116 lines
4.2 KiB
Rust
116 lines
4.2 KiB
Rust
// server/src/video.rs
|
|
|
|
use anyhow::Context;
|
|
use gstreamer as gst;
|
|
use gstreamer_app as gst_app;
|
|
use gst::prelude::*;
|
|
use gst::{log, MessageView};
|
|
use lesavka_common::lesavka::VideoPacket;
|
|
use tokio_stream::wrappers::ReceiverStream;
|
|
use tonic::Status;
|
|
use tracing::{debug, enabled, trace, Level};
|
|
|
|
const EYE_ID: [&str; 2] = ["l", "r"];
|
|
static START: std::sync::OnceLock<gst::ClockTime> = std::sync::OnceLock::new();
|
|
|
|
pub async fn eye_ball(
|
|
dev: &str,
|
|
id: u32,
|
|
_max_bitrate_kbit: u32,
|
|
) -> anyhow::Result<ReceiverStream<Result<VideoPacket, Status>>> {
|
|
let eye = EYE_ID[id as usize];
|
|
gst::init().context("gst init")?;
|
|
|
|
// let desc = format!(
|
|
// "v4l2src device={dev} io-mode=mmap ! \
|
|
// video/x-h264,stream-format=byte-stream,alignment=au,profile=high ! \
|
|
// h264parse config-interval=-1 ! \
|
|
// appsink name=sink emit-signals=true drop=true sync=false"
|
|
// );
|
|
let desc = format!(
|
|
"v4l2src device={dev} io-mode=mmap ! videorate skip-to-first=true ! \
|
|
queue2 max-size-buffers=0 max-size-bytes=0 min-threshold-time=10000000 ! \
|
|
video/x-h264,stream-format=byte-stream,alignment=au,profile=high ! \
|
|
h264parse config-interval=1 ! \
|
|
appsink name=sink emit-signals=true drop=false sync=false"
|
|
);
|
|
|
|
let pipeline = gst::parse::launch(&desc)?
|
|
.downcast::<gst::Pipeline>()
|
|
.expect("pipeline down-cast");
|
|
|
|
let sink = pipeline
|
|
.by_name("sink")
|
|
.expect("appsink")
|
|
.dynamic_cast::<gst_app::AppSink>()
|
|
.expect("appsink down-cast");
|
|
|
|
let (tx, rx) = tokio::sync::mpsc::channel(8192);
|
|
|
|
sink.set_callbacks(
|
|
gst_app::AppSinkCallbacks::builder()
|
|
.new_sample(move |sink| {
|
|
/* -------- pull frame ---------- */
|
|
let sample = sink.pull_sample().map_err(|_| gst::FlowError::Eos)?;
|
|
let buffer = sample.buffer().ok_or(gst::FlowError::Error)?;
|
|
|
|
/* -------- map once, reuse ----- */
|
|
let map = buffer.map_readable().map_err(|_| gst::FlowError::Error)?;
|
|
|
|
/* -------- basic counters ------ */
|
|
static FRAME: std::sync::atomic::AtomicU64 =
|
|
std::sync::atomic::AtomicU64::new(0);
|
|
let n = FRAME.fetch_add(1, std::sync::atomic::Ordering::Relaxed);
|
|
if n % 120 == 0 {
|
|
trace!(target: "lesavka_server::video", "eye-{eye}: delivered {n} frames");
|
|
if enabled!(Level::TRACE) {
|
|
let path = format!("/tmp/eye-{eye}-srv-{:05}.h264", n);
|
|
std::fs::write(&path, map.as_slice()).ok();
|
|
}
|
|
}
|
|
|
|
/* -------- detect SPS / IDR ---- */
|
|
if enabled!(Level::DEBUG) {
|
|
if let Some(&nal) = map.as_slice().get(4) {
|
|
if (nal & 0x1F) == 0x05 /* IDR */ {
|
|
debug!("eye-{eye}: IDR");
|
|
}
|
|
}
|
|
}
|
|
|
|
/* -------- timestamps ---------- */
|
|
let origin = *START.get_or_init(|| buffer.pts().unwrap_or(gst::ClockTime::ZERO));
|
|
let pts_us = buffer
|
|
.pts()
|
|
.unwrap_or(gst::ClockTime::ZERO)
|
|
.saturating_sub(origin)
|
|
.nseconds()
|
|
/ 1_000;
|
|
|
|
/* -------- ship over gRPC ----- */
|
|
let pkt = VideoPacket {
|
|
id,
|
|
pts: pts_us,
|
|
data: map.as_slice().to_vec(),
|
|
};
|
|
tracing::trace!("srv→grpc eye-{eye} {} bytes pts={}", pkt.data.len(), pkt.pts);
|
|
let _ = tx.try_send(Ok(pkt));
|
|
|
|
Ok(gst::FlowSuccess::Ok)
|
|
})
|
|
.build(),
|
|
);
|
|
|
|
pipeline.set_state(gst::State::Playing)?;
|
|
let bus = pipeline.bus().unwrap();
|
|
loop {
|
|
match bus.timed_pop(gst::ClockTime::NONE) {
|
|
Some(msg) if matches!(msg.view(), MessageView::StateChanged(s)
|
|
if s.current() == gst::State::Playing) => break,
|
|
Some(_) => continue,
|
|
None => continue,
|
|
}
|
|
}
|
|
Ok(ReceiverStream::new(rx))
|
|
}
|