install go2rtc on bob
This commit is contained in:
@@ -0,0 +1,571 @@
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package tutk
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import (
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"encoding/binary"
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"encoding/hex"
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"fmt"
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"sync"
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"github.com/AlexxIT/go2rtc/pkg/aac"
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)
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const (
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FrameTypeStart uint8 = 0x08 // Extended start (36-byte header)
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FrameTypeStartAlt uint8 = 0x09 // StartAlt (36-byte header)
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FrameTypeCont uint8 = 0x00 // Continuation (28-byte header)
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FrameTypeContAlt uint8 = 0x04 // Continuation alt
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FrameTypeEndSingle uint8 = 0x01 // Single-packet frame (28-byte)
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FrameTypeEndMulti uint8 = 0x05 // Multi-packet end (28-byte)
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FrameTypeEndExt uint8 = 0x0d // Extended end (36-byte)
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)
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const (
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ChannelIVideo uint8 = 0x05
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ChannelAudio uint8 = 0x03
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ChannelPVideo uint8 = 0x07
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)
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const frameInfoSize = 40
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// FrameInfo - Wyze extended FRAMEINFO (40 bytes at end of packet)
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// Video: 40 bytes, Audio: 16 bytes (uses same struct, fields 16+ are zero)
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//
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// Offset Size Field
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// 0-1 2 CodecID - 0x4E=H264, 0x7B=H265, 0x90=AAC_WYZE
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// 2 1 Flags - Video: 1=Keyframe, 0=P-frame | Audio: sample rate/bits/channels
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// 3 1 CamIndex - Camera index
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// 4 1 OnlineNum - Online number
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// 5 1 FPS - Framerate (e.g. 20)
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// 6 1 ResTier - Video: 1=Low(360P), 4=High(HD/2K) | Audio: 0
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// 7 1 Bitrate - Video: 30=360P, 100=HD, 200=2K | Audio: 1
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// 8-11 4 Timestamp - Timestamp (increases ~50000/frame for 20fps video)
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// 12-15 4 SessionID - Session marker (constant per stream)
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// 16-19 4 PayloadSize - Frame payload size in bytes
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// 20-23 4 FrameNo - Global frame number
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// 24-35 12 DeviceID - MAC address (ASCII) - video only
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// 36-39 4 Padding - Always 0 - video only
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type FrameInfo struct {
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CodecID byte // 0 (only low byte used)
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Flags uint8 // 2
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CamIndex uint8 // 3
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OnlineNum uint8 // 4
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FPS uint8 // 5: Framerate
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ResTier uint8 // 6: Resolution tier (1=Low, 4=High)
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Bitrate uint8 // 7: Bitrate index (30=360P, 100=HD, 200=2K)
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Timestamp uint32 // 8-11: Timestamp
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SessionID uint32 // 12-15: Session marker (constant)
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PayloadSize uint32 // 16-19: Payload size
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FrameNo uint32 // 20-23: Frame number
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}
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func (fi *FrameInfo) IsKeyframe() bool {
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return fi.Flags == 0x01
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}
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func (fi *FrameInfo) SampleRate() uint32 {
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idx := (fi.Flags >> 2) & 0x0F
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if idx < uint8(len(sampleRates)) {
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return sampleRates[idx]
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}
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return 16000
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}
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func (fi *FrameInfo) Channels() uint8 {
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if fi.Flags&0x01 == 1 {
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return 2
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}
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return 1
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}
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func ParseFrameInfo(data []byte) *FrameInfo {
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if len(data) < frameInfoSize {
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return nil
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}
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offset := len(data) - frameInfoSize
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fi := data[offset:]
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return &FrameInfo{
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CodecID: fi[0],
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Flags: fi[2],
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CamIndex: fi[3],
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OnlineNum: fi[4],
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FPS: fi[5],
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ResTier: fi[6],
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Bitrate: fi[7],
