mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
51 lines
1.4 KiB
Python
51 lines
1.4 KiB
Python
import dataclasses
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import struct
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from typing import List
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@dataclasses.dataclass(frozen=True)
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class RtcpReceiverReport:
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ssrc: int
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fraction_lost: int
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packets_lost: int
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highest_seq_no: int
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jitter: int
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lsr: int
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dlsr: int
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def _decode_receiver_reports(message: bytes) -> List[RtcpReceiverReport]:
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reports: List[RtcpReceiverReport] = []
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offset = 0
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while offset + 4 <= len(message):
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flags, packet_type, length_words = struct.unpack_from("!BBH", message, offset)
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packet_end = offset + (length_words + 1) * 4
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if flags >> 6 != 2 or packet_end > len(message):
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break
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report_count = flags & 0x1F
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if packet_type == 200: # Sender Report
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report_offset = offset + 28
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elif packet_type == 201: # Receiver Report
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report_offset = offset + 8
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else:
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offset = packet_end
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continue
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if report_offset + report_count * 24 > packet_end:
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break
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for i in range(report_count):
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block_offset = report_offset + i * 24
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ssrc, loss, highest_seq_no, jitter, lsr, dlsr = struct.unpack_from("!IIIIII", message, block_offset)
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fraction_lost = loss >> 24
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packets_lost = loss & 0xFFFFFF
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if packets_lost & 0x800000:
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packets_lost -= 1 << 24
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reports.append(RtcpReceiverReport(ssrc, fraction_lost, packets_lost, highest_seq_no, jitter, lsr, dlsr))
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offset = packet_end
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return reports
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