diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 48219b1..29d13e4 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -4,7 +4,7 @@
"name": "Linux",
"includePath": [
"${workspaceFolder}/**",
- "${workspaceFolder}/3rdparty/ds_pedestrian_mot_hisi/include",
+ "/opt/aarch64-v01c01-linux-gnu-gcc/lib/libdatachannel-0.22.5/include",
"/opt/aarch64-v01c01-linux-gnu-gcc/lib/boost_1_87_0/include",
"/opt/aarch64-v01c01-linux-gnu-gcc/lib/libdatachannel-0.22.5",
"/opt/aarch64-v01c01-linux-gnu-gcc/lib/ZLMediaKit/include",
diff --git a/3rdparty/fsan_sensorsdk/include/sensorsdk_api.h b/3rdparty/fsan_sensorsdk/include/sensorsdk_api.h
new file mode 100644
index 0000000..463da0a
--- /dev/null
+++ b/3rdparty/fsan_sensorsdk/include/sensorsdk_api.h
@@ -0,0 +1,156 @@
+#ifndef __SENSOR_SDK_API_H__
+#define __SENSOR_SDK_API_H__
+
+enum {
+ SENSOR_SDK_SUCC = 0,
+ SENSOR_SDK_INVALID_INPARAM, //参数非法
+ SENSOR_SDK_NOT_INIT, //未初始化
+ SENSOR_SDK_LICENSE_INIT_FAIL, //license 库初始化失败
+ SENSOR_SDK_NOT_AUTH, //未授权
+ SENSOR_SDK_MUTI_PROCESS_INIT, //多个實例初始化
+ SENSOR_SDK_AUTOLENS_GET_PARAM, //获取参数失败
+ SENSOR_SDK_AUTOLENS_SET_PARAM, //设置参数失败
+ SENSOR_SDK_AUTOLENS_SET_AF_PARAM,//设置AF参数失败
+ SENSOR_SDK_ERROR, //其他错误
+
+}SENSOR_SDK_ERROR_TYPE;
+//autolens
+enum {
+
+ SensorSDK_AutoLens_Type_ZeroCheck=0x0, //零点矫正, 无参数
+ SensorSDK_AutoLens_Type_ZoomIn , // 参数 1-10为速度 ，-1 为停止 ，以下无特殊时同此
+ SensorSDK_AutoLens_Type_ZoomOut ,
+ SensorSDK_AutoLens_Type_FocusNear ,
+ SensorSDK_AutoLens_Type_FocusFar ,
+ SensorSDK_AutoLens_Type_FocusAuto , //自动聚焦
+ SensorSDK_AutoLens_Type_EnableAuto , // 设置是否启用自动聚焦
+ SensorSDK_AutoLens_Type_ZoomFocus , // 精确定位到指定的位置,
+ SensorSDK_AutoLens_Type_ZoomPos , // int 精确定位
+ SensorSDK_AutoLens_Type_ZoomRange , // int 定位范围
+ SensorSDK_AutoLens_Type_FocusPos , // int 精确定位
+ SensorSDK_AutoLens_Type_FocusRange , // int 获取 取值范围，精确定位时用
+ SensorSDK_AutoLens_Type_ZoomRate , // int 300 代表3.00倍
+ SensorSDK_AutoLens_Type_IRCUT , // 0 全波段， 1 可见光模式， 2 红外模式
+
+ //new
+ SensorSDK_AutoLens_Type_Iris_OPEN, // 光圈大 //需要带步长参数1-64 光圈范围固定0-0X3FF
+ SensorSDK_AutoLens_Type_Iris_CLOSE, // 光圈小 //需要带步长参数1-64
+ SensorSDK_AutoLens_Type_IrisPos, // 获取光圈位置
+
+ SensorSDK_AutoLens_Type_Fov, //获取对角线视场角精确到0.01度 60度 6000(表示60度)
+ SensorSDK_AutoLens_Type_Auto_Check, //设置镜头曲线校准
+ SensorSDK_AutoLens_Type_AF_Status, //获取 AF状态
+ SensorSDK_AutoLens_Type_ZoomPos_By_Fov, //获取 输入FOV输出ZOOMPOS 调用get接口
+ SensorSDK_AutoLens_Type_Fov_By_ZoomPos, //获取 输入ZOOMPOS的值输出FOV 调用get接口
+ SensorSDK_AutoLens_Type_Efi, //获取焦距
+ SensorSDK_AutoLens_Type_Lens_Offset, //获取镜头中心点偏移量输出水平偏移量和垂直偏移量(**保留暂不使用**)
+ SensorSDK_AutoLens_Type_Check_Offset, //设置镜头中心偏移量校准
+ SensorSDK_AutoLens_Type_IRCUTLensAuto=0x100, //设置 0 :夜晚1:白天
+ SensorSDK_AutoLens_Type_Motor_Hysteresis=0x101, //马达间隙(1-100)步(**保留暂不使用**)
+
+
+}SENSORSDK_AUTOLENS_TYPE_E;
+
+typedef struct
+{
+ int nStop; // 1- 停止
+ int nSpeed; // 速度 1-10， nStop==0时有效
+
+}SensorSDK_AutoLens_Param_Base_T;
+
+
+
+typedef struct
+{
+ union
+ {
+
+ SensorSDK_AutoLens_Param_Base_T Param_Base;
+ int nZoomRate; // 300 代表 3.00倍
+ int nIrCut; // 0-全波段,1-可见光，2红外模式
