From 9af08ae09c141e2f3a01dfee2002c15e5495d359 Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 6 May 2025 16:54:31 -0400 Subject: [PATCH 1/8] Add initial build stub for rust-based webrtc interface module --- rust/libmultisense-ambarella/Cargo.lock | 428 ++++++++++++++++++ rust/libmultisense-ambarella/Cargo.toml | 14 + rust/libmultisense-ambarella/build.rs | 23 + rust/libmultisense-ambarella/src/lib.rs | 14 + source/LibMultiSense/CMakeLists.txt | 41 +- source/LibMultiSense/details/factory.cc | 13 + .../LibMultiSense/details/mswebrtc/channel.cc | 135 ++++++ .../include/MultiSense/MultiSenseChannel.hh | 7 +- .../include/details/mswebrtc/channel.hh | 163 +++++++ 9 files changed, 832 insertions(+), 6 deletions(-) create mode 100644 rust/libmultisense-ambarella/Cargo.lock create mode 100644 rust/libmultisense-ambarella/Cargo.toml create mode 100644 rust/libmultisense-ambarella/build.rs create mode 100644 rust/libmultisense-ambarella/src/lib.rs create mode 100644 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b/rust/libmultisense-ambarella/build.rs @@ -0,0 +1,23 @@ +extern crate cbindgen; + +use uuid::Uuid; + +fn main() { + let mut output_file = std::env::current_dir().unwrap(); + output_file.push(std::env::var("CARGO_TARGET_DIR").unwrap()); + output_file.push("mswebrtc.h"); + + let b = cbindgen::Builder::new() + .with_include_guard( + "MSWEBRTC_H".to_owned() + + &Uuid::new_v4() + .to_string() + .to_uppercase() + .split("-") //split and fold here because join is experimental + .fold(String::new(), |a, b| a + "_" + b), + ) + .with_crate(std::env::current_dir().unwrap()); + b.generate() + .expect("Failed to generate bindings") + .write_to_file(output_file); +} diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs new file mode 100644 index 00000000..a7929de3 --- /dev/null +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -0,0 +1,14 @@ +pub struct MswebrtcImpl { + pub addr: u32, +} + +#[no_mangle] +pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { + let out = Box::new(MswebrtcImpl { addr: 0 }); + Box::into_raw(out) +} + +#[no_mangle] +pub extern "C" fn destroy_mswebrtc_impl(obj: *mut MswebrtcImpl) { + unsafe { drop(Box::from_raw(obj)) }; +} diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt index 7a4cb8ea..d0b3c5ea 100644 --- a/source/LibMultiSense/CMakeLists.txt +++ b/source/LibMultiSense/CMakeLists.txt @@ -1,3 +1,5 @@ +include(ExternalProject) + set(MULTISENSE_HEADERS ${CMAKE_CURRENT_LIST_DIR}/include/MultiSense/MultiSenseChannel.hh ${CMAKE_CURRENT_LIST_DIR}/include/MultiSense/MultiSenseTypes.hh ${CMAKE_CURRENT_LIST_DIR}/include/MultiSense/MultiSenseUtilities.hh) @@ -21,6 +23,25 @@ set(DETAILS_SRC details/factory.cc details/legacy/udp.cc details/legacy/utilities.cc) +find_program(CARGO "cargo") +if (CARGO) + set(BUILD_MSWEBRTC ON) +endif (CARGO) + +if (BUILD_MSWEBRTC) + set(DETAILS_SRC ${DETAILS_SRC} details/mswebrtc/channel.cc) + set(MSWEBRTC_SRC_DIR ${CMAKE_SOURCE_DIR}/rust/libmultisense-ambarella) + ExternalProject_Add(libmultisense-ambarella + PREFIX ${CMAKE_CURRENT_BINARY_DIR}/libmultisense-ambarella-prefix + SOURCE_DIR ${MSWEBRTC_SRC_DIR} + BUILD_IN_SOURCE TRUE + CONFIGURE_COMMAND "" + INSTALL_COMMAND "" + BUILD_COMMAND ${CMAKE_COMMAND} -E env CARGO_TARGET_DIR=${CMAKE_CURRENT_BINARY_DIR}/libmultisense-ambarella-prefix/src/libmultisense-ambarella-build ${CARGO} build --profile release) +else (BUILD_MSWEBRTC) + message("Cargo not found, not building mswebrtc channel implementation") +endif (BUILD_MSWEBRTC) + if (${BUILD_SHARED_LIBS}) add_library(MultiSense SHARED ${MULTISENSE_HEADERS} ${DETAILS_SRC}) @@ -31,7 +52,17 @@ else() endif() -target_link_libraries(MultiSense MultiSenseWire) + +if (BUILD_MSWEBRTC) + ExternalProject_Get_property(libmultisense-ambarella PREFIX) + target_include_directories(MultiSense + PRIVATE ${PREFIX}/src/libmultisense-ambarella-build) + add_dependencies(MultiSense libmultisense-ambarella) + target_link_libraries(MultiSense PRIVATE ${PREFIX}/src/libmultisense-ambarella-build/release/libmswebrtc.a) +endif (BUILD_MSWEBRTC) + + +target_link_libraries(MultiSense PRIVATE MultiSenseWire) target_include_directories(MultiSense PUBLIC $ PUBLIC $) @@ -48,7 +79,7 @@ endif() if (BUILD_JSON_SERIALIZATION) if(nlohmann_json_FOUND) - target_link_libraries(MultiSense nlohmann_json::nlohmann_json) + target_link_libraries(MultiSense PUBLIC nlohmann_json::nlohmann_json) endif() endif() @@ -67,11 +98,11 @@ set_target_properties(MultiSense PROPERTIES PUBLIC_HEADER "${MULTISENSE_HEADERS} # if(${CMAKE_SYSTEM_NAME} MATCHES "Windows") - target_link_libraries(MultiSense ws2_32) + target_link_libraries(MultiSense PUBLIC ws2_32) elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") - target_link_libraries(MultiSense pthread) + target_link_libraries(MultiSense PUBLIC pthread) else() - target_link_libraries(MultiSense pthread rt) + target_link_libraries(MultiSense PUBLIC pthread rt) endif() if (BUILD_TESTS) diff --git a/source/LibMultiSense/details/factory.cc b/source/LibMultiSense/details/factory.cc index 252e8f5b..48ef7186 100644 --- a/source/LibMultiSense/details/factory.cc +++ b/source/LibMultiSense/details/factory.cc @@ -35,6 +35,7 @@ **/ #include "details/legacy/channel.hh" +#include "details/mswebrtc/channel.hh" namespace multisense { @@ -56,6 +57,18 @@ std::unique_ptr Channel::create(const Config &config, return nullptr; } } + case ChannelImplementation::MSWEBRTC: + { + try + { + return std::unique_ptr(new mswebrtc::MswebrtcChannel(config)); + } + catch(const std::exception &e) + { + CRL_DEBUG("Unable to create legacy channel %s\n", e.what()); + return nullptr; + } + } default: { return nullptr; diff --git a/source/LibMultiSense/details/mswebrtc/channel.cc b/source/LibMultiSense/details/mswebrtc/channel.cc new file mode 100644 index 00000000..8136cf13 --- /dev/null +++ b/source/LibMultiSense/details/mswebrtc/channel.cc @@ -0,0 +1,135 @@ +/** + * @file channel.cc + * + * Copyright 2013-2025 + * Carnegie Robotics, LLC + * 4501 Hatfield Street, Pittsburgh, PA 15201 + * http://www.carnegierobotics.com + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Carnegie Robotics, LLC nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Significant history (date, user, job code, action): + * 2024-12-24, malvarado@carnegierobotics.com, IRAD, Created file. + **/ + + +#include "details/mswebrtc/channel.hh" + +namespace multisense { +namespace mswebrtc { + +MswebrtcChannel::MswebrtcChannel(const Config &):impl(create_mswebrtc_impl()) +{ +} + +MswebrtcChannel::~MswebrtcChannel() +{ + destroy_mswebrtc_impl(impl); +} + + +Status MswebrtcChannel::start_streams(const std::vector &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::stop_streams(const std::vector &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +void MswebrtcChannel::add_image_frame_callback(std::function) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +void MswebrtcChannel::add_imu_frame_callback(std::function) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::connect(const Config &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +void MswebrtcChannel::disconnect() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +std::optional MswebrtcChannel::get_next_image_frame() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +std::optional MswebrtcChannel::get_next_imu_frame() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +MultiSenseConfig MswebrtcChannel::get_config() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_config(const MultiSenseConfig &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +StereoCalibration MswebrtcChannel::get_calibration() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_calibration(const StereoCalibration &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +MultiSenseInfo MswebrtcChannel::get_info() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_device_info(const MultiSenseInfo::DeviceInfo &, const std::string &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +std::optional MswebrtcChannel::get_system_status() +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +Status MswebrtcChannel::set_network_config(const MultiSenseInfo::NetworkInfo &, + const std::optional &) +{ + CRL_EXCEPTION("NOT IMPLEMENTED"); +} + +} +} diff --git a/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh b/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh index d2e82d23..2334ad82 100644 --- a/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh +++ b/source/LibMultiSense/include/MultiSense/MultiSenseChannel.hh @@ -54,7 +54,12 @@ public: /// /// @brief Use the Legacy MultiSense wire protocol implemented as part of LibMultiSense /// - LEGACY + LEGACY, + + /// + /// @brief Use the Webrtc-derived MultiSense wire protocol implemented