IQ.Pilot Release Commit @ 3fe374f

iqpilot/system/webrtc/rtc/tracks.py

@@ -0,0 +1,78 @@
+# ruff: noqa: UP006, UP035
+
+import fractions
+import logging
+import uuid
+from typing import Any, Tuple
+
+
+VIDEO_CLOCK_RATE = 90000
+VIDEO_TIME_BASE = fractions.Fraction(1, VIDEO_CLOCK_RATE)
+
+
+def video_track_id(camera_type: str, track_id: str) -> str:
+  return f"{camera_type}:{track_id}"
+
+
+def parse_video_track_id(track_id: str) -> Tuple[str, str]:
+  parts = track_id.split(":")
+  if len(parts) != 2:
+    raise ValueError(f"Invalid video track id: {track_id}")
+
+  camera_type, track_id = parts
+  return camera_type, track_id
+
+
+class TiciVideoStreamTrack:
+  """
+  Abstract video track which associates video track with camera_type.
+  """
+  kind = "video"
+
+  def __init__(self, camera_type: str, dt: float, time_base: fractions.Fraction = VIDEO_TIME_BASE, clock_rate: int = VIDEO_CLOCK_RATE):
+    assert camera_type in ["driver", "wideRoad", "road"]
+    self._id: str = video_track_id(camera_type, str(uuid.uuid4()))
+    self._dt = dt
+    self._time_base: fractions.Fraction = time_base
+    self._clock_rate: int = clock_rate
+    self._logger = logging.getLogger("WebRTCStream")
+    self.readyState = "live"
+
+  @property
+  def id(self) -> str:
+    return self._id
+
+  def stop(self) -> None:
+    self.readyState = "ended"
+
+  def log_debug(self, msg: Any, *args):
+    self._logger.debug(f"{type(self)}() {msg}", *args)
+
+  async def recv(self):
+    raise NotImplementedError()
+
+  def request_keyframe(self) -> None:
+    pass
+
+
+class TiciTrackWrapper(TiciVideoStreamTrack):
+  """
+  Associates a generic video track with camera_type.
+  """
+  def __init__(self, camera_type: str, track: Any):
+    assert track.kind == "video"
+    super().__init__(camera_type, getattr(track, "_dt", 0.05))
+    try:
+      parsed_camera, _ = parse_video_track_id(track.id)
+      self._id = track.id if parsed_camera == camera_type else video_track_id(camera_type, track.id)
+    except ValueError:
+      self._id = video_track_id(camera_type, track.id)
+    self._track = track
+
+  async def recv(self):
+    return await self._track.recv()
+
+  def stop(self) -> None:
+    super().stop()
+    if hasattr(self._track, "stop"):
+      self._track.stop()