+ int nZoomPos; // 定位, 先获取范围，再定位，定位必须是有效范围内
+ int nZoomRange; // 范围
+ int nFocusPos; // 定位
+ int nFocusRange; // 聚焦定位取值范围
+ int nEnableAuto; // 使能 自动 聚焦功能
+ int nZoomFocusPos[2]; // nZoomFocusPos[0]:focuspos,nZoomFocusPos[1]:zoompos
+ int nIrStep; // 光圈步长1-64
+ int nIrPos; // 定位
+ int nFOV; // 对角线视场角[ 1, 6000]表示 0.01度到60度
+ int nEFI; // 焦距
+ int nAFStatus; // 自动镜头状态
+ int nFOVZoomPos; // nFOVZoomPos 输入输出
+ int nIRCUTLensAuto; // 0-夜晚 1-白天
+ int ress[4];
+ }Params;
+}SENSOR_SDK_AUTOLENS_PARAM_T;
+
+enum SENSOR_SDK_AF_STATUS_E
+{
+ SENSOR_SDK_AF_STATUS_IDLE = 0x1,
+ SENSOR_SDK_AF_STATUS_DO_ZOOM,
+ SENSOR_SDK_AF_STATUS_DO_FOCUS,
+ SENSOR_SDK_AF_STATUS_DO_AUTO_FOCUS,
+ SENSOR_SDK_AF_STATUS_ZOOM_ING,
+ SENSOR_SDK_AF_STATUS_FOCUS_ING,
+ SENSOR_SDK_AF_STATUS_AUTO_FOCUS_ING,
+ SENSOR_SDK_AF_STATUS_DETECT,
+ SENSOR_SDK_AF_STATUS_TEST,
+};
+
+typedef struct _SensorSDK_CameraLens
+{
+ int AFControlModel; //对焦控制方式 0----自动 1----半自动 2----手动
+ int AFArea; //对焦区域选择 (保留)0----全区域对焦 1----中心对焦
+ int AFSearchModel; //对焦区搜索方式 0 --- 全景, 1 --- 1.5m, 2 --- 3m, 3 --- 6m, 4 --- 无穷远
+ int AFSensitivity; //对焦灵敏度 0 ~255
+ int DigitZoomEnable; //数字ZOOM允许
+ int IrisControl; //光圈调节0 自动 1手动
+} SensorSDK_CameraLens;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+// SDK 初始化接口
+// nFlashPartIdx : 软件授权信息存放的分区索引号,注意分区需要自己提前创建好
+// 例如分区为/dev/mmcblk0p5,此处参数取值为5
+// 分区为/dev/mtd6,此处参数取值为6
+// BoardLine 板接口定义，000，第一位代表zoomfocus顺序，后面两个代表两个电机方向;每位取值为 0或者1
+// szLensType 镜头型号，可取值如下
+ /*
+ "MUXIA_5X",
+ "RICOM_AF3610_4K","YS_15_3_XM02","RICOM_3312_4K","RICOM_27135_6MP", "RICOM_2812_5MP","RICOM_2812_2MP",
+ "YT_6022_3MP","YT_3610_3MP","YT_3611_4K","YT_27135_HD","YT_27135_4MP","YT_2712_HD","YT_2812_4MP","YT_2812_2MP","RICOM_2812_3MP",
+ "YT_550_2MP","RICOM_5M_50MM_1_27F","YT6022","YT3013","YT2712","YT3610","3.6-10mm","YT2812","YT3015","RICON2814","RICON2812","YT2808",
+ "2.8-8mm","RICOM_4K_AF2710DC","RICOM_4K_33_120MM_14F","RICOM_3M_28_120MM_14F","RICOM_5M_38_100MM","RICOM_2M_22_120MM_14F","RICOM_3M_28_80MM"
+ */
+// szAutoLensParmPath: 保存当前变焦状态用的路径,路径必须可写
+// pCameralens: 自动聚焦镜头参数
+
+//return 错误码见 SENSOR_SDK_ERROR_TYPE
+
+//初始化接口
+int SensorSdk_Init(int nFlashPartIdx,char *szBoardLine,char *szLensType ,
+ char *szAutoLensParmPath /* 保存当前变焦状态用的路径 */, SensorSDK_CameraLens *pCameralens = 0);
+
+//获取授权状态 SENSOR_SDK_SUCC-授权成功
+int SensorSdk_GetAuthStatus();
+
+// 镜头变焦变倍 接口
+// 设置 动作
+// nType : 见 SensorSDK_AutoLens_Type_XXX 宏定义
+// nParam : SENSOR_SDK_AUTOLENS_PARAM_T
+int SensorSdk_AutoLens_SetParam(int nDev,int nType,SENSOR_SDK_AUTOLENS_PARAM_T *pParam);
+// 获取当前 信息
+int SensorSdk_AutoLens_GetParam(int nDev,int nType,SENSOR_SDK_AUTOLENS_PARAM_T *pParam);
+//設置自动聚焦镜头参数
+int SensorSdk_AutoLens_SetAFParam(SensorSDK_CameraLens *pCameralens);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+
+#endif
+
diff --git a/3rdparty/fsan_sensorsdk/ko/ants_spi_ms41908_ex.ko b/3rdparty/fsan_sensorsdk/ko/ants_spi_ms41908_ex.ko
new file mode 100644
index 0000000..f0b356b
Binary files /dev/null and b/3rdparty/fsan_sensorsdk/ko/ants_spi_ms41908_ex.ko differ
