp.Audio), nil +} + +func labelFilter(target string, useSep bool) driver.FilterFn { + return driver.FilterFn(func(d driver.Driver) bool { + if !useSep { + return d.Info().Label == target + } + labels := strings.Split(d.Info().Label, camera.LabelSeparator) + for _, label := range labels { + if label == target { + return true + } + } + return false + }) +} + +func labelFilterPattern(labelPattern *regexp.Regexp, useSep bool) driver.FilterFn { + return driver.FilterFn(func(d driver.Driver) bool { + if !useSep { + return labelPattern.MatchString(d.Info().Label) + } + labels := strings.Split(d.Info().Label, camera.LabelSeparator) + for _, label := range labels { + if labelPattern.MatchString(label) { + return true + } + } + return false + }) +} + +func selectVideo( + constraints mediadevices.MediaTrackConstraints, + label *string, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + return selectBestDriver(getVideoFilterBase(), getVideoFilter(label), constraints, logger) +} + +func selectVideoPattern( + constraints mediadevices.MediaTrackConstraints, + labelPattern *regexp.Regexp, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + return selectBestDriver(getVideoFilterBase(), getVideoFilterPattern(labelPattern), constraints, logger) +} + +func selectScreen( + constraints mediadevices.MediaTrackConstraints, + label *string, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + return selectBestDriver(getScreenFilterBase(), getScreenFilter(label), constraints, logger) +} + +func selectScreenPattern( + constraints mediadevices.MediaTrackConstraints, + labelPattern *regexp.Regexp, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + return selectBestDriver(getScreenFilterBase(), getScreenFilterPattern(labelPattern), constraints, logger) +} + +func selectAudio( + constraints mediadevices.MediaTrackConstraints, + label *string, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + return selectBestDriver(getAudioFilterBase(), getAudioFilter(label), constraints, logger) +} + +func getVideoFilterBase() driver.FilterFn { + typeFilter := driver.FilterVideoRecorder() + notScreenFilter := driver.FilterNot(driver.FilterDeviceType(driver.Screen)) + return driver.FilterAnd(typeFilter, notScreenFilter) +} + +func getVideoFilter(label *string) driver.FilterFn { + filter := getVideoFilterBase() + if label != nil { + filter = driver.FilterAnd(filter, labelFilter(*label, true)) + } + return filter +} + +func getVideoFilterPattern(labelPattern *regexp.Regexp) driver.FilterFn { + filter := getVideoFilterBase() + filter = driver.FilterAnd(filter, labelFilterPattern(labelPattern, true)) + return filter +} + +func getScreenFilterBase() driver.FilterFn { + typeFilter := driver.FilterVideoRecorder() + screenFilter := driver.FilterDeviceType(driver.Screen) + return driver.FilterAnd(typeFilter, screenFilter) +} + +func getScreenFilter(label *string) driver.FilterFn { + filter := getScreenFilterBase() + if label != nil { + filter = driver.FilterAnd(filter, labelFilter(*label, true)) + } + return filter +} + +func getScreenFilterPattern(labelPattern *regexp.Regexp) driver.FilterFn { + filter := getScreenFilterBase() + filter = driver.FilterAnd(filter, labelFilterPattern(labelPattern, true)) + return filter +} + +func getAudioFilterBase() driver.FilterFn { + return driver.FilterAudioRecorder() +} + +func getAudioFilter(label *string) driver.FilterFn { + filter := getAudioFilterBase() + if label != nil { + filter = driver.FilterAnd(filter, labelFilter(*label, true)) + } + return filter +} + +// select implements SelectSettings algorithm. +// Reference: https://w3c.github.io/mediacapture-main/#dfn-selectsettings +func selectBestDriver( + baseFilter driver.FilterFn, + filter driver.FilterFn, + constraints mediadevices.MediaTrackConstraints, + logger golog.Logger, +) (driver.Driver, prop.Media, error) { + var bestDriver driver.Driver + var bestProp prop.Media + minFitnessDist := math.Inf(1) + + baseDrivers := driver.GetManager().Query(baseFilter) + logger.Debugw("before specific filter, we found the following drivers", "count", len(baseDrivers)) + for _, d := range baseDrivers { + logger.Debugw(d.Info().Label, "priority", float32(d.Info().Priority), "type", d.Info().DeviceType) + } + + driverProperties := queryDriverProperties(filter, logger) + if len(driverProperties) == 0 { + logger.Debugw("found no drivers matching filter") + } else { + logger.Debugw("found drivers matching specific filter", "count", len(driverProperties)) + } + for d, props := range driverProperties { + priority := float64(d.Info().Priority) + logger.Debugw( + "considering driver", + "label", d.Info().Label, + "priority", priority) + for _, p := range props { + fitnessDist, ok := constraints.MediaConstraints.FitnessDistance(p) + if !ok { + logger.Debugw("driver does not satisfy any constraints", "label", d.Info().Label) + continue + } + fitnessDistWithPriority := fitnessDist - priority + logger.Debugw( + "driver properties satisfy some constraints", + "label", d.Info().Label, + "props", p, + "distance", fitnessDist, + "distance_with_priority", fitnessDistWithPriority) + if fitnessDistWithPriority < minFitnessDist { + minFitnessDist = fitnessDistWithPriority + bestDriver = d + bestProp = p + } + } + } + + if bestDriver == nil { + return nil, prop.Media{}, ErrNotFound + } + + logger.Debugw("winning driver", "label", bestDriver.Info().Label, "props", bestProp) + selectedMedia := prop.Media{} + selectedMedia.MergeConstraints(constraints.MediaConstraints) + selectedMedia.Merge(bestProp) + return bestDriver, selectedMedia, nil +} + +func queryDriverProperties( + filter driver.FilterFn, + logger golog.Logger, +) map[driver.Driver][]prop.Media { + var needToClose []driver.Driver + drivers := driver.GetManager().Query(filter) + m := make(map[driver.Driver][]prop.Media) + + for _, d := range drivers { + var status string + isAvailable, err := driver.IsAvailable(d) + if errors.Is(err, availability.ErrUnimplemented) { + s := d.Status() + status = string(s) + isAvailable = s == driver.StateClosed + } else if err != nil { + status = err.Error() + } + + if isAvailable { + err := d.Open() + if err != nil { + logger.Debugw("error opening driver for querying", "error", err) + // Skip this driver if we failed to open because we can't get the properties + continue + } + needToClose = append(needToClose, d) + m[d] = d.Properties() + } else { + logger.Debugw("driver not available", "name", d.Info().Name, "label", d.Info().Label, "status", status) + } + } + + for _, d := range needToClose { + // Since it was closed, we should close it to avoid a leak + if err := d.Close(); err != nil { + logger.Errorw("error closing driver", "error", err) + } + } + + return m +} diff --git a/gostream/shell.nix b/gostream/shell.nix new file mode 100644 index 00000000000..33621f0ee97 --- /dev/null +++ b/gostream/shell.nix @@ -0,0 +1,14 @@ +{ pkgs ? import (fetchTarball + "https://github.com/NixOS/nixpkgs/archive/54ce16370bc03831b7d225b64a1ff82b383e0242.tar.gz") + { } }: + +pkgs.mkShell { + buildInputs = + [ pkgs.which pkgs.htop pkgs.go pkgs.nodejs pkgs.pkg-config pkgs.libvpx pkgs.x264 pkgs.libopus ] + ++ pkgs.lib.optionals pkgs.stdenv.isDarwin [ + pkgs.darwin.apple_sdk.frameworks.AVFoundation + pkgs.darwin.apple_sdk.frameworks.CoreMedia + ]; + + outputs = [ "out" "doc" "dev" ]; +} diff --git a/gostream/source_stream_utils.go b/gostream/source_stream_utils.go new file mode 100644 index 00000000000..720a6c227a6 --- /dev/null +++ b/gostream/source_stream_utils.go @@ -0,0 +1,102 @@ +package gostream + +import ( + "context" + + "github.com/edaniels/golog" + "go.viam.com/utils" +) + +// StreamVideoSource streams the given video source to the stream forever until context signals cancellation. +func StreamVideoSource(ctx context.Context, vs VideoSource, stream Stream) error { + return streamMediaSource(ctx, vs, stream, func(ctx context.Context, frameErr error) { + golog.Global().Debugw("error getting frame", "error", frameErr) + }, stream.InputVideoFrames) +} + +// StreamAudioSource streams the given video source to the stream forever until context signals cancellation. +func StreamAudioSource(ctx context.Context, as AudioSource, stream Stream) error { + return streamMediaSource(ctx, as, stream, func(ctx context.Context, frameErr error) { + golog.Global().Debugw("error getting frame", "error", frameErr) + }, stream.InputAudioChunks) +} + +// StreamVideoSourceWithErrorHandler streams the given video source to the stream forever +// until context signals cancellation, frame errors are sent via the error handler. +func StreamVideoSourceWithErrorHandler( + ctx context.Context, vs VideoSource, stream Stream, errHandler ErrorHandler, +) error { + return streamMediaSource(ctx, vs, stream, errHandler, stream.InputVideoFrames) +} + +// StreamAudioSourceWithErrorHandler streams the given audio source to the stream forever +// until context signals cancellation, audio errors are sent via the error handler. +func StreamAudioSourceWithErrorHandler( + ctx context.Context, as AudioSource, stream Stream, errHandler ErrorHandler, +) error { + return streamMediaSource(ctx, as, stream, errHandler, stream.InputAudioChunks) +} + +// streamMediaSource will stream a source of media forever to the stream until the given context tells it to cancel. +func streamMediaSource[T, U any]( + ctx context.Context, + ms MediaSource[T], + stream Stream, + errHandler ErrorHandler, + inputChan func(props U) (chan<- MediaReleasePair[T], error), +) error { + streamLoop := func() error { + readyCh, readyCtx := stream.StreamingReady() + select { + case <-ctx.Done(): + return ctx.Err() + case <-readyCh: + } + var props U + if provider, ok := ms.