IQ.Pilot Prebuilt Release @ ab07000

2026-08-22 23:42:42 -05:00
commit 9f9c9a70cc
3729 changed files with 778697 additions and 0 deletions
--- a/teleoprtc_repo/tests/test_info.py
+++ b/teleoprtc_repo/tests/test_info.py
@@ -0,0 +1,146 @@
+#!/usr/bin/env python3
+
+from teleoprtc.info import parse_info_from_offer
+
+
+def lf2crlf(x):
+    return x.replace("\n", "\r\n")
+
+
+class TestStream:
+  def test_double_video_tracks(self):
+    sdp = """v=0
+o=- 3910210993 3910210993 IN IP4 0.0.0.0
+s=-
+t=0 0
+a=group:BUNDLE 0 1
+a=msid-semantic:WMS *
+m=video 9 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102
+c=IN IP4 0.0.0.0
+a=recvonly
+a=extmap:1 urn:ietf:params:rtp-hdrext:sdes:mid
+a=extmap:2 http://www.webrtc.org/experiments/rtp-hdrext/abs-send-time
+a=mid:0
+a=msid:e123f852-010c-4b7b-8761-71b72fbfd013 2b75cb0e-6b34-48d6-8bf9-21b809f2e08e
+a=rtcp:9 IN IP4 0.0.0.0
+a=rtcp-mux
+a=ssrc-group:FID 1048118556 4149054509
+a=ssrc:1048118556 cname:61992fce-bab5-42a0-ab8c-7112adfb1857
+a=ssrc:4149054509 cname:61992fce-bab5-42a0-ab8c-7112adfb1857
+a=rtpmap:97 VP8/90000
+a=rtcp-fb:97 nack
+a=rtcp-fb:97 nack pli
+a=rtcp-fb:97 goog-remb
+a=rtpmap:98 rtx/90000
+a=fmtp:98 apt=97
+a=rtpmap:99 H264/90000
+a=rtcp-fb:99 nack
+a=rtcp-fb:99 nack pli
+a=rtcp-fb:99 goog-remb
+a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f
+a=rtpmap:100 rtx/90000
+a=fmtp:100 apt=99
+a=rtpmap:101 H264/90000
+a=rtcp-fb:101 nack
+a=rtcp-fb:101 nack pli
+a=rtcp-fb:101 goog-remb
+a=fmtp:101 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42e01f
+a=rtpmap:102 rtx/90000
+a=fmtp:102 apt=101
+a=ice-ufrag:jxQW
+a=ice-pwd:KpJ0tfaY2RxnIYpTHqPSSv
+a=fingerprint:sha-256 70:3A:2D:37:3C:52:96:0E:10:F6:4D:7A:EB:18:38:1B:FD:CA:A5:90:D7:6C:DA:A9:39:76:C9:2F:FB:FF:56:0C
+a=setup:actpass
+m=video 9 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102
+c=IN IP4 0.0.0.0
+a=recvonly
+a=extmap:1 urn:ietf:params:rtp-hdrext:sdes:mid
+a=extmap:2 http://www.webrtc.org/experiments/rtp-hdrext/abs-send-time
+a=mid:1
+a=msid:e123f852-010c-4b7b-8761-71b72fbfd013 311db759-8d51-479c-a5b4-5c8d055c43ec
+a=rtcp:9 IN IP4 0.0.0.0
+a=rtcp-mux
+a=ssrc-group:FID 4096183284 2713379498
+a=ssrc:4096183284 cname:61992fce-bab5-42a0-ab8c-7112adfb1857
+a=ssrc:2713379498 cname:61992fce-bab5-42a0-ab8c-7112adfb1857
+a=rtpmap:97 VP8/90000
+a=rtcp-fb:97 nack
+a=rtcp-fb:97 nack pli
+a=rtcp-fb:97 goog-remb
+a=rtpmap:98 rtx/90000
+a=fmtp:98 apt=97
+a=rtpmap:99 H264/90000
+a=rtcp-fb:99 nack
+a=rtcp-fb:99 nack pli
+a=rtcp-fb:99 goog-remb
+a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f
+a=rtpmap:100 rtx/90000
+a=fmtp:100 apt=99
+a=rtpmap:101 H264/90000
+a=rtcp-fb:101 nack
+a=rtcp-fb:101 nack pli
+a=rtcp-fb:101 goog-remb
+a=fmtp:101 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42e01f
+a=rtpmap:102 rtx/90000
+a=fmtp:102 apt=101
+a=ice-ufrag:1234
+a=ice-pwd:1234
+a=fingerprint:sha-256 70:3A:2D:37:3C:52:96:0E:10:F6:4D:7A:EB:18:38:1B:FD:CA:A5:90:D7:6C:DA:A9:39:76:C9:2F:FB:FF:56:0C
+a=setup:actpass"""
+    info = parse_info_from_offer(lf2crlf(sdp))
+    assert info.n_expected_camera_tracks == 2
+    assert not info.expected_audio_track
+    assert not info.incoming_audio_track
+    assert not info.incoming_datachannel
+
+  def test_recvonly_audio(self):
+    sdp = """v=0
+o=- 3910210904 3910210904 IN IP4 0.0.0.0
+s=-
+t=0 0
+a=group:BUNDLE 0
+a=msid-semantic:WMS *
+m=audio 9 UDP/TLS/RTP/SAVPF 96 0 8
+c=IN IP4 0.0.0.0
+a=recvonly
+a=extmap:1 urn:ietf:params:rtp-hdrext:sdes:mid
+a=extmap:2 urn:ietf:params:rtp-hdrext:ssrc-audio-level
+a=mid:0
+a=msid:eb1d3f1a-569a-465f-b419-319477bfded6 e44eecb2-1a04-4547-97d8-481389f50d5b
+a=rtcp:9 IN IP4 0.0.0.0
+a=rtcp-mux
+a=ssrc:1233332626 cname:ca4dede8-4994-4a6d-9ae3-923b28177ca5