diff --git a/3rdparty/fsan_sensorsdk/libs/libsensorsdk.so b/3rdparty/fsan_sensorsdk/libs/libsensorsdk.so
new file mode 100644
index 0000000..19fe62e
Binary files /dev/null and b/3rdparty/fsan_sensorsdk/libs/libsensorsdk.so differ
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e7b0c2f..f32551d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,6 +10,7 @@ option(CROSS_BUILD "build for embeded product." ON)
if(CROSS_BUILD)
set(Libraries_ROOT /opt/aarch64-v01c01-linux-gnu-gcc/lib)
set(OpenCV_DIR ${Libraries_ROOT}/opencv-4.11.0/lib/cmake/opencv4)
+ set(LibDataChannel_DIR ${Libraries_ROOT}/libdatachannel-0.22.5/lib/cmake/LibDataChannel)
set(OPENSSL_ROOT_DIR ${Libraries_ROOT}/openssl-3.4.1)
set(OPENSSL_LIBRARY_DIRS ${OPENSSL_ROOT_DIR}/libs)
set(SCTP_ROOT ${Libraries_ROOT}/usrsctp-0.9.5.0)
diff --git a/Main/CMakeLists.txt b/Main/CMakeLists.txt
index e900c6f..6d44bf0 100644
--- a/Main/CMakeLists.txt
+++ b/Main/CMakeLists.txt
@@ -1,28 +1,39 @@
find_package(OpenSSL REQUIRED)
find_package(OpenCV REQUIRED)
+find_package(LibDataChannel REQUIRED)
+find_package(Boost COMPONENTS json REQUIRED)
add_executable(PassengerStatistics main.cpp
+ Camera.h Camera.cpp
ImageUtilities.h ImageUtilities.cpp
RtspServer.h RtspServer.cpp
VideoInput.h VideoInput.cpp
+
+ WebRTC/Streamer.h WebRTC/Streamer.cpp
+ WebRTC/Helpers.h WebRTC/Helpers.cpp
)
target_include_directories(PassengerStatistics
PRIVATE ${CMAKE_SOURCE_DIR}/3rdparty/rw_mpp/include
+ PRIVATE ${CMAKE_SOURCE_DIR}/3rdparty/fsan_sensorsdk/include
PRIVATE ${ZLMediaKit_INCLUDE_DIR}
)
target_link_directories(PassengerStatistics
PRIVATE ${CMAKE_SOURCE_DIR}/3rdparty/rw_mpp/lib
+ PRIVATE ${CMAKE_SOURCE_DIR}/3rdparty/fsan_sensorsdk/libs
PRIVATE ${ZLMediaKit_LIBRARY_DIRS}
PRIVATE ${OPENSSL_LIBRARY_DIRS}
)
target_link_libraries(PassengerStatistics
PRIVATE Kylin::Core
+ PRIVATE LibDataChannel::LibDataChannel
PRIVATE OpenSSL::SSL
PRIVATE OpenSSL::Crypto
+ PRIVATE Boost::json
PRIVATE rw_mpp
+ PRIVATE sensorsdk
PRIVATE mk_api
PRIVATE ${OpenCV_LIBS}
PRIVATE ${SCTP_LIBRARIES}
diff --git a/Main/Camera.cpp b/Main/Camera.cpp
new file mode 100644
index 0000000..81a9555
--- /dev/null
+++ b/Main/Camera.cpp
@@ -0,0 +1,48 @@
+#include "Camera.h"
+#include "Core/Logger.h"
+#include "sensorsdk_api.h"
+
+Camera::Camera() {
+ SensorSDK_CameraLens cameraLens = {};
+ cameraLens.AFControlModel = 2;
+
+ char boardLine[] = "000";
+ char lensType[] = "YT_2812_2MP";
+ char autoLensParmPath[] = "/data";
+ int status = SensorSdk_Init(7, boardLine, lensType, autoLensParmPath, &cameraLens);
+ if (status == 0) {
+ LOG(info) << "SensorSdk_Init() successed.";
+ } else {
+ LOG(info) << "SensorSdk_Init() failed.";
+ }
+
+ SENSOR_SDK_AUTOLENS_PARAM_T parameter = {0};
+ parameter.Params.nIrCut = 1;
+ status = SensorSdk_AutoLens_SetParam(0, SensorSDK_AutoLens_Type_IRCUT, ¶meter);
+ if (status == 0) {
+ LOG(info) << "SensorSdk_AutoLens_SetParam() successed.";
+ } else {
+ LOG(info) << "SensorSdk_AutoLens_SetParam() failed.";
+ }
+ initIrCutGpio();
+}
+
+void Camera::initIrCutGpio() {
