You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
69 lines
2.0 KiB
69 lines
2.0 KiB
import asyncio
|
|
from typing import Optional
|
|
|
|
import av
|
|
from teleoprtc.tracks import TiciVideoStreamTrack
|
|
|
|
from cereal import messaging
|
|
from openpilot.tools.lib.framereader import FrameReader
|
|
from openpilot.common.realtime import DT_MDL, DT_DMON
|
|
|
|
|
|
class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
|
|
camera_to_sock_mapping = {
|
|
"driver": "livestreamDriverEncodeData",
|
|
"wideRoad": "livestreamWideRoadEncodeData",
|
|
"road": "livestreamRoadEncodeData",
|
|
}
|
|
|
|
def __init__(self, camera_type: str):
|
|
dt = DT_DMON if camera_type == "driver" else DT_MDL
|
|
super().__init__(camera_type, dt)
|
|
|
|
self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
|
|
self._pts = 0
|
|
|
|
async def recv(self):
|
|
while True:
|
|
msg = messaging.recv_one_or_none(self._sock)
|
|
if msg is not None:
|
|
break
|
|
await asyncio.sleep(0.005)
|
|
|
|
evta = getattr(msg, msg.which())
|
|
|
|
packet = av.Packet(evta.header + evta.data)
|
|
packet.time_base = self._time_base
|
|
packet.pts = self._pts
|
|
|
|
self.log_debug("track sending frame %s", self._pts)
|
|
self._pts += self._dt * self._clock_rate
|
|
|
|
return packet
|
|
|
|
def codec_preference(self) -> Optional[str]:
|
|
return "H264"
|
|
|
|
|
|
class FrameReaderVideoStreamTrack(TiciVideoStreamTrack):
|
|
def __init__(self, input_file: str, dt: float = DT_MDL, camera_type: str = "driver"):
|
|
super().__init__(camera_type, dt)
|
|
|
|
frame_reader = FrameReader(input_file)
|
|
self._frames = [frame_reader.get(i, pix_fmt="rgb24") for i in range(frame_reader.frame_count)]
|
|
self._frame_count = len(self.frames)
|
|
self._frame_index = 0
|
|
self._pts = 0
|
|
|
|
async def recv(self):
|
|
self.log_debug("track sending frame %s", self._pts)
|
|
img = self._frames[self._frame_index]
|
|
|
|
new_frame = av.VideoFrame.from_ndarray(img, format="rgb24")
|
|
new_frame.pts = self._pts
|
|
new_frame.time_base = self._time_base
|
|
|
|
self._frame_index = (self._frame_index + 1) % self._frame_count
|
|
self._pts = await self.next_pts(self._pts)
|
|
|
|
return new_frame
|
|
|