+a=rtpmap:96 opus/48000/2
+a=rtpmap:0 PCMU/8000
+a=rtpmap:8 PCMA/8000
+a=ice-ufrag:1234
+a=ice-pwd:1234
+a=fingerprint:sha-256 40:4B:14:CF:70:B8:67:E1:B1:FF:7E:F9:22:6E:60:7D:73:B5:1E:38:4B:10:20:9C:CD:1C:47:02:52:ED:45:25
+a=setup:actpass"""
+    info = parse_info_from_offer(lf2crlf(sdp))
+    assert info.n_expected_camera_tracks == 0
+    assert info.expected_audio_track
+    assert not info.incoming_audio_track
+    assert not info.incoming_datachannel
+
+  def test_incoming_datachanel(self):
+    sdp = """v=0
+o=- 3910211092 3910211092 IN IP4 0.0.0.0
+s=-
+t=0 0
+a=group:BUNDLE 0
+a=msid-semantic:WMS *
+m=application 9 DTLS/SCTP 5000
+c=IN IP4 0.0.0.0
+a=mid:0
+a=sctpmap:5000 webrtc-datachannel 65535
+a=max-message-size:65536
+a=ice-ufrag:1234
+a=ice-pwd:1234
+a=fingerprint:sha-256 9B:C0:F3:35:8E:05:A1:15:DB:F8:39:0E:B0:E0:0C:EB:82:E4:B9:26:18:A6:43:2D:B9:9A:23:96:0A:59:B6:58
+a=setup:actpass"""
+    info = parse_info_from_offer(lf2crlf(sdp))
+    assert info.n_expected_camera_tracks == 0
+    assert not info.expected_audio_track
+    assert not info.incoming_audio_track
+    assert info.incoming_datachannel
--- a/teleoprtc_repo/tests/test_integration.py
+++ b/teleoprtc_repo/tests/test_integration.py
@@ -0,0 +1,134 @@
+#!/usr/bin/env python3
+
+import pytest
+import asyncio
+import sys
+
+from aiortc.mediastreams import AudioStreamTrack, VideoStreamTrack
+from parameterized import parameterized
+
+from teleoprtc.builder import WebRTCOfferBuilder, WebRTCAnswerBuilder
+from teleoprtc.stream import StreamingOffer
+from teleoprtc.info import parse_info_from_offer
+
+
+if sys.version_info >= (3, 11):
+  timeout = asyncio.timeout
+else:
+  class Timeout:
+    def __init__(self, delay: float):
+      self._delay = delay
+      self._task = None
+      self._timeout_handle = None
+
+    def _timeout(self):
+      if self._task:
+        self._task.cancel()
+
+    async def __aenter__(self):
+      self._task = asyncio.current_task()
+      loop = asyncio.events.get_running_loop()
+      self._timeout_handle = loop.call_later(self._delay, self._timeout)
+      return self
+
+    async def __aexit__(self, exc_type, exc, tb):
+      if self._timeout_handle:
+        self._timeout_handle.cancel()
+      if exc_type is asyncio.CancelledError and self._task and self._task.cancelled():
+        raise asyncio.TimeoutError from exc
+      return False
+
+  def timeout(delay):
+    return Timeout(delay)
+
+
+class SimpleAnswerProvider:
+  def __init__(self):
+    self.stream = None
+
+  async def __call__(self, offer: StreamingOffer):
+    assert self.stream is None, "This may only be called once"
+
+    info = parse_info_from_offer(offer.sdp)
+
+    builder = WebRTCAnswerBuilder(offer.sdp)
+    for cam in offer.video:
+      builder.add_video_stream(cam, VideoStreamTrack())
+    if info.expected_audio_track:
+      builder.add_audio_stream(AudioStreamTrack())
+    if info.incoming_audio_track:
+      builder.offer_to_receive_audio_stream()
+
+    self.stream = builder.stream()
+    answer = await self.stream.start()
+
+    return answer
+
+
+@pytest.mark.asyncio
+class TestStreamIntegration:
+  @parameterized.expand([
+    # name, recv_cameras, recv_audio, messaging
+    ("multi_camera", ["driver", "wideRoad", "road"], False, False),
+    ("camera_and_audio", ["driver"], True, False),
+    ("camera_and__messaging", ["driver"], False, True),
+    ("camera_and_audio_and_messaging", ["driver", "wideRoad", "road"], True, True),
+  ])
+  async def test_multi_camera(self, name, cameras, recv_audio, add_messaging):
+    simple_answerer = SimpleAnswerProvider()
+    offer_builder = WebRTCOfferBuilder(simple_answerer)
+    for cam in cameras:
+      offer_builder.offer_to_receive_video_stream(cam)
+    if recv_audio:
+      offer_builder.offer_to_receive_audio_stream()
+    if add_messaging:
+      offer_builder.add_messaging()
+    stream = offer_builder.stream()
+
+    _ = await stream.start()
+    assert stream.is_started
+
+    try:
+      async with timeout(2):
+        await stream.wait_for_connection()
+    except TimeoutError:
+      pytest.fail("Timed out waiting for connection")
+    assert stream.is_connected_and_ready
+
+    assert stream.has_messaging_channel() == add_messaging
+    if stream.has_messaging_channel():
+      channel = stream.get_messaging_channel()
+      assert channel is not None
+      assert channel.readyState == "open"
+
+    assert stream.has_incoming_audio_track() == recv_audio
+    if stream.has_incoming_audio_track():
+      track = stream.get_incoming_audio_track(False)
+      assert track is not None
+      assert track.readyState == "live"
+      assert track.kind == "audio"
+      # test audio recv
+      try:
+        async with timeout(1):
+          await track.recv()
+      except TimeoutError:
+        pytest.fail("Timed out waiting for audio frame")
+
+    for cam in cameras:
+      assert stream.has_incoming_video_track(cam)
+      if stream.has_incoming_video_track(cam):
+        track = stream.get_incoming_video_track(cam, False)
+        assert track is not None
+        assert track.readyState == "live"
+        assert track.kind == "video"
+        # test video recv
+        try:
+          async with timeout(1):
+            await stream.get_incoming_video_track(cam, False).recv()
+        except TimeoutError:
+          pytest.fail("Timed out waiting for video frame")
+
+    await stream.stop()
+    await simple_answerer.stream.stop()
+    assert not stream.is_started
+    assert not stream.is_connected_and_ready
--- a/teleoprtc_repo/tests/test_stream.py
+++ b/teleoprtc_repo/tests/test_stream.py
@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+
+import pytest
+
+import aiortc
+from aiortc.mediastreams import AudioStreamTrack
+
+from teleoprtc.builder import WebRTCOfferBuilder, WebRTCAnswerBuilder
+from teleoprtc.info import parse_info_from_offer
+from teleoprtc.tracks import TiciVideoStreamTrack
+
+
+class OfferCapture:
+  def __init__(self):
+    self.offer = None
+
+  async def __call__(self, offer):
+    self.offer = offer
+    raise Exception("Offer captured")
+
+
+class DummyH264VideoStreamTrack(TiciVideoStreamTrack):
+  kind = "video"
+
+  async def recv(self):
+    raise NotImplementedError()
+
+  def codec_preference(self):
+    return "H264"
+
+
+@pytest.mark.asyncio
+class TestOfferStream:
+  async def test_offer_stream_sdp_recvonly_audio(self):
+    capture = OfferCapture()
+    builder = WebRTCOfferBuilder(capture)
+    builder.offer_to_receive_audio_stream()
+    stream = builder.stream()
+
+    try:
+      _ = await stream.start()
+    except Exception:
+      pass
+
+    info = parse_info_from_offer(capture.offer.sdp)
+    assert info.expected_audio_track
+    assert not info.incoming_audio_track
+
+  async def test_offer_stream_sdp_sendonly_audio(self):
+    capture = OfferCapture()
+    builder = WebRTCOfferBuilder(capture)
+    builder.add_audio_stream(AudioStreamTrack())
+    stream = builder.stream()
+
+    try:
+      _ = await stream.start()
+    except Exception:
+      pass
+
+    info = parse_info_from_offer(capture.offer.sdp)
+    assert not info.expected_audio_track
+    assert info.incoming_audio_track
+
+  async def test_offer_stream_sdp_channel(self):
+    capture = OfferCapture()
+    builder = WebRTCOfferBuilder(capture)
+    builder.add_messaging()
+    stream = builder.stream()
+
+    try:
+      _ = await stream.start()
+    except Exception:
+      pass
+
+    info = parse_info_from_offer(capture.offer.sdp)
+    assert info.incoming_datachannel
+
+
+@pytest.mark.asyncio
+class TestAnswerStream:
+  async def test_codec_preference(self):
+    offer_sdp = """v=0
+o=- 3910274679 3910274679 IN IP4 0.0.0.0
+s=-
+t=0 0
+a=group:BUNDLE 0
+a=msid-semantic:WMS *
+m=video 1337 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102
+c=IN IP4 0.0.0.0
+a=recvonly
+a=mid:0
+a=msid:34803878-98f8-4245-b45c-f773e5f926df 881dbc20-356a-499c-b4e8-695303bb901d
+a=rtcp:9 IN IP4 0.0.0.0
+a=rtcp-mux
+a=ssrc-group:FID 1303546896 3784011659
+a=ssrc:1303546896 cname:a59185ac-c115-48d3-b39b-db7d615a6966
+a=ssrc:3784011659 cname:a59185ac-c115-48d3-b39b-db7d615a6966
+a=rtpmap:97 VP8/90000
+a=rtcp-fb:97 nack
+a=rtcp-fb:97 nack pli
+a=rtcp-fb:97 goog-remb
+a=rtpmap:99 H264/90000
+a=rtcp-fb:99 nack
+a=rtcp-fb:99 nack pli
+a=rtcp-fb:99 goog-remb
+a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f
+a=ice-ufrag:1234
+a=ice-pwd:1234
+a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
+a=setup:actpass"""
+
+    builder = WebRTCAnswerBuilder(offer_sdp)
+    builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05))
+    stream = builder.stream()
+    answer = await stream.start()
+
+    sdp_desc = aiortc.sdp.SessionDescription.parse(answer.sdp)
+    video_desc = [m for m in sdp_desc.media if m.kind == "video"][0]
+    codecs = video_desc.rtp.codecs
+    assert codecs[0].mimeType == "video/H264"
+
+  async def test_fail_if_preferred_codec_not_in_offer(self):
+    offer_sdp = """v=0
+o=- 3910274679 3910274679 IN IP4 0.0.0.0
+s=-
+t=0 0
+a=group:BUNDLE 0
+a=msid-semantic:WMS *
+m=video 1337 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102
+c=IN IP4 0.0.0.0
+a=recvonly
+a=mid:0
+a=msid:34803878-98f8-4245-b45c-f773e5f926df 881dbc20-356a-499c-b4e8-695303bb901d
+a=rtcp:9 IN IP4 0.0.0.0
+a=rtcp-mux
+a=ssrc-group:FID 1303546896 3784011659
+a=ssrc:1303546896 cname:a59185ac-c115-48d3-b39b-db7d615a6966
+a=ssrc:3784011659 cname:a59185ac-c115-48d3-b39b-db7d615a6966
+a=rtpmap:97 VP8/90000
+a=rtcp-fb:97 nack
+a=rtcp-fb:97 nack pli
+a=rtcp-fb:97 goog-remb
+a=ice-ufrag:1234
+a=ice-pwd:1234
+a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A
+a=setup:actpass"""
+
+    builder = WebRTCAnswerBuilder(offer_sdp)
+    builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05))
+    stream = builder.stream()
+
+    with pytest.raises(ValueError):
+      _ = await stream.start()
--- a/teleoprtc_repo/tests/test_track.py
+++ b/teleoprtc_repo/tests/test_track.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import pytest
+
+import aiortc
+
+from teleoprtc.tracks import video_track_id, parse_video_track_id, TiciVideoStreamTrack, TiciTrackWrapper
+
+
+class TestTracks:
+  def test_track_id(self):
+    expected_camera_type, expected_track_id = "driver", "test"
+    track_id = video_track_id(expected_camera_type, expected_track_id)
+    camera_type, track_id = parse_video_track_id(track_id)
+    assert expected_camera_type == camera_type
+    assert expected_track_id == track_id
+
+  def test_track_id_invalid(self):
+    with pytest.raises(ValueError):
+      parse_video_track_id("test")
+
+  def test_tici_track_id(self):
+    class VideoStream(TiciVideoStreamTrack):
+      async def recv(self):
+        raise NotImplementedError()
+
+    track = VideoStream("driver", 0.1)
+    camera_type, _ = parse_video_track_id(track.id)
+    assert "driver" == camera_type
+
+  def test_tici_wrapper_id(self):
+    track = TiciTrackWrapper("driver", aiortc.mediastreams.VideoStreamTrack())
+    camera_type, _ = parse_video_track_id(track.id)
+    assert "driver" == camera_type