+ constexpr auto initCommand = R"(
+ /system/bin/bspmm 0x179f0014 0x1200;
+ echo 84 > /sys/class/gpio/export;
+ echo out > /sys/class/gpio/gpio84/direction;
+ echo 83 > /sys/class/gpio/export;
+ echo out > /sys/class/gpio/gpio83/direction;
+ )";
+ system(initCommand);
+
+ constexpr auto dayCommand = R"(
+ echo 0 > /sys/class/gpio/gpio84/value;
+ echo 1 > /sys/class/gpio/gpio83/value;
+ sleep 1;
+ echo 0 > /sys/class/gpio/gpio84/value;
+ echo 0 > /sys/class/gpio/gpio83/value;
+ )";
+ system(dayCommand);
+}
diff --git a/Main/Camera.h b/Main/Camera.h
new file mode 100644
index 0000000..259cf45
--- /dev/null
+++ b/Main/Camera.h
@@ -0,0 +1,12 @@
+#ifndef __CAMERA_H__
+#define __CAMERA_H__
+
+class Camera {
+public:
+ Camera();
+
+protected:
+ void initIrCutGpio();
+};
+
+#endif // __CAMERA_H__
\ No newline at end of file
diff --git a/Main/VideoInput.cpp b/Main/VideoInput.cpp
index 38325bf..a081b1f 100644
--- a/Main/VideoInput.cpp
+++ b/Main/VideoInput.cpp
@@ -87,8 +87,8 @@ bool VideoInput::startEncode() {
config.raw_max_height = 1664;
config.width = 1280;
config.height = 720;
- config.gop = 15;
- config.framerate = 15;
+ config.gop = 5;
+ config.framerate = 25;
config.rc_type = RC_VBR;
S_venc_rc_vbr vbr;
diff --git a/Main/WebRTC/Helpers.cpp b/Main/WebRTC/Helpers.cpp
new file mode 100644
index 0000000..3e5df91
--- /dev/null
+++ b/Main/WebRTC/Helpers.cpp
@@ -0,0 +1,32 @@
+#include "Helpers.h"
+#include <mutex>
+#include <sys/time.h>
+
+Client::Client(std::shared_ptr<rtc::PeerConnection> pc) {
+ m_peerConnection = pc;
+}
+
+Client::State Client::state() const {
+ std::shared_lock lock(m_mutex);
+ return m_state;
+}
+
+void Client::setState(State state) {
+ std::unique_lock lock(m_mutex);
+ m_state = state;
+}
+
+std::shared_ptr<rtc::PeerConnection> Client::peerConnection() const {
+ return m_peerConnection;
+}
+
+ClientTrack::ClientTrack(std::string id, std::shared_ptr<ClientTrackData> trackData) {
+ this->id = id;
+ this->trackData = trackData;
+}
+
+uint64_t currentTimeInMicroSeconds() {
+ struct timeval time;
+ gettimeofday(&time, NULL);
+ return uint64_t(time.tv_sec) * 1000 * 1000 + time.tv_usec;
+}
diff --git a/Main/WebRTC/Helpers.h b/Main/WebRTC/Helpers.h
new file mode 100644
index 0000000..dd41d0f
--- /dev/null
+++ b/Main/WebRTC/Helpers.h
@@ -0,0 +1,48 @@
+#ifndef __HELPERS_H__
+#define __HELPERS_H__
+
+#include <memory>
+#include <optional>
+#include <rtc/rtc.hpp>
+#include <shared_mutex>
+
+template <class T>
+std::weak_ptr<T> make_weak_ptr(std::shared_ptr<T> ptr) {
+ return ptr;
+}
+
+uint64_t currentTimeInMicroSeconds();
+
+struct ClientTrackData {
+ std::shared_ptr<rtc::Track> track;
+ std::shared_ptr<rtc::RtcpSrReporter> sender;
+};
+
+class Client {
+public:
+ enum class State {
+ Waiting,
+ WaitingForVideo,
+ WaitingForAudio,
+ Ready,
+ };
+ Client(std::shared_ptr<rtc::PeerConnection> pc);
+ State state() const;
+ void setState(State state);
+ std::shared_ptr<rtc::PeerConnection> peerConnection() const;
+ std::optional<std::shared_ptr<ClientTrackData>> video;