for the Ambarella multisense variant + /// + MSWEBRTC }; /// diff --git a/source/LibMultiSense/include/details/mswebrtc/channel.hh b/source/LibMultiSense/include/details/mswebrtc/channel.hh new file mode 100644 index 00000000..20aa18e6 --- /dev/null +++ b/source/LibMultiSense/include/details/mswebrtc/channel.hh @@ -0,0 +1,163 @@ +/** + * @file channel.hh + * + * Copyright 2013-2025 + * Carnegie Robotics, LLC + * 4501 Hatfield Street, Pittsburgh, PA 15201 + * http://www.carnegierobotics.com + * + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the Carnegie Robotics, LLC nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL CARNEGIE ROBOTICS, LLC BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + * Significant history (date, user, job code, action): + * 2024-12-24, malvarado@carnegierobotics.com, IRAD, Created file. + **/ + +#pragma once + +#include "MultiSense/MultiSenseChannel.hh" +#include "utility/Exception.hh" +#include "mswebrtc.h" + +namespace multisense{ +namespace mswebrtc{ + + +class MswebrtcChannel : public Channel +{ +public: + explicit MswebrtcChannel(const Config &config); + + virtual ~MswebrtcChannel(); + + /// + /// @brief Start a collection of image streams. Repeated calls to this function will not implicitly + /// stop the previously started streams. For example if a user started a left_raw stream in one + /// call and a disparity stream in a second call, both streams would be active until stop_streams + /// is called for either + /// + Status start_streams(const std::vector &sources) final override; + + /// + /// @brief Stop a collection of streams + /// + Status stop_streams(const std::vector &sources) final override; + + /// + /// @brief Add a image frame callback to get serviced inline with the receipt of a new frame. Only + /// a single image frame callback can be added to the channel + /// NOTE: Perform minimal work in this callback, and ideally copy the lightweight + /// ImageFrame object out to another processing thread + /// + void add_image_frame_callback(std::function callback) final override; + + /// + /// @brief Add a imu frame callback to get serviced inline with the receipt of a new frame. Only + /// a single imu frame callback can be added to the channel + /// NOTE: Perform minimal work in this callback, and ideally copy the lightweight + /// ImuFrame object out to another processing thread + /// + void add_imu_frame_callback(std::function callback) final override; + + /// + /// @brief Initialize the connection to the camera + /// + Status connect(const Config &config) final override; + + /// + /// @brief Disconnect from the camera + /// + void disconnect() final override; + + /// + /// @brief A blocking call that waits for one image frame from the camera. + /// + /// If you’ve set a receive timeout (via Config), it will block until that timeout expires; + /// otherwise, it blocks indefinitely until data arrives. + /// + /// @return The newly received ImageFrame, or std::nullopt if timed out (and you used a timeout). + /// + std::optional get_next_image_frame() final override; + + /// + /// @brief A blocking call that waits for one imu frame from the camera. + /// + /// If you’ve set a receive timeout (via Config), it will block until that timeout expires; + /// otherwise, it blocks indefinitely until data arrives. + /// + /// @return The newly received ImuFrame, or std::nullopt if timed out (and you used a timeout). + /// + std::optional get_next_imu_frame() final override; + + /// + /// @brief Get the current MultiSense configuration + /// + MultiSenseConfig get_config() final override; + + /// + /// @brief Get set the current MultiSense configuration + /// + Status set_config(const MultiSenseConfig &config) final override; + + /// + /// @brief Get the current stereo calibration. The output calibration will correspond to the full-resolution + /// operating mode of the camera + /// + StereoCalibration get_calibration() final override; + + /// + /// @brief Set the current stereo calibration. The calibration is expected to be or the full-resolution + /// operating mode of the camera + /// + Status set_calibration(const StereoCalibration &calibration) final override; + + /// + /// @brief Get the device info associated with the camera + /// + MultiSenseInfo get_info() final override; + + /// + /// @brief Set the camera's device info. This setting is protected via a key since invalid values in the + /// device info can result in internal camera failures + /// + Status set_device_info(const MultiSenseInfo::DeviceInfo &device_info, const std::string &key) final override; + + /// + /// @brief Query the current MultiSense status + /// + std::optional get_system_status() final override; + + /// + /// @brief Update the network configuration of the MultiSense. This will require a hardware reboot of the + /// MultiSense after it's been successfully applied + /// + Status set_network_config(const MultiSenseInfo::NetworkInfo &config, + const std::optional &broadcast_interface) final override; + +private: + MswebrtcImpl *impl; +}; + +} +} From d920c84e1ab505c5c97105ba7e735147bd5696bd Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 6 May 2025 17:30:08 -0400 Subject: [PATCH 2/8] Add webrtc, manage a peer connection with the mswebrtcimpl object --- rust/libmultisense-ambarella/Cargo.lock | 2441 +++++++++++++++++++++-- rust/libmultisense-ambarella/Cargo.toml | 4 + rust/libmultisense-ambarella/src/lib.rs | 25 +- source/LibMultiSense/CMakeLists.txt | 1 + 4 files changed, 2322 insertions(+), 149 deletions(-) diff --git a/rust/libmultisense-ambarella/Cargo.lock b/rust/libmultisense-ambarella/Cargo.lock index 918556af..b6cda71f 100644 --- a/rust/libmultisense-ambarella/Cargo.lock +++ b/rust/libmultisense-ambarella/Cargo.lock @@ -1,6 +1,65 @@ # 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-8,6 +8,10 @@ name = "mswebrtc" crate-type = ["staticlib"] [dependencies] +qocrlif = { git = "ssh://git@github.com/carnegierobotics/qocrlif.git", rev = "cfc4a40acf1a90ea48a20655c92d917d3ed98e6a" } +fragunfrag = { git = "ssh://git@github.com/carnegierobotics/fragunfrag.git", rev = "0f9ba8fb1cb0ed14cb154f694b6cc558d7720a3d" } +tokio = "1.45" +webrtc = "0.11.0" [build-dependencies] cbindgen = "0.12" diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs index a7929de3..a98f7bd9 100644 --- a/rust/libmultisense-ambarella/src/lib.rs +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -1,14 +1,33 @@ +use std::sync::Arc; +use webrtc::{ + api::media_engine::MediaEngine, api::APIBuilder, interceptor::registry::Registry, + peer_connection::configuration::RTCConfiguration, peer_connection::RTCPeerConnection, +}; + pub struct MswebrtcImpl { - pub addr: u32, + rt: tokio::runtime::Runtime, + pc: Arc, } #[no_mangle] pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { - let out = Box::new(MswebrtcImpl { addr: 0 }); + let rt = tokio::runtime::Runtime::new().expect("Failed to create async runtime"); + let registry = Registry::new(); + let m = MediaEngine::default(); + let api = APIBuilder::new() + .with_media_engine(m) + .with_interceptor_registry(registry) + .build(); + let config = RTCConfiguration::default(); + let pc = Arc::new( + rt.block_on(api.new_peer_connection(config)) + .expect("failed to make new peer connection"), + ); + let out = Box::new(MswebrtcImpl { rt: rt, pc: pc }); Box::into_raw(out) } #[no_mangle] pub extern "C" fn destroy_mswebrtc_impl(obj: *mut MswebrtcImpl) { - unsafe { drop(Box::from_raw(obj)) }; + drop(unsafe { Box::from_raw(obj) }); } diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt index d0b3c5ea..c178ba43 100644 --- a/source/LibMultiSense/CMakeLists.txt +++ b/source/LibMultiSense/CMakeLists.txt @@ -37,6 +37,7 @@ if (BUILD_MSWEBRTC) BUILD_IN_SOURCE TRUE CONFIGURE_COMMAND "" INSTALL_COMMAND "" + BUILD_ALWAYS TRUE BUILD_COMMAND ${CMAKE_COMMAND} -E env CARGO_TARGET_DIR=${CMAKE_CURRENT_BINARY_DIR}/libmultisense-ambarella-prefix/src/libmultisense-ambarella-build ${CARGO} build --profile release) else (BUILD_MSWEBRTC) message("Cargo not found, not building mswebrtc channel implementation") From 45ad81c9f06567fe20107ee257a75cedd578f67b Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 13 May 2025 16:35:00 -0400 Subject: [PATCH 3/8] add offer/answer negotiation to the mswebrtc connect member --- rust/libmultisense-ambarella/Cargo.lock | 738 +++++++++++++++++- rust/libmultisense-ambarella/Cargo.toml | 3 + rust/libmultisense-ambarella/src/lib.rs | 92 ++- source/LibMultiSense/CMakeLists.txt | 6 +- .../LibMultiSense/details/mswebrtc/channel.cc | 13 +- 5 files changed, 823 insertions(+), 29 deletions(-) diff --git a/rust/libmultisense-ambarella/Cargo.lock b/rust/libmultisense-ambarella/Cargo.lock index b6cda71f..2546bd6c 100644 --- a/rust/libmultisense-ambarella/Cargo.lock +++ b/rust/libmultisense-ambarella/Cargo.lock @@ -199,7 +199,7 @@ dependencies = [ "miniz_oxide", "object", "rustc-demangle", - "windows-targets", + "windows-targets 0.52.6", ] [[package]] @@ -265,6 +265,12 @@ dependencies = [ "generic-array", ] +[[package]] +name = "bumpalo" +version = "3.17.