av/revid/geovision.go

/*
DESCRIPTION
  geovision.go provides an implementation of the AVDevice interface for the
  GeoVision IP camera.

AUTHORS
  Saxon A. Nelson-Milton <saxon@ausocean.org>

LICENSE
  Copyright (C) 2019 the Australian Ocean Lab (AusOcean)

  It is free software: you can redistribute it and/or modify them
  under the terms of the GNU General Public License as published by the
  Free Software Foundation, either version 3 of the License, or (at your
  option) any later version.

  It is distributed in the hope that it will be useful, but WITHOUT
  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  for more details.

  You should have received a copy of the GNU General Public License
  in gpl.txt.  If not, see http://www.gnu.org/licenses.
*/

package revid

import (
	"errors"
	"fmt"
	"net"
	"time"

	"bitbucket.org/ausocean/av/codec/codecutil"
	"bitbucket.org/ausocean/av/input/gvctrl"
	"bitbucket.org/ausocean/av/protocol/rtcp"
	"bitbucket.org/ausocean/av/protocol/rtp"
	"bitbucket.org/ausocean/av/protocol/rtsp"
	"bitbucket.org/ausocean/utils/logger"
)

const (
	gvDefaultCameraIP   = "192.168.1.50"
	gvDefaultCodec      = codecutil.H264
	gvDefaultHeight     = 720
	gvDefaultFrameRate  = 25
	gvDefaultBitrate    = 400
	gvDefaultVBRBitrate = 400
	gvDefaultMinFrames  = 100
	gvDefaultVBRQuality = "standard"
)

var (
	errGVBadCameraIP   = errors.New("camera IP bad or unset, defaulting")
	errGVBadCodec      = errors.New("codec bad or unset, defaulting")
	errGVBadFrameRate  = errors.New("frame rate bad or unset, defaulting")
	errGVBadBitrate    = errors.New("bitrate bad or unset, defaulting")
	errGVBadVBRQuality = errors.New("VBR quality bad or unset, defaulting")
	errGVBadHeight     = errors.New("height bad or unset, defaulting")
	errGVBadMinFrames  = errors.New("min frames bad or unset, defaulting")
)

type GeoVision struct {
	cfg     Config
	log     Logger
	rtpClt  *rtp.Client
	rtspClt *rtsp.Client
	rtcpClt *rtcp.Client
}

func NewGeovision(l Logger) *GeoVision { return &GeoVision{log: l} }

func (g *GeoVision) Set(c Config) error {
	var errs multiError
	if c.CameraIP == "" {
		errs = append(errs, errGVBadCameraIP)
		c.CameraIP = gvDefaultCameraIP
	}

	switch c.InputCodec {
	case codecutil.H264, codecutil.H265, codecutil.MJPEG:
	default:
		errs = append(errs, errGVBadCodec)
		c.InputCodec = gvDefaultCodec
	}

	if c.Height <= 0 {
		errs = append(errs, errGVBadHeight)
		c.Height = gvDefaultHeight
	}

	if c.FrameRate <= 0 {
		errs = append(errs, errGVBadFrameRate)
		c.FrameRate = gvDefaultFrameRate
	}

	if c.Bitrate <= 0 {
		errs = append(errs, errGVBadBitrate)
		c.Bitrate = gvDefaultBitrate
	}

	if c.MinFrames <= 0 {
		errs = append(errs, errGVBadMinFrames)
		c.MinFrames = gvDefaultMinFrames
	}

	switch c.VBRQuality {
	case qualityStandard, qualityFair, qualityGood, qualityGreat, qualityExcellent:
	default:
		errs = append(errs, errGVBadVBRQuality)
		c.VBRQuality = defaultVBRQuality
	}

	if c.VBRBitrate <= 0 {
		errs = append(errs, errGVBadVBRQuality)
		c.VBRBitrate = defaultVBRBitrate
	}

	if c.CameraChan != 1 && c.CameraChan != 2 {
		errs = append(errs, errGVBadVBRQuality)
		c.CameraChan = defaultCameraChan
	}