+ std::optional<std::shared_ptr<rtc::DataChannel>> dataChannel;
+
+private:
+ mutable std::shared_mutex m_mutex;
+ State m_state = State::Waiting;
+ std::shared_ptr<rtc::PeerConnection> m_peerConnection;
+};
+
+struct ClientTrack {
+ std::string id;
+ std::shared_ptr<ClientTrackData> trackData;
+ ClientTrack(std::string id, std::shared_ptr<ClientTrackData> trackData);
+};
+
+#endif // __HELPERS_H__
\ No newline at end of file
diff --git a/Main/WebRTC/Streamer.cpp b/Main/WebRTC/Streamer.cpp
new file mode 100644
index 0000000..253a0b8
--- /dev/null
+++ b/Main/WebRTC/Streamer.cpp
@@ -0,0 +1,187 @@
+#include "Streamer.h"
+#include "Core/Logger.h"
+#include "Helpers.h"
+#include <boost/asio/io_context.hpp>
+#include <boost/asio/strand.hpp>
+#include <boost/json/parse.hpp>
+#include <boost/json/serialize.hpp>
+#include <rtc/rtc.hpp>
+
+class WebRTCStreamerPrivate {
+public:
+ WebRTCStreamerPrivate(boost::asio::io_context &ioContext) : strand{ioContext.get_executor()} {
+ }
+
+ std::shared_ptr<ClientTrackData> addVideo(const std::shared_ptr<rtc::PeerConnection> pc, const uint8_t payloadType,
+ const uint32_t ssrc, const std::string cname, const std::string msid,
+ const std::function<void(void)> onOpen) {
+ using namespace std::chrono;
+ auto video = rtc::Description::Video(cname);
+ video.addH264Codec(payloadType);
+ video.addSSRC(ssrc, cname, msid, cname);
+ auto track = pc->addTrack(video);
+
+ auto rtpConfig = std::make_shared<rtc::RtpPacketizationConfig>(
+ ssrc, cname, payloadType, rtc::H264RtpPacketizer::defaultClockRate); // create RTP configuration
+ rtpConfig->startTimestamp = rtpConfig->secondsToTimestamp(
+ static_cast<double>(duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count()) / 1000);
+
+ auto packetizer = std::make_shared<rtc::H264RtpPacketizer>(rtc::NalUnit::Separator::StartSequence,
+ rtpConfig); // create packetizer
+
+ auto srReporter = std::make_shared<rtc::RtcpSrReporter>(rtpConfig); // add RTCP SR handler
+ packetizer->addToChain(srReporter);
+
+ auto nackResponder = std::make_shared<rtc::RtcpNackResponder>(); // add RTCP NACK handler
+ packetizer->addToChain(nackResponder);
+
+ track->setMediaHandler(packetizer); // set handler
+ track->onOpen(onOpen);
+ auto trackData = std::make_shared<ClientTrackData>();
+ trackData->track = track;
+ trackData->sender = srReporter;
+ return trackData;
+ }
+
+ std::shared_ptr<Client> createPeerConnection(const rtc::Configuration &config, std::string id) {
+ auto pc = std::make_shared<rtc::PeerConnection>(config);
+ auto client = std::make_shared<Client>(pc);
+
+ pc->onStateChange([this, id](rtc::PeerConnection::State state) {
+ LOG(info) << "State: " << state;
+ if (state == rtc::PeerConnection::State::Disconnected || state == rtc::PeerConnection::State::Failed ||
+ state == rtc::PeerConnection::State::Closed) {
+ boost::asio::post(strand, [this, id]() { m_clients.erase(id); }); // remove disconnected client
+ }
+ });
+
+ pc->onGatheringStateChange([this, wpc = make_weak_ptr(pc), id](rtc::PeerConnection::GatheringState state) {