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1628fb46dfa0b37568d12e5edd512553eccf6a22a78e8bde00bb4aed84d5bdbf" + [[package]] name = "byteorder" version = "1.5.0" @@ -361,6 +367,22 @@ version = "0.9.6" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c2459377285ad874054d797f3ccebf984978aa39129f6eafde5cdc8315b612f8" +[[package]] +name = "core-foundation" +version = "0.9.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "91e195e091a93c46f7102ec7818a2aa394e1e1771c3ab4825963fa03e45afb8f" +dependencies = [ + "core-foundation-sys", + "libc", +] + +[[package]] +name = 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+source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1" + +[[package]] +name = "foreign-types" +version = "0.3.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f6f339eb8adc052cd2ca78910fda869aefa38d22d5cb648e6485e4d3fc06f3b1" +dependencies = [ + "foreign-types-shared", +] + +[[package]] +name = "foreign-types-shared" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "00b0228411908ca8685dba7fc2cdd70ec9990a6e753e89b6ac91a84c40fbaf4b" + [[package]] name = "form_urlencoded" version = "1.2.1" @@ -786,6 +844,31 @@ dependencies = [ "subtle", ] +[[package]] +name = "h2" +version = "0.4.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a9421a676d1b147b16b82c9225157dc629087ef8ec4d5e2960f9437a90dac0a5" +dependencies = [ + "atomic-waker", + "bytes", + "fnv", + "futures-core", + "futures-sink", + 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"hyper", + "hyper-util", + "rustls", + "rustls-pki-types", + "tokio", + "tokio-rustls", + "tower-service", +] + +[[package]] +name = "hyper-tls" +version = "0.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "70206fc6890eaca9fde8a0bf71caa2ddfc9fe045ac9e5c70df101a7dbde866e0" +dependencies = [ + "bytes", + "http-body-util", + "hyper", + "hyper-util", + "native-tls", + "tokio", + "tokio-native-tls", + "tower-service", +] + +[[package]] +name = "hyper-util" +version = "0.1.11" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "497bbc33a26fdd4af9ed9c70d63f61cf56a938375fbb32df34db9b1cd6d643f2" +dependencies = [ + "bytes", + "futures-channel", + "futures-util", + "http", + "http-body", + "hyper", + "libc", + "pin-project-lite", + "socket2", + "tokio", + "tower-service", + "tracing", +] + [[package]] name = "icu_collections" version = "1.5.0" @@ -958,6 +1154,16 @@ dependencies = [ "icu_properties", ] +[[package]] +name = "indexmap" +version = "2.9.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cea70ddb795996207ad57735b50c5982d8844f38ba9ee5f1aedcfb708a2aa11e" +dependencies = [ + "equivalent", + "hashbrown", +] + [[package]] name = "inout" version = "0.1.4" @@ -1000,6 +1206,16 @@ version = "1.0.14" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "d75a2a4b1b190afb6f5425f10f6a8f959d2ea0b9c2b1d79553551850539e4674" +[[package]] +name = "js-sys" +version = "0.3.77" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1cfaf33c695fc6e08064efbc1f72ec937429614f25eef83af942d0e227c3a28f" +dependencies = [ + "once_cell", + "wasm-bindgen", +] + [[package]] name = "lazy_static" version = "1.5.0" @@ -1008,9 +1224,9 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe" [[package]] name = "libc" -version = "0.2.169" +version = "0.2.172" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a" +checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa" [[package]] name = "linux-raw-sys" @@ -1065,6 +1281,12 @@ dependencies = [ "autocfg", ] +[[package]] +name = "mime" +version = "0.3.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6877bb514081ee2a7ff5ef9de3281f14a4dd4bceac4c09388074a6b5df8a139a" + [[package]] name = "minimal-lexical" version = "0.2.1" @@ -1098,11 +1320,32 @@ dependencies = [ "cbindgen", "fragunfrag", "qocrlif", + "reqwest", + "serde", + "serde_json", "tokio", "uuid", "webrtc", ] +[[package]] +name = "native-tls" +version = "0.2.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fd7e2f3618557f980e0b17e8856252eee3c97fa12c54dff0ca290fb6266ca4a9" +dependencies = [ + "lazy_static", + "libc", + "log", + "openssl", + "openssl-probe", + "openssl-sys", + "schannel", + "security-framework", + "security-framework-sys", + "tempfile", +] + [[package]] name = "nix" version = "0.26.4" @@ -1190,6 +1433,50 @@ version = "0.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c08d65885ee38876c4f86fa503fb49d7b507c2b62552df7c70b2fce627e06381" +[[package]] +name = "openssl" +version = "0.10.72" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "fedfea7d58a1f73118430a55da6a286e7b044961736ce96a16a17068ea25e5da" +dependencies = [ + "bitflags 2.6.0", + "cfg-if", + "foreign-types", + "libc", + "once_cell", + "openssl-macros", + "openssl-sys", +] + +[[package]] +name = "openssl-macros" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a948666b637a0f465e8564c73e89d4dde00d72d4d473cc972f390fc3dcee7d9c" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.95", +] + +[[package]] +name = "openssl-probe" +version = "0.1.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d05e27ee213611ffe7d6348b942e8f942b37114c00cc03cec254295a4a17852e" + +[[package]] +name = "openssl-sys" +version = "0.9.108" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e145e1651e858e820e4860f7b9c5e169bc1d8ce1c86043be79fa7b7634821847" +dependencies = [ + "cc", + "libc", + "pkg-config", + "vcpkg", +] + [[package]] name = "p256" version = "0.13.2" @@ -1234,7 +1521,7 @@ dependencies = [ "libc", "redox_syscall", "smallvec", - "windows-targets", + "windows-targets 0.52.6", ] [[package]] @@ -1284,6 +1571,12 @@ dependencies = [ "spki", ] +[[package]] +name = "pkg-config" +version = "0.3.32" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c" + [[package]] name = "polyval" version = "0.6.2" @@ -1460,6 +1753,51 @@ version = "0.8.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c" +[[package]] +name = "reqwest" +version = "0.12.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d19c46a6fdd48bc4dab94b6103fccc55d34c67cc0ad04653aad4ea2a07cd7bbb" +dependencies = [ + "base64 0.22.1", + "bytes", + "encoding_rs", + "futures-channel", + "futures-core", + "futures-util", + "h2", + "http", + "http-body", + "http-body-util", + "hyper", + "hyper-rustls", + "hyper-tls", + "hyper-util", + "ipnet", + "js-sys", + "log", + "mime", + "native-tls", + "once_cell", + "percent-encoding", + "pin-project-lite", + "rustls-pemfile", + "serde", + "serde_json", + "serde_urlencoded", + "sync_wrapper", + "system-configuration", + "tokio", + "tokio-native-tls", + "tower", + "tower-service", + "url", + "wasm-bindgen", + "wasm-bindgen-futures", + "web-sys", + "windows-registry", +] + [[package]] name = "rfc6979" version = "0.4.0" @@ -1561,6 +1899,15 @@ dependencies = [ "zeroize", ] +[[package]] +name = "rustls-pemfile" +version = "2.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dce314e5fee3f39953d46bb63bb8a46d40c2f8fb7cc5a3b6cab2bde9721d6e50" +dependencies = [ + "rustls-pki-types", +] + [[package]] name = "rustls-pki-types" version = "1.10.1" @@ -1578,12 +1925,27 @@ dependencies = [ "untrusted", ] +[[package]] +name = "rustversion" +version = "1.0.20" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "eded382c5f5f786b989652c49544c4877d9f015cc22e145a5ea8ea66c2921cd2" + [[package]] name = "ryu" version = "1.0.18" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f" +[[package]] +name = "schannel" +version = "0.1.27" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1f29ebaa345f945cec9fbbc532eb307f0fdad8161f281b6369539c8d84876b3d" +dependencies = [ + "windows-sys 0.59.0", +] + [[package]] name = "scopeguard" version = "1.2.0" @@ -1616,6 +1978,29 @@ dependencies = [ "zeroize", ] +[[package]] +name = "security-framework" +version = "2.11.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "897b2245f0b511c87893af39b033e5ca9cce68824c4d7e7630b5a1d339658d02" +dependencies = [ + "bitflags 2.6.0", + "core-foundation", + "core-foundation-sys", + "libc", + "security-framework-sys", +] + +[[package]] +name = "security-framework-sys" +version = "2.14.