av/revid/pipeline.go

/*
DESCRIPTION
  pipeline.go provides functionality for set up of the revid processing pipeline.

AUTHORS
  Saxon A. Nelson-Milton <saxon@ausocean.org>
  Alan Noble <alan@ausocean.org>
  Dan Kortschak <dan@ausocean.org>
  Trek Hopton <trek@ausocean.org>
  Scott Barnard <scott@ausocean.org>

LICENSE
  Copyright (C) 2017-2020 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"
	"io"
	"time"

	"bitbucket.org/ausocean/av/codec/codecutil"
	"bitbucket.org/ausocean/av/codec/h264"
	"bitbucket.org/ausocean/av/codec/h265"
	"bitbucket.org/ausocean/av/codec/jpeg"
	"bitbucket.org/ausocean/av/container/flv"
	"bitbucket.org/ausocean/av/container/mts"
	"bitbucket.org/ausocean/av/device"
	"bitbucket.org/ausocean/av/device/file"
	"bitbucket.org/ausocean/av/device/geovision"
	"bitbucket.org/ausocean/av/device/raspistill"
	"bitbucket.org/ausocean/av/device/raspivid"
	"bitbucket.org/ausocean/av/device/webcam"
	"bitbucket.org/ausocean/av/filter"
	"bitbucket.org/ausocean/av/revid/config"
	"bitbucket.org/ausocean/utils/ioext"
	"bitbucket.org/ausocean/utils/pool"
)

// TODO(Saxon): put more thought into error severity and how to handle these.
func (r *Revid) handleErrors() {
	for {
		err := <-r.err
		if err != nil {
			r.cfg.Logger.Error("async error", "error", err.Error())
		}
	}
}

// reset swaps the current config of a Revid with the passed
// configuration; checking validity and returning errors if not valid. It then
// sets up the data pipeline accordingly to this configuration.
func (r *Revid) reset(c config.Config) error {
	r.cfg.Logger.Debug("setting config")
	err := r.setConfig(c)
	if err != nil {
		return fmt.Errorf("could not set config: %w", err)
	}
	r.cfg.Logger.Info("config set")

	r.cfg.Logger.Debug("setting up revid pipeline")

	err = r.setupPipeline(
		func(dst io.WriteCloser, rate float64) (io.WriteCloser, error) {
			var st int
			var encOptions []func(*mts.Encoder) error

			switch r.cfg.Input {
			case config.InputRaspivid, config.InputRaspistill, config.InputFile, config.InputV4L, config.InputRTSP:
				switch r.cfg.InputCodec {
				case codecutil.H265:
					if r.cfg.Input != config.InputRTSP {
						return nil, errors.New("h.265 codec valid only for InputRTSP")
					}
					st = mts.EncodeH265
				case codecutil.H264:
					st = mts.EncodeH264
				case codecutil.MJPEG:
					st = mts.EncodeMJPEG
					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second))
					r.cfg.CBR = true
				case codecutil.JPEG:
					st = mts.EncodeJPEG
					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second), mts.Rate(1/r.cfg.TimelapseInterval.Seconds()))
					r.cfg.CBR = true
				case codecutil.PCM, codecutil.ADPCM:
					return nil, fmt.Errorf("invalid input codec: %v for input: %v", r.cfg.InputCodec, r.cfg.Input)
				default:
					panic("unknown input codec for Raspivid, Raspistill, File, V4l or RTSP input")
				}
			case config.InputAudio:
				switch r.cfg.InputCodec {
				case codecutil.PCM:
					st = mts.EncodePCM
					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second))
					rate = 1 / r.cfg.RecPeriod
				case codecutil.ADPCM:
					st = mts.EncodeADPCM
					encOptions = append(encOptions, mts.TimeBasedPSI(time.Duration(r.cfg.PSITime)*time.Second))
					rate = 1 / r.cfg.RecPeriod
				case codecutil.H264, codecutil.H265, codecutil.MJPEG:
					return nil, fmt.Errorf("invalid input codec: %v for input: %v", r.cfg.InputCodec, r.cfg.Input)
				default:
					panic("unknown input codec")
				}
			default:
				panic("unknown input type")
			}
			encOptions = append(encOptions, mts.MediaType(st), mts.Rate(rate))
			return mts.NewEncoder(dst, r.cfg.Logger, encOptions...)
		},
		func(dst io.WriteCloser, fps int) (io.WriteCloser, error) {
			return flv.NewEncoder(dst, true, true, fps)
		},
		ioext.MultiWriteCloser,
	)
	r.cfg.Logger.Info("finished setting pipeline")

