forked from IQ.Lvbs/IQ.Pilot
78 lines
2.0 KiB
Python
78 lines
2.0 KiB
Python
# 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._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()
|