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "49db231d56a190491cb4aeda9527f1ad45345af50b0851622a7adb8c03b01c32" +dependencies = [ + "core-foundation-sys", + "libc", +] + [[package]] name = "semver" version = "1.0.26" @@ -1624,18 +2009,18 @@ checksum = "56e6fa9c48d24d85fb3de5ad847117517440f6beceb7798af16b4a87d616b8d0" [[package]] name = "serde" -version = "1.0.217" +version = "1.0.219" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "02fc4265df13d6fa1d00ecff087228cc0a2b5f3c0e87e258d8b94a156e984c70" +checksum = "5f0e2c6ed6606019b4e29e69dbaba95b11854410e5347d525002456dbbb786b6" dependencies = [ "serde_derive", ] [[package]] name = "serde_derive" -version = "1.0.217" +version = "1.0.219" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5a9bf7cf98d04a2b28aead066b7496853d4779c9cc183c440dbac457641e19a0" +checksum = "5b0276cf7f2c73365f7157c8123c21cd9a50fbbd844757af28ca1f5925fc2a00" dependencies = [ "proc-macro2", "quote", @@ -1644,9 +2029,9 @@ dependencies = [ [[package]] name = "serde_json" -version = "1.0.134" +version = "1.0.140" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d00f4175c42ee48b15416f6193a959ba3a0d67fc699a0db9ad12df9f83991c7d" +checksum = "20068b6e96dc6c9bd23e01df8827e6c7e1f2fddd43c21810382803c136b99373" dependencies = [ "itoa", "memchr", @@ -1654,6 +2039,18 @@ dependencies = [ "serde", ] +[[package]] +name = "serde_urlencoded" +version = "0.7.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d3491c14715ca2294c4d6a88f15e84739788c1d030eed8c110436aafdaa2f3fd" +dependencies = [ + "form_urlencoded", + "itoa", + "ryu", + "serde", +] + [[package]] name = "sha1" version = "0.10.6" @@ -1718,9 +2115,9 @@ dependencies = [ [[package]] name = "socket2" -version = "0.5.8" +version = "0.5.9" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c970269d99b64e60ec3bd6ad27270092a5394c4e309314b18ae3fe575695fbe8" +checksum = "4f5fd57c80058a56cf5c777ab8a126398ece8e442983605d280a44ce79d0edef" dependencies = [ "libc", "windows-sys 0.52.0", @@ -1810,6 +2207,15 @@ dependencies = [ "unicode-ident", ] +[[package]] +name = "sync_wrapper" +version = "1.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263" +dependencies = [ + "futures-core", +] + [[package]] name = "synstructure" version = "0.12.6" @@ -1833,6 +2239,27 @@ dependencies = [ "syn 2.0.95", ] +[[package]] +name = "system-configuration" +version = "0.6.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3c879d448e9d986b661742763247d3693ed13609438cf3d006f51f5368a5ba6b" +dependencies = [ + "bitflags 2.6.0", + "core-foundation", + "system-configuration-sys", +] + +[[package]] +name = "system-configuration-sys" +version = "0.6.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8e1d1b10ced5ca923a1fcb8d03e96b8d3268065d724548c0211415ff6ac6bac4" +dependencies = [ + "core-foundation-sys", + "libc", +] + [[package]] name = "tempfile" version = "3.19.1" @@ -1944,6 +2371,26 @@ dependencies = [ "syn 2.0.95", ] +[[package]] +name = "tokio-native-tls" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bbae76ab933c85776efabc971569dd6119c580d8f5d448769dec1764bf796ef2" +dependencies = [ + "native-tls", + "tokio", +] + +[[package]] +name = "tokio-rustls" +version = "0.26.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8e727b36a1a0e8b74c376ac2211e40c2c8af09fb4013c60d910495810f008e9b" +dependencies = [ + "rustls", + "tokio", +] + [[package]] name = "tokio-util" version = "0.7.13" @@ -1966,6 +2413,58 @@ dependencies = [ "serde", ] +[[package]] +name = "tower" +version = "0.5.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d039ad9159c98b70ecfd540b2573b97f7f52c3e8d9f8ad57a24b916a536975f9" +dependencies = [ + "futures-core", + "futures-util", + "pin-project-lite", + "sync_wrapper", + "tokio", + "tower-layer", + "tower-service", +] + +[[package]] +name = "tower-layer" +version = "0.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "121c2a6cda46980bb0fcd1647ffaf6cd3fc79a013de288782836f6df9c48780e" + +[[package]] +name = "tower-service" +version = "0.3.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8df9b6e13f2d32c91b9bd719c00d1958837bc7dec474d94952798cc8e69eeec3" + +[[package]] +name = "tracing" +version = "0.1.41" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "784e0ac535deb450455cbfa28a6f0df145ea1bb7ae51b821cf5e7927fdcfbdd0" +dependencies = [ + "pin-project-lite", + "tracing-core", +] + +[[package]] +name = "tracing-core" +version = "0.1.33" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e672c95779cf947c5311f83787af4fa8fffd12fb27e4993211a84bdfd9610f9c" +dependencies = [ + "once_cell", +] + +[[package]] +name = "try-lock" +version = "0.2.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b" + [[package]] name = "turn" version = "0.8.0" @@ -2059,6 +2558,12 @@ dependencies = [ "getrandom 0.3.2", ] +[[package]] +name = "vcpkg" +version = "0.2.15" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426" + [[package]] name = "vec_map" version = "0.8.2" @@ -2080,6 +2585,15 @@ dependencies = [ "atomic-waker", ] +[[package]] +name = "want" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bfa7760aed19e106de2c7c0b581b509f2f25d3dacaf737cb82ac61bc6d760b0e" +dependencies = [ + "try-lock", +] + [[package]] name = "wasi" version = "0.11.0+wasi-snapshot-preview1" @@ -2095,6 +2609,87 @@ dependencies = [ "wit-bindgen-rt", ] +[[package]] +name = "wasm-bindgen" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1edc8929d7499fc4e8f0be2262a241556cfc54a0bea223790e71446f2aab1ef5" +dependencies = [ + "cfg-if", + "once_cell", + "rustversion", + "wasm-bindgen-macro", +] + +[[package]] +name = "wasm-bindgen-backend" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2f0a0651a5c2bc21487bde11ee802ccaf4c51935d0d3d42a6101f98161700bc6" +dependencies = [ + "bumpalo", + "log", + "proc-macro2", + "quote", + "syn 2.0.95", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-futures" +version = "0.4.50" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "555d470ec0bc3bb57890405e5d4322cc9ea83cebb085523ced7be4144dac1e61" +dependencies = [ + "cfg-if", + "js-sys", + "once_cell", + "wasm-bindgen", + "web-sys", +] + +[[package]] +name = "wasm-bindgen-macro" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7fe63fc6d09ed3792bd0897b314f53de8e16568c2b3f7982f468c0bf9bd0b407" +dependencies = [ + "quote", + "wasm-bindgen-macro-support", +] + +[[package]] +name = "wasm-bindgen-macro-support" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ae87ea40c9f689fc23f209965b6fb8a99ad69aeeb0231408be24920604395de" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.95", + "wasm-bindgen-backend", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-shared" +version = "0.2.100" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1a05d73b933a847d6cccdda8f838a22ff101ad9bf93e33684f39c1f5f0eece3d" +dependencies = [ + "unicode-ident", +] + +[[package]] +name = "web-sys" +version = "0.3.77" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "33b6dd2ef9186f1f2072e409e99cd22a975331a6b3591b12c764e0e55c60d5d2" +dependencies = [ + "js-sys", + "wasm-bindgen", +] + [[package]] name = "webrtc" version = "0.11.0" @@ -2326,13 +2921,48 @@ version = "0.4.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" +[[package]] +name = "windows-link" +version = "0.1.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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"wit-bindgen-rt" version = "0.39.0" diff --git a/rust/libmultisense-ambarella/Cargo.toml b/rust/libmultisense-ambarella/Cargo.toml index c2fb2943..ddac88c0 100644 --- a/rust/libmultisense-ambarella/Cargo.toml +++ b/rust/libmultisense-ambarella/Cargo.toml @@ -12,6 +12,9 @@ qocrlif = { git = "ssh://git@github.com/carnegierobotics/qocrlif.git", rev = "cf fragunfrag = { git = "ssh://git@github.com/carnegierobotics/fragunfrag.git", rev = "0f9ba8fb1cb0ed14cb154f694b6cc558d7720a3d" } tokio = "1.45" webrtc = "0.11.0" +reqwest = {version="0.12.12", features=["blocking"]} +serde = { version = "1.0.218", features = ["derive"] } +serde_json = "1.0.139" [build-dependencies] cbindgen = "0.12" diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs index a98f7bd9..5a392fc6 100644 --- a/rust/libmultisense-ambarella/src/lib.rs +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -1,7 +1,12 @@ use std::sync::Arc; use webrtc::{ - api::media_engine::MediaEngine, api::APIBuilder, interceptor::registry::Registry, - peer_connection::configuration::RTCConfiguration, peer_connection::RTCPeerConnection, + api::media_engine::MediaEngine, + api::APIBuilder, + interceptor::registry::Registry, + peer_connection::{ + configuration::RTCConfiguration, sdp::session_description::RTCSessionDescription, + RTCPeerConnection, + }, }; pub struct MswebrtcImpl { @@ -9,6 +14,66 @@ pub struct MswebrtcImpl { pc: Arc, } +impl MswebrtcImpl { + fn connect(&self, host: String) -> bool { + let client = reqwest::blocking::Client::builder() + .danger_accept_invalid_certs(true) + .build() + .unwrap(); + let offer = match client.get(host.clone() + "/offer").send() { + Ok(response) => { + let text = response.text().unwrap(); + Some(text) + } + Err(e) => None, + } + .expect("Failed to get offer"); + + let answer = self.rt.block_on(async { + match RTCSessionDescription::offer(offer) { + Ok(offer) => { + // set the remote description + //let asdf = offer; + //asdf.sdp; + //dbg!