add web server, rtsp server, other fixes
This commit is contained in:
Alex
parent
1ec4b47da6
commit
7169c6ce31
80
Makefile
80
Makefile
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@ -7,10 +7,11 @@ DRY_RUN=false
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# Define dependencies
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DEPENDENCIES := nano htop nload sshpass python3-pip git ninja-build pkg-config gcc g++ systemd dkms python3-all python3-all-dev libpcap-dev libsodium-dev libevent-dev python3-pip python3-pyroute2 python3-msgpack \
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python3-future python3-twisted python3-serial python3-jinja2 iw virtualenv debhelper dh-python fakeroot build-essential python3-autobahn
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python3-future python3-twisted python3-serial python3-jinja2 iw virtualenv debhelper dh-python fakeroot build-essential python3-autobahn python3-websockets node gstreamer1.0-tools gstreamer1.0-plugins-base \
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gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-rtsp libgstrtspserver-1.0-0 python3-gi
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# Define installation targets and options
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.PHONY: enable install interactive dependencies uninstall default full-install spirilink-driver spirilink-software setup-webapp-service configure-spirilink
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.PHONY: enable install interactive dependencies uninstall default full-install spirilink-driver spirilink-software setup-webapp-service configure-spirilink install-key setup-rtsp-service
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default: interactive install
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@ -43,6 +44,8 @@ full-install:
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$(MAKE) spirilink-software
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$(MAKE) configure-spirilink
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$(MAKE) setup-webapp-service
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$(MAKE) install-key
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$(MAKE) setup-rtsp-service
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@echo "Full installation complete."
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manual-select:
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@ -55,7 +58,9 @@ manual-select:
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@echo "[5] SpiriLink Software"
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@echo "[6] Configure SpiriLink"
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@echo "[7] Setup WebApp Service"
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@echo "[8] Exit"
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@echo "[8] Install gs.key"
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@echo "[9] Setup RTSP Service"
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@echo "[0] Exit"
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@read -p "Enter your choices separated by spaces (e.g., 1 2 3): " choices; \
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selected="$$choices"; \
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for choice in $$selected; do \
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@ -66,13 +71,25 @@ manual-select:
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if [ "$$choice" = "5" ]; then $(MAKE) spirilink-software; fi; \
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if [ "$$choice" = "6" ]; then $(MAKE) configure-spirilink; fi; \
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if [ "$$choice" = "7" ]; then $(MAKE) setup-webapp-service; fi; \
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if [ "$$choice" = "8" ]; then exit 0; fi; \
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if [ "$$choice" = "8" ]; then $(MAKE) install-key; fi; \
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if [ "$$choice" = "9" ]; then $(MAKE) setup-rtsp-service; fi; \
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if [ "$$choice" = "0" ]; then exit 0; fi; \
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done;
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install:
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@echo "Starting installation..."
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@echo "Installation complete."
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# Install gs.key
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.PHONY: install-key
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install-key:
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@echo "Installing gs.key"
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@if [ -f $(CURDIR)/gs.key ]; then \
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$(SUDO) cp $(CURDIR)/gs.key /etc/; \
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else \
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echo "Error: gs.key not found in deployment folder."; \
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fi;
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# Install dependencies from the array
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.PHONY: dependencies
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dependencies:
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@ -127,46 +144,42 @@ configure-spirilink:
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echo "unmanaged-devices=interface-name:spir0" | $(SUDO) tee -a /etc/NetworkManager/NetworkManager.conf > /dev/null; \
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fi
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@$(SUDO) systemctl restart NetworkManager
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@echo "Configuring wifibroadcast default interface..."
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@$(SUDO) bash -c 'echo "WFB_NICS=\"spir0\"" > /etc/default/wifibroadcast'
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@echo "SpiriLink configuration complete."
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# Install SpiriLink software
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.PHONY: spirilink-software
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spirilink-software:
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@echo "\nInstalling SpiriLink software..."
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@if [ -d ~/tmp/spirilink ]; then \
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@echo "Installing SpiriLink software..."