(MediaPropertyProvider[U]); ok { + var err error + props, err = provider.MediaProperties(ctx) + if err != nil { + golog.Global().Debugw("no properties found for media; will assume empty", "error", err) + } + } else { + golog.Global().Debug("no properties found for media; will assume empty") + } + input, err := inputChan(props) + if err != nil { + return err + } + mediaStream, err := ms.Stream(ctx, errHandler) + if err != nil { + return err + } + defer func() { + utils.UncheckedError(mediaStream.Close(ctx)) + }() + for { + select { + case <-ctx.Done(): + return ctx.Err() + case <-readyCtx.Done(): + return nil + default: + } + media, release, err := mediaStream.Next(ctx) + if err != nil { + continue + } + select { + case <-ctx.Done(): + return ctx.Err() + case <-readyCtx.Done(): + return nil + case input <- MediaReleasePair[T]{media, release}: + } + } + } + for { + if err := streamLoop(); err != nil { + return err + } + } +} diff --git a/gostream/standalone_stream_server.go b/gostream/standalone_stream_server.go new file mode 100644 index 00000000000..7bf33ce0e8e --- /dev/null +++ b/gostream/standalone_stream_server.go @@ -0,0 +1,247 @@ +package gostream + +import ( + "context" + "errors" + "fmt" + "html/template" + "net/http" + "path/filepath" + "runtime" + "sync" + + "github.com/edaniels/golog" + "github.com/pion/webrtc/v3" + "go.uber.org/multierr" + streampb "go.viam.com/api/stream/v1" + "go.viam.com/utils" + "go.viam.com/utils/rpc" + "goji.io" + "goji.io/pat" +) + +// A StandaloneStreamServer is a convenience helper for solely streaming a series +// streams. Streams can be added over time for future new connections. +type StandaloneStreamServer interface { + // AddStream adds the given stream for new connections to see. + AddStream(stream Stream) error + // Start starts the server and waits for new connections. + Start(ctx context.Context) error + // Stop stops the server and stops the underlying streams. + Stop(ctx context.Context) error +} + +type standaloneStreamServer struct { + port int + streamServer StreamServer + rpcServer rpc.Server + httpServer *http.Server + started bool + opts StandaloneStreamServerOptions + logger golog.Logger + activeBackgroundWorkers sync.WaitGroup +} + +// NewStandaloneStreamServer returns a server that will run on the given port and initially starts +// with the given streams. +func NewStandaloneStreamServer( + port int, + logger golog.Logger, + opts []StandaloneStreamServerOption, + streams ...Stream, +) (StandaloneStreamServer, error) { + var sOpts StandaloneStreamServerOptions + for _, opt := range opts { + opt.apply(&sOpts) + } + + streamServer, err := NewStreamServer(streams...) + if err != nil { + return nil, err + } + return &standaloneStreamServer{ + port: port, + streamServer: streamServer, + opts: sOpts, + logger: logger, + }, nil +} + +// ErrServerAlreadyStarted happens when the server has already been started. +var ErrServerAlreadyStarted = errors.New("already started") + +func (ss *standaloneStreamServer) AddStream(stream Stream) error { + return ss.streamServer.AddStream(stream) +} + +func (ss *standaloneStreamServer) Start(ctx context.Context) error { + if ss.started { + return ErrServerAlreadyStarted + } + ss.started = true + + humanAddress := fmt.Sprintf("localhost:%d", ss.port) + listener, secure, err := utils.NewPossiblySecureTCPListenerFromFile(humanAddress, "", "") + if err != nil { + return err + } + var serverOpts []rpc.ServerOption + webrtcOpts := rpc.WebRTCServerOptions{ + Enable: true, + } + if ss.opts.onPeerAdded != nil { + webrtcOpts.OnPeerAdded = ss.opts.onPeerAdded + } + if ss.opts.onPeerRemoved != nil { + webrtcOpts.OnPeerRemoved = ss.opts.onPeerRemoved + } + serverOpts = append(serverOpts, rpc.WithWebRTCServerOptions(webrtcOpts)) + serverOpts = append(serverOpts, rpc.WithUnauthenticated(), rpc.WithInstanceNames("local")) + + rpcServer, err := rpc.NewServer(ss.logger, serverOpts...) + if err != nil { + return err + } + ss.rpcServer = rpcServer + + if err := rpcServer.RegisterServiceServer( + ctx, + &streampb.StreamService_ServiceDesc, + ss.streamServer.ServiceServer(), + streampb.RegisterStreamServiceHandlerFromEndpoint, + ); err != nil { + return err + } + + //nolint:dogsled + _, thisFilePath, _, _ := runtime.Caller(0) + thisDirPath, err := filepath.Abs(filepath.Dir(thisFilePath)) + if err != nil { + return fmt.Errorf("error locating current file: %w", err) + } + t, err := template.New("foo").Funcs(template.FuncMap{ + //nolint:gosec + "jsSafe": func(js string) template.JS { + return template.JS(js) + }, + //nolint:gosec + "htmlSafe": func(html string) template.HTML { + return template.HTML(html) + }, + }).ParseGlob(fmt.Sprintf("%s/*.html", filepath.Join(thisDirPath, "templates"))) + if err != nil { + return fmt.Errorf("error parsing templates: %w", err) + } + indexT := t.Lookup("index.html") + + mux := goji.NewMux() + mux.HandleFunc(pat.Get("/"), func(w http.ResponseWriter, r *http.Request) { + if err := indexT.Execute(w, struct { + AllowSendAudio bool + }{ + ss.opts.allowReceive, + }); err != nil { + panic(err) + } + }) + mux.Handle(pat.Get("/static/*"), http.StripPrefix("/static", http.FileServer(http.Dir(filepath.Join(thisDirPath, "frontend/dist"))))) + mux.Handle(pat.New("/*"), rpcServer.GRPCHandler()) + + httpServer, err := utils.NewPlainTextHTTP2Server(mux) + if err != nil { + return err + } + httpServer.Addr = listener.Addr().String() + ss.httpServer = httpServer + + var scheme string + if secure { + scheme = "https" + } else { + scheme = "http" + } + + ss.activeBackgroundWorkers.Add(2) + utils.PanicCapturingGo(func() { + defer ss.activeBackgroundWorkers.Done() + if err := rpcServer.Start(); err != nil { + ss.logger.Errorw("error starting rpc server", "error", err) + } + }) + utils.PanicCapturingGo(func() { + defer ss.activeBackgroundWorkers.Done() + ss.logger.Infow("serving", "url", fmt.Sprintf("%s://%s", scheme, humanAddress)) + if err := httpServer.Serve(listener); err != nil && !errors.Is(err, http.ErrServerClosed) { + ss.logger.Errorw("error serving", "error", err) + } + }) + return nil +} + +func (ss *standaloneStreamServer) Stop(ctx context.Context) (err error) { + defer ss.activeBackgroundWorkers.Wait() + defer func() { + err = multierr.Combine(err, ss.rpcServer.Stop()) + }() + defer func() { + err = multierr.Combine(err, ss.httpServer.Shutdown(ctx)) + }() + return ss.streamServer.Close() +} + +// StandaloneStreamServerOptions configures a StandaloneStreamServer. +type StandaloneStreamServerOptions struct { + // onPeerAdded is called when a new peer connection is added. + onPeerAdded func(pc *webrtc.PeerConnection) + // onPeerRemoved is called when an existing peer connection is removed. + onPeerRemoved func(pc *webrtc.PeerConnection) + // allowReceive sets whether or not this stream server wants to receive + // media. + allowReceive bool +} + +// StandaloneStreamServerOption configures how we set up the server. +// Cribbed from https://github.com/grpc/grpc-go/blob/aff571cc86e6e7e740130dbbb32a9741558db805/dialoptions.go#L41 +type StandaloneStreamServerOption interface { + apply(*StandaloneStreamServerOptions) +} + +// funcOption wraps a function that modifies StandaloneStreamServerOptions into an +// implementation of the Option interface. +type funcOption struct { + f func(*StandaloneStreamServerOptions) +} + +func (fdo *funcOption) apply(do *StandaloneStreamServerOptions) { + fdo.f(do) +} + +func newFuncOption(f func(*StandaloneStreamServerOptions)) *funcOption { + return &funcOption{ + f: f, + } +} + +// WithStandaloneOnPeerAdded returns an Option which sets a function to call +// when a new peer connection is added. +func WithStandaloneOnPeerAdded(f func(pc *webrtc.PeerConnection)) StandaloneStreamServerOption { + return newFuncOption(func(o *StandaloneStreamServerOptions) { + o.onPeerAdded = f + }) +} + +// WithStandaloneOnPeerRemoved returns an Option which sets a function to call +// when an existing peer connection is remvoed. +func WithStandaloneOnPeerRemoved(f func(pc *webrtc.PeerConnection)) StandaloneStreamServerOption { + return newFuncOption(func(o *StandaloneStreamServerOptions) { + o.onPeerRemoved = f + }) +} + +// WithStandaloneAllowReceive returns an Option which sets whether or not this +// stream server wants to receive media. +func WithStandaloneAllowReceive(allowReceive bool) StandaloneStreamServerOption { + return newFuncOption(func(o *StandaloneStreamServerOptions) { + o.allowReceive = allowReceive + }) +} diff --git a/gostream/stream.go b/gostream/stream.go new file mode 100644 index 00000000000..14afeb8e34c --- /dev/null +++ b/gostream/stream.go @@ -0,0 +1,398 @@ +// Package gostream implements a simple server for serving video streams over WebRTC. +package gostream + +import ( + "context" + "errors" + "image" + "sync" + "time" + + "github.com/edaniels/golog" + "github.com/google/uuid" + // register screen drivers. + _ "github.com/pion/mediadevices/pkg/driver/microphone" + "github.com/pion/mediadevices/pkg/prop" + "github.com/pion/mediadevices/pkg/wave" + "github.com/pion/webrtc/v3" + "go.viam.com/utils" + + "go.viam.com/rdk/gostream/codec" +) + +// A Stream is sink that accepts any image frames for the purpose +// of displaying in a WebRTC video track. +type Stream interface { + internalStream + + Name() string + + // Start starts processing frames. + Start() + + // Ready signals that there is at least one client connected and that + // streams are ready for input. The returned context should be used for + // signaling that streaming is no longer ready. + StreamingReady() (<-chan struct{}, context.Context) + + InputVideoFrames(props prop.Video) (chan<- MediaReleasePair[image.Image], error) + + InputAudioChunks(props prop.Audio) (chan<- MediaReleasePair[wave.Audio], error) + + // Stop stops further processing of frames. + Stop() +} + +type internalStream interface { + VideoTrackLocal() (webrtc.TrackLocal, bool) + AudioTrackLocal() (webrtc.TrackLocal, bool) +} + +// MediaReleasePair associates a media with a corresponding +// function to release its resources once the receiver of a +// pair is finished with the media. +type MediaReleasePair[T any] struct { + Media T + Release func() +} + +// NewStream returns a newly configured stream that can begin to handle +// new connections. +func NewStream(config StreamConfig) (Stream, error) { + logger := config.Logger + if logger == nil { + logger = golog.Global() + } + if config.VideoEncoderFactory == nil && config.AudioEncoderFactory == nil { + return nil, errors.New("at least one audio or video encoder factory must be set") + } + if config.TargetFrameRate == 0 { + config.TargetFrameRate = codec.DefaultKeyFrameInterval + } + + name := config.Name + if name == "" { + name = uuid.NewString() + } + + var trackLocal *trackLocalStaticSample + if config.VideoEncoderFactory != nil { + trackLocal = newVideoTrackLocalStaticSample( + webrtc.RTPCodecCapability{MimeType: config.VideoEncoderFactory.MIMEType()}, + "video", + name, + ) + } + + var audioTrackLocal *trackLocalStaticSample + if config.AudioEncoderFactory != nil { + audioTrackLocal = newAudioTrackLocalStaticSample( + webrtc.RTPCodecCapability{MimeType: config.AudioEncoderFactory.MIMEType()}, + "audio", + name, + ) + } + + ctx, cancelFunc := context.WithCancel(context.Background()) + bs := &basicStream{ + name: name, + config: config, + streamingReadyCh: make(chan struct{}), + + videoTrackLocal: trackLocal, + inputImageChan: make(chan MediaReleasePair[image.Image]), + outputVideoChan: make(chan []byte), + + audioTrackLocal: audioTrackLocal, + inputAudioChan: make(chan MediaReleasePair[wave.Audio]), + outputAudioChan: make(chan []byte), + + logger: logger, + shutdownCtx: ctx, + shutdownCtxCancel: cancelFunc, + } + + return bs, nil +} + +type basicStream struct { + mu sync.RWMutex + name string + config StreamConfig + started bool + streamingReadyCh chan struct{} + + videoTrackLocal *trackLocalStaticSample + inputImageChan chan MediaReleasePair[image.Image] + outputVideoChan chan []byte + videoEncoder codec.VideoEncoder + + audioTrackLocal *trackLocalStaticSample + inputAudioChan chan MediaReleasePair[wave.Audio] + outputAudioChan chan []byte + audioEncoder codec.AudioEncoder + + // audioLatency specifies how long in between audio samples. This must be guaranteed + // by all streamed audio. + audioLatency time.Duration + audioLatencySet bool + + shutdownCtx context.Context + shutdownCtxCancel func() + activeBackgroundWorkers sync.WaitGroup + logger golog.Logger +} + +func (bs *basicStream) Name() string { + return bs.name +} + +func (bs *basicStream) Start() { + bs.mu.Lock() + defer bs.mu.Unlock() + + if bs.started { + return + } + bs.started = true + close(bs.streamingReadyCh) + bs.activeBackgroundWorkers.Add(4) + utils.ManagedGo(bs.processInputFrames, bs.activeBackgroundWorkers.Done) + utils.ManagedGo(bs.processOutputFrames, bs.activeBackgroundWorkers.Done) + utils.ManagedGo(bs.processInputAudioChunks, bs.activeBackgroundWorkers.Done) + utils.ManagedGo(bs.processOutputAudioChunks, bs.activeBackgroundWorkers.Done) +} + +func (bs *basicStream) Stop() { + bs.mu.Lock() + defer bs.mu.Unlock() + + if !bs.started { + close(bs.streamingReadyCh) + } + + bs.started = false + bs.shutdownCtxCancel() + bs.activeBackgroundWorkers.Wait() + if bs.audioEncoder != nil { + bs.audioEncoder.Close() + } + + // reset + bs.outputVideoChan = make(chan []byte) + bs.outputAudioChan = make(chan []byte) + ctx, cancelFunc := context.WithCancel(context.Background()) + bs.shutdownCtx = ctx + bs.shutdownCtxCancel = cancelFunc + bs.streamingReadyCh = make(chan struct{}) +} + +func (bs *basicStream) StreamingReady() (<-chan struct{}, context.Context) { + bs.mu.RLock() + defer bs.mu.RUnlock() + return bs.streamingReadyCh, bs.shutdownCtx +} + +func (bs *basicStream) InputVideoFrames(props prop.Video) (chan<- MediaReleasePair[image.Image], error) { + if bs.config.VideoEncoderFactory == nil { + return nil, errors.New("no video in stream") + } + return bs.inputImageChan, nil +} + +func (bs *basicStream) InputAudioChunks(props prop.Audio) (chan<- MediaReleasePair[wave.Audio], error) { + if bs.config.AudioEncoderFactory == nil { + return nil, errors.New("no audio in stream") + } + bs.mu.Lock() + if bs.audioLatencySet && bs.audioLatency != props.Latency { + return nil, errors.New("cannot stream audio source with different latencies") + } + bs.audioLatencySet = true + bs.audioLatency = props.Latency + bs.mu.Unlock() + return bs.inputAudioChan, nil +} + +func (bs *basicStream) VideoTrackLocal() (webrtc.TrackLocal, bool) { + return bs.videoTrackLocal, bs.videoTrackLocal != nil +} + +func (bs *basicStream) AudioTrackLocal() (webrtc.TrackLocal, bool) { + return bs.audioTrackLocal, bs.audioTrackLocal != nil +} + +func (bs *basicStream) processInputFrames() { + frameLimiterDur := time.Second / time.Duration(bs.config.TargetFrameRate) + defer close(bs.outputVideoChan) + var dx, dy int + ticker := time.NewTicker(frameLimiterDur) + defer ticker.Stop() + for { + select { + case <-bs.shutdownCtx.Done(): + return + default: + } + select { + case <-bs.shutdownCtx.Done(): + return + case <-ticker.C: + } + var framePair MediaReleasePair[image.Image] + select { + case framePair = <-bs.inputImageChan: + case <-bs.shutdownCtx.Done(): + return + } + if framePair.Media == nil { + continue + } + var initErr bool + func() { + if framePair.Release != nil { + defer framePair.Release() + } + + bounds := framePair.Media.Bounds() + newDx, newDy := bounds.Dx(), bounds.Dy() + if bs.videoEncoder == nil || dx != newDx || dy != newDy { + dx, dy = newDx, newDy + bs.logger.Infow("detected new image bounds", "width", dx, "height", dy) + + if err := bs.initVideoCodec(dx, dy); err != nil { + bs.logger.Error(err) + initErr = true + return + } + } + + // thread-safe because the size is static + encodedFrame, err := bs.videoEncoder.Encode(bs.shutdownCtx, framePair.Media) + if err != nil { + bs.logger.Error(err) + return + } + if encodedFrame != nil { + select { + case <-bs.shutdownCtx.Done(): + return + case bs.outputVideoChan <- encodedFrame: + } + } + }() + if initErr { + return + } + } +} + +func (bs *basicStream) processInputAudioChunks() { + defer close(bs.outputAudioChan) + var samplingRate, channels int + for { + select { + case <-bs.shutdownCtx.Done(): + return + default: + } + var audioChunkPair MediaReleasePair[wave.Audio] + select { + case audioChunkPair = <-bs.inputAudioChan: + case <-bs.shutdownCtx.Done(): + return + } + if audioChunkPair.Media == nil { + continue + } + var initErr bool + func() { + if audioChunkPair.Release != nil { + defer audioChunkPair.Release() + } + + info := audioChunkPair.Media.ChunkInfo() + newSamplingRate, newChannels := info.SamplingRate, info.Channels + if samplingRate != newSamplingRate || channels != newChannels { + samplingRate, channels = newSamplingRate, newChannels + bs.logger.Infow("detected