node-datachannel-examples/media-send/peer-send/index.js

const io = require("socket.io-client")
const { PeerConnection, Video } = require('node-datachannel');
const { createSocket } = require('dgram')
const { spawn } = require('child_process')
const HOST = '' //Your signaling server address
class CarServer {
    constructor() {
        this.Peer = null
        this.track = null
        this.child = null
        this.udp = null
        if (!HOST) console.error('Enter the signaling server address');
        this.socket = io(HOST, {
            auth: {
                roomID: 'test',
                name: '456'
            }
        });
        this.socket.on('connect', this.connected.bind(this))
        this.socket.on('msg', this.onMsg.bind(this))
        this.socket.on('leaved', this.onLeved.bind(this))
        this.socket.on('joined', this.startVideo.bind(this))
    }
    // socket conect
    connected() {
        console.log('connected');
        this.Peer = new PeerConnection("Peer1", { iceServers: [] });
        // send offer
        this.Peer.onGatheringStateChange(state => {
            console.log('GatheringState: ', state);
            if (state === 'complete') {
                const offer = this.Peer.localDescription();
                this.socket.emit("msg", offer);
            }
        })
    }

    // listen data
    onMsg(data) {
        try {
            if (data.type == 'answer') {
                this.Peer.setRemoteDescription(data.sdp, data.type);
            } else if (data.type === 'startRTC') {
                this.startVideo()
            }
        } catch (error) {
            console.log('msg error:', error);
        }
    }

    // listen leave
    onLeved() {
        if (this.child) this.child.kill()
        if (this.udp) this.udp.close()
        this.child = null
        this.udp = null
        process.exit(1)
    }

    // start video
    startVideo() {
        try {
            if (this.child) this.child.kill()
            if (this.udp) this.udp.close()

            // test video
            const video = new Video('video', 'SendOnly')
            video.addH264Codec(96)
            video.addSSRC(42, "video-send")
            this.track = this.Peer.addTrack(video)
            this.Peer.setLocalDescription()

            // UDP server
            const port = 7788
            this.udp = createSocket("udp4")
            this.udp.bind(port)

            // video push
            const args = [
                "libcamerasrc",
                "video/x-raw,width=320,height=240",
                "videoconvert",
                "queue",
                "x264enc tune=zerolatency bitrate=1000 key-int-max=30",
                "video/x-h264, profile=constrained-baseline",
                "rtph264pay pt=96 mtu=1200 ssrc=42",
                `udpsink host=127.0.0.1 port=${port}`,
            ].join(" ! ").split(" ")
            this.child = spawn("gst-launch-1.0", args)

            // listen UDP
            this.udp.on("message", (data) => {
                if (!this.track.isOpen()) return
                this.track.sendMessageBinary(data)
            });

        } catch (error) {
            console.log('startvideo:', error)
        }
    }

}
new CarServer()