+ LOG(info) << "Gathering State: " << state;
+ if (state == rtc::PeerConnection::GatheringState::Complete) {
+ if (auto pc = wpc.lock()) {
+ auto description = pc->localDescription();
+ boost::json::object message;
+ message["id"] = id;
+ message["type"] = description->typeString();
+ message["sdp"] = std::string(description.value());
+ websocket->send(boost::json::serialize(message)); // Gathering complete, send answer
+ }
+ }
+ });
+
+ client->video = addVideo(pc, 102, 1, "video-stream", "stream", [this, id, wc = make_weak_ptr(client)]() {
+ boost::asio::post(strand, [this, wc]() {
+ if (auto c = wc.lock()) {
+ c->setState(Client::State::Ready);
+ }
+ });
+ LOG(info) << "Video from " << id << " opened";
+ });
+
+ auto dc = pc->createDataChannel("ping-pong");
+ dc->onOpen([id, wdc = make_weak_ptr(dc)]() {
+ if (auto dc = wdc.lock()) {
+ dc->send("Ping");
+ }
+ });
+
+ dc->onMessage(nullptr, [id, wdc = make_weak_ptr(dc)](std::string msg) {
+ LOG(info) << "Message from " << id << " received: " << msg;
+ if (auto dc = wdc.lock()) {
+ dc->send("Ping");
+ }
+ });
+ client->dataChannel = dc;
+
+ pc->setLocalDescription();
+ return client;
+ }
+ void onWebSocketMesssage(const boost::json::object &message) {
+ if (!message.contains("id") || !message.contains("type")) return;
+ std::string id = std::string(message.at("id").as_string());
+ std::string type = std::string(message.at("type").as_string());
+ if (type == "request") {
+ m_clients.emplace(id, createPeerConnection(configuration, id));
+ } else if (type == "answer") {
+ if (m_clients.count(id)) {
+ auto &peer = m_clients.at(id);
+ std::string sdp = std::string(message.at("sdp").as_string());
+ auto pc = peer->peerConnection();
+ auto description = rtc::Description(sdp, type);
+ pc->setRemoteDescription(description);
+ }
+ }
+ }
+ boost::asio::strand<boost::asio::io_context::executor_type> strand;
+ rtc::Configuration configuration;
+ std::shared_ptr<rtc::WebSocket> websocket;
+ std::unordered_map<std::string, std::shared_ptr<Client>> m_clients;
+};
+
+Streamer::~Streamer() {
+ if (m_d != nullptr) {
+ delete m_d;
+ }
+}
+
+void Streamer::start(const std::string &signalServerAddress, uint16_t signalServerPort) {
+ using namespace std::chrono_literals;
+
+ std::string localId = "server";
+ LOG(info) << "The local ID is: " << localId;
+
+ rtc::WebSocket::Configuration c;
+ c.disableTlsVerification = true;
+ m_d->websocket = std::make_shared<rtc::WebSocket>(c);
+ m_d->websocket->onOpen([]() { LOG(info) << "WebSocket connected, signaling ready"; });
+ m_d->websocket->onClosed([]() { LOG(info) << "WebSocket closed"; });
+ m_d->websocket->onError([](const std::string &error) { LOG(error) << "WebSocket failed: " << error; });
+
+ m_d->websocket->onMessage([this](std::variant<rtc::binary, std::string> data) {
+ if (!std::holds_alternative<std::string>(data)) return;
+ auto &text = std::get<std::string>(data);
+ LOG(info) << "ws received: " << std::endl << text;
+ auto value = boost::json::parse(text);
+ boost::asio::post(m_d->strand,