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@if [ -d ~/home/spiri/spirilink ]; then \
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read -p "SpiriLink software source already exists. Reinstall? (Y/N): " reinstall; \
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if [ "$$reinstall" = "Y" ] || [ "$$reinstall" = "y" ]; then \
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cd ~/tmp/spirilink && git pull && \
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$(SUDO) make deb && $(SUDO) dpkg -i ~/tmp/spirilink/deb_dist/wfb*.deb; \
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cd ~/home/spiri/spirilink && git pull && \
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$(SUDO) ./scripts/install_gs.sh spir0; \
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$(SUDO) bash -c 'echo "WFB_NICS=\"spir0\"" > /etc/default/wifibroadcast'; \
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$(SUDO) cp ~/home/spiri/spirilink/wifibroadcast.cfg /etc/; \
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else \
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echo "Skipping SpiriLink software installation."; \
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fi; \
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else \
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git clone https://git.spirirobotics.com/aepko/SpiriLink.git ~/tmp/spirilink && \
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cd ~/tmp/spirilink && \
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$(SUDO) make deb && $(SUDO) dpkg -i ~/tmp/spirilink/deb_dist/wfb*.deb; \
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git clone https://git.spirirobotics.com/aepko/SpiriLink.git ~/home/spiri/spirilink && \
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cd ~/home/spiri/spirilink && \
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$(SUDO) ./scripts/install_gs.sh spir0; \
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$(SUDO) bash -c 'echo "WFB_NICS=\"spir0\"" > /etc/default/wifibroadcast'; \
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$(SUDO) cp ~/home/spiri/spirilink/wifibroadcast.cfg /etc/; \
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fi;
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@echo "\nSpiriLink software installed."
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@echo "SpiriLink software installed."
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# Set up web app service
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.PHONY: setup-webapp-service
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setup-webapp-service:
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@echo "Setting up web app service..."
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@if [ -d ~/spiri-base ]; then \
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cd ~/spiri-base && git pull || (echo "Error updating repository. Check network and repository access." && exit 1); \
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@if [ -d ~/Spiri-Base ]; then \
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cd ~/Spiri-Base && git pull || (echo "Error updating repository. Check network and repository access." && exit 1); \
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else \
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git clone https://git.spirirobotics.com/aepko/Spiri-Base.git ~/spiri-base || (echo "Error cloning repository. Check network and repository access." && exit 1); \
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cd ~/spiri-base && git sparse-checkout init --cone && git sparse-checkout set .output; \
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fi;
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@if [ -d ~/spiri-base/.output ]; then \
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$(SUDO) mkdir -p /var/www/webapp; \
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$(SUDO) cp -r ~/spiri-base/.output/* /var/www/webapp/; \
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else \
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echo "Error: .output folder not found. Ensure the repository contains the necessary files."; \
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exit 1; \
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git clone https://git.spirirobotics.com/aepko/Spiri-Base.git ~/Spiri-Base || (echo "Error cloning repository. Check network and repository access." && exit 1); \
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cd ~/Spiri-Base && git sparse-checkout init --cone && git sparse-checkout set .output; \
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fi;
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@if [ -f $(CURDIR)/webapp.service ]; then \
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$(SUDO) cp $(CURDIR)/webapp.service /etc/systemd/system/webapp.service; \
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@ -175,7 +188,22 @@ setup-webapp-service:
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else \
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echo "Error: webapp.service not found in deployment folder."; \
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fi;
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@echo "\nWeb app service set up and running."
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@echo "Web app service set up and running."
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# Set up RTSP service
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.PHONY: setup-rtsp-service
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setup-rtsp-service:
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@echo "Setting up RTSP server..."
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$(SUDO) mkdir -p ~/rtsp
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$(SUDO) cp $(CURDIR)/scripts/rtsp_server.py ~/rtsp/
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@if [ -f $(CURDIR)/scripts/rtsp-server.service ]; then \
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$(SUDO) cp $(CURDIR)/scripts/rtsp-server.service /etc/systemd/system/rtsp-server.service; \
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$(SUDO) systemctl enable rtsp-server.service; \
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$(SUDO) systemctl start rtsp-server.service; \
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else \
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echo "Error: rtsp-server.service not found in scripts folder."; \
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fi;
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@echo "RTSP server set up and running."
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# Uninstall all installed components
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.PHONY: uninstall
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@ -0,0 +1 @@
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@ -0,0 +1,14 @@
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[Unit]
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Description=RTSP Server for FPV Video
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After=network-online.target
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[Service]
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ExecStart=/usr/bin/python3 /home/spiri/rtsp/rtsp_server.py
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Restart=always
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RestartSec=5
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StandardOutput=journal
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StandardError=journal
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Type=simple
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[Install]
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WantedBy=multi-user.target
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@ -0,0 +1,35 @@
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#!/usr/bin/env python3
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import gi
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gi.require_version('Gst', '1.0')
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gi.require_version('GstRtspServer', '1.0')
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from gi.repository import Gst, GstRtspServer, GLib
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class CustomRTSPMediaFactory(GstRtspServer.RTSPMediaFactory):
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def __init__(self):
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super().__init__()
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self.set_shared(True)
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def do_create_element(self, url):
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pipeline = (
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"udpsrc port=5600 caps=\"application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H265\" ! "
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"rtph265depay ! h265parse ! rtph265pay name=pay0 pt=96"
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)
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return Gst.parse_launch(pipeline)
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class CustomRTSPServer(GstRtspServer.RTSPServer):
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def __init__(self):
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super().__init__()
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factory = CustomRTSPMediaFactory()
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mount_points = self.get_mount_points()
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mount_points.add_factory("/video", factory)
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self.attach(None)
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def main():
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Gst.init(None)
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server = CustomRTSPServer()
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loop = GLib.MainLoop() # Updated to GLib
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print("RTSP Server running at rtsp://127.0.0.1:8554/video")
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loop.run()
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if __name__ == "__main__":
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main()
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@ -1,15 +1,15 @@
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[Unit]
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Description=SpiriBase WebApp Service
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Description=Spiri Base Node.js Application
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After=network.target
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[Service]
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Type=simple
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WorkingDirectory=/var/www/webapp
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ExecStart=/usr/bin/node /var/www/webapp/.output/server/index.mjs
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Restart=on-failure
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ExecStart=/usr/bin/node /home/spiri/Spiri-Base/.output/server/index.mjs
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WorkingDirectory=/home/spiri/Spiri-Base
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Restart=always
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User=spiri
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Group=spiri
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Environment=NODE_ENV=production
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User=www-data
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Group=www-data
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Environment=PORT=80
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[Install]
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WantedBy=multi-user.target
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@ -0,0 +1,135 @@
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[common]
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primary = True # Set to False if you use several wfb instances on one card. Only primary instance will set radio channel.
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log_file = None # Set to "wifibroadcast.log" to disable log to stdout
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binary_log_file = None # Machine readable log for post-processing
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# File name should have '%%s' inside for profile mapping.
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# For example: 'binlog_%%s.log'
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set_nm_unmanaged = True # Set radio interface in 'unmanaged state' in NetworkManager
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radio_mtu = 1445 # Used for mavlink aggregation and for tunnel packets - should be less or equal to MAX_PAYLOAD_SIZE, don't change if doubt
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tunnel_agg_timeout= 0.005 # aggragate tuntap packets if less than radio_mtu but no longer than 5ms
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mavlink_agg_timeout = 0.1 # aggragate mavlink packets if less than radio_mtu but no longer than 100ms
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mavlink_err_rate = True # If true then inject RX error rate else absolute values
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log_interval = 1000 # [ms] Default interval which wfb_rx/tx use for statistics reporting
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tx_sel_rssi_delta = 3 # [dB] hysteresis for antenna selection by RSSI
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tx_sel_counter_abs_delta = 3 # [pkt] hysteresis for antenna selection by RX packet counter
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tx_sel_counter_rel_delta = 0.1 # default is max(3 packets or 10% of packets from the best antenna)
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tx_rcv_buf_size = 2097152 # UDP SO_RCVBUF. Set 0 to use net.core.rmem_default. Increase in case of non-cbr data stream
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# This should not be greater than net.core.rmem_max
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wifi_channel = 161 # radio channel @5825 MHz, range: 5815-5835 MHz, width 20MHz
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# Also you can set own frequency channel for each wifi card, for example:
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# {'wlan0': 161, 'wlan1': 165}
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wifi_region = 'BO' # Set CRDA region
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wifi_txpower = None # Leave None to use default power settings from driver.
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# There is a special value 'off' for RX only cards.
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# For 8812au set to -dBm * 100. I.e for 30dBm set to -3000
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# For 8812eu set to dBm * 100. I.e for 30dBm set to 3000
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# Also you can set own txpower for each wifi card, for example:
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# {'wlan0': -100, 'wlan1': 100, 'wlan2': 'off'}
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temp_measurement_interval = 10 # [s] (8812eu only) Internal RF path temp measurement.
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temp_overheat_warning = 60 # [*C] (8812eu only) Overheat warning threshold.
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[gs]
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streams = [{'name': 'video', 'stream_rx': 0x00, 'stream_tx': None, 'service_type': 'udp_direct_rx', 'profiles': ['base', 'gs_base', 'video', 'gs_video']},
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{'name': 'mavlink', 'stream_rx': 0x10, 'stream_tx': 0x90, 'service_type': 'mavlink', 'profiles': ['base', 'gs_base', 'mavlink', 'gs_mavlink']},
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{'name': 'tunnel', 'stream_rx': 0x20, 'stream_tx': 0xa0, 'service_type': 'tunnel', 'profiles': ['base', 'gs_base', 'tunnel', 'gs_tunnel']}
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]
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stats_port = 8003 # used by wfb-cli
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api_port = 8103 # public JSON API
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link_domain = "default"
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###########################################################################################################################
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# Low level profiles can be used to build top level profiles via inheritance #
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# You can define any number of them and split options between them as you want - only resulting set of options has matter #
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###########################################################################################################################
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## Low level profiles have protocol-dependant fields
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[base]
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stream_rx = None
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stream_tx = None
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keypair = None
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mirror = False # Set to true if you want to mirror packet via all cards for redundancy. Not recommended if cards are on one frequency channel.
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# Radio settings for TX and RX
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bandwidth = 20 # bandwidth 20 or 40 MHz
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force_vht = False # Use VHT for 20 and 40 MHz bandwidth
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# Radiotap flags for TX:
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short_gi = False # use short GI or not
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stbc = 1 # stbc streams: 1, 2, 3 or 0 if unused
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ldpc = 1 # use LDPC FEC. Currently available only for 8812au and must be supported both on TX and RX.
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mcs_index = 1 # mcs index
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# Packet queueing control
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use_qdisc = False # Use or bypass kernel qdisc. Set to True if you want to use traffic shaper
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fwmark = 0 # If use qdisc then set fwmark to this value for data packets and to fwmark + 1 for FEC packets
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control_port = 0 # Override in tx sections if you want to manually control wfb_tx processes via wfb_tx_cmd utility
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[gs_base]
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keypair = 'gs.key'
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[radio_base]
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frame_type = 'data' # Use data or rts frames
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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fec_delay = 0 # [us], 0 to disable. Issue FEC packets with delay between them.
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[video]
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frame_type = 'data' # Use data or rts frames
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fec_k = 8 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 12 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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fec_delay = 0 # [us], 0 to disable. Issue FEC packets with delay between them.
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peer = None
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[mavlink]
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log_messages = False # Log all messages to binary log for post processing
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frame_type = 'data' # Use data or rts frames
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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fec_delay = 0 # [us], 0 to disable. Issue FEC packets with delay between them.
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peer = None
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osd = None
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inject_rssi = True # inject RADIO_STATUS packets
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mavlink_sys_id = 3 # for injected rssi packets
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mavlink_comp_id = 68 # MAV_COMP_ID_TELEMETRY_RADIO
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call_on_arm = None # call program on arm
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call_on_disarm = None # call program on disarm
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mavlink_tcp_port = None # listen for connections from QGC or from onboard computer
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[tunnel]
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frame_type = 'data' # Use data or rts frames
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fec_k = 1 # FEC K (For tx side. Rx will get FEC settings from session packet)
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fec_n = 2 # FEC N (For tx side. Rx will get FEC settings from session packet)
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fec_timeout = 0 # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
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fec_delay = 0 # [us], 0 to disable. Issue FEC packets with delay between them.
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[gs_video]
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fwmark = 20 # traffic shaper label
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peer = 'connect://127.0.0.1:5600' # outgoing connection for video sink (GS)
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[gs_mavlink]
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fwmark = 10 # traffic shaper label
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peer = 'connect://127.0.0.1:14550' # outgoing connection
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# peer = 'listen://0.0.0.0:14550' # incoming connection
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# osd = 'connect://127.0.0.1:14551' # mirroring mavlink packets to OSD
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[gs_tunnel]
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fwmark = 30 # traffic shaper label
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ifname = 'gs-wfb'
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ifaddr = '10.5.0.1/24'
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default_route = False
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