	g.cfg = c

	err := gvctrl.Set(
		g.cfg.CameraIP,
		gvctrl.Channel(g.cfg.CameraChan),
		gvctrl.CodecOut(
			map[uint8]gvctrl.Codec{
				codecutil.H264:  gvctrl.CodecH264,
				codecutil.H265:  gvctrl.CodecH265,
				codecutil.MJPEG: gvctrl.CodecMJPEG,
			}[g.cfg.InputCodec],
		),
		gvctrl.Height(int(g.cfg.Height)),
		gvctrl.FrameRate(int(g.cfg.FrameRate)),
		gvctrl.VariableBitrate(g.cfg.VBR),
		gvctrl.VBRQuality(
			map[quality]gvctrl.Quality{
				qualityStandard:  gvctrl.QualityStandard,
				qualityFair:      gvctrl.QualityFair,
				qualityGood:      gvctrl.QualityGood,
				qualityGreat:     gvctrl.QualityGreat,
				qualityExcellent: gvctrl.QualityExcellent,
			}[g.cfg.VBRQuality],
		),
		gvctrl.VBRBitrate(g.cfg.VBRBitrate),
		gvctrl.CBRBitrate(int(g.cfg.Bitrate)),
		gvctrl.Refresh(float64(g.cfg.MinFrames)/float64(g.cfg.FrameRate)),
	)
	if err != nil {
		return fmt.Errorf("could not set IPCamera settings: %w", err)
	}

	// Give the camera some time to change it's configuration.
	const setupDelay = 5 * time.Second
	time.Sleep(setupDelay)

	return multiError(errs)
}

func (g *GeoVision) Start() error {
	var (
		local, remote *net.TCPAddr
		err           error
	)

	g.rtspClt, local, remote, err = rtsp.NewClient("rtsp://" + ipCamUser + ":" + ipCamPass + "@" + g.cfg.CameraIP + ":8554/" + "CH002.sdp")
	if err != nil {
		return fmt.Errorf("could not create RTSP client: %w", err)
	}

	g.log.Log(logger.Info, pkg+"created RTSP client")

	resp, err := g.rtspClt.Options()
	if err != nil {
		return fmt.Errorf("options request unsuccessful: %w", err)
	}
	g.log.Log(logger.Debug, pkg+"RTSP OPTIONS response", "response", resp.String())

	resp, err = g.rtspClt.Describe()
	if err != nil {
		return fmt.Errorf("describe request unsuccessful: %w", err)
	}
	g.log.Log(logger.Debug, pkg+"RTSP DESCRIBE response", "response", resp.String())

	resp, err = g.rtspClt.Setup("track1", fmt.Sprintf("RTP/AVP;unicast;client_port=%d-%d", rtpPort, rtcpPort))
	if err != nil {
		return fmt.Errorf("setup request unsuccessful: %w", err)
	}
	g.log.Log(logger.Debug, pkg+"RTSP SETUP response", "response", resp.String())

	rtpCltAddr, rtcpCltAddr, rtcpSvrAddr, err := formAddrs(local, remote, *resp)
	if err != nil {
		return fmt.Errorf("could not format addresses: %w", err)
	}

	g.log.Log(logger.Info, pkg+"RTSP session setup complete")

	g.rtpClt, err = rtp.NewClient(rtpCltAddr)
	if err != nil {
		return fmt.Errorf("could not create RTP client: %w", err)
	}

	g.rtcpClt, err = rtcp.NewClient(rtcpCltAddr, rtcpSvrAddr, g.rtpClt, g.log.Log)
	if err != nil {
		return fmt.Errorf("could not create RTCP client: %w", err)
	}

	g.log.Log(logger.Info, pkg+"RTCP and RTP clients created")

	// Check errors from RTCP client until it has stopped running.
	go func() {
		for {
			err, ok := <-g.rtcpClt.Err()
			if ok {
				g.log.Log(logger.Warning, pkg+"RTCP error", "error", err.Error())
			} else {
				return
			}
		}
	}()

	// Start the RTCP client.
	g.rtcpClt.Start()
	g.log.Log(logger.Info, pkg+"RTCP client started")

	resp, err = g.rtspClt.Play()
	if err != nil {
		return fmt.Errorf("play request unsuccessful: %w", err)
	}
	g.log.Log(logger.Debug, pkg+"RTSP server PLAY response", "response", resp.String())
	g.log.Log(logger.Info, pkg+"play requested, now receiving stream")

	return nil
}

func (g *GeoVision) Stop() error {
	err := g.rtpClt.Close()
	if err != nil {
		return fmt.Errorf("could not close RTP client: %w", err)
	}

	err = g.rtspClt.Close()
	if err != nil {
		return fmt.Errorf("could not close RTSP client: %w", err)
	}

	g.rtcpClt.Stop()

	g.log.Log(logger.Info, pkg+"RTP, RTSP and RTCP clients stopped and closed")

	return nil
}

func (g *GeoVision) Read(p []byte) (int, error) {
	return g.rtpClt.Read(p)
}