wipf

go.mod

@@ -401,3 +401,5 @@ require (
 	github.com/ziutek/mymysql v1.5.4 // indirect
 	golang.org/x/exp v0.0.0-20230725012225-302865e7556b
 )
+
+replace go.viam.com/utils => github.com/nicksanford/goutils v0.0.0-20240621203708-64f2ab5ce1c5

go.sum

@@ -1030,6 +1030,8 @@ github.com/nbutton23/zxcvbn-go v0.0.0-20210217022336-fa2cb2858354 h1:4kuARK6Y6Fx
 github.com/nbutton23/zxcvbn-go v0.0.0-20210217022336-fa2cb2858354/go.mod h1:KSVJerMDfblTH7p5MZaTt+8zaT2iEk3AkVb9PQdZuE8=
 github.com/nfnt/resize v0.0.0-20180221191011-83c6a9932646 h1:zYyBkD/k9seD2A7fsi6Oo2LfFZAehjjQMERAvZLEDnQ=
 github.com/nfnt/resize v0.0.0-20180221191011-83c6a9932646/go.mod h1:jpp1/29i3P1S/RLdc7JQKbRpFeM1dOBd8T9ki5s+AY8=
+github.com/nicksanford/goutils v0.0.0-20240621203708-64f2ab5ce1c5 h1:H5hkz1B66vck5csOHfe4CN8G2DaBCkNOt/aMwNjeMYE=
+github.com/nicksanford/goutils v0.0.0-20240621203708-64f2ab5ce1c5/go.mod h1:G1biDWOtjs8gbQDfJpc9NJuz+gxfqM07gSIqekeZE7M=
 github.com/niemeyer/pretty v0.0.0-20200227124842-a10e7caefd8e/go.mod h1:zD1mROLANZcx1PVRCS0qkT7pwLkGfwJo4zjcN/Tysno=
 github.com/nishanths/exhaustive v0.1.0/go.mod h1:S1j9110vxV1ECdCudXRkeMnFQ/DQk9ajLT0Uf2MYZQQ=
 github.com/nishanths/exhaustive v0.11.0 h1:T3I8nUGhl/Cwu5Z2hfc92l0e04D2GEW6e0l8pzda2l0=
@@ -1544,8 +1546,6 @@ go.viam.com/api v0.1.311 h1:SFSlK2ol2mGD82XKofDrGIP4g1cxBRhQrrbMfMYAxk8=
 go.viam.com/api v0.1.311/go.mod h1:msa4TPrMVeRDcG4YzKA/S6wLEUC7GyHQE973JklrQ10=
 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 v0.1.82 h1:4X687qm+Qvl8aV6BKttqELnRJaigvk7JPUAwHDvAf2g=
-go.viam.com/utils v0.1.82/go.mod h1:G1biDWOtjs8gbQDfJpc9NJuz+gxfqM07gSIqekeZE7M=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2 h1:WJhcL4p+YeDxmZWg141nRm7XC8IDmhz7lk5GpadO1Sg=
 go4.org/unsafe/assume-no-moving-gc v0.0.0-20230525183740-e7c30c78aeb2/go.mod h1:FftLjUGFEDu5k8lt0ddY+HcrH/qU/0qk+H8j9/nTl3E=
 gocv.io/x/gocv v0.25.0/go.mod h1:Rar2PS6DV+T4FL+PM535EImD/h13hGVaHhnCu1xarBs=

gostream/webrtc_track.go

@@ -181,6 +181,7 @@ func (s *trackLocalStaticRTP) WriteRTP(p *rtp.Packet) error {
 	} else {
 		golog.Global().Warnf("publishing out of order message p.Header.SequenceNumber(%d), originalSN: %d, highestSequenceNumber: %d", p.Header.SequenceNumber, originalSequenceNumber, s.highestSequenceNumber)
 	}
+	golog.Global().Debugf("SN: %d", p.Header.SequenceNumber)
 
 	writeErrs := []error{}
 	outboundPacket := *p

grpc/conn.go

@@ -62,6 +62,8 @@ func (c *ReconfigurableClientConn) NewStream(
 // ReplaceConn replaces the underlying client connection with the connection passed in. This does not close the
 // old connection, the caller is expected to close it if needed.
 func (c *ReconfigurableClientConn) ReplaceConn(conn rpc.ClientConn) {
+	golog.Global().Info("ReplaceConn START")
+	defer golog.Global().Info("ReplaceConn END")
 	c.connMu.Lock()
 	c.conn = conn
 	// It is safe to access this without a mutex as it is only ever nil once at the beginning of the

robot/web/stream/state/state.go

@@ -459,7 +459,7 @@ func (ss *StreamState) streamH264Passthrough() error {
 				ss.logger.Infof("calling WriteRTP %s", ss.Stream.Name())
 			}
 			count.Add(1)
-			ss.logger.Infof("SequenceNumber: %d", pkt.Header.SequenceNumber)
+			ss.logger.Debugf("SequenceNumber: %d", pkt.Header.SequenceNumber)
 			if err := ss.Stream.WriteRTP(pkt); err != nil {
 				ss.logger.Debugw("stream.WriteRTP", "name", ss.Stream.Name(), "err", err.Error())
 			}