	if err != nil {
		return fmt.Errorf("could not set up pipeline: %w", err)
	}

	return nil
}

// setConfig takes a config, checks it's validity and then replaces the current
// revid config.
func (r *Revid) setConfig(config config.Config) error {
	r.cfg.Logger = config.Logger
	r.cfg.Logger.Debug("validating config")
	err := config.Validate()
	if err != nil {
		return errors.New("Config struct is bad: " + err.Error())
	}
	r.cfg.Logger.Info("config validated")
	r.cfg = config
	r.cfg.Logger.SetLevel(r.cfg.LogLevel)
	return nil
}

// setupPipeline constructs the revid dataPipeline. Inputs, encoders and
// senders are created and linked based on the current revid config.
//
// mtsEnc and flvEnc will be called to obtain an mts encoder and flv encoder
// respectively. multiWriter will be used to create an ioext.multiWriteCloser
// so that encoders can write to multiple senders.
func (r *Revid) setupPipeline(mtsEnc func(dst io.WriteCloser, rate float64) (io.WriteCloser, error), flvEnc func(dst io.WriteCloser, rate int) (io.WriteCloser, error), multiWriter func(...io.WriteCloser) io.WriteCloser) error {
	// encoders will hold the encoders that are required for revid's current
	// configuration.
	var encoders []io.WriteCloser

	// mtsSenders will hold the senders the require MPEGTS encoding, and flvSenders
	// will hold senders that require FLV encoding.
	var mtsSenders, flvSenders []io.WriteCloser

	// Calculate no. of pool buffer elements based on starting element size
	// const and config directed max pool buffer size, then create buffer.
	// This is only used if the selected output uses a pool buffer.
	nElements := r.cfg.PoolCapacity / r.cfg.PoolStartElementSize
	writeTimeout := time.Duration(r.cfg.PoolWriteTimeout) * time.Second

	// We will go through our outputs and create the corresponding senders to add
	// to mtsSenders if the output requires MPEGTS encoding, or flvSenders if the
	// output requires FLV encoding.
	var w io.WriteCloser
	for _, out := range r.cfg.Outputs {
		switch out {
		case config.OutputHTTP:
			r.cfg.Logger.Debug("using HTTP output")
			pb := pool.NewBuffer(int(r.cfg.PoolStartElementSize), int(nElements), writeTimeout)
			hs := newHTTPSender(r.ns, r.cfg.Logger, r.bitrate.Report)
			w = newMTSSender(hs, r.cfg.Logger, pb, r.cfg.ClipDuration)
			mtsSenders = append(mtsSenders, w)

		case config.OutputRTP:
			r.cfg.Logger.Debug("using RTP output")
			w, err := newRtpSender(r.cfg.RTPAddress, r.cfg.Logger, r.cfg.FrameRate, r.bitrate.Report)
			if err != nil {
				r.cfg.Logger.Warning("rtp connect error", "error", err.Error())
			}
			mtsSenders = append(mtsSenders, w)
		case config.OutputFile:
			r.cfg.Logger.Debug("using File output")
			w, err := newFileSender(r.cfg.Logger, r.cfg.OutputPath, false)
			if err != nil {
				return err
			}
			mtsSenders = append(mtsSenders, w)
		case config.OutputFiles:
			r.cfg.Logger.Debug("using Files output")
			pb := pool.NewBuffer(int(r.cfg.PoolStartElementSize), int(nElements), writeTimeout)
			fs, err := newFileSender(r.cfg.Logger, r.cfg.OutputPath, true)
			if err != nil {
				return err
			}
			w = newMTSSender(fs, r.cfg.Logger, pb, r.cfg.ClipDuration)
			mtsSenders = append(mtsSenders, w)
		case config.OutputRTMP:
			r.cfg.Logger.Debug("using RTMP output")
			pb := pool.NewBuffer(int(r.cfg.PoolStartElementSize), int(nElements), writeTimeout)
			w, err := newRtmpSender(r.cfg.RTMPURL, rtmpConnectionMaxTries, pb, r.cfg.Logger, r.bitrate.Report)
			if err != nil {
				r.cfg.Logger.Warning("rtmp connect error", "error", err.Error())
			}
			flvSenders = append(flvSenders, w)
		}
	}

