158 lines
4.5 KiB
Python
158 lines
4.5 KiB
Python
import threading
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import time
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import asyncio
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import socketio
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import numpy as np
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import cv2
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import av
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from aiortc import (
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MediaStreamError,
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RTCConfiguration,
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RTCPeerConnection,
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RTCSessionDescription,
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VideoStreamTrack,
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)
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from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
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class WebRTCServer:
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def __init__(self, fps):
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self.pcs = set()
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self.fps = fps
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self.frameContainer = [None]
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self.background_loop = asyncio.new_event_loop()
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self._rtc_thread = threading.Thread(
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target=self._start_background_loop,
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args=(self.background_loop,),
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daemon=True,
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)
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self._rtc_thread.start()
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self.server = "ws://10.128.50.6:5000"
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def _start_background_loop(self, loop):
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asyncio.set_event_loop(loop)
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loop.run_forever()
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async def _websocket_start(self):
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sio = socketio.AsyncClient()
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@sio.event
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async def connect():
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print("已连接到中心信令服务器")
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# TODO 注册自己为设备
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await sio.emit("checkin", {"device_id": "cam_001"})
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@sio.event
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async def offer(data):
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# data 包含: { sdp: "...", type: "offer", "sid": "..." }
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print("收到 WebRTC Offer")
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localDescription = await self._handle_offer(data)
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await sio.emit(
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"answer",
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{
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"sdp": localDescription.sdp,
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"type": localDescription.type,
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"sid": data["sid"],
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},
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)
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await sio.connect(self.server)
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print(self.server, "connected")
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await sio.wait()
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async def _handle_offer(self, offer):
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pc = RTCPeerConnection(RTCConfiguration(iceServers=[]))
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self.pcs.add(pc)
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start = time.time()
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@pc.on("connectionstatechange")
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async def on_state_change():
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if pc.connectionState == "failed" or pc.connectionState == "closed":
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await pc.close()
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print("Connection closed")
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self.pcs.discard(pc)
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@pc.on("datachannel")
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def on_data_channel(channel):
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route_channel(channel)
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await pc.setRemoteDescription(
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RTCSessionDescription(offer["sdp"], offer.get("type", "offer"))
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)
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pc.addTrack(VideoFrameTrack(self.fps, self.frameContainer))
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answer = await pc.createAnswer()
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await pc.setLocalDescription(answer)
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print(f"Handle offer in {(time.time() - start)*1000:.2f}ms")
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return pc.localDescription
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def start(self):
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asyncio.run_coroutine_threadsafe(self._websocket_start(), self.background_loop)
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def provide_frame(self, frame):
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self.frameContainer[0] = frame
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def stop(self):
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if self.background_loop.is_running():
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self.background_loop.call_soon_threadsafe(self.background_loop.stop)
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if self._rtc_thread.is_alive():
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self._rtc_thread.join(timeout=2)
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class VideoFrameTrack(VideoStreamTrack):
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def __init__(self, fps, fc):
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super().__init__()
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self.fps = fps
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self.frameContainer = fc
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async def next_timestamp(self):
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"""
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重写父类方法，去除帧率限制
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"""
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if self.readyState != "live":
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raise MediaStreamError
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if hasattr(self, "_timestamp"):
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self._timestamp += int(1 / self.fps * VIDEO_CLOCK_RATE)
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wait = self._start + (self._timestamp / VIDEO_CLOCK_RATE) - time.time()
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await asyncio.sleep(wait)
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else:
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self._start = time.time()
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self._timestamp = 0
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return self._timestamp, VIDEO_TIME_BASE
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async def recv(self):
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pts, time_base = await self.next_timestamp()
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frame = self.frameContainer[0]
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if frame is None:
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frame = np.zeros((480, 640, 3), dtype=np.uint8)
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else:
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frame = self.frameContainer[0]
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frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
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video_frame = av.VideoFrame.from_ndarray(frame, format="rgb24")
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video_frame.pts = pts
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video_frame.time_base = time_base
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return video_frame
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def route_channel(channel):
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match channel.label:
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case "latency":
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@channel.on("message")
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def on_message(message):
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now = int(time.time() * 1000 + 0.5)
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channel.send(str(now))
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pre = int(message)
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print(f"Latency: {now - pre}ms")
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case _:
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print(f"Unknown Channel {channel.label}")
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