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Timestamp: binary.LittleEndian.Uint32(fi[8:]),
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SessionID: binary.LittleEndian.Uint32(fi[12:]),
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PayloadSize: binary.LittleEndian.Uint32(fi[16:]),
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FrameNo: binary.LittleEndian.Uint32(fi[20:]),
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}
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}
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type Packet struct {
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Channel uint8
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Codec byte
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Timestamp uint32
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Payload []byte
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IsKeyframe bool
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FrameNo uint32
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SampleRate uint32
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Channels uint8
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}
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type PacketHeader struct {
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Channel byte
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FrameType byte
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HeaderSize int
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FrameNo uint32
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PktIdx uint16
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PktTotal uint16
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PayloadSize uint16
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HasFrameInfo bool
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}
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func ParsePacketHeader(data []byte) *PacketHeader {
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if len(data) < 28 {
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return nil
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}
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frameType := data[1]
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hdr := &PacketHeader{
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Channel: data[0],
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FrameType: frameType,
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}
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switch frameType {
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case FrameTypeStart, FrameTypeStartAlt, FrameTypeEndExt:
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hdr.HeaderSize = 36
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default:
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hdr.HeaderSize = 28
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}
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if len(data) < hdr.HeaderSize {
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return nil
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}
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if hdr.HeaderSize == 28 {
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hdr.PktTotal = binary.LittleEndian.Uint16(data[12:])
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pktIdxOrMarker := binary.LittleEndian.Uint16(data[14:])
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hdr.PayloadSize = binary.LittleEndian.Uint16(data[16:])
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hdr.FrameNo = binary.LittleEndian.Uint32(data[24:])
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if pktIdxOrMarker == 0x0028 && (IsEndFrame(frameType) || hdr.PktTotal == 1) {
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hdr.HasFrameInfo = true
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if hdr.PktTotal > 0 {
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hdr.PktIdx = hdr.PktTotal - 1
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}
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} else {
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hdr.PktIdx = pktIdxOrMarker
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}
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} else {
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hdr.PktTotal = binary.LittleEndian.Uint16(data[20:])
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pktIdxOrMarker := binary.LittleEndian.Uint16(data[22:])
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hdr.PayloadSize = binary.LittleEndian.Uint16(data[24:])
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hdr.FrameNo = binary.LittleEndian.Uint32(data[32:])
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if pktIdxOrMarker == 0x0028 && (IsEndFrame(frameType) || hdr.PktTotal == 1) {
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hdr.HasFrameInfo = true
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if hdr.PktTotal > 0 {
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hdr.PktIdx = hdr.PktTotal - 1
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}
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} else {
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hdr.PktIdx = pktIdxOrMarker
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}
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}
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return hdr
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}
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func IsStartFrame(frameType uint8) bool {
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return frameType == FrameTypeStart || frameType == FrameTypeStartAlt
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}
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func IsEndFrame(frameType uint8) bool {
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return frameType == FrameTypeEndSingle ||
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frameType == FrameTypeEndMulti ||
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frameType == FrameTypeEndExt
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}
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func IsContinuationFrame(frameType uint8) bool {
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return frameType == FrameTypeCont || frameType == FrameTypeContAlt
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}
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type channelState struct {
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frameNo uint32 // current frame being assembled
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pktTotal uint16 // expected total packets
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waitSeq uint16 // next expected packet index (0, 1, 2, ...)
