add web server, rtsp server, other fixes

Makefile

@@ -7,10 +7,11 @@ DRY_RUN=false
 
 # Define dependencies
 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 \
-  python3-future python3-twisted python3-serial python3-jinja2 iw virtualenv debhelper dh-python fakeroot build-essential python3-autobahn 
+  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 \ 
+  gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-rtsp libgstrtspserver-1.0-0 python3-gi
 
 # Define installation targets and options
-.PHONY: enable install interactive dependencies uninstall default full-install spirilink-driver spirilink-software setup-webapp-service configure-spirilink
+.PHONY: enable install interactive dependencies uninstall default full-install spirilink-driver spirilink-software setup-webapp-service configure-spirilink install-key setup-rtsp-service
 
 default: interactive install
 
@@ -43,6 +44,8 @@ full-install:
 	$(MAKE) spirilink-software
 	$(MAKE) configure-spirilink
 	$(MAKE) setup-webapp-service
+	$(MAKE) install-key
+	$(MAKE) setup-rtsp-service
 	@echo "Full installation complete."
 
 manual-select:
@@ -55,7 +58,9 @@ manual-select:
 	@echo "[5] SpiriLink Software"
 	@echo "[6] Configure SpiriLink"
 	@echo "[7] Setup WebApp Service"
-	@echo "[8] Exit"
+	@echo "[8] Install gs.key"
+	@echo "[9] Setup RTSP Service"
+	@echo "[0] Exit"
 	@read -p "Enter your choices separated by spaces (e.g., 1 2 3): " choices; \
 	selected="$$choices"; \
 	for choice in $$selected; do \
@@ -66,13 +71,25 @@ manual-select:
 		if [ "$$choice" = "5" ]; then $(MAKE) spirilink-software; fi; \
 		if [ "$$choice" = "6" ]; then $(MAKE) configure-spirilink; fi; \
 		if [ "$$choice" = "7" ]; then $(MAKE) setup-webapp-service; fi; \
-		if [ "$$choice" = "8" ]; then exit 0; fi; \
+		if [ "$$choice" = "8" ]; then $(MAKE) install-key; fi; \
+		if [ "$$choice" = "9" ]; then $(MAKE) setup-rtsp-service; fi; \
+		if [ "$$choice" = "0" ]; then exit 0; fi; \
 	done;
 
 install:
 	@echo "Starting installation..."
 	@echo "Installation complete."
 
+# Install gs.key
+.PHONY: install-key
+install-key:
+	@echo "Installing gs.key"
+	@if [ -f $(CURDIR)/gs.key ]; then \
+		$(SUDO) cp $(CURDIR)/gs.key /etc/; \
+	else \
+		echo "Error: gs.key not found in deployment folder."; \
+	fi;
+
 # Install dependencies from the array
 .PHONY: dependencies
 dependencies:
@@ -127,46 +144,42 @@ configure-spirilink:
 		echo "unmanaged-devices=interface-name:spir0" | $(SUDO) tee -a /etc/NetworkManager/NetworkManager.conf > /dev/null; \
 	fi
 	@$(SUDO) systemctl restart NetworkManager
-	@echo "Configuring wifibroadcast default interface..."
-	@$(SUDO) bash -c 'echo "WFB_NICS=\"spir0\"" > /etc/default/wifibroadcast'
 	@echo "SpiriLink configuration complete."
 
 
 # Install SpiriLink software
 .PHONY: spirilink-software
 spirilink-software:
-	@echo "\nInstalling SpiriLink software..."
+	@echo "Installing SpiriLink software..."
-	@if [ -d ~/tmp/spirilink ]; then \
+	@if [ -d ~/home/spiri/spirilink ]; then \
 		read -p "SpiriLink software source already exists. Reinstall? (Y/N): " reinstall; \
 		if [ "$$reinstall" = "Y" ] || [ "$$reinstall" = "y" ]; then \
-			cd ~/tmp/spirilink && git pull && \
+			cd ~/home/spiri/spirilink && git pull && \
-			$(SUDO) make deb && $(SUDO) dpkg -i ~/tmp/spirilink/deb_dist/wfb*.deb; \
+			$(SUDO) ./scripts/install_gs.sh spir0; \
+			$(SUDO) bash -c 'echo "WFB_NICS=\"spir0\"" > /etc/default/wifibroadcast'; \
+			$(SUDO) cp ~/home/spiri/spirilink/wifibroadcast.cfg /etc/; \
 		else \
 			echo "Skipping SpiriLink software installation."; \
 		fi; \
 	else \
-		git clone https://git.spirirobotics.com/aepko/SpiriLink.git ~/tmp/spirilink && \
+		git clone https://git.spirirobotics.com/aepko/SpiriLink.git ~/home/spiri/spirilink && \
-		cd ~/tmp/spirilink && \
+		cd ~/home/spiri/spirilink && \
-		$(SUDO) make deb && $(SUDO) dpkg -i ~/tmp/spirilink/deb_dist/wfb*.deb; \
+		$(SUDO) ./scripts/install_gs.sh spir0; \
+		$(SUDO) bash -c 'echo "WFB_NICS=\"spir0\"" > /etc/default/wifibroadcast'; \
+		$(SUDO) cp ~/home/spiri/spirilink/wifibroadcast.cfg /etc/; \
 	fi;
-	@echo "\nSpiriLink software installed."
+	@echo "SpiriLink software installed."
+	
 
