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76 lines
2.2 KiB
76 lines
2.2 KiB
import asyncio
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import logging
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import time
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import fractions
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from typing import Any, Optional, Tuple
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import aiortc
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from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
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def video_track_id(camera_type: str, track_id: str) -> str:
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return f"{camera_type}:{track_id}"
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def parse_video_track_id(track_id: str) -> Tuple[str, str]:
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parts = track_id.split(":")
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if len(parts) != 2:
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raise ValueError(f"Invalid video track id: {track_id}")
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camera_type, track_id = parts
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return camera_type, track_id
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class TiciVideoStreamTrack(aiortc.MediaStreamTrack):
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"""
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Abstract video track which associates video track with camera_type
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"""
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kind = "video"
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def __init__(self, camera_type: str, dt: float, time_base: fractions.Fraction = VIDEO_TIME_BASE, clock_rate: int = VIDEO_CLOCK_RATE):
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assert camera_type in ["driver", "wideRoad", "road"]
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super().__init__()
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# override track id to include camera type - client needs that for identification
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self._id: str = video_track_id(camera_type, self._id)
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self._dt: float = dt
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self._time_base: fractions.Fraction = time_base
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self._clock_rate: int = clock_rate
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self._start: Optional[float] = None
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self._logger = logging.getLogger("WebRTCStream")
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def log_debug(self, msg: Any, *args):
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self._logger.debug(f"{type(self)}() {msg}", *args)
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async def next_pts(self, current_pts) -> float:
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pts: float = current_pts + self._dt * self._clock_rate
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data_time = pts * self._time_base
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if self._start is None:
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self._start = time.time() - data_time
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else:
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wait_time = self._start + data_time - time.time()
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await asyncio.sleep(wait_time)
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return pts
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def codec_preference(self) -> Optional[str]:
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return None
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class TiciTrackWrapper(aiortc.MediaStreamTrack):
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"""
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Associates video track with camera_type
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"""
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def __init__(self, camera_type: str, track: aiortc.MediaStreamTrack):
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assert track.kind == "video"
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assert not isinstance(track, TiciVideoStreamTrack)
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super().__init__()
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self._id = video_track_id(camera_type, track.id)
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self._track = track
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@property
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def kind(self) -> str:
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return self._track.kind
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async def recv(self):
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return await self._track.recv()
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