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waitData []byte // accumulated payload data
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frameInfo *FrameInfo // frame info (from end packet)
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hasStarted bool // received first packet of frame
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lastPktIdx uint16 // last received packet index (for OOO detection)
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}
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func (cs *channelState) reset() {
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cs.frameNo = 0
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cs.pktTotal = 0
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cs.waitSeq = 0
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cs.waitData = cs.waitData[:0]
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cs.frameInfo = nil
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cs.hasStarted = false
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cs.lastPktIdx = 0
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}
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const tsWrapPeriod uint32 = 1000000
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type tsTracker struct {
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lastRawTS uint32
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accumUS uint64
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firstTS bool
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}
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func (t *tsTracker) update(rawTS uint32) uint64 {
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if !t.firstTS {
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t.firstTS = true
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t.lastRawTS = rawTS
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return 0
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}
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var delta uint32
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if rawTS >= t.lastRawTS {
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delta = rawTS - t.lastRawTS
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} else {
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// Wrapped: delta = (wrap - last) + new
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delta = (tsWrapPeriod - t.lastRawTS) + rawTS
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}
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t.accumUS += uint64(delta)
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t.lastRawTS = rawTS
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return t.accumUS
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}
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type FrameHandler struct {
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channels map[byte]*channelState
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videoTS tsTracker
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audioTS tsTracker
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output chan *Packet
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verbose bool
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closed bool
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closeMu sync.Mutex
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}
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func NewFrameHandler(verbose bool) *FrameHandler {
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return &FrameHandler{
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channels: make(map[byte]*channelState),
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output: make(chan *Packet, 128),
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verbose: verbose,
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}
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}
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func (h *FrameHandler) Recv() <-chan *Packet {
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return h.output
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}
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func (h *FrameHandler) Close() {
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h.closeMu.Lock()
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defer h.closeMu.Unlock()
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if h.closed {
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return
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}
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h.closed = true
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close(h.output)
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}
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func (h *FrameHandler) Handle(data []byte) {
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hdr := ParsePacketHeader(data)
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if hdr == nil {
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return
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}
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payload, fi := h.extractPayload(data, hdr.Channel)
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if payload == nil {
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return
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}
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if h.verbose {
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fiStr := ""
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if hdr.HasFrameInfo {
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fiStr = " +FI"
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}
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fmt.Printf("[RX] ch=0x%02x type=0x%02x #%d pkt=%d/%d data=%dB%s\n",
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hdr.Channel, hdr.FrameType,
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hdr.FrameNo, hdr.PktIdx, hdr.PktTotal, len(payload), fiStr)
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}
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switch hdr.Channel {
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case ChannelAudio:
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h.handleAudio(payload, fi)
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case ChannelIVideo, ChannelPVideo:
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h.handleVideo(hdr.Channel, hdr, payload, fi)
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}
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}
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func (h *FrameHandler) extractPayload(data []byte, channel byte) ([]byte, *FrameInfo) {
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if len(data) < 2 {
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return nil, nil
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}
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frameType := data[1]
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headerSize := 28
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fiSize := 0
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switch frameType {
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case FrameTypeStart:
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headerSize = 36
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case FrameTypeStartAlt:
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headerSize = 36
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if len(data) >= 22 {
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pktTotal := binary.LittleEndian.Uint16(data[20:])
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if pktTotal == 1 {
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fiSize = frameInfoSize
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}
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}
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case FrameTypeCont, FrameTypeContAlt:
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headerSize = 28
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case FrameTypeEndSingle, FrameTypeEndMulti:
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headerSize = 28
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fiSize = frameInfoSize
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case FrameTypeEndExt:
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headerSize = 36
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fiSize = frameInfoSize
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default:
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headerSize = 28
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}
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if len(data) < headerSize {
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return nil, nil
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}
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if fiSize == 0 {
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return data[headerSize:], nil
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}
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if len(data) < headerSize+fiSize {
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return data[headerSize:], nil
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}
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fi := ParseFrameInfo(data)
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validCodec := false
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switch channel {
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case ChannelIVideo, ChannelPVideo:
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validCodec = IsVideoCodec(fi.CodecID)
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case ChannelAudio:
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validCodec = IsAudioCodec(fi.CodecID)
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}
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if validCodec {
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payload := data[headerSize : len(data)-fiSize]
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return payload, fi
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}
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return data[headerSize:], nil
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}
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func (h *FrameHandler) handleVideo(channel byte, hdr *PacketHeader, payload []byte, fi *FrameInfo) {
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cs := h.channels[channel]
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if cs == nil {
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cs = &channelState{}
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h.channels[channel] = cs
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}
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// New frame number - reset and start fresh
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if hdr.FrameNo != cs.frameNo {
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// Check if previous frame was incomplete
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if cs.hasStarted && cs.waitSeq < cs.pktTotal {
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fmt.Printf("[DROP] ch=0x%02x #%d INCOMPLETE: got %d/%d pkts\n",
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channel, cs.frameNo, cs.waitSeq, cs.pktTotal)
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}
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cs.reset()
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cs.frameNo = hdr.FrameNo
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cs.pktTotal = hdr.PktTotal
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}
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// If packet index doesn't match expected, reset (data loss)
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if hdr.PktIdx != cs.waitSeq {
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fmt.Printf("[OOO] ch=0x%02x #%d frameType=0x%02x pktTotal=%d expected pkt %d, got %d - reset\n",
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channel, hdr.FrameNo, hdr.FrameType, hdr.PktTotal, cs.waitSeq, hdr.PktIdx)
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cs.reset()
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return
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}
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// First packet - mark as started
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if cs.waitSeq == 0 {
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cs.hasStarted = true
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}
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cs.waitData = append(cs.waitData, payload...)