(&offer); + self.pc.set_remote_description(offer).await.unwrap(); + + // Create an answer + let answer = self.pc.create_answer(None).await.unwrap(); + + // Sets the LocalDescription, and starts our UDP listeners + self.pc.set_local_description(answer.clone()).await.unwrap(); + + // Create channel that is blocked until ICE Gathering is complete + let mut gather_complete = self.pc.gathering_complete_promise().await; + + let _ = gather_complete.recv().await; + //Ok(answer) + + if let Some(local_desc) = self.pc.local_description().await { + Ok(local_desc) + } else { + println!("failed to generate local description"); + Err(String::from("failed to generate local description")) + } + } + Err(e) => Err(String::from("failed to parse offer")), + } + }); + + let answer = serde_json::to_string(&answer).expect("Failed to serialize answer"); + client + .post(host + "/answer") + .header("content-type", "application/json") + .body(answer) + .send() + .is_ok() + } + fn disconnect(&self) { + println!("DISCONNECT"); + } +} + #[no_mangle] pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { let rt = tokio::runtime::Runtime::new().expect("Failed to create async runtime"); @@ -27,6 +92,29 @@ pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { Box::into_raw(out) } +#[no_mangle] +pub extern "C" fn connect_mswebrtc_impl( + obj: *mut MswebrtcImpl, + addr: *const std::ffi::c_char, +) -> bool { + let (r, addr) = unsafe { + ( + &*obj, + std::ffi::CStr::from_ptr(addr as *const i8) + .to_str() + .unwrap() + .to_string(), + ) + }; + r.connect(addr) +} + +#[no_mangle] +pub extern "C" fn disconnect_mswebrtc_impl(obj: *mut MswebrtcImpl) { + let r = unsafe { &*obj }; + r.disconnect() +} + #[no_mangle] pub extern "C" fn destroy_mswebrtc_impl(obj: *mut MswebrtcImpl) { drop(unsafe { Box::from_raw(obj) }); diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt index c178ba43..920ee45b 100644 --- a/source/LibMultiSense/CMakeLists.txt +++ b/source/LibMultiSense/CMakeLists.txt @@ -59,7 +59,11 @@ if (BUILD_MSWEBRTC) target_include_directories(MultiSense PRIVATE ${PREFIX}/src/libmultisense-ambarella-build) add_dependencies(MultiSense libmultisense-ambarella) - target_link_libraries(MultiSense PRIVATE ${PREFIX}/src/libmultisense-ambarella-build/release/libmswebrtc.a) + + #This rather long list of libraries was generated with the following invocation + # `cargo rustc -- --print native-static-libs` + # we may need to run that again in the mysterious future if our list of dependencies changes + target_link_libraries(MultiSense INTERFACE ${PREFIX}/src/libmultisense-ambarella-build/release/libmswebrtc.a -lssl -lcrypto -lgcc_s -lutil -lrt -lpthread -lm -ldl -lc) endif (BUILD_MSWEBRTC) diff --git a/source/LibMultiSense/details/mswebrtc/channel.cc b/source/LibMultiSense/details/mswebrtc/channel.cc index 8136cf13..78da7d77 100644 --- a/source/LibMultiSense/details/mswebrtc/channel.cc +++ b/source/LibMultiSense/details/mswebrtc/channel.cc @@ -40,7 +40,7 @@ namespace multisense { namespace mswebrtc { -MswebrtcChannel::MswebrtcChannel(const Config &):impl(create_mswebrtc_impl()) + MswebrtcChannel::MswebrtcChannel(const Config &):impl(create_mswebrtc_impl()) { } @@ -70,14 +70,19 @@ void MswebrtcChannel::add_imu_frame_callback(std::function MswebrtcChannel::get_next_image_frame() From 5e7bcb320ff47d52549fe93639b3b16edb12b78f Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 10 Jun 2025 09:26:50 -0400 Subject: [PATCH 4/8] transition this library from webrtc-rs to str0m --- rust/libmultisense-ambarella/Cargo.lock | 1368 +++-------------------- rust/libmultisense-ambarella/Cargo.toml | 4 +- rust/libmultisense-ambarella/src/lib.rs | 168 +-- 3 files changed, 277 insertions(+), 1263 deletions(-) diff --git a/rust/libmultisense-ambarella/Cargo.lock b/rust/libmultisense-ambarella/Cargo.lock index 2546bd6c..d3fc41e6 100644 --- a/rust/libmultisense-ambarella/Cargo.lock +++ b/rust/libmultisense-ambarella/Cargo.lock @@ -18,47 +18,18 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "512761e0bb2578dd7380c6baaa0f4ce03e84f95e960231d1dec8bf4d7d6e2627" [[package]] -name = "aead" -version = "0.5.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d122413f284cf2d62fb1b7db97e02edb8cda96d769b16e443a4f6195e35662b0" -dependencies = [ - "crypto-common", - "generic-array", -] - -[[package]] -name = "aes" -version = "0.8.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "b169f7a6d4742236a0a00c541b845991d0ac43e546831af1249753ab4c3aa3a0" -dependencies = [ - "cfg-if", - "cipher", - "cpufeatures", -] - -[[package]] -name = "aes-gcm" -version = "0.10.3" +name = "android-tzdata" +version = "0.1.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "831010a0f742e1209b3bcea8fab6a8e149051ba6099432c8cb2cc117dec3ead1" -dependencies = [ - "aead", - "aes", - "cipher", - "ctr", - "ghash", - "subtle", -] +checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0" [[package]] -name = "aho-corasick" -version = "1.1.3" +name = "android_system_properties" +version = "0.1.5" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8e60d3430d3a69478ad0993f19238d2df97c507009a52b3c10addcd7f6bcb916" +checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311" dependencies = [ - "memchr", + "libc", ] [[package]] @@ -70,100 +41,6 @@ dependencies = [ "winapi", ] -[[package]] -name = "arc-swap" -version = "1.7.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "69f7f8c3906b62b754cd5326047894316021dcfe5a194c8ea52bdd94934a3457" - -[[package]] -name = "asn1-rs" -version = "0.5.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7f6fd5ddaf0351dff5b8da21b2fb4ff8e08ddd02857f0bf69c47639106c0fff0" -dependencies = [ - "asn1-rs-derive 0.4.0", - "asn1-rs-impl 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"b0c919e5debc312ad217002b8048a17b7d83f80703865bbfcfebb0458b0b27d8" +dependencies = [ + "android_system_properties", + "core-foundation-sys", + "iana-time-zone-haiku", + "js-sys", + "log", + "wasm-bindgen", + "windows-core", +] + +[[package]] +name = "iana-time-zone-haiku" +version = "0.1.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f31827a206f56af32e590ba56d5d2d085f558508192593743f16b2306495269f" +dependencies = [ + "cc", +] + [[package]] name = "icu_collections" version = "1.5.0" @@ -1164,36 +809,6 @@ dependencies = [ "hashbrown", ] -[[package]] -name = "inout" -version = "0.1.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "879f10e63c20629ecabbb64a8010319738c66a5cd0c29b02d63d272b03751d01" -dependencies = [ - "block-padding", - "generic-array", -] - -[[package]] -name = "interceptor" -version = "0.12.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = 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+932,6 @@ dependencies = [ "tempfile", ] -[[package]] -name = "nix" -version = "0.26.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b" -dependencies = [ - "bitflags 1.3.2", - "cfg-if", - "libc", - "memoffset", - "pin-utils", -] - [[package]] name = "nom" version = "7.1.3" @@ -1369,31 +942,6 @@ dependencies = [ "minimal-lexical", ] -[[package]] -name = "num-bigint" -version = "0.4.6" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9" -dependencies = [ - "num-integer", - "num-traits", -] - -[[package]] -name = "num-conv" -version = "0.1.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "51d515d32fb182ee37cda2ccdcb92950d6a3c2893aa280e540671c2cd0f3b1d9" - -[[package]] -name = "num-integer" -version = "0.1.46" -source = 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-dependencies = [ - "ecdsa", - "elliptic-curve", - "primeorder", - "sha2", -] - -[[package]] -name = "parking_lot" -version = "0.12.3" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f1bf18183cf54e8d6059647fc3063646a1801cf30896933ec2311622cc4b9a27" -dependencies = [ - "lock_api", - "parking_lot_core", ] [[package]] -name = "parking_lot_core" -version = "0.9.10" +name = "openssl-sys" +version = "0.9.108" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8" +checksum = "e145e1651e858e820e4860f7b9c5e169bc1d8ce1c86043be79fa7b7634821847" dependencies = [ - "cfg-if", + "cc", "libc", - "redox_syscall", - "smallvec", - "windows-targets 0.52.6", -] - -[[package]] -name = "pem" -version = "3.0.5" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "38af38e8470ac9dee3ce1bae1af9c1671fffc44ddfd8bd1d0a3445bf349a8ef3" -dependencies = [ - "base64 0.22.1", 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[[package]] name = "ring" version = "0.17.8" @@ -1823,55 +1195,12 @@ dependencies = [ "windows-sys 0.52.0", ] -[[package]] -name = "rtcp" -version = "0.11.