	// If we have some senders that require MPEGTS encoding then add an MPEGTS
	// encoder to revid's encoder slice, and give this encoder the mtsSenders
	// as a destination.
	if len(mtsSenders) != 0 {
		mw := multiWriter(mtsSenders...)
		e, err := mtsEnc(mw, float64(r.cfg.FrameRate))
		if err != nil {
			return fmt.Errorf("error from setting up MTS encoder: %w", err)
		}
		encoders = append(encoders, e)
	}

	// If we have some senders that require FLV encoding then add an FLV
	// encoder to revid's encoder slice, and give this encoder the flvSenders
	// as a destination.
	if len(flvSenders) != 0 {
		mw := multiWriter(flvSenders...)
		e, err := flvEnc(mw, int(r.cfg.FrameRate))
		if err != nil {
			return fmt.Errorf("error from setting up FLV encoder: %w", err)
		}
		encoders = append(encoders, e)
	}

	r.encoders = multiWriter(encoders...)

	l := len(r.cfg.Filters)
	r.filters = []filter.Filter{filter.NewNoOp(r.encoders)}
	if l != 0 {
		r.cfg.Logger.Debug("setting up filters", "filters", r.cfg.Filters)
		r.filters = make([]filter.Filter, l)
		dst := r.encoders

		for i := l - 1; i >= 0; i-- {
			switch r.cfg.Filters[i] {
			case config.FilterNoOp:
				r.cfg.Logger.Debug("using NoOp filter")
				r.filters[i] = filter.NewNoOp(dst)
			case config.FilterMOG:
				r.cfg.Logger.Debug("using MOG filter")
				r.filters[i] = filter.NewMOG(dst, r.cfg)
			case config.FilterVariableFPS:
				r.cfg.Logger.Debug("using Variable FPS MOG filter")
				r.filters[i] = filter.NewVariableFPS(dst, r.cfg.MinFPS, filter.NewMOG(dst, r.cfg))
			case config.FilterKNN:
				r.cfg.Logger.Debug("using KNN filter")
				r.filters[i] = filter.NewKNN(dst, r.cfg)
			case config.FilterDiff:
				r.cfg.Logger.Debug("using gocv difference filter")
				r.filters[i] = filter.NewDiff(dst, r.cfg)
			case config.FilterBasic:
				r.cfg.Logger.Debug("using go difference filter")
				r.filters[i] = filter.NewBasic(dst, r.cfg)
			default:
				panic("unknown filter")
			}
			dst = r.filters[i]
		}
		r.cfg.Logger.Info("filters set up")
	}

	var err error
	switch r.cfg.Input {
	case config.InputRaspivid:
		r.cfg.Logger.Debug("using raspivid input")
		r.input = raspivid.New(r.cfg.Logger)
		err = r.setLexer(r.cfg.InputCodec, false)

	case config.InputRaspistill:
		r.cfg.Logger.Debug("using raspistill input")
		r.input = raspistill.New(r.cfg.Logger)
		r.setLexer(r.cfg.InputCodec, false)

	case config.InputV4L:
		r.cfg.Logger.Debug("using V4L input")
		r.input = webcam.New(r.cfg.Logger)
		err = r.setLexer(r.cfg.InputCodec, false)