new audio info", "sampling_rate", samplingRate, "channels", channels) + + bs.audioTrackLocal.setAudioLatency(bs.audioLatency) + if err := bs.initAudioCodec(samplingRate, channels); err != nil { + bs.logger.Error(err) + initErr = true + return + } + } + + encodedChunk, ready, err := bs.audioEncoder.Encode(bs.shutdownCtx, audioChunkPair.Media) + if err != nil { + bs.logger.Error(err) + return + } + if ready && encodedChunk != nil { + select { + case <-bs.shutdownCtx.Done(): + return + case bs.outputAudioChan <- encodedChunk: + } + } + }() + if initErr { + return + } + } +} + +func (bs *basicStream) processOutputFrames() { + framesSent := 0 + for outputFrame := range bs.outputVideoChan { + select { + case <-bs.shutdownCtx.Done(): + return + default: + } + now := time.Now() + if err := bs.videoTrackLocal.WriteData(outputFrame); err != nil { + bs.logger.Errorw("error writing frame", "error", err) + } + framesSent++ + if Debug { + bs.logger.Debugw("wrote sample", "frames_sent", framesSent, "write_time", time.Since(now)) + } + } +} + +func (bs *basicStream) processOutputAudioChunks() { + chunksSent := 0 + for outputChunk := range bs.outputAudioChan { + select { + case <-bs.shutdownCtx.Done(): + return + default: + } + now := time.Now() + if err := bs.audioTrackLocal.WriteData(outputChunk); err != nil { + bs.logger.Errorw("error writing audio chunk", "error", err) + } + chunksSent++ + if Debug { + bs.logger.Debugw("wrote sample", "chunks_sent", chunksSent, "write_time", time.Since(now)) + } + } +} + +func (bs *basicStream) initVideoCodec(width, height int) error { + var err error + bs.videoEncoder, err = bs.config.VideoEncoderFactory.New(width, height, bs.config.TargetFrameRate, bs.logger) + return err +} + +func (bs *basicStream) initAudioCodec(sampleRate, channelCount int) error { + var err error + if bs.audioEncoder != nil { + bs.audioEncoder.Close() + } + bs.audioEncoder, err = bs.config.AudioEncoderFactory.New(sampleRate, channelCount, bs.audioLatency, bs.logger) + return err +} diff --git a/gostream/stream_config.go b/gostream/stream_config.go new file mode 100644 index 00000000000..0b064e74b0e --- /dev/null +++ b/gostream/stream_config.go @@ -0,0 +1,19 @@ +package gostream + +import ( + "github.com/edaniels/golog" + + "go.viam.com/rdk/gostream/codec" +) + +// A StreamConfig describes how a Stream should be managed. +type StreamConfig struct { + Name string + VideoEncoderFactory codec.VideoEncoderFactory + AudioEncoderFactory codec.AudioEncoderFactory + + // TargetFrameRate will hint to the stream to try to maintain this frame rate. + TargetFrameRate int + + Logger golog.Logger +} diff --git a/gostream/stream_server.go b/gostream/stream_server.go new file mode 100644 index 00000000000..40484150500 --- /dev/null +++ b/gostream/stream_server.go @@ -0,0 +1,297 @@ +package gostream + +import ( + "context" + "errors" + "fmt" + "sync" + + "github.com/pion/webrtc/v3" + "go.uber.org/multierr" + streampb "go.viam.com/api/stream/v1" + "go.viam.com/utils" + "go.viam.com/utils/rpc" +) + +// StreamAlreadyRegisteredError indicates that a stream has a name that is already registered on +// the stream server. +type StreamAlreadyRegisteredError struct { + name string +} + +func (e *StreamAlreadyRegisteredError) Error() string { + return fmt.Sprintf("stream %q already registered", e.name) +} + +// A StreamServer manages a collection of streams. Streams can be +// added over time for future new connections. +type StreamServer interface { + // ServiceServer returns a service server for gRPC. + ServiceServer() streampb.StreamServiceServer + + // NewStream creates a new stream from config and adds it for new connections to see. + // Returns the added stream if it is successfully added to the server. + NewStream(config StreamConfig) (Stream, error) + + // AddStream adds the given stream for new connections to see. + AddStream(stream Stream) error + + // Close closes the server. + Close() error +} + +// NewStreamServer returns a server that will run on the given port and initially starts +// with the given stream. +func NewStreamServer(streams ...Stream) (StreamServer, error) { + ss := &streamServer{ + nameToStream: map[string]Stream{}, + activePeerStreams: map[*webrtc.PeerConnection]map[string]*peerState{}, + } + ss.mu.Lock() + defer ss.mu.Unlock() + for _, stream := range streams { + if err := ss.addStream(stream); err != nil { + return nil, err + } + } + return ss, nil +} + +type streamState struct { + mu sync.Mutex + stream Stream + activePeers int +} + +func (ss *streamState) Start() { + ss.mu.Lock() + defer ss.mu.Unlock() + ss.activePeers++ + if ss.activePeers == 1 { + ss.stream.Start() + } +} + +func (ss *streamState) Stop() { + ss.mu.Lock() + defer ss.mu.Unlock() + ss.activePeers-- + if ss.activePeers <= 0 { + ss.activePeers = 0 + ss.stream.Stop() + } +} + +type peerState struct { + stream *streamState + senders []*webrtc.RTPSender +} + +type streamServer struct { + mu sync.RWMutex + streams []*streamState + nameToStream map[string]Stream + activePeerStreams map[*webrtc.PeerConnection]map[string]*peerState + activeBackgroundWorkers sync.WaitGroup +} + +func (ss *streamServer) ServiceServer() streampb.StreamServiceServer { + return &streamRPCServer{ss: ss} +} + +func (ss *streamServer) NewStream(config StreamConfig) (Stream, error) { + ss.mu.Lock() + defer ss.mu.Unlock() + + if _, ok := ss.nameToStream[config.Name]; ok { + return nil, &StreamAlreadyRegisteredError{config.Name} + } + stream, err := NewStream(config) + if err != nil { + return nil, err + } + if err := ss.addStream(stream); err != nil { + return nil, err + } + return stream, nil +} + +func (ss *streamServer) AddStream(stream Stream) error { + ss.mu.Lock() + defer ss.mu.Unlock() + return ss.addStream(stream) +} + +func (ss *streamServer) addStream(stream Stream) error { + streamName := stream.Name() + if _, ok := ss.nameToStream[streamName]; ok { + return &StreamAlreadyRegisteredError{streamName} + } + ss.nameToStream[streamName] = stream + ss.streams = append(ss.streams, &streamState{stream: stream}) + return nil +} + +func (ss *streamServer) Close() error { + ss.mu.RLock() + defer ss.mu.RUnlock() + for _, stream := range ss.streams { + stream.stream.Stop() + stream.activePeers = 0 + } + ss.activeBackgroundWorkers.Wait() + return nil +} + +type streamRPCServer struct { + streampb.UnimplementedStreamServiceServer + ss *streamServer +} + +func (srs *streamRPCServer) ListStreams(ctx context.Context, req *streampb.ListStreamsRequest) (*streampb.ListStreamsResponse, error) { + srs.ss.mu.RLock() + names := make([]string, 0, len(srs.ss.streams)) + for _, stream := range srs.ss.streams { + names = append(names, stream.stream.Name()) + } + srs.ss.mu.RUnlock() + return &streampb.ListStreamsResponse{Names: names}, nil +} + +func (srs *streamRPCServer) AddStream(ctx context.Context, req *streampb.AddStreamRequest) (*streampb.AddStreamResponse, error) { + pc, ok := rpc.ContextPeerConnection(ctx) + if !ok { + return nil, errors.New("can only add a stream over a WebRTC based connection") + } + + var streamToAdd *streamState + for _, stream := range srs.ss.streams { + if stream.stream.Name() == req.Name { + streamToAdd = stream + break + } + } + + if streamToAdd == nil { + return nil, fmt.Errorf("no stream for %q", req.Name) + } + + srs.ss.mu.Lock() + defer srs.ss.mu.Unlock() + + if _, ok := srs.ss.activePeerStreams[pc][req.Name]; ok { + return nil, errors.New("stream already active") + } + pcStreams, ok := srs.ss.activePeerStreams[pc] + if !ok { + pcStreams = map[string]*peerState{} + pc.OnConnectionStateChange(func(state webrtc.PeerConnectionState) { + switch state { + case webrtc.PeerConnectionStateDisconnected, + webrtc.PeerConnectionStateFailed, + webrtc.PeerConnectionStateClosed: + + srs.ss.activeBackgroundWorkers.Add(1) + utils.PanicCapturingGo(func() { + defer srs.ss.activeBackgroundWorkers.Done() + srs.ss.mu.Lock() + defer srs.ss.mu.Unlock() + defer delete(srs.ss.activePeerStreams, pc) + for _, ps := range srs.ss.activePeerStreams[pc] { + ps.stream.Stop() + } + }) + case webrtc.PeerConnectionStateConnected, + webrtc.PeerConnectionStateConnecting, + webrtc.PeerConnectionStateNew: + fallthrough + default: + return + } + }) + srs.ss.activePeerStreams[pc] = pcStreams + } + + ps, ok := pcStreams[req.Name] + if !ok { + ps = &peerState{stream: streamToAdd} + pcStreams[req.Name] = ps + } + + var successful bool + defer func() { + if !successful { + for _, sender := range ps.senders { + utils.UncheckedError(pc.RemoveTrack(sender)) + } + } + }() + + addTrack := func(track webrtc.TrackLocal) error { + sender, err := pc.AddTrack(track) + if err != nil { + return err + } + ps.senders = append(ps.senders, sender) + return nil + } + + if trackLocal, haveTrackLocal := streamToAdd.stream.VideoTrackLocal(); haveTrackLocal { + if err := addTrack(trackLocal); err != nil { + return nil, err + } + } + if trackLocal, haveTrackLocal := streamToAdd.stream.AudioTrackLocal(); haveTrackLocal { + if err := addTrack(trackLocal); err != nil { + return nil, err + } + } + streamToAdd.Start() + + successful = true + return &streampb.AddStreamResponse{}, nil +} + +func (srs *streamRPCServer) RemoveStream(ctx context.Context, req *streampb.RemoveStreamRequest) (*streampb.RemoveStreamResponse, error) { + pc, ok := rpc.ContextPeerConnection(ctx) + if !ok { + return nil, errors.New("can only remove a stream over a WebRTC based connection") + } + + var streamToRemove *streamState + for _, stream := range srs.ss.streams { + if stream.stream.Name() == req.Name { + streamToRemove = stream + break + } + } + + if streamToRemove == nil { + return nil, fmt.Errorf("no stream for %q", req.Name) + } + + srs.ss.mu.Lock() + defer srs.ss.mu.Unlock() + + if _, ok := srs.ss.activePeerStreams[pc][req.Name]; !ok { + return nil, errors.New("stream already inactive") + } + defer func() { + delete(srs.ss.activePeerStreams[pc], req.Name) + }() + + var errs error + for _, sender := range srs.ss.activePeerStreams[pc][req.Name].senders { + errs = multierr.Combine(errs, pc.RemoveTrack(sender)) + } + if errs != nil { + return nil, errs + } + srs.ss.activeBackgroundWorkers.Add(1) + utils.PanicCapturingGo(func() { + defer srs.ss.activeBackgroundWorkers.Done() + streamToRemove.Stop() + }) + + return &streampb.RemoveStreamResponse{}, nil +} diff --git a/gostream/stream_test.go b/gostream/stream_test.go new file mode 100644 index 00000000000..2cbc1928b28 --- /dev/null +++ b/gostream/stream_test.go @@ -0,0 +1,161 @@ +package gostream + +import ( + "context" + "flag" + "image" + "testing" + "time" + + "go.viam.com/test" + "golang.org/x/time/rate" +) + +func init() { + testing.Init() + _ = flag.Set("test.benchtime", "100x") +} + +type reader struct { + img image.Image + limiter *rate.Limiter +} + +func newReader(fps float64) *reader { + limiter := rate.NewLimiter(rate.Limit(fps), 1) + return &reader{ + img: image.Image(image.Rect(0, 0, 0, 0)), + limiter: limiter, + } +} + +func (r *reader) Close(_ context.Context) error { return nil } +func (r *reader) Read(_ context.Context) (image.Image, func(), error) { + _ = r.limiter.Wait(context.Background()) + return r.img, func() {}, nil +} + +func stream(ctx context.Context, b *testing.B, s VideoStream) { + b.Helper() + for { + select { + case <-ctx.Done(): + return + default: + _, _, err := s.Next(context.Background()) + test.That(b, err, test.ShouldBeNil) + } + } +} + +const SecondNs = 1000000000.0 // second in nanoseconds + +func incrementAverage(avgOld, valNew, sizeNew float64) float64 { + avgNew := (avgOld) + (valNew-avgOld)/sizeNew + return avgNew +} + +func BenchmarkStream_30FPS(b *testing.B) { + r := newReader(30) + s := NewEmbeddedVideoStreamFromReader(r) + + var avgNs float64 + var count int64 + b.ResetTimer() + for i := 0; i < b.N; i++ { + start := time.Now() + + b.StartTimer() + _, _, err := s.Next(context.Background()) + b.StopTimer() + + test.That(b, err, test.ShouldBeNil) + count++ + elapsedNs := time.Since(start).Nanoseconds() + avgNs += (float64(elapsedNs) - avgNs) / float64(count) + avgNs = incrementAverage(avgNs, float64(elapsedNs), float64(count)) + } + + b.ReportMetric(SecondNs/avgNs, "fps") +} + +func BenchmarkStream_60FPS(b *testing.B) { + r := newReader(60) + s := NewEmbeddedVideoStreamFromReader(r) + + var avgNs float64 + var count int64 + b.ResetTimer() + for i := 0; i < b.N; i++ { + start := time.Now() + + b.StartTimer() + _, _, err := s.Next(context.Background()) + b.StopTimer() + + test.That(b, err, test.ShouldBeNil) + count++ + elapsedNs := time.Since(start).Nanoseconds() + avgNs += (float64(elapsedNs) - avgNs) / float64(count) + avgNs = incrementAverage(avgNs, float64(elapsedNs), float64(count)) + } + + b.ReportMetric(SecondNs/avgNs, "fps") +} + +func BenchmarkStream_30FPS_2Streams(b *testing.B) { + r := newReader(30) + s := NewEmbeddedVideoStreamFromReader(r) + ctx, cancel := context.WithCancel(context.Background()) + + go stream(ctx, b, NewEmbeddedVideoStreamFromReader(r)) + + var avgNs float64 + var count int64 + b.ResetTimer() + for i := 0; i < b.N; i++ { + start := time.Now() + + b.StartTimer() + _, _, err := s.Next(context.Background()) + b.StopTimer() + + test.That(b, err, test.ShouldBeNil) + count++ + elapsedNs := time.Since(start).Nanoseconds() + avgNs += (float64(elapsedNs) - avgNs) / float64(count) + avgNs = incrementAverage(avgNs, float64(elapsedNs), float64(count)) + } + + cancel() + b.ReportMetric(SecondNs/avgNs, "fps") +} + +func BenchmarkStream_30FPS_3Streams(b *testing.B) { + r := newReader(30) + s := NewEmbeddedVideoStreamFromReader(r) + ctx, cancel := context.WithCancel(context.Background()) + + go stream(ctx, b, NewEmbeddedVideoStreamFromReader(r)) + go stream(ctx, b, NewEmbeddedVideoStreamFromReader(r)) + + var avgNs float64 + var count int64 + b.ResetTimer() + for i := 0; i < b.N; i++ { + start := time.Now() + + b.StartTimer() + _, _, err := s.Next(context.Background()) + b.StopTimer() + + test.That(b, err, test.ShouldBeNil) + count++ + elapsedNs := time.Since(start).Nanoseconds() + avgNs += (float64(elapsedNs) - avgNs) / float64(count) + avgNs = incrementAverage(avgNs, float64(elapsedNs), float64(count)) + } + + cancel() + b.ReportMetric(SecondNs/avgNs, "fps") +} diff --git a/gostream/swapper.go b/gostream/swapper.go new file mode 100644 index 00000000000..cdc2a5329af --- /dev/null +++ b/gostream/swapper.go @@ -0,0 +1,176 @@ +package gostream + +import ( + "context" + "image" + "sync" + + "github.com/pion/mediadevices/pkg/prop" + "github.com/pion/mediadevices/pkg/wave" + "github.com/pkg/errors" + "go.viam.com/utils" +) + +type ( + // A HotSwappableMediaSource allows for continuous streaming of media of + // swappable underlying media sources. + HotSwappableMediaSource[T, U any] interface { + MediaSource[T] + MediaPropertyProvider[U] + Swap(src MediaSource[T]) + } + + // A HotSwappableVideoSource allows for continuous streaming of video of + // swappable underlying video sources. + HotSwappableVideoSource = HotSwappableMediaSource[image.Image, prop.Video] + + // A HotSwappableAudioSource allows for continuous streaming of audio of + // swappable underlying audio sources. + HotSwappableAudioSource = HotSwappableMediaSource[wave.Audio, prop.Audio] +) + +type hotSwappableMediaSource[T, U any] struct { + mu sync.RWMutex + src MediaSource[T] + cancelCtx context.Context + cancel func() +} + +// NewHotSwappableMediaSource returns a hot swappable media source. +func NewHotSwappableMediaSource[T, U any](src MediaSource[T]) HotSwappableMediaSource[T, U] { + swapper := &hotSwappableMediaSource[T, U]{} + swapper.Swap(src) + return swapper +} + +// NewHotSwappableVideoSource returns a hot swappable video source. +func NewHotSwappableVideoSource(src VideoSource) HotSwappableVideoSource { + return NewHotSwappableMediaSource[image.Image, prop.Video](src) +} + +// NewHotSwappableAudioSource returns a hot swappable audio source. +func NewHotSwappableAudioSource(src AudioSource) HotSwappableAudioSource { + return NewHotSwappableMediaSource[wave.Audio, prop.Audio](src) +} + +var errSwapperClosed = errors.New("hot swapper closed or uninitialized") + +// Stream returns a stream that is tolerant to the underlying media source changing. +func (swapper *hotSwappableMediaSource[T, U]) Stream( + ctx context.Context, + errHandlers ...ErrorHandler, +) (MediaStream[T], error) { + swapper.mu.RLock() + defer swapper.mu.RUnlock() + + if swapper.src == nil { + return nil, errSwapperClosed + } + + stream := &hotSwappableMediaSourceStream[T, U]{ + parent: swapper, + errHandlers: errHandlers, + cancelCtx: swapper.cancelCtx, + } + stream.mu.Lock() + defer stream.mu.Unlock() + if err := stream.init(ctx); err != nil { + return nil, err + } + + return stream, nil +} + +// Swap replaces the underlying media source with the given one and signals to all +// streams that a new source is available. +func (swapper *hotSwappableMediaSource[T, U]) Swap(newSrc MediaSource[T]) { + swapper.mu.Lock() + defer swapper.mu.Unlock() + if swapper.src == newSrc { + // they are the same so lets not cause any interruptions. + return + } + + if swapper.cancel != nil { + swapper.cancel() + } + + swapper.src = newSrc + cancelCtx, cancel := context.WithCancel(context.Background()) + swapper.cancelCtx = cancelCtx + swapper.cancel = cancel +} + +// MediaProperties attempts to return media properties for the source, if they exist. +func (swapper *hotSwappableMediaSource[T, U]) MediaProperties(ctx context.Context) (U, error) { + swapper.mu.RLock() + defer swapper.mu.RUnlock() + + var zero U + if swapper.src == nil { + return zero, errSwapperClosed + } + + if provider, ok := swapper.src.