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fc9f775ff89c5fe7f0cc0abafb7c57688ae25ce688f1a52dd88e277616c76ab2" -dependencies = [ - "bytes", - "thiserror", - "webrtc-util", -] - -[[package]] -name = "rtp" -version = "0.11.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6870f09b5db96f8b9e7290324673259fd15519ebb7d55acf8e7eb044a9ead6af" -dependencies = [ - "bytes", - "portable-atomic", - "rand", - "serde", - "thiserror", - "webrtc-util", -] - [[package]] name = "rustc-demangle" version = "0.1.24" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f" -[[package]] -name = "rustc_version" -version = "0.4.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = 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"digest", + "sha1-asm", ] [[package]] -name = "sha2" -version = "0.10.8" +name = "sha1-asm" +version = "0.5.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "793db75ad2bcafc3ffa7c68b215fee268f537982cd901d132f89c6343f3a3dc8" +checksum = "286acebaf8b67c1130aedffad26f594eff0c1292389158135327d2e23aed582b" dependencies = [ - "cfg-if", - "cpufeatures", - "digest", + "cc", ] [[package]] @@ -2079,16 +1383,6 @@ version = "1.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64" -[[package]] -name = "signature" -version = "2.2.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "77549399552de45a898a580c1b41d445bf730df867cc44e6c0233bbc4b8329de" -dependencies = [ - "digest", - "rand_core", -] - [[package]] name = "slab" version = "0.4.9" @@ -2104,15 +1398,6 @@ version = "1.13.2" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67" -[[package]] -name = "smol_str" -version = "0.2.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "dd538fb6910ac1099850255cf94a94df6551fbdd602454387d0adb2d1ca6dead" -dependencies = [ - "serde", -] - [[package]] name = "socket2" version = "0.5.9" @@ -2129,16 +1414,6 @@ version = "0.9.8" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67" -[[package]] -name = "spki" -version = "0.7.3" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "d91ed6c858b01f942cd56b37a94b3e0a1798290327d1236e4d9cf4eaca44d29d" -dependencies = [ - "base64ct", - "der", -] - [[package]] name = "stable_deref_trait" version = "1.2.0" @@ -2146,38 +1421,31 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = 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+ "lazy_static", + "libc", + "nom", + "winapi", +] + [[package]] name = "tempfile" version = "3.19.1" @@ -2302,37 +1572,6 @@ dependencies = [ "syn 2.0.95", ] -[[package]] -name = "time" -version = "0.3.41" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8a7619e19bc266e0f9c5e6686659d394bc57973859340060a69221e57dbc0c40" -dependencies = [ - "deranged", - "itoa", - "num-conv", - "powerfmt", - "serde", - "time-core", - "time-macros", -] - -[[package]] -name = "time-core" -version = "0.1.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c9e9a38711f559d9e3ce1cdb06dd7c5b8ea546bc90052da6d06bb76da74bb07c" - -[[package]] -name = "time-macros" -version = "0.2.22" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3526739392ec93fd8b359c8e98514cb3e8e021beb4e5f597b00a0221f8ed8a49" -dependencies = [ - "num-conv", - "time-core", -] - [[package]] name = "tinystr" version = "0.7.6" @@ -2353,24 +1592,11 @@ 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"registry+https://github.com/rust-lang/crates.io-index" -checksum = "1d850daa68639b9d7bb16400676e97525d1e52b15b4928240ae2ba0e849817a5" -dependencies = [ - "arc-swap", - "async-trait", - "bytes", - "crc", - "log", - "portable-atomic", - "rand", - "thiserror", - "tokio", - "webrtc-util", -] +checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" [[package]] -name = "webrtc-srtp" -version = "0.13.0" +name = "windows-core" +version = "0.61.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fbec5da43a62c228d321d93fb12cc9b4d9c03c9b736b0c215be89d8bd0774cfe" +checksum = "4763c1de310c86d75a878046489e2e5ba02c649d185f21c67d4cf8a56d098980" dependencies = [ - "aead", - "aes", - "aes-gcm", - "byteorder", - "bytes", - "ctr", - "hmac", - "log", - "rtcp", - "rtp", - "sha1", - "subtle", - "thiserror", - "tokio", - "webrtc-util", + "windows-implement", + "windows-interface", + "windows-link", + "windows-result", + "windows-strings 0.4.2", ] [[package]] -name = "webrtc-util" -version = "0.9.0" +name = "windows-implement" +version = "0.60.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "dc8d9bc631768958ed97b8d68b5d301e63054ae90b09083d43e2fefb939fd77e" +checksum = "a47fddd13af08290e67f4acabf4b459f647552718f683a7b415d290ac744a836" dependencies = [ - "async-trait", - "bitflags 1.3.2", - "bytes", - "ipnet", - "lazy_static", - "libc", - "log", - "nix", - "portable-atomic", - "rand", - "thiserror", - "tokio", - "winapi", + "proc-macro2", + "quote", + "syn 2.0.95", ] [[package]] -name = "winapi" -version = "0.3.9" +name = "windows-interface" +version = "0.59.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419" +checksum = "bd9211b69f8dcdfa817bfd14bf1c97c9188afa36f4750130fcdf3f400eca9fa8" dependencies = [ - "winapi-i686-pc-windows-gnu", - "winapi-x86_64-pc-windows-gnu", + "proc-macro2", + "quote", + "syn 2.0.95", ] -[[package]] -name = "winapi-i686-pc-windows-gnu" -version = "0.4.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6" - -[[package]] -name = "winapi-x86_64-pc-windows-gnu" -version = "0.4.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" - [[package]] name = "windows-link" version = "0.1.1" @@ -2934,7 +1952,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4286ad90ddb45071efd1a66dfa43eb02dd0dfbae1545ad6cc3c51cf34d7e8ba3" dependencies = [ "windows-result", - "windows-strings", + "windows-strings 0.3.1", "windows-targets 0.53.0", ] @@ -2956,6 +1974,15 @@ dependencies = [ "windows-link", ] +[[package]] +name = "windows-strings" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "56e6c93f3a0c3b36176cb1327a4958a0353d5d166c2a35cb268ace15e91d3b57" +dependencies = [ + "windows-link", +] + [[package]] name = "windows-sys" version = "0.52.0" @@ -3123,45 +2150,6 @@ version = "0.5.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1e9df38ee2d2c3c5948ea468a8406ff0db0b29ae1ffde1bcf20ef305bcc95c51" -[[package]] -name = "x25519-dalek" -version = "2.0.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c7e468321c81fb07fa7f4c636c3972b9100f0346e5b6a9f2bd0603a52f7ed277" -dependencies = [ - "curve25519-dalek", - "rand_core", - "serde", - "zeroize", -] - -[[package]] -name = "x509-parser" -version = "0.16.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fcbc162f30700d6f3f82a24bf7cc62ffe7caea42c0b2cba8bf7f3ae50cf51f69" -dependencies = [ - "asn1-rs 0.6.2", - "data-encoding", - "der-parser 9.0.0", - "lazy_static", - "nom", - "oid-registry", - "ring", - "rusticata-macros", - "thiserror", - "time", -] - -[[package]] -name = "yasna" -version = "0.5.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e17bb3549cc1321ae1296b9cdc2698e2b6cb1992adfa19a8c72e5b7a738f44cd" -dependencies = [ - "time", -] - [[package]] name = "yoke" version = "0.7.5" @@ -3183,7 +2171,7 @@ dependencies = [ "proc-macro2", "quote", "syn 2.0.95", - "synstructure 0.13.1", + "synstructure", ] [[package]] @@ -3225,7 +2213,7 @@ dependencies = [ "proc-macro2", "quote", "syn 2.0.95", - "synstructure 0.13.1", + "synstructure", ] [[package]] @@ -3233,20 +2221,6 @@ name = "zeroize" version = "1.8.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ced3678a2879b30306d323f4542626697a464a97c0a07c9aebf7ebca65cd4dde" -dependencies = [ - "zeroize_derive", -] - -[[package]] -name = "zeroize_derive" -version = "1.4.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "ce36e65b0d2999d2aafac989fb249189a141aee1f53c612c1f37d72631959f69" -dependencies = [ - "proc-macro2", - "quote", - "syn 2.0.95", -] [[package]] name = "zerovec" diff --git a/rust/libmultisense-ambarella/Cargo.toml b/rust/libmultisense-ambarella/Cargo.toml index ddac88c0..582395c8 100644 --- a/rust/libmultisense-ambarella/Cargo.toml +++ b/rust/libmultisense-ambarella/Cargo.toml @@ -10,8 +10,8 @@ crate-type = ["staticlib"] [dependencies] qocrlif = { git = "ssh://git@github.com/carnegierobotics/qocrlif.git", rev = "cfc4a40acf1a90ea48a20655c92d917d3ed98e6a" } fragunfrag = { git = "ssh://git@github.com/carnegierobotics/fragunfrag.git", rev = "0f9ba8fb1cb0ed14cb154f694b6cc558d7720a3d" } -tokio = "1.45" -webrtc = "0.11.0" +str0m = "0.9.0" +systemstat = "0.1.6" reqwest = {version="0.12.12", features=["blocking"]} serde = { version = "1.0.218", features = ["derive"] } serde_json = "1.0.139" diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs index 5a392fc6..9e17b2da 100644 --- a/rust/libmultisense-ambarella/src/lib.rs +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -1,73 +1,121 @@ -use std::sync::Arc; -use webrtc::{ - api::media_engine::MediaEngine, - api::APIBuilder, - interceptor::registry::Registry, - peer_connection::{ - configuration::RTCConfiguration, sdp::session_description::RTCSessionDescription, - RTCPeerConnection, - }, -}; +use std::net::UdpSocket; +use str0m::{change::SdpOffer, Candidate, Rtc}; +use systemstat::{Platform, System}; pub struct MswebrtcImpl { - rt: tokio::runtime::Runtime, - pc: Arc, + pc: Rtc, + sockets: Vec, +} + +#[allow(dead_code)] +#[derive(Debug)] +pub struct MswebrtcError { + what: String, + err: Option>, } impl MswebrtcImpl { - fn connect(&self, host: String) -> bool { + fn connect_internal(&mut self, host: String) -> Result<(), MswebrtcError> { let client = reqwest::blocking::Client::builder() .danger_accept_invalid_certs(true) .build() .unwrap(); - let offer = match client.get(host.clone() + "/offer").send() { - Ok(response) => { - let text = response.text().unwrap(); - Some(text) - } - Err(e) => None, - } - .expect("Failed to get offer"); - - let answer = self.rt.block_on(async { - match RTCSessionDescription::offer(offer) { - Ok(offer) => { - // set the remote description - //let asdf = offer; - //asdf.sdp; - //dbg!