mediamtx/internal/rpicamera/rpicamera.go

//go:build rpicamera
// +build rpicamera

package rpicamera

import (
	_ "embed"
	"fmt"
	"strconv"

	"github.com/aler9/gortsplib/pkg/h264"
)

//go:embed exe/exe
var exeContent []byte

type RPICamera struct {
	onData func([][]byte)

	exe  *embeddedExe
	pipe *pipe

	waitDone   chan error
	readerDone chan error
}

func New(
	params Params,
	onData func([][]byte),
) (*RPICamera, error) {
	pipe, err := newPipe()
	if err != nil {
		return nil, err
	}

	env := []string{
		"PIPE_FD=" + strconv.FormatInt(int64(pipe.writeFD), 10),
		"CAMERA_ID=" + strconv.FormatInt(int64(params.CameraID), 10),
		"WIDTH=" + strconv.FormatInt(int64(params.Width), 10),
		"HEIGHT=" + strconv.FormatInt(int64(params.Height), 10),
		"FPS=" + strconv.FormatInt(int64(params.FPS), 10),
		"IDR_PERIOD=" + strconv.FormatInt(int64(params.IDRPeriod), 10),
		"BITRATE=" + strconv.FormatInt(int64(params.Bitrate), 10),
		"PROFILE=" + params.Profile,
		"LEVEL=" + params.Level,
	}

	exe, err := newEmbeddedExe(exeContent, env)
	if err != nil {
		pipe.close()
		return nil, err
	}

	waitDone := make(chan error)
	go func() {
		waitDone <- exe.cmd.Wait()
	}()

	readerDone := make(chan error)
	go func() {
		readerDone <- func() error {
			buf, err := pipe.read()
			if err != nil {
				return err
			}

			switch buf[0] {
			case 'e':
				return fmt.Errorf(string(buf[1:]))

			case 'r':
				return nil

			default:
				return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
			}
		}()
	}()

	select {
	case <-waitDone:
		exe.close()
		pipe.close()
		<-readerDone
		return nil, fmt.Errorf("process exited unexpectedly")

	case err := <-readerDone:
		if err != nil {
			exe.close()
			<-waitDone
			pipe.close()
			return nil, err
		}
	}

	readerDone = make(chan error)
	go func() {
		readerDone <- func() error {
			for {
				buf, err := pipe.read()
				if err != nil {
					return err
				}

				if buf[0] != 'b' {
					return fmt.Errorf("unexpected output from pipe (%c)", buf[0])
				}
				buf = buf[1:]

				nalus, err := h264.AnnexBUnmarshal(buf)
				if err != nil {
					return err
				}

				onData(nalus)
			}
		}()
	}()

	return &RPICamera{
		onData:     onData,
		exe:        exe,
		pipe:       pipe,
		waitDone:   waitDone,
		readerDone: readerDone,
	}, nil
}

func (c *RPICamera) Close() {
	c.exe.close()
	<-c.waitDone
	c.pipe.close()
	<-c.readerDone
}