(MediaPropertyProvider[U]); ok { + return provider.MediaProperties(ctx) + } + return zero, nil +} + +// Close unsets the underlying media source and signals all streams to close. +func (swapper *hotSwappableMediaSource[T, U]) Close(ctx context.Context) error { + swapper.Swap(nil) + return nil +} + +type hotSwappableMediaSourceStream[T, U any] struct { + mu sync.Mutex + parent *hotSwappableMediaSource[T, U] + errHandlers []ErrorHandler + stream MediaStream[T] + cancelCtx context.Context +} + +func (cs *hotSwappableMediaSourceStream[T, U]) init(ctx context.Context) error { + var err error + if cs.stream != nil { + utils.UncheckedError(cs.stream.Close(ctx)) + cs.stream = nil + } + cs.parent.mu.RLock() + defer cs.parent.mu.RUnlock() + cs.cancelCtx = cs.parent.cancelCtx + if cs.parent.src == nil { + return errSwapperClosed + } + cs.stream, err = cs.parent.src.Stream(ctx, cs.errHandlers...) + return err +} + +func (cs *hotSwappableMediaSourceStream[T, U]) checkStream(ctx context.Context) error { + if cs.stream != nil && cs.cancelCtx.Err() == nil { + return nil + } + return cs.init(ctx) +} + +func (cs *hotSwappableMediaSourceStream[T, U]) Next(ctx context.Context) (T, func(), error) { + cs.mu.Lock() + defer cs.mu.Unlock() + + if err := cs.checkStream(ctx); err != nil { + var zero T + return zero, nil, err + } + return cs.stream.Next(ctx) +} + +func (cs *hotSwappableMediaSourceStream[T, U]) Close(ctx context.Context) error { + cs.mu.Lock() + defer cs.mu.Unlock() + + if cs.stream == nil { + return nil + } + return cs.stream.Close(ctx) +} diff --git a/gostream/templates/index.html b/gostream/templates/index.html new file mode 100644 index 00000000000..7d7227a85bd --- /dev/null +++ b/gostream/templates/index.html @@ -0,0 +1,12 @@ + + + + + gostream + + + + + diff --git a/gostream/tools/tools.go b/gostream/tools/tools.go new file mode 100644 index 00000000000..2571cc78bbe --- /dev/null +++ b/gostream/tools/tools.go @@ -0,0 +1,12 @@ +//go:build tools +// +build tools + +// Package tools defines helper build time tooling needed by the codebase. +package tools + +import ( + _ "github.com/bufbuild/buf/cmd/buf" + _ "github.com/edaniels/golinters/cmd/combined" + _ "github.com/golangci/golangci-lint/cmd/golangci-lint" + _ "github.com/gotesttools/gotestfmt/v2/cmd/gotestfmt" +) diff --git a/gostream/video.go b/gostream/video.go new file mode 100644 index 00000000000..867a99ece14 --- /dev/null +++ b/gostream/video.go @@ -0,0 +1,58 @@ +package gostream + +import ( + "context" + "image" + + "github.com/pion/mediadevices/pkg/driver" + "github.com/pion/mediadevices/pkg/prop" +) + +type ( + // An VideoReader is anything that can read and recycle video data. + VideoReader = MediaReader[image.Image] + + // An VideoReaderFunc is a helper to turn a function into an VideoReader. + VideoReaderFunc = MediaReaderFunc[image.Image] + + // A VideoSource is responsible for producing images when requested. A source + // should produce the image as quickly as possible and introduce no rate limiting + // of its own as that is handled internally. + VideoSource = MediaSource[image.Image] + + // An VideoStream streams video forever until closed. + VideoStream = MediaStream[image.Image] + + // VideoPropertyProvider providers information about a video source. + VideoPropertyProvider = MediaPropertyProvider[prop.Video] +) + +// NewVideoSource instantiates a new video source. +func NewVideoSource(r VideoReader, p prop.Video) VideoSource { + return newMediaSource(nil, r, p) +} + +// NewVideoSourceForDriver instantiates a new video source and references the given driver. +func NewVideoSourceForDriver(d driver.Driver, r VideoReader, p prop.Video) VideoSource { + return newMediaSource(d, r, p) +} + +// ReadImage gets a single image from a video source. Using this has less of a guarantee +// than VideoSource.Stream that the Nth image follows the N-1th image. +func ReadImage(ctx context.Context, source VideoSource) (image.Image, func(), error) { + return ReadMedia(ctx, source) +} + +// NewEmbeddedVideoStream returns a video stream from a video source that is +// intended to be embedded/composed by another source. It defers the creation +// of its stream. +func NewEmbeddedVideoStream(src VideoSource) VideoStream { + return NewEmbeddedMediaStream[image.Image, prop.Video](src) +} + +// NewEmbeddedVideoStreamFromReader returns a video stream from a video reader that is +// intended to be embedded/composed by another source. It defers the creation +// of its stream. +func NewEmbeddedVideoStreamFromReader(reader VideoReader) VideoStream { + return NewEmbeddedMediaStreamFromReader(reader, prop.Video{}) +} diff --git a/gostream/video_test.go b/gostream/video_test.go new file mode 100644 index 00000000000..d972e59e1b0 --- /dev/null +++ b/gostream/video_test.go @@ -0,0 +1,66 @@ +package gostream_test + +import ( + "context" + "image" + "testing" + + "github.com/pion/mediadevices/pkg/driver" + "github.com/pion/mediadevices/pkg/prop" + "go.viam.com/test" + + "go.viam.com/rdk/gostream" +) + +func TestReaderClose(t *testing.T) { + d := newFakeDriver("/dev/fake") + + vrc1 := gostream.NewVideoSourceForDriver(d, newFakeReader(), prop.Video{}) + vrc2 := gostream.NewVideoSourceForDriver(d, newFakeReader(), prop.Video{}) + + if closedCount := d.(*fakeDriver).closedCount; closedCount != 0 { + t.Fatalf("expected driver to be open, but was closed %d times", closedCount) + } + + test.That(t, vrc1.Close(context.Background()), test.ShouldHaveSameTypeAs, &gostream.DriverInUseError{}) + test.That(t, d.(*fakeDriver).closedCount, test.ShouldEqual, 0) + + test.That(t, vrc2.Close(context.Background()), test.ShouldBeNil) + test.That(t, d.(*fakeDriver).closedCount, test.ShouldEqual, 1) +} + +// fakeDriver is a driver has a label and keeps track of how many times it is closed. +type fakeDriver struct { + label string + closedCount int +} + +func (d *fakeDriver) Open() error { return nil } +func (d *fakeDriver) Properties() []prop.Media { return []prop.Media{} } +func (d *fakeDriver) ID() string { return d.label } +func (d *fakeDriver) Info() driver.Info { return driver.Info{Label: d.label} } +func (d *fakeDriver) Status() driver.State { return "FakeState" } + +func (d *fakeDriver) Close() error { + d.closedCount++ + return nil +} + +func newFakeDriver(label string) driver.Driver { + return &fakeDriver{label: label} +} + +// fakeReader is a reader that always returns a pixel-sized canvas. +type fakeReader struct{} + +func (r *fakeReader) Read(_ context.Context) (img image.Image, release func(), err error) { + return image.NewNRGBA(image.Rect(0, 0, 1, 1)), func() {}, nil +} + +func (r *fakeReader) Close(_ context.Context) error { + return nil +} + +func newFakeReader() gostream.MediaReader[image.Image] { + return &fakeReader{} +} diff --git a/gostream/video_transforms.go b/gostream/video_transforms.go new file mode 100644 index 00000000000..a6ffe5f5c4d --- /dev/null +++ b/gostream/video_transforms.go @@ -0,0 +1,48 @@ +package gostream + +import ( + "context" + "image" + + "github.com/disintegration/imaging" + "github.com/pion/mediadevices/pkg/prop" + "go.uber.org/multierr" +) + +type resizeVideoSource struct { + src VideoSource + stream VideoStream + width, height int +} + +// NewResizeVideoSource returns a source that resizes images to the set dimensions. +func NewResizeVideoSource(src VideoSource, width, height int) VideoSource { + rvs := &resizeVideoSource{ + src: src, + stream: NewEmbeddedVideoStream(src), + width: width, + height: height, + } + return NewVideoSource(rvs, prop.Video{ + Width: rvs.width, + Height: rvs.height, + }) +} + +// Read returns a resized image to Width x Height dimensions. +func (rvs resizeVideoSource) Read(ctx context.Context) (image.Image, func(), error) { + img, release, err := rvs.stream.Next(ctx) + if err != nil { + return nil, nil, err + } + if release != nil { + defer release() + } + + return imaging.Resize(img, rvs.width, rvs.height, imaging.NearestNeighbor), func() {}, nil +} + +// Close closes the underlying source. +func (rvs resizeVideoSource) Close(ctx context.Context) error { + return multierr.Combine(rvs.stream.Close(ctx), rvs.src.Close(ctx)) +} diff --git a/gostream/webrtc_track.go b/gostream/webrtc_track.go new file mode 100644 index 00000000000..b09015f9d40 --- /dev/null +++ b/gostream/webrtc_track.go @@ -0,0 +1,354 @@ +package gostream + +import ( + "math" + "strings" + "sync" + "time" + + "github.com/pion/rtp" + "github.com/pion/rtp/codecs" + "github.com/pion/webrtc/v3" + "go.uber.org/multierr" +) + +// Adapted from https://github.com/pion/webrtc/blob/master/track_local_static.go +// TODO(https://github.com/edaniels/gostream/issues/4): go through these comments +// and write them in your own words so that it's consistent and you understand +// what's going on here. + +// trackBinding is a single bind for a Track +// Bind can be called multiple times, this stores the +// result for a single bind call so