(&offer); - self.pc.set_remote_description(offer).await.unwrap(); - - // Create an answer - let answer = self.pc.create_answer(None).await.unwrap(); - - // Sets the LocalDescription, and starts our UDP listeners - self.pc.set_local_description(answer.clone()).await.unwrap(); - - // Create channel that is blocked until ICE Gathering is complete - let mut gather_complete = self.pc.gathering_complete_promise().await; + let offer = SdpOffer::from_sdp_string( + client + .get(host.clone() + "/offer") + .send() + .map_err(|e| MswebrtcError { + what: "Failed to request offer".to_owned(), + err: Some(Box::new(e)), + })? + .text() + .map_err(|e| MswebrtcError { + what: "Failed to extract offer from HTTP response".to_owned(), + err: Some(Box::new(e)), + })? + .as_str(), + ) + .map_err(|e| MswebrtcError { + what: "Failed to parse offer".to_owned(), + err: Some(Box::new(e)), + })?; - let _ = gather_complete.recv().await; - //Ok(answer) + //enumerate local ip addresses to enumerate ice candidates + { + let system = System::new(); + let networks = system.networks().map_err(|e| MswebrtcError { + what: "Failed to enumarate networks".to_owned(), + err: Some(Box::new(e)), + })?; - if let Some(local_desc) = self.pc.local_description().await { - Ok(local_desc) - } else { - println!("failed to generate local description"); - Err(String::from("failed to generate local description")) + let mut found = false; + for net in networks.values() { + for n in &net.addrs { + if let systemstat::IpAddr::V4(v) = n.addr { + if !v.is_loopback() && !v.is_link_local() && !v.is_broadcast() { + let socket = + UdpSocket::bind(format!("{v}:0")).map_err(|e| MswebrtcError { + what: "Failed to bind socket".to_owned(), + err: Some(Box::new(e)), + })?; + let candidate = Candidate::host( + socket.local_addr().map_err(|e| MswebrtcError { + what: "failed to get address for socket".to_owned(), + err: Some(Box::new(e)), + })?, + "udp", + ) + .map_err(|e| MswebrtcError { + what: "Failed to create ICE candidate".to_owned(), + err: Some(Box::new(e)), + })?; + if self.pc.add_local_candidate(candidate).is_some() { + found = true; + self.sockets.push(socket); + } + } } } - Err(e) => Err(String::from("failed to parse offer")), } - }); + if !found { + Err(MswebrtcError { + what: "Failed to find valid local ICE candidate. Do we have any network interfaces?".to_owned(), + err: None + })? + } + } + let answer = self + .pc + .sdp_api() + .accept_offer(offer) + .map_err(|e| MswebrtcError { + what: "Failed to accept RTC offer".to_owned(), + err: Some(Box::new(e)), + })?; - let answer = serde_json::to_string(&answer).expect("Failed to serialize answer"); + let answer = serde_json::to_string(&answer).map_err(|e| MswebrtcError { + what: "Failed to serialize answer".to_owned(), + err: Some(Box::new(e)), + })?; client .post(host + "/answer") .header("content-type", "application/json") .body(answer) .send() - .is_ok() + .map(|_| Ok(())) + .map_err(|e| MswebrtcError { + what: "Failed to post answer to server".to_owned(), + err: Some(Box::new(e)), + })? + } + fn connect(&mut self, host: String) -> bool { + match self.connect_internal(host) { + Ok(_) => true, + Err(e) => { + println!("ERROR CONNECTING: {:?}", e); + false + } + } } fn disconnect(&self) { println!("DISCONNECT"); @@ -76,19 +124,11 @@ impl MswebrtcImpl { #[no_mangle] pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { - let rt = tokio::runtime::Runtime::new().expect("Failed to create async runtime"); - let registry = Registry::new(); - let m = MediaEngine::default(); - let api = APIBuilder::new() - .with_media_engine(m) - .with_interceptor_registry(registry) - .build(); - let config = RTCConfiguration::default(); - let pc = Arc::new( - rt.block_on(api.new_peer_connection(config)) - .expect("failed to make new peer connection"), - ); - let out = Box::new(MswebrtcImpl { rt: rt, pc: pc }); + let pc = Rtc::new(); + let out = Box::new(MswebrtcImpl { + pc: pc, + sockets: Vec::new(), + }); Box::into_raw(out) } @@ -99,7 +139,7 @@ pub extern "C" fn connect_mswebrtc_impl( ) -> bool { let (r, addr) = unsafe { ( - &*obj, + &mut *obj, std::ffi::CStr::from_ptr(addr as *const i8) .to_str() .unwrap() From 4e98c09bb63aecbad54a544497eafbdcd411b0a6 Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 10 Jun 2025 10:55:50 -0400 Subject: [PATCH 5/8] allow channel impl to be chosen in SaveImageUtility --- .../SaveImageUtility/SaveImageUtility.cc | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc b/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc index 8a105518..aed4b94b 100644 --- a/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc +++ b/source/Utilities/LibMultiSense/SaveImageUtility/SaveImageUtility.cc @@ -48,6 +48,7 @@ #include #include #include +#include #include #include @@ -142,15 +143,28 @@ int main(int argc, char** argv) bool save_depth = false; bool save_left_rect = false; bool save_color = false; + lms::Channel::ChannelImplementation impl = lms::Channel::ChannelImplementation::LEGACY; int c; - while(-1 != (c = getopt(argc, argv, "a:m:n:dlc"))) + while(-1 != (c = getopt(argc, argv, "a:m:n:i:dlc"))) { switch(c) { case 'a': ip_address = std::string(optarg); break; case 'm': mtu = static_cast(atoi(optarg)); break; case 'n': number_of_images = static_cast(atoi(optarg)); break; + case 'i': { + if (strcmp(optarg, "legacy") == 0) { + impl = lms::Channel::ChannelImplementation::LEGACY; + } + else if (strcmp(optarg, "mswebrtc") == 0) { + impl = lms::Channel::ChannelImplementation::MSWEBRTC; + } + else { + std::cout << "Invalid channel implementation requested, using default implementation" << std::endl; + } + break; + } case 'd': save_depth = true; break; case 'l': save_left_rect = true; break; case 'c': save_color = true; break; @@ -158,7 +172,7 @@ int main(int argc, char** argv) } } - const auto channel = lms::Channel::create(lms::Channel::Config{ip_address, mtu}); + const auto channel = lms::Channel::create(lms::Channel::Config{ip_address, mtu}, impl); if (!channel) { std::cerr << "Failed to create channel" << std::endl;; From 0cff179ecfbb26d54219143601ba9aec793b704a Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 10 Jun 2025 11:50:19 -0400 Subject: [PATCH 6/8] Avoid a linker warning (and make sure our stack isn't executable) --- source/LibMultiSense/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/source/LibMultiSense/CMakeLists.txt b/source/LibMultiSense/CMakeLists.txt index 920ee45b..e1b985c4 100644 --- a/source/LibMultiSense/CMakeLists.txt +++ b/source/LibMultiSense/CMakeLists.txt @@ -60,9 +60,13 @@ if (BUILD_MSWEBRTC) PRIVATE ${PREFIX}/src/libmultisense-ambarella-build) add_dependencies(MultiSense libmultisense-ambarella) + #this option avoids a linker warning, because libmswebrtc.a is missing a section + target_link_options(MultiSense INTERFACE -z noexecstack) + #This rather long list of libraries was generated with the following invocation # `cargo rustc -- --print native-static-libs` # we may need to run that again in the mysterious future if our list of dependencies changes + # maybe there's a way to have cmake do this? target_link_libraries(MultiSense INTERFACE ${PREFIX}/src/libmultisense-ambarella-build/release/libmswebrtc.a -lssl -lcrypto -lgcc_s -lutil -lrt -lpthread -lm -ldl -lc) endif (BUILD_MSWEBRTC) From bd0b39374fe27909ea479b69eed80cb4b274deed Mon Sep 17 00:00:00 2001 From: Woodrow Douglass Date: Tue, 10 Jun 2025 15:02:40 -0400 Subject: [PATCH 7/8] get build-date, structure a bunch of stuff to get device info --- rust/libmultisense-ambarella/src/lib.rs | 95 ++++++++++++++----- .../LibMultiSense/details/mswebrtc/channel.cc | 12 ++- .../include/MultiSense/MultiSenseTypes.hh | 2 +- 3 files changed, 79 insertions(+), 