init

Signed-off-by: caner <5658514@qq.com>

index.js

@@ -2,36 +2,104 @@
 // wrt + socket + contrl
 const io = require("socket.io-client")
 const PWM = require('./Pwm')
-const HOST = 'ws://10.10.3.196:7896'
+const { PeerConnection, Video, RtcpReceivingSession } = require('node-datachannel');
+const { createSocket } = require('dgram')
+const { spawn } = require('child_process')
+
+
 class CarServer {
-    constructor(HOST) {
-        this.webRTC = null
-        this.mediaStream = null
-        this.videoSource = null     
-        this.socket = io(HOST, {
-            auth: {
-                roomID: "feiCar",
-                name: 'car'
+    constructor() {
+        this.Peer = null
+        this.track = null
+        this.child = null
+        this.udp = null
+        this.socket = io('ws://10.10.3.196:7896', { auth: { roomID: "feiCar", name: 'car' } });
+        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 连接
+    connected() {
+        console.log('connected');
+        this.Peer = new PeerConnection("Peer1", { iceServers: [] });
+        // 发送offer
+        this.Peer.onGatheringStateChange(state => {
+            console.log('GatheringState: ', state);
+            if (state === 'complete') {
+                const offer = this.Peer.localDescription();
+                this.socket.emit("msg", offer);
             }
-        });
-        this.socket.on('connect', () => {
-            console.log(`连接成功`)
-        })
-        this.socket.on('leaved', user => {
-            console.log(`${user.name}离开${user.roomID}房间`)
-        })
-        this.socket.on('joined', user => {
-            console.log(`${user.name}加入${user.roomID}房间`)
         })
-        this.socket.on('msg', data => {
-            console.log('用户信息', data.type);
-            if (data.type === 'conctrl') {
+    }
+
+    // 用户信息
+    onMsg(data) {
+        try {
+            if (data.type == 'answer') {
+                this.Peer.setRemoteDescription(data.sdp, data.type);
+            } else if (data.type === 'startRTC') {
+                this.startVideo()
+            } if (data.type === 'conctrl') {
                 PWM.changPWM(data.conctrl)
             }
-        })
-        this.socket.on('connect_error', err => {
-            console.log('连接错误', err)
-        })
-    }  
+        } catch (error) {
+            console.log('msg error:', error);
+        }
+    }
+
+    // 用户离开
+    onLeved() {
+        if (this.child) this.child.kill()
+        if (this.udp) this.udp.close()
+        this.child = null
+        this.udp = null
+        process.exit(1)
+    }
+
+    // 开始视频
+    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
+                console.log(data);
+                this.track.setMediaHandler(new RtcpReceivingSession())
+                this.track.sendMessageBinary(data)
+            });
+
+        } catch (error) {
+            console.log('startvideo:', error)
+        }
+    }
 }
-new CarServer(HOST)
+new CarServer()