+ [this, value = std::move(value)]() { m_d->onWebSocketMesssage(value.as_object()); });
+ });
+
+ const std::string url =
+ "wss://" + signalServerAddress + ":" + std::to_string(signalServerPort) + "/api/v1/webrtc/signal/" + localId;
+ LOG(info) << "URL is " << url;
+ m_d->websocket->open(url);
+ LOG(info) << "Waiting for signaling to be connected...";
+}
+
+void Streamer::push(const uint8_t *data, uint32_t size) {
+ using namespace std::chrono;
+ boost::asio::post(m_d->strand, [this, frame = rtc::binary(reinterpret_cast<const rtc::byte *>(data),
+ reinterpret_cast<const rtc::byte *>(data) + size)]() {
+ for (auto &[id, client] : m_d->m_clients) {
+ if (client->state() != Client::State::Ready) continue;
+ auto sender = (*client->video)->sender;
+ auto track = (*client->video)->track;
+
+ sender->rtpConfig->timestamp = sender->rtpConfig->secondsToTimestamp(
+ static_cast<double>(duration_cast<milliseconds>(system_clock::now().time_since_epoch()).count()) /
+ 1000);
+ auto reportElapsedTimestamp = sender->rtpConfig->timestamp - sender->lastReportedTimestamp();
+ if (sender->rtpConfig->timestampToSeconds(reportElapsedTimestamp) > 1) {
+ sender->setNeedsToReport();
+ }
+ track->send(frame);
+ }
+ });
+}
+
+Streamer::Streamer(boost::asio::io_context &ioContext) : m_d{new WebRTCStreamerPrivate(ioContext)} {
+ rtc::InitLogger(rtc::LogLevel::Debug);
+ std::string stunServer = "stun:amass.fun:5349"; // ssl
+ m_d->configuration.iceServers.emplace_back(stunServer);
+ LOG(info) << "STUN server is " << stunServer;
+
+ rtc::IceServer turnServer("amass.fun", 5349, "amass", "88888888");
+ m_d->configuration.iceServers.emplace_back(turnServer);
+
+ m_d->configuration.disableAutoNegotiation = true;
+}
diff --git a/Main/WebRTC/Streamer.h b/Main/WebRTC/Streamer.h
new file mode 100644
index 0000000..d91ca75
--- /dev/null
+++ b/Main/WebRTC/Streamer.h
@@ -0,0 +1,25 @@
+#ifndef __WEBRTCSTREAMER_H__
+#define __WEBRTCSTREAMER_H__
+
+#include <memory>
+#include <string>
+
+namespace boost {
+namespace asio {
+class io_context;
+}
+} // namespace boost
+class WebRTCStreamerPrivate;
+
+class Streamer {
+public:
+ Streamer(boost::asio::io_context &ioContext);
+ ~Streamer();
+ void start(const std::string &signalServerAddress, uint16_t signalServerPort);
+ void push(const uint8_t *data, uint32_t size);
+
+private:
+ WebRTCStreamerPrivate *m_d = nullptr;
+};
+
+#endif // __WEBRTCSTREAMER_H__
\ No newline at end of file
diff --git a/Main/main.cpp b/Main/main.cpp
index 2c79506..9b659c3 100644
--- a/Main/main.cpp
+++ b/Main/main.cpp
@@ -1,9 +1,11 @@
+#include "Camera.h"
#include "Core/DateTime.h"
#include "Core/IoContext.h"
#include "Core/Logger.h"
#include "Core/Singleton.h"
#include "RtspServer.h"
#include "VideoInput.h"
+#include "WebRTC/Streamer.h"
#include "rw_mpp_api.h"
#include <boost/asio/signal_set.hpp>
#include <fstream>
@@ -17,21 +19,16 @@ int main(int argc, char const *argv[]) {
return -1;
}
try {
+ auto camera = Singleton<Camera>::construct();
auto ioContext = Singleton<IoContext>::construct(std::thread::hardware_concurrency());