 # Set up web app service
 .PHONY: setup-webapp-service
 setup-webapp-service:
 	@echo "Setting up web app service..."
-	@if [ -d ~/spiri-base ]; then \
+	@if [ -d ~/Spiri-Base ]; then \
-		cd ~/spiri-base && git pull || (echo "Error updating repository. Check network and repository access." && exit 1); \
+		cd ~/Spiri-Base && git pull || (echo "Error updating repository. Check network and repository access." && exit 1); \
 	else \
-		git clone https://git.spirirobotics.com/aepko/Spiri-Base.git ~/spiri-base || (echo "Error cloning repository. Check network and repository access." && exit 1); \
+		git clone https://git.spirirobotics.com/aepko/Spiri-Base.git ~/Spiri-Base || (echo "Error cloning repository. Check network and repository access." && exit 1); \
-		cd ~/spiri-base && git sparse-checkout init --cone && git sparse-checkout set .output; \
+		cd ~/Spiri-Base && git sparse-checkout init --cone && git sparse-checkout set .output; \
-	fi;
-	@if [ -d ~/spiri-base/.output ]; then \
-		$(SUDO) mkdir -p /var/www/webapp; \
-		$(SUDO) cp -r ~/spiri-base/.output/* /var/www/webapp/; \
-	else \
-		echo "Error: .output folder not found. Ensure the repository contains the necessary files."; \
-		exit 1; \
 	fi;
 	@if [ -f $(CURDIR)/webapp.service ]; then \
 		$(SUDO) cp $(CURDIR)/webapp.service /etc/systemd/system/webapp.service; \
@@ -175,7 +188,22 @@ setup-webapp-service:
 	else \
 		echo "Error: webapp.service not found in deployment folder."; \
 	fi;
-	@echo "\nWeb app service set up and running."
+	@echo "Web app service set up and running."
+
+# Set up RTSP service
+.PHONY: setup-rtsp-service
+setup-rtsp-service:
+	@echo "Setting up RTSP server..."
+	$(SUDO) mkdir -p ~/rtsp
+	$(SUDO) cp $(CURDIR)/scripts/rtsp_server.py ~/rtsp/
+	@if [ -f $(CURDIR)/scripts/rtsp-server.service ]; then \
+		$(SUDO) cp $(CURDIR)/scripts/rtsp-server.service /etc/systemd/system/rtsp-server.service; \
+		$(SUDO) systemctl enable rtsp-server.service; \
+		$(SUDO) systemctl start rtsp-server.service; \
+	else \
+		echo "Error: rtsp-server.service not found in scripts folder."; \
+	fi;
+	@echo "RTSP server set up and running."
 
 # Uninstall all installed components
 .PHONY: uninstall

gs.key

@@ -0,0 +1 @@
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В_Ђ<5F>Ќ{FФ<>a<EFBFBD>ћp<D19B>tzfш<ц@НkОЕВQSz<53>ЂtЂc

rtsp-server.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=RTSP Server for FPV Video
+After=network-online.target
+
+[Service]
+ExecStart=/usr/bin/python3 /home/spiri/rtsp/rtsp_server.py
+Restart=always
+RestartSec=5
+StandardOutput=journal
+StandardError=journal
+Type=simple
+
+[Install]
+WantedBy=multi-user.target

rtsp_server.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+import gi
+gi.require_version('Gst', '1.0')
+gi.require_version('GstRtspServer', '1.0')
+from gi.repository import Gst, GstRtspServer, GLib
+
+class CustomRTSPMediaFactory(GstRtspServer.RTSPMediaFactory):
+    def __init__(self):
+        super().__init__()
+        self.set_shared(True)
+
+    def do_create_element(self, url):
+        pipeline = (
+            "udpsrc port=5600 caps=\"application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H265\" ! "
+            "rtph265depay ! h265parse ! rtph265pay name=pay0 pt=96"
+        )
+        return Gst.parse_launch(pipeline)
+
+class CustomRTSPServer(GstRtspServer.RTSPServer):
+    def __init__(self):
+        super().__init__()
+        factory = CustomRTSPMediaFactory()
+        mount_points = self.get_mount_points()
+        mount_points.add_factory("/video", factory)
+        self.attach(None)
+
+def main():
+    Gst.init(None)
+    server = CustomRTSPServer()
+    loop = GLib.MainLoop()  # Updated to GLib
+    print("RTSP Server running at rtsp://127.0.0.1:8554/video")
+    loop.run()
+
+if __name__ == "__main__":
+    main()

webapp.service

@@ -1,15 +1,15 @@
 [Unit]
-Description=SpiriBase WebApp Service
+Description=Spiri Base Node.js Application
 After=network.target
 
 [Service]
-Type=simple
+ExecStart=/usr/bin/node /home/spiri/Spiri-Base/.output/server/index.mjs
-WorkingDirectory=/var/www/webapp
+WorkingDirectory=/home/spiri/Spiri-Base
-ExecStart=/usr/bin/node /var/www/webapp/.output/server/index.mjs
+Restart=always
-Restart=on-failure
+User=spiri
+Group=spiri
 Environment=NODE_ENV=production
-User=www-data
+Environment=PORT=80
-Group=www-data
 
 [Install]
 WantedBy=multi-user.target

wifibroadcast.cfg

@@ -0,0 +1,135 @@
+[common]
+primary = True            # Set to False if you use several wfb instances on one card. Only primary instance will set radio channel.
+log_file = None           # Set to "wifibroadcast.log" to disable log to stdout
+binary_log_file = None    # Machine readable log for post-processing
+                          # File name should have '%%s