/
main.go
97 lines (86 loc) · 2.48 KB
/
main.go
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package main
import (
"fmt"
"log"
signaling "secureput"
"github.com/pion/webrtc/v3"
)
var visionTrack *VisionIpcTrack
var peerConnection *webrtc.PeerConnection
func main() {
signal := signaling.Create("go-webrtc-body")
signal.DeviceMetadata = map[string]interface{}{"isRobot": true}
signal.Gui = &Face{app: &signal}
go signal.RunDaemonMode()
if !signal.Paired() {
go signal.Gui.Show()
log.Println("Waiting to pair.")
<-signal.PairWaitChannel
}
signal.OnPeerConnectionCreated = func(pc *webrtc.PeerConnection) {
peerConnection = pc
InitStream(pc)
}
signal.OnMessage = func(msg signaling.Message) {
switch msg.PayloadType {
case "request_track":
{
visionTrack.ChangeCamera()
}
default:
log.Printf("unimplemented message type: %s\n", msg.PayloadType)
}
}
for {
select {}
}
}
func InitStream(peerConnection *webrtc.PeerConnection) {
var err error
if visionTrack != nil {
visionTrack.Stop()
}
visionTrack, err = NewVisionIpcTrack()
if err != nil {
log.Fatal(fmt.Errorf("main: creating track failed: %w", err))
}
rtpSender, err := peerConnection.AddTrack(visionTrack.videoTrack)
if err != nil {
log.Fatal(fmt.Errorf("main: creating track failed: %w", err))
}
_, err = peerConnection.AddTransceiverFromTrack(visionTrack.videoTrack,
webrtc.RtpTransceiverInit{
Direction: webrtc.RTPTransceiverDirectionSendonly,
},
)
if err != nil {
log.Fatal(fmt.Errorf("main: creating transceiver failed: %w", err))
}
// Later on, we will use rtpSender.ReplaceTrack() for graceful track replacement
// Read incoming RTCP packets
// Before these packets are returned they are processed by interceptors. For things
// like NACK this needs to be called.
go func() {
rtcpBuf := make([]byte, 1500)
for {
if _, _, rtcpErr := rtpSender.Read(rtcpBuf); rtcpErr != nil {
return
}
}
}()
// Set the handler for ICE connection state
// This will notify you when the peer has connected/disconnected
peerConnection.OnICEConnectionStateChange(func(connectionState webrtc.ICEConnectionState) {
fmt.Printf("Connection State has changed %s \n", connectionState.String())
if connectionState.String() == "disconnected" {
visionTrack.Stop()
} else if connectionState == webrtc.ICEConnectionStateFailed {
visionTrack.Stop()
if closeErr := peerConnection.Close(); closeErr != nil {
log.Println(fmt.Errorf("main: peer connection closed due to error: %w", err))
}
} else if connectionState.String() == "connected" {
go visionTrack.Start()
}
})
}