that it can be used when writing. +type trackBinding struct { + id string + ssrc webrtc.SSRC + payloadType webrtc.PayloadType + writeStream webrtc.TrackLocalWriter +} + +// trackLocalStaticRTP is a TrackLocal that has a pre-set codec and accepts RTP Packets. +// If you wish to send a media.Sample use trackLocalStaticSample. +type trackLocalStaticRTP struct { + mu sync.RWMutex + bindings []trackBinding + codec webrtc.RTPCodecCapability + id, rid, streamID string +} + +// newtrackLocalStaticRTP returns a trackLocalStaticRTP. +func newtrackLocalStaticRTP(c webrtc.RTPCodecCapability, id, streamID string) *trackLocalStaticRTP { + return &trackLocalStaticRTP{ + codec: c, + bindings: []trackBinding{}, + id: id, + streamID: streamID, + } +} + +// Bind is called by the PeerConnection after negotiation is complete +// This asserts that the code requested is supported by the remote peer. +// If so it setups all the state (SSRC and PayloadType) to have a call. +func (s *trackLocalStaticRTP) Bind(t webrtc.TrackLocalContext) (webrtc.RTPCodecParameters, error) { + s.mu.Lock() + defer s.mu.Unlock() + + parameters := webrtc.RTPCodecParameters{RTPCodecCapability: s.codec} + if codec, err := codecParametersFuzzySearch(parameters, t.CodecParameters()); err == nil { + s.bindings = append(s.bindings, trackBinding{ + ssrc: t.SSRC(), + payloadType: codec.PayloadType, + writeStream: t.WriteStream(), + id: t.ID(), + }) + return codec, nil + } + + return webrtc.RTPCodecParameters{}, webrtc.ErrUnsupportedCodec +} + +// Unbind implements the teardown logic when the track is no longer needed. This happens +// because a track has been stopped. +func (s *trackLocalStaticRTP) Unbind(t webrtc.TrackLocalContext) error { + s.mu.Lock() + defer s.mu.Unlock() + + for i := range s.bindings { + if s.bindings[i].id == t.ID() { + s.bindings[i] = s.bindings[len(s.bindings)-1] + s.bindings = s.bindings[:len(s.bindings)-1] + return nil + } + } + + return webrtc.ErrUnbindFailed +} + +// ID is the unique identifier for this Track. This should be unique for the +// stream, but doesn't have to globally unique. A common example would be 'audio' or 'video' +// and StreamID would be 'desktop' or 'webcam'. +func (s *trackLocalStaticRTP) ID() string { return s.id } + +// RID is the RTP stream identifier. +func (s *trackLocalStaticRTP) RID() string { return s.rid } + +// StreamID is the group this track belongs too. This must be unique. +func (s *trackLocalStaticRTP) StreamID() string { return s.streamID } + +// Kind controls if this TrackLocal is audio or video. +func (s *trackLocalStaticRTP) Kind() webrtc.RTPCodecType { + switch { + case strings.HasPrefix(s.codec.MimeType, "audio/"): + return webrtc.RTPCodecTypeAudio + case strings.HasPrefix(s.codec.MimeType, "video/"): + return webrtc.RTPCodecTypeVideo + default: + return webrtc.RTPCodecType(0) + } +} + +// Codec gets the Codec of the track. +func (s *trackLocalStaticRTP) Codec() webrtc.RTPCodecCapability { + return s.codec +} + +// WriteRTP writes a RTP Packet to the trackLocalStaticRTP +// If one PeerConnection fails the packets will still be sent to +// all PeerConnections. The error message will contain the ID of the failed +// PeerConnections so you can remove them. +func (s *trackLocalStaticRTP) WriteRTP(p *rtp.Packet) error { + s.mu.RLock() + defer s.mu.RUnlock() + + writeErrs := []error{} + outboundPacket := *p + + for _, b := range s.bindings { + outboundPacket.Header.SSRC = uint32(b.ssrc) + outboundPacket.Header.PayloadType = uint8(b.payloadType) + if _, err := b.writeStream.WriteRTP(&outboundPacket.Header, outboundPacket.Payload); err != nil { + writeErrs = append(writeErrs, err) + } + } + + return multierr.Combine(writeErrs...) +} + +// Write writes a RTP Packet as a buffer to the trackLocalStaticRTP +// If one PeerConnection fails the packets will still be sent to +// all PeerConnections. The error message will contain the ID of the failed +// PeerConnections so you can remove them. +func (s *trackLocalStaticRTP) Write(b []byte) (n int, err error) { + packet := &rtp.Packet{} + if err = packet.Unmarshal(b); err != nil { + return 0, err + } + + return len(b), s.WriteRTP(packet) +} + +// trackLocalStaticSample is a TrackLocal that has a pre-set codec and accepts Samples. +// If you wish to send a RTP Packet use trackLocalStaticRTP. +type trackLocalStaticSample struct { + packetizer rtp.Packetizer + rtpTrack *trackLocalStaticRTP + sampler samplerFunc + isAudio bool + clockRate uint32 + audioLatency time.Duration +} + +// newVideoTrackLocalStaticSample returns a trackLocalStaticSample for video. +func newVideoTrackLocalStaticSample(c webrtc.RTPCodecCapability, id, streamID string) *trackLocalStaticSample { + return &trackLocalStaticSample{ + rtpTrack: newtrackLocalStaticRTP(c, id, streamID), + } +} + +// newAudioTrackLocalStaticSample returns a trackLocalStaticSample for audio. +func newAudioTrackLocalStaticSample( + c webrtc.RTPCodecCapability, + id, streamID string, +) *trackLocalStaticSample { + return &trackLocalStaticSample{ + rtpTrack: newtrackLocalStaticRTP(c, id, streamID), + isAudio: true, + } +} + +// ID is the unique identifier for this Track. This should be unique for the +// stream, but doesn't have to globally unique. A common example would be 'audio' or 'video' +// and StreamID would be 'desktop' or 'webcam'. +func (s *trackLocalStaticSample) ID() string { return s.rtpTrack.ID() } + +// StreamID is the group this track belongs too. This must be unique. +func (s *trackLocalStaticSample) StreamID() string { return s.rtpTrack.StreamID() } + +// RID is the RTP stream identifier. +func (s *trackLocalStaticSample) RID() string { return s.rtpTrack.RID() } + +// Kind controls if this TrackLocal is audio or video. +func (s *trackLocalStaticSample) Kind() webrtc.RTPCodecType { return s.rtpTrack.Kind() } + +// Codec gets the Codec of the track. +func (s *trackLocalStaticSample) Codec() webrtc.RTPCodecCapability { + return s.rtpTrack.Codec() +} + +const rtpOutboundMTU = 1200 + +// Bind is called by the PeerConnection after negotiation is complete +// This asserts that the code requested is supported by the remote peer. +// If so it setups all the state (SSRC and PayloadType) to have a call. +func (s *trackLocalStaticSample) Bind(t webrtc.TrackLocalContext) (webrtc.RTPCodecParameters, error) { + codec, err := s.rtpTrack.Bind(t) + if err != nil { + return codec, err + } + + s.rtpTrack.mu.Lock() + defer s.rtpTrack.mu.Unlock() + + // We only need one packetizer. But isn't that confusing with other clock rates + // from other codecs? + if s.packetizer != nil { + return codec, nil + } + + payloader, err := payloaderForCodec(codec.RTPCodecCapability) + if err != nil { + return codec, err + } + + // TODO(erd): I think we need to do this for each bind + s.packetizer = rtp.NewPacketizer( + rtpOutboundMTU, + uint8(codec.PayloadType), + uint32(t.SSRC()), + payloader, + rtp.NewRandomSequencer(), + codec.ClockRate, + ) + + s.clockRate = codec.RTPCodecCapability.ClockRate + return codec, nil +} + +func (s *trackLocalStaticSample) setAudioLatency(latency time.Duration) { + s.rtpTrack.mu.Lock() + defer s.rtpTrack.mu.Unlock() + s.audioLatency = latency +} + +// Unbind implements the teardown logic when the track is no longer needed. This happens +// because a track has been stopped. +func (s *trackLocalStaticSample) Unbind(t webrtc.TrackLocalContext) error { + return s.rtpTrack.Unbind(t) +} + +// WriteData writes already encoded data to the trackLocalStaticSample +// If one PeerConnection fails the packets will still be sent to +// all PeerConnections. The error message will contain the ID of the failed +// PeerConnections so you can remove them. +func (s *trackLocalStaticSample) WriteData(frame []byte) error { + s.rtpTrack.mu.Lock() + p := s.packetizer + if p == nil { + s.rtpTrack.mu.Unlock() + return nil + } + if s.isAudio && s.audioLatency == 0 { + return nil + } + sampler := s.sampler + if sampler == nil { + if s.isAudio { + s.sampler = newAudioSampler(s.clockRate, s.audioLatency) + } else { + s.sampler = newVideoSampler(s.clockRate) + } + } + + s.rtpTrack.mu.Unlock() + + if s.sampler == nil { + return nil + } + samples := s.sampler() + packets := p.Packetize(frame, samples) + + writeErrs := []error{} + for _, p := range packets { + if err := s.rtpTrack.WriteRTP(p); err != nil { + writeErrs = append(writeErrs, err) + } + } + + return multierr.Combine(writeErrs...) +} + +// Do a fuzzy find for a codec in the list of codecs +// Used for lookup up a codec in an existing list to find a match. +func codecParametersFuzzySearch(needle webrtc.RTPCodecParameters, haystack []webrtc.RTPCodecParameters) (webrtc.RTPCodecParameters, error) { + // First attempt to match on MimeType + SDPFmtpLine + for _, c := range haystack { + if strings.EqualFold(c.RTPCodecCapability.MimeType, needle.RTPCodecCapability.MimeType) && + c.RTPCodecCapability.SDPFmtpLine == needle.RTPCodecCapability.SDPFmtpLine { + return c, nil + } + } + + // Fallback to just MimeType + for _, c := range haystack { + if strings.EqualFold(c.RTPCodecCapability.MimeType, needle.RTPCodecCapability.MimeType) { + return c, nil + } + } + + return webrtc.RTPCodecParameters{}, webrtc.ErrCodecNotFound +} + +func payloaderForCodec(codec webrtc.RTPCodecCapability) (rtp.Payloader, error) { + switch strings.ToLower(codec.MimeType) { + case strings.ToLower(webrtc.MimeTypeH264): + return &codecs.H264Payloader{}, nil + case strings.ToLower(webrtc.MimeTypeOpus): + return &codecs.OpusPayloader{}, nil + case strings.ToLower(webrtc.MimeTypeVP8): + return &codecs.VP8Payloader{}, nil + case strings.ToLower(webrtc.MimeTypeVP9): + return &codecs.VP9Payloader{}, nil + case strings.ToLower(webrtc.MimeTypeG722): + return &codecs.G722Payloader{}, nil + case strings.ToLower(webrtc.MimeTypePCMU), strings.ToLower(webrtc.MimeTypePCMA): + return &codecs.G711Payloader{}, nil + default: + return nil, webrtc.ErrNoPayloaderForCodec + } +} + +type samplerFunc func() uint32 + +// newVideoSampler creates a video sampler that uses the actual video frame rate and +// the codec's clock rate to come up with a duration for each sample. +func newVideoSampler(clockRate uint32) samplerFunc { + clockRateFloat := float64(clockRate) + lastTimestamp := time.Now() + + return samplerFunc(func() uint32 { + now := time.Now() + duration := now.Sub(lastTimestamp).Seconds() + samples := uint32(math.Round(clockRateFloat * duration)) + lastTimestamp = now + return samples + }) +} + +// newAudioSampler creates a audio sampler that uses a fixed latency and +// the codec's clock rate to come up with a duration for each sample. +func newAudioSampler(clockRate uint32, latency time.Duration) samplerFunc { + samples := uint32(math.Round(float64(clockRate) * latency.Seconds())) + return samplerFunc(func() uint32 { + return samples + }) +} diff --git a/pointcloud/pointcloud_file_test.go b/pointcloud/pointcloud_file_test.go index 2f929ba3c90..4901682789e 100644 --- a/pointcloud/pointcloud_file_test.go +++ b/pointcloud/pointcloud_file_test.go @@ -41,7 +41,7 @@ func TestNewFromFile(t *testing.T) { test.That(t, err, test.ShouldBeNil) test.That(t, nextCloud, test.ShouldResemble, cloud) - cloud, err = NewFromFile(artifact.MustNewPath("pointcloud/test.pcd"), logger) + cloud, err = NewFromFile(artifact.MustPath("pointcloud/test.pcd"), logger) test.That(t, err, test.ShouldBeNil) numPoints = cloud.Size() test.That(t, numPoints, test.ShouldEqual, 293363) diff --git a/rimage/cmd/stream_camera/main.go b/rimage/cmd/stream_camera/main.go index 2128966bae5..69563d4ec64 100644 --- a/rimage/cmd/stream_camera/main.go +++ b/rimage/cmd/stream_camera/main.go @@ -4,13 +4,13 @@ package main import ( "context" - "github.com/viamrobotics/gostream" - "github.com/viamrobotics/gostream/codec/x264" "go.uber.org/multierr" "go.viam.com/utils" "go.viam.com/rdk/components/camera" "go.viam.com/rdk/components/camera/videosource" + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec/x264" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" rutils "go.viam.com/rdk/utils" diff --git a/robot/client/client_test.go b/robot/client/client_test.go index 0a8d26af3eb..9ef4326001c 100644 --- a/robot/client/client_test.go +++ b/robot/client/client_test.go @@ -20,7 +20,6 @@ import ( "github.com/jhump/protoreflect/grpcreflect" "github.com/mitchellh/mapstructure" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" commonpb "go.viam.com/api/common/v1" armpb "go.viam.com/api/component/arm/v1" basepb "go.viam.com/api/component/base/v1" @@ -54,6 +53,7 @@ import ( "go.viam.com/rdk/components/sensor" "go.viam.com/rdk/components/servo" "go.viam.com/rdk/config" + "go.viam.com/rdk/gostream" rgrpc "go.viam.com/rdk/grpc" "go.viam.com/rdk/logging" "go.viam.com/rdk/operation" diff --git a/robot/web/stream/stream.go b/robot/web/stream/stream.go index 4389b2a455f..d0cdbd91ce8 100644 --- a/robot/web/stream/stream.go +++ b/robot/web/stream/stream.go @@ -9,9 +9,9 @@ import ( "math" "time" - "github.com/viamrobotics/gostream" "go.viam.com/utils" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" ) diff --git a/robot/web/stream/stream_test.go b/robot/web/stream/stream_test.go index 6ac2617d8b4..6e90c6aef12 100644 --- a/robot/web/stream/stream_test.go +++ b/robot/web/stream/stream_test.go @@ -11,9 +11,9 @@ import ( "github.com/pion/mediadevices/pkg/prop" "github.com/pion/mediadevices/pkg/wave" "github.com/pion/webrtc/v3" - "github.com/viamrobotics/gostream" "go.viam.com/test" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" webstream "go.viam.com/rdk/robot/web/stream" ) diff --git a/robot/web/web_c.go b/robot/web/web_c.go index eaa235272e4..0363058d0a8 100644 --- a/robot/web/web_c.go +++ b/robot/web/web_c.go @@ -10,13 +10,13 @@ import ( "time" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" - streampb "github.com/viamrobotics/gostream/proto/stream/v1" + streampb "go.viam.com/api/stream/v1" "go.viam.com/utils" "go.viam.com/utils/rpc" "go.viam.com/rdk/components/audioinput" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" "go.viam.com/rdk/robot" diff --git a/robot/web/web_options_cgo.go b/robot/web/web_options_cgo.go index 3cd4c3e6059..972cd542cbe 100644 --- a/robot/web/web_options_cgo.go +++ b/robot/web/web_options_cgo.go @@ -2,7 +2,7 @@ package web -import "github.com/viamrobotics/gostream" +import "go.viam.com/rdk/gostream" // options configures a web service. type options struct { diff --git a/robot/web/web_test.go b/robot/web/web_test.go index 4880a2b126f..dc4c55ff99b 100644 --- a/robot/web/web_test.go +++ b/robot/web/web_test.go @@ -17,11 +17,10 @@ import ( "github.com/google/uuid" "github.com/jhump/protoreflect/grpcreflect" "github.com/lestrrat-go/jwx/jwk" - "github.com/viamrobotics/gostream/codec/x264" - streampb "github.com/viamrobotics/gostream/proto/stream/v1" "go.mongodb.org/mongo-driver/bson/primitive" echopb "go.viam.com/api/component/testecho/v1" robotpb "go.viam.com/api/robot/v1" + streampb "go.viam.com/api/stream/v1" "go.viam.com/test" "go.viam.com/utils" "go.viam.com/utils/rpc" @@ -36,6 +35,7 @@ import ( "go.viam.com/rdk/components/camera" "go.viam.com/rdk/config" gizmopb "go.viam.com/rdk/examples/customresources/apis/proto/api/component/gizmo/v1" + "go.viam.com/rdk/gostream/codec/x264" rgrpc "go.viam.com/rdk/grpc" "go.viam.com/rdk/logging" "go.viam.com/rdk/resource" diff --git a/services/datamanager/builtin/builtin_test.go b/services/datamanager/builtin/builtin_test.go index fc33aead18a..7b29d8c5a65 100644 --- a/services/datamanager/builtin/builtin_test.go +++ b/services/datamanager/builtin/builtin_test.go @@ -11,12 +11,12 @@ import ( "time" "github.com/golang/geo/r3" - "github.com/viamrobotics/gostream" "go.viam.com/test" "go.viam.com/rdk/components/arm" "go.viam.com/rdk/components/camera" "go.viam.com/rdk/config" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/internal/cloud" cloudinject "go.viam.com/rdk/internal/testutils/inject" "go.viam.com/rdk/logging" diff --git a/testutils/inject/audioinput.go b/testutils/inject/audioinput.go index 1095c54e479..18695158c6e 100644 --- a/testutils/inject/audioinput.go +++ b/testutils/inject/audioinput.go @@ -7,9 +7,9 @@ import ( "github.com/pion/mediadevices/pkg/prop" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.viam.com/rdk/components/audioinput" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/resource" ) diff --git a/testutils/inject/camera.go b/testutils/inject/camera.go index 317abe53011..3d2d5b9f38c 100644 --- a/testutils/inject/camera.go +++ b/testutils/inject/camera.go @@ -4,9 +4,9 @@ import ( "context" "github.com/pkg/errors" - "github.com/viamrobotics/gostream" "go.viam.com/rdk/components/camera" + "go.viam.com/rdk/gostream" "go.viam.com/rdk/pointcloud" "go.viam.com/rdk/resource" "go.viam.com/rdk/rimage/transform" diff --git a/web/server/entrypoint_unix.go b/web/server/entrypoint_unix.go index 1e8f398954e..46e0630e2bc 100644 --- a/web/server/entrypoint_unix.go +++ b/web/server/entrypoint_unix.go @@ -3,9 +3,9 @@ package server import ( - "github.com/viamrobotics/gostream" - "github.com/viamrobotics/gostream/codec/opus" - "github.com/viamrobotics/gostream/codec/x264" + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec/opus" + "go.viam.com/rdk/gostream/codec/x264" ) func makeStreamConfig() gostream.StreamConfig { diff --git a/web/server/entrypoint_windows.go b/web/server/entrypoint_windows.go index 412725b56d3..2d6303198b1 100644 --- a/web/server/entrypoint_windows.go +++ b/web/server/entrypoint_windows.go @@ -3,8 +3,8 @@ package server import ( - "github.com/viamrobotics/gostream" - "github.com/viamrobotics/gostream/codec/opus" + "go.viam.com/rdk/gostream" + "go.viam.com/rdk/gostream/codec/opus" ) func makeStreamConfig() gostream.StreamConfig {