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cs.waitSeq++
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// Store frame info if present
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if fi != nil {
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cs.frameInfo = fi
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}
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// Check if frame is complete
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if cs.waitSeq != cs.pktTotal || cs.frameInfo == nil {
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return
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}
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fi = cs.frameInfo
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defer cs.reset()
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if fi.PayloadSize > 0 && uint32(len(cs.waitData)) != fi.PayloadSize {
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fmt.Printf("[SIZE] ch=0x%02x #%d mismatch: expected %d, got %d\n",
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channel, cs.frameNo, fi.PayloadSize, len(cs.waitData))
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return
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}
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if len(cs.waitData) == 0 {
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return
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}
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accumUS := h.videoTS.update(fi.Timestamp)
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rtpTS := uint32(accumUS * 90000 / 1000000)
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pkt := &Packet{
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Channel: channel,
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Payload: append([]byte{}, cs.waitData...),
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Codec: fi.CodecID,
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Timestamp: rtpTS,
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IsKeyframe: fi.IsKeyframe(),
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FrameNo: fi.FrameNo,
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}
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if h.verbose {
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frameType := "P"
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if fi.IsKeyframe() {
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frameType = "KEY"
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}
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fmt.Printf("[OK] ch=0x%02x #%d codec=0x%02x %s size=%d\n",
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channel, fi.FrameNo, fi.CodecID, frameType, len(pkt.Payload))
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fmt.Printf(" [0-1]codec=0x%02x [2]flags=0x%x [3]=%d [4]=%d\n",
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fi.CodecID, fi.Flags, fi.CamIndex, fi.OnlineNum)
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fmt.Printf(" [5]=%d [6]=%d [7]=%d [8-11]ts=%d\n",
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fi.FPS, fi.ResTier, fi.Bitrate, fi.Timestamp)
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fmt.Printf(" [12-15]=0x%x [16-19]payload=%d [20-23]frameNo=%d\n",
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fi.SessionID, fi.PayloadSize, fi.FrameNo)
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fmt.Printf(" rtp_ts=%d accum_us=%d\n", rtpTS, accumUS)
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fmt.Printf(" hex: %s\n", dumpHex(fi))
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}
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h.queue(pkt)
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}
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|
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func (h *FrameHandler) handleAudio(payload []byte, fi *FrameInfo) {
|
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if len(payload) == 0 || fi == nil {
|
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return
|
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}
|
||||
|
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var sampleRate uint32
