mirror of
https://github.com/commaai/teleoprtc.git
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105 lines
3.3 KiB
Python
Executable File
105 lines
3.3 KiB
Python
Executable File
#!/usr/bin/env python
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import argparse
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import asyncio
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import dataclasses
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import json
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import logging
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import aiortc
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from aiortc.mediastreams import VideoStreamTrack
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from aiortc.contrib.media import MediaPlayer
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from bodyrtc import WebRTCOfferBuilder, WebRTCAnswerBuilder
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from bodyrtc.stream import StreamingOffer
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async def async_input():
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return await asyncio.to_thread(input)
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async def StdioConnectionProvider(offer: StreamingOffer) -> aiortc.RTCSessionDescription:
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print("-- Please send this JSON to server --")
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print(json.dumps(dataclasses.asdict(offer)))
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print("-- Press enter when the answer is ready --")
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raw_payload = await async_input()
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payload = json.loads(raw_payload)
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answer = aiortc.RTCSessionDescription(**payload)
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return answer
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async def run_answer(args):
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streams = []
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while True:
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print("-- Please enter a JSON from client --")
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raw_payload = await async_input()
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payload = json.loads(raw_payload)
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offer = StreamingOffer(**payload)
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if args.input_video:
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player = MediaPlayer(args.input_video)
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video_tracks = [player.video() for _ in offer.video]
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else:
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player = None
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video_tracks = [VideoStreamTrack() for _ in offer.video]
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audio_tracks = []
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stream_builder = WebRTCAnswerBuilder(offer.sdp)
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for cam, track in zip(offer.video, video_tracks, strict=True):
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stream_builder.add_video_stream(cam, track)
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for track in audio_tracks:
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stream_builder.add_audio_stream(track)
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stream = stream_builder.stream()
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answer = await stream.start()
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streams.append(stream)
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print("-- Please send this JSON to client --")
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print(json.dumps({"sdp": answer.sdp, "type": answer.type}))
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await stream.wait_for_connection()
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async def run_offer(args):
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stream_builder = WebRTCOfferBuilder(StdioConnectionProvider)
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for cam in args.cameras:
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stream_builder.offer_to_receive_video_stream(cam)
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stream_builder.add_messaging()
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stream = stream_builder.stream()
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_ = await stream.start()
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await stream.wait_for_connection()
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print("Connection established and all tracks are ready")
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tracks = [stream.get_incoming_video_track(cam, False) for cam in args.cameras]
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while True:
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try:
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frames = await asyncio.gather(*[track.recv() for track in tracks])
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for key, frame in zip(args.cameras, frames, strict=True):
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print("Received frame from", key, frame.time)
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except aiortc.mediastreams.MediaStreamError:
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return
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print("=====================================")
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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subparsers = parser.add_subparsers(dest="command", required=True)
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offer_parser = subparsers.add_parser("offer")
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offer_parser.add_argument("cameras", metavar="CAMERA", type=str, nargs="+", default=["driver"], help="Camera types to stream")
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answer_parser = subparsers.add_parser("answer")
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answer_parser.add_argument("--input-video", type=str, required=False, help="Stream from video file instead")
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args = parser.parse_args()
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logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
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logger = logging.getLogger("WebRTCStream")
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logger.setLevel(logging.DEBUG)
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loop = asyncio.get_event_loop()
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if args.command == "offer":
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loop.run_until_complete(run_offer(args))
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elif args.command == "answer":
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loop.run_until_complete(run_answer(args))
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