30 deletions(-) diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs index 9e17b2da..d73d20c2 100644 --- a/rust/libmultisense-ambarella/src/lib.rs +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -3,10 +3,15 @@ use str0m::{change::SdpOffer, Candidate, Rtc}; use systemstat::{Platform, System}; pub struct MswebrtcImpl { + host: String, pc: Rtc, sockets: Vec, } +struct Info { + builddate: String, +} + #[allow(dead_code)] #[derive(Debug)] pub struct MswebrtcError { @@ -15,14 +20,14 @@ pub struct MswebrtcError { } impl MswebrtcImpl { - fn connect_internal(&mut self, host: String) -> Result<(), MswebrtcError> { + fn connect(&mut self) -> Result<(), MswebrtcError> { let client = reqwest::blocking::Client::builder() .danger_accept_invalid_certs(true) .build() .unwrap(); let offer = SdpOffer::from_sdp_string( client - .get(host.clone() + "/offer") + .get(self.host.clone() + "/offer") .send() .map_err(|e| MswebrtcError { what: "Failed to request offer".to_owned(), @@ -98,7 +103,7 @@ impl MswebrtcImpl { err: Some(Box::new(e)), })?; client - .post(host + "/answer") + .post(self.host.clone() + "/answer") .header("content-type", "application/json") .body(answer) .send() @@ -108,24 +113,44 @@ impl MswebrtcImpl { err: Some(Box::new(e)), })? } - fn connect(&mut self, host: String) -> bool { - match self.connect_internal(host) { - Ok(_) => true, - Err(e) => { - println!("ERROR CONNECTING: {:?}", e); - false - } - } - } fn disconnect(&self) { println!("DISCONNECT"); } + + fn get_info(&self) -> Result { + let client = reqwest::blocking::Client::builder() + .danger_accept_invalid_certs(true) + .build() + .unwrap(); + let j = client + .get(self.host.clone() + "/info.json") + .send() + .map_err(|e| MswebrtcError { + what: "Failed to request offer".to_owned(), + err: Some(Box::new(e)), + })?; + let j = j.text().map_err(|e| MswebrtcError { + what: "Failed to extract offer from HTTP response".to_owned(), + err: Some(Box::new(e)), + })?; + let j: serde_json::Value = serde_json::from_str(j.as_str()).map_err(|e| MswebrtcError { + what: "Failed to parse info.json".to_owned(), + err: Some(Box::new(e)), + })?; + Ok(Info { + builddate: j["build-time"].to_string(), + }) + } } #[no_mangle] -pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { +pub extern "C" fn create_mswebrtc_impl(host: *const std::ffi::c_char) -> *mut MswebrtcImpl { let pc = Rtc::new(); let out = Box::new(MswebrtcImpl { + host: unsafe { std::ffi::CStr::from_ptr(host) } + .to_str() + .unwrap() + .to_string(), pc: pc, sockets: Vec::new(), }); @@ -133,20 +158,40 @@ pub extern "C" fn create_mswebrtc_impl() -> *mut MswebrtcImpl { } #[no_mangle] -pub extern "C" fn connect_mswebrtc_impl( +pub extern "C" fn connect_mswebrtc_impl(obj: *mut MswebrtcImpl) -> bool { + let r = unsafe { &mut *obj }; + match r.connect() { + Ok(_) => true, + Err(e) => { + println!("ERROR CONNECTING: {:?}", e); + false + } + } +} + +#[no_mangle] +pub extern "C" fn get_info_mswebrtc_impl( obj: *mut MswebrtcImpl, - addr: *const std::ffi::c_char, + mut buildtime: *mut std::ffi::c_char, ) -> bool { - let (r, addr) = unsafe { - ( - &mut *obj, - std::ffi::CStr::from_ptr(addr as *const i8) - .to_str() - .unwrap() - .to_string(), - ) - }; - r.connect(addr) + let r = unsafe { &*obj }; + let i = r.get_info(); + match i { + Ok(i) => { + for (i, c) in i.builddate.chars().enumerate() { + unsafe { *buildtime = c as std::ffi::c_char }; + buildtime = buildtime.wrapping_add(1); + if i >= 31 { + break; + } + } + true + } + Err(e) => { + println!("ERROR Getting Info: {:?}", e); + false + } + } } #[no_mangle] diff --git a/source/LibMultiSense/details/mswebrtc/channel.cc b/source/LibMultiSense/details/mswebrtc/channel.cc index 78da7d77..04256be6 100644 --- a/source/LibMultiSense/details/mswebrtc/channel.cc +++ b/source/LibMultiSense/details/mswebrtc/channel.cc @@ -40,7 +40,7 @@ namespace multisense { namespace mswebrtc { - MswebrtcChannel::MswebrtcChannel(const Config &):impl(create_mswebrtc_impl()) +MswebrtcChannel::MswebrtcChannel(const Config &c):impl(create_mswebrtc_impl(c.ip_address.c_str())) { } @@ -70,9 +70,9 @@ void MswebrtcChannel::add_imu_frame_callback(std::function Date: Tue, 22 Jul 2025 09:39:04 -0400 Subject: [PATCH 8/8] Implement set_network_config --- rust/libmultisense-ambarella/src/lib.rs | 54 ++++++++++++++++++- rust/libmultisense-ambarella/src/network.rs | 51 ++++++++++++++++++ .../LibMultiSense/details/mswebrtc/channel.cc | 14 +++-- 3 files changed, 115 insertions(+), 4 deletions(-) create mode 100644 rust/libmultisense-ambarella/src/network.rs diff --git a/rust/libmultisense-ambarella/src/lib.rs b/rust/libmultisense-ambarella/src/lib.rs index d73d20c2..833ee1b2 100644 --- a/rust/libmultisense-ambarella/src/lib.rs +++ b/rust/libmultisense-ambarella/src/lib.rs @@ -1,7 +1,10 @@ -use std::net::UdpSocket; +use reqwest::{self, StatusCode}; +use std::{ffi::CStr, net::UdpSocket, os::raw::c_char, str::Utf8Error}; use str0m::{change::SdpOffer, Candidate, Rtc}; use systemstat::{Platform, System}; +mod network; + pub struct MswebrtcImpl { host: String, pc: Rtc, @@ -141,6 +144,32 @@ impl MswebrtcImpl { builddate: j["build-time"].to_string(), }) } + + fn set_network(&self, ns: network::Network) -> Result<(), MswebrtcError> { + let s = serde_json::to_string(&ns).map_err(|e| MswebrtcError { + what: format!("{:?}", &e), + err: Some(Box::new(e)), + })?; + let client = reqwest::blocking::Client::builder() + .danger_accept_invalid_certs(true) + .build() + .unwrap(); + let j = client + .post(self.host.clone() + "/network.json") + .body(s) + .send() + .map_err(|e| MswebrtcError { + what: "Failed to set network".to_owned(), + err: Some(Box::new(e)), + })?; + match j.status() { + StatusCode::OK => Ok(()), + e => Err(MswebrtcError { + what: format!("Server failed to set network: {:?}", e), + err: None, + }), + } + } } #[no_mangle] @@ -194,6 +223,29 @@ pub extern "C" fn get_info_mswebrtc_impl( } } +#[no_mangle] +pub extern "C" fn set_network_mswebrtc_impl( + obj: *mut MswebrtcImpl, + addr: *const c_char, + netmask: *const c_char, + gateway: *const c_char, +) -> bool { + let n = || -> Result, Utf8Error> { + Ok(network::Network::from_strings( + unsafe { CStr::from_ptr(addr) }.to_str()?, + unsafe { CStr::from_ptr(netmask) }.to_str()?, + unsafe { CStr::from_ptr(gateway) }.to_str()?, + )) + }; + match n() { + Ok(Some(n)) => match unsafe { obj.as_mut() } { + Some(o) => o.set_network(n).is_ok(), + None => false, + }, + _ => false, + } +} + #[no_mangle] pub extern "C" fn disconnect_mswebrtc_impl(obj: *mut MswebrtcImpl) { let r = unsafe { &*obj }; diff --git a/rust/libmultisense-ambarella/src/network.rs b/rust/libmultisense-ambarella/src/network.rs new file mode 100644 index 00000000..7f646952 --- /dev/null +++ b/rust/libmultisense-ambarella/src/network.rs @@ -0,0 +1,51 @@ +use serde::{Deserialize, Serialize}; +use std::{net::Ipv4Addr, str::FromStr}; + +#[derive(Debug, Deserialize, Serialize, Clone)] +pub struct Network { + #[serde(rename(serialize = "ip-address", deserialize = "ip-address"))] + pub addr: String, + #[serde(rename(serialize = "netmask", deserialize = "netmask"))] + pub mask: u8, + pub gateway: Option, +} + +fn addr_to_cidr(addr: &str) -> Option { + let a = Ipv4Addr::from_str(addr); + match a { + Ok(a) => { + let b = a.to_bits(); + let mut out = 32; + let mut i = 0; + while i < 32 { + if (b & (1 << i)) != 0 { + break; + } + out -= 1; + i += 1; + } + while i < 32 { + if (b & (1 << i)) == 0 { + return None; + } + i += 1; + } + Some(out) + } + Err(_) => None, + } +} + +impl Network { + pub fn from_strings(addr: &str, mask: &str, gateway: &str) -> Option { + Some(Network { + addr: addr.to_string(), + mask: addr_to_cidr(mask)?, + gateway: if gateway.is_empty() { + None + } else { + Some(gateway.to_string()) + }, + }) + } +} diff --git a/source/LibMultiSense/details/mswebrtc/channel.cc b/source/LibMultiSense/details/mswebrtc/channel.cc index 04256be6..4c903b87 100644 --- a/source/LibMultiSense/details/mswebrtc/channel.cc +++ b/source/LibMultiSense/details/mswebrtc/channel.cc @@ -134,10 +134,18 @@ std::optional MswebrtcChannel::get_system_status() CRL_EXCEPTION("NOT IMPLEMENTED"); } -Status MswebrtcChannel::set_network_config(const MultiSenseInfo::NetworkInfo &, - const std::optional &) +Status MswebrtcChannel::set_network_config(const MultiSenseInfo::NetworkInfo &settings, + const std::optional &bcast_interface) { - CRL_EXCEPTION("NOT IMPLEMENTED"); + if (bcast_interface) { + CRL_DEBUG("bcast_interface not supported in set_network_config for mswebrtc\n"); + } + if (set_network_mswebrtc_impl(impl, settings.ip_address.c_str(), settings.netmask.c_str(), settings.gateway.c_str())) { + return multisense::Status::OK; + } + else { + return multisense::Status::FAILED; + } } }