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||||
var channels uint8
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|
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switch fi.CodecID {
|
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case CodecAACRaw, CodecAACADTS, CodecAACLATM, CodecAACAlt:
|
||||
sampleRate, channels = parseAudioParams(payload, fi)
|
||||
default:
|
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sampleRate = fi.SampleRate()
|
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channels = fi.Channels()
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}
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|
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accumUS := h.audioTS.update(fi.Timestamp)
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rtpTS := uint32(accumUS * uint64(sampleRate) / 1000000)
|
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|
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payloadCopy := make([]byte, len(payload))
|
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copy(payloadCopy, payload)
|
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|
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pkt := &Packet{
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Channel: ChannelAudio,
|
||||
Payload: payloadCopy,
|
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Codec: fi.CodecID,
|
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Timestamp: rtpTS,
|
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SampleRate: sampleRate,
|
||||
Channels: channels,
|
||||
FrameNo: fi.FrameNo,
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}
|
||||
|
||||
if h.verbose {
|
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bits := 8
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||||
if fi.Flags&0x02 != 0 {
|
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bits = 16
|
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}
|
||||
fmt.Printf("[OK] Audio #%d codec=0x%02x size=%d\n",
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fi.FrameNo, fi.CodecID, len(payload))
|
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fmt.Printf(" [0-1]codec=0x%02x [2]flags=0x%x(%dHz/%dbit/%dch)\n",
|
||||
fi.CodecID, fi.Flags, sampleRate, bits, channels)
|
||||
fmt.Printf(" [8-11]ts=%d [12-15]=0x%x rtp_ts=%d\n",
|
||||
fi.Timestamp, fi.SessionID, rtpTS)
|
||||
fmt.Printf(" hex: %s\n", dumpHex(fi))
|
||||
}
|
||||
|
||||
h.queue(pkt)
|
||||
}
|
||||
|
||||
func (h *FrameHandler) queue(pkt *Packet) {
|
||||
h.closeMu.Lock()
|
||||
defer h.closeMu.Unlock()
|
||||
|
||||
if h.closed {
|
||||
return
|
||||
}
|
||||
|
||||
select {
|
||||
case h.output <- pkt:
|
||||
default:
|
||||
// Queue full - drop oldest
|
||||
select {
|
||||
case <-h.output:
|
||||
default:
|
||||
}
|
||||
select {
|
||||
case h.output <- pkt:
|
||||
default:
|
||||
// Queue still full, drop this packet
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func parseAudioParams(payload []byte, fi *FrameInfo) (sampleRate uint32, channels uint8) {
|
||||
if aac.IsADTS(payload) {
|
||||
codec := aac.ADTSToCodec(payload)
|
||||
if codec != nil {
|
||||
return codec.ClockRate, codec.Channels
|
||||
}
|
||||
}
|
||||
|
||||
if fi != nil {
|
||||
return fi.SampleRate(), fi.Channels()
|
||||
}
|
||||
|
||||
return 16000, 1
|
||||
}
|
||||
|
||||
func dumpHex(fi *FrameInfo) string {
|
||||
b := make([]byte, frameInfoSize)
|
||||
b[0] = fi.CodecID
|
||||
b[1] = 0 // High byte (unused)
|
||||
b[2] = fi.Flags
|
||||
b[3] = fi.CamIndex
|
||||
b[4] = fi.OnlineNum
|
||||
b[5] = fi.FPS
|
||||
b[6] = fi.ResTier
|
||||
b[7] = fi.Bitrate
|
||||
binary.LittleEndian.PutUint32(b[8:], fi.Timestamp)
|
||||
binary.LittleEndian.PutUint32(b[12:], fi.SessionID)
|
||||
binary.LittleEndian.PutUint32(b[16:], fi.PayloadSize)
|
||||
binary.LittleEndian.PutUint32(b[20:], fi.FrameNo)
|
||||
// Bytes 24-39 are DeviceID and Padding (not stored in struct)
|
||||
|
||||
hexStr := hex.EncodeToString(b)
|
||||
formatted := ""
|
||||
for i := 0; i < len(hexStr); i += 2 {
|
||||
if i > 0 {
|
||||
formatted += " "
|
||||
}
|
||||
formatted += hexStr[i : i+2]
|
||||
}
|
||||
return formatted
|
||||
}
|
||||
Reference in New Issue
Block a user