openpilot_comma/tools/bodyteleop/static/js/webrtc.js

import { getXY } from "./controls.js";
import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";

export let dcInterval = null;
export let batteryInterval = null;
export let last_ping = null;


export function createPeerConnection(pc) {
  var config = {
    sdpSemantics: 'unified-plan'
  };

  pc = new RTCPeerConnection(config);

  // connect audio / video
  pc.addEventListener('track', function(evt) {
    console.log("Adding Tracks!")
    if (evt.track.kind == 'video')
      document.getElementById('video').srcObject = evt.streams[0];
    else
      document.getElementById('audio').srcObject = evt.streams[0];
  });
  return pc;
}


export function negotiate(pc) {
  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
    return pc.setLocalDescription(offer);
  }).then(function() {
    return new Promise(function(resolve) {
      if (pc.iceGatheringState === 'complete') {
        resolve();
      }
      else {
        function checkState() {
          if (pc.iceGatheringState === 'complete') {
            pc.removeEventListener('icegatheringstatechange', checkState);
            resolve();
          }
        }
        pc.addEventListener('icegatheringstatechange', checkState);
      }
    });
  }).then(function() {
    var offer = pc.localDescription;
    return fetch('/offer', {
      body: JSON.stringify({
        sdp: offer.sdp,
        type: offer.type,
      }),
      headers: {
        'Content-Type': 'application/json'
      },
      method: 'POST'
    });
  }).then(function(response) {
    console.log(response);
    return response.json();
  }).then(function(answer) {
    return pc.setRemoteDescription(answer);
  }).catch(function(e) {
    alert(e);
  });
}


function isMobile() {
    let check = false;
    (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera);
    return check;
};


export const constraints = {
  audio: {
    autoGainControl: false,
    sampleRate: 48000,
    sampleSize: 16,
    echoCancellation: true,
    noiseSuppression: true,
    channelCount: 1
  },
  video: isMobile()
};


export function createDummyVideoTrack() {
  const canvas = document.createElement('canvas');
  const context = canvas.getContext('2d');
  
  const frameWidth = 5; // Set the width of the frame
  const frameHeight = 5; // Set the height of the frame
  canvas.width = frameWidth;
  canvas.height = frameHeight;
  
  context.fillStyle = 'black';
  context.fillRect(0, 0, frameWidth, frameHeight);
  
  const stream = canvas.captureStream();
  const videoTrack = stream.getVideoTracks()[0];
  
  return videoTrack;
}


export function start(pc, dc) {
  pc = createPeerConnection(pc);

  // add audio track
  navigator.mediaDevices.enumerateDevices()
    .then(function(devices) {
      const hasAudioInput = devices.find((device) => { device.kind === "audioinput" });
      var modifiedConstraints = {};
      modifiedConstraints.video = constraints.video;
      modifiedConstraints.audio = hasAudioInput ? constraints.audio : false;

      return Promise.resolve(modifiedConstraints);
    })
    .then(function(constraints) {
      if (constraints.audio || constraints.video) {
        return navigator.mediaDevices.getUserMedia(constraints);
      } else{
        return Promise.resolve(null);
      }
    })
    .then(function(stream) {
      if (stream) {
        stream.getTracks().forEach(function(track) {
          pc.addTrack(track, stream);
        });
      }

      return negotiate(pc);
    })
    .catch(function(err) {
      alert('Could not acquire media: ' + err);
    });

  // add a fake video?
  // const dummyVideoTrack = createDummyVideoTrack();
  // const dummyMediaStream = new MediaStream();
  // dummyMediaStream.addTrack(dummyVideoTrack);
  // pc.addTrack(dummyVideoTrack, dummyMediaStream);
  
  // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
  // var video = document.querySelector('video');
  // var print = function (e, f){console.log(e, f);  video.requestVideoFrameCallback(print);};
  // video.requestVideoFrameCallback(print);

  var parameters = {"ordered": true};
  dc = pc.createDataChannel('data', parameters);
  dc.onclose = function() {
    console.log("data channel closed");
    clearInterval(dcInterval);
    clearInterval(batteryInterval);
  };
  function controlCommand() {
    const {x, y} = getXY();
    const dt = new Date().getTime();
    var message = JSON.stringify({type: 'control_command', x, y, dt});
    dc.send(message);
  }

  function batteryLevel() {
    var message = JSON.stringify({type: 'battery_level'});
    dc.send(message);
  }
  
  dc.onopen = function() {
    dcInterval = setInterval(controlCommand, 50);
    batteryInterval = setInterval(batteryLevel, 10000);
    controlCommand();
    batteryLevel();
    $(".sound").click((e)=>{
      const sound = $(e.target).attr('id').replace('sound-', '')
      dc.send(JSON.stringify({type: 'play_sound', sound}));
    });
  };

  let val_print_idx = 0;
  dc.onmessage = function(evt) {
    const data = JSON.parse(evt.data);
    if(val_print_idx == 0 && data.type === 'ping_time') {
      const dt = new Date().getTime();
      const pingtime = dt - data.incoming_time;
      pingPoints.push({'x': dt, 'y': pingtime});
        if (pingPoints.length > 1000) {
        pingPoints.shift();
      }
      chartPing.update();
      $("#ping-time").text((pingtime) + "ms");
      last_ping = dt;
      $(".pre-blob").addClass('blob');
    }
    val_print_idx = (val_print_idx + 1 ) % 20;
    if(data.type === 'battery_level') {
      $("#battery").text(data.value + "%");
      batteryPoints.push({'x': new Date().getTime(), 'y': data.value});
        if (batteryPoints.length > 1000) {
        batteryPoints.shift();
      }
      chartBattery.update();
    }
  };
}


export function stop(pc, dc) {
  if (dc) {
    dc.close();
  }
  if (pc.getTransceivers) {
    pc.getTransceivers().forEach(function(transceiver) {
      if (transceiver.stop) {
        transceiver.stop();
      }
    });
  }
  pc.getSenders().forEach(function(sender) {
    sender.track.stop();
  });
  setTimeout(function() {
    pc.close();
  }, 500);
}