	case config.InputFile:
		r.cfg.Logger.Debug("using file input")
		r.input = file.New(r.cfg.Logger)
		err = r.setLexer(r.cfg.InputCodec, false)

	case config.InputRTSP:
		r.cfg.Logger.Debug("using RTSP input")
		r.input = geovision.New(r.cfg.Logger)
		err = r.setLexer(r.cfg.InputCodec, true)

	case config.InputAudio:
		r.cfg.Logger.Debug("using audio input")
		err = r.setupAudio()

	case config.InputManual:
		r.cfg.Logger.Debug("using manual input")
		r.input = device.NewManualInput()
		err = r.setLexer(r.cfg.InputCodec, false)
		r.pipeReader, r.pipeWriter = io.Pipe()

	default:
		return fmt.Errorf("unrecognised input type: %v")
	}
	if err != nil {
		return fmt.Errorf("could not set lexer: %w", err)
	}

	// Configure the input device. We know that defaults are set, so no need to
	// return error, but we should log.
	r.cfg.Logger.Debug("configuring input device")
	err = r.input.Set(r.cfg)
	if err != nil {
		r.cfg.Logger.Warning("errors from configuring input device", "errors", err)
	}
	r.cfg.Logger.Info("input device configured")

	return nil
}

// setLexer sets the revid input lexer based on input codec and whether input
// is RTSP or not, in which case an RTP/<codec> extractor is used.
func (r *Revid) setLexer(c string, isRTSP bool) error {
	switch c {
	case codecutil.H264:
		r.cfg.Logger.Debug("using H.264 codec")
		r.lexTo = h264.Lex
		if isRTSP {
			r.lexTo = h264.NewExtractor().Extract
		}
	case codecutil.H264_AU:
		r.cfg.Logger.Debug("using H.264 AU codec")
		r.lexTo = codecutil.Noop
	case codecutil.H265:
		r.cfg.Logger.Debug("using H.265 codec")
		r.lexTo = h265.NewExtractor(false).Extract
		if !isRTSP {
			return errors.New("byte stream h.265 lexing not implemented")
		}
	case codecutil.MJPEG, codecutil.JPEG:
		r.cfg.Logger.Debug("using MJPEG/JPEG codec")
		r.lexTo = jpeg.Lex
		jpeg.Log = r.cfg.Logger
		if isRTSP {
			r.lexTo = jpeg.NewExtractor().Extract
		}

	case codecutil.PCM, codecutil.ADPCM:
		return errors.New("invalid codec for this selected input")
	default:
		panic("unrecognised codec")
	}
	return nil
}

// processFrom is run as a routine to read from a input data source, lex and
// then send individual access units to revid's encoders.
func (r *Revid) processFrom(delay time.Duration) {
	defer r.wg.Done()

	if r.input != nil {
		err := r.input.Start()
		if err != nil {
			r.err <- fmt.Errorf("could not start input device: %w", err)
			return
		}
	}

	// Lex data from input device, in, until finished or an error is encountered.
	// For a continuous source e.g. a camera or microphone, we should remain
	// in this call indefinitely unless in.Stop() is called and an io.EOF is forced.
	r.cfg.Logger.Debug("lexing")
	var w io.Writer
	w = r.filters[0]
	if r.probe != nil {
		w = ioext.MultiWriteCloser(r.filters[0], r.probe)
	}

	var err error
	if r.cfg.Input == config.InputManual {
		err = r.lexTo(w, r.pipeReader, delay)
	} else {
		err = r.lexTo(w, r.input, delay)
	}

	switch err {
	case nil, io.EOF:
		r.cfg.Logger.Info("end of file")
	case io.ErrUnexpectedEOF:
		r.cfg.Logger.Info("unexpected EOF from input")
	default:
		r.err <- err
	}
	r.cfg.Logger.Info("finished reading input")

	r.cfg.Logger.Debug("stopping input")
	err = r.input.Stop()
	if err != nil {
		r.err <- fmt.Errorf("could not stop input source: %w", err)
	} else {
		r.cfg.Logger.Info("input stopped")
	}
}