auto rtsp = std::make_shared<RtspServer>();
-
- std::shared_ptr<std::ofstream> ofs;
- std::ostringstream oss;
- oss << "/data/sdcard/video/record_" << DateTime::currentDateTime().toString("%Y%m%d%H%M%S") << ".h264";
- auto path = oss.str();
- LOG(info) << "write h264 to " << path;
- ofs = std::make_shared<std::ofstream>(path, std::ofstream::binary);
+ auto streamer = std::make_shared<Streamer>(*ioContext->ioContext());
+ streamer->start("amass.fun", 443);
auto video = std::make_shared<VideoInput>(2592, 1536);
video->setPacketHandler([&](const uint8_t *data, uint32_t size) {
- // ofs->write(reinterpret_cast<const char *>(data), size);
- // pusher->push(data, size);
rtsp->push(data, size);
+ streamer->push(data, size);
});
video->start();
// video->startFileInput("/data/sdcard/HM1.264", 1280, 720);
diff --git a/resources/build.sh b/resources/build.sh
index b505dbb..f27521b 100755
--- a/resources/build.sh
+++ b/resources/build.sh
@@ -70,8 +70,9 @@ function init() {
echo "put /opt/aarch64-v01c01-linux-gnu-gcc/lib/ZLMediaKit/lib/libmk_api.so /data/sdcard/PassengerStatistics/lib" | sftp danki
echo "put /opt/aarch64-v01c01-linux-gnu-gcc/lib/opencv-4.11.0/lib/libopencv_world.so.4.11.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
echo "put /opt/aarch64-v01c01-linux-gnu-gcc/lib/usrsctp-0.9.5.0/lib/libusrsctp.so.2.0.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
+ echo "put /opt/aarch64-v01c01-linux-gnu-gcc/lib/libdatachannel-0.22.5/lib/libdatachannel.so.0.22.5 /data/sdcard/PassengerStatistics/lib" | sftp danki
# echo "put /opt/aarch64-v01c01-linux-gnu-gcc/lib/LeakTracer/libleaktracer.so /data/sdcard/PassengerStatistics/lib" | sftp -i resources/ssh_host_rsa_key_ok root@${TARGET_IP}
- # echo "put ${BOOST_LIBDIR}/libboost_regex.so.1.84.0 /system/lib" | sftp -i resources/ssh_host_rsa_key_ok root@${TARGET_IP}
+ echo "put ${BOOST_LIBDIR}/libboost_container.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
echo "put ${BOOST_LIBDIR}/libboost_log_setup.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
echo "put ${BOOST_LIBDIR}/libboost_log.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
echo "put ${BOOST_LIBDIR}/libboost_atomic.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
@@ -80,7 +81,7 @@ function init() {
echo "put ${BOOST_LIBDIR}/libboost_filesystem.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
echo "put ${BOOST_LIBDIR}/libboost_thread.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
# echo "put ${BOOST_LIBDIR}/libboost_url.so.1.84.0 /system/lib" | sftp -i resources/ssh_host_rsa_key_ok root@${TARGET_IP}
- # echo "put ${BOOST_LIBDIR}/libboost_json.so.1.84.0 /system/lib" | sftp -i resources/ssh_host_rsa_key_ok root@${TARGET_IP}
+ echo "put ${BOOST_LIBDIR}/libboost_json.so.1.87.0 /data/sdcard/PassengerStatistics/lib" | sftp danki
# echo "put ${BOOST_LIBDIR}/libboost_program_options.so.1.84.0 /system/lib" | sftp -i resources/ssh_host_rsa_key_ok root@${TARGET_IP}
# ssh -i resources/ssh_host_rsa_key_ok root@${TARGET_IP} "echo 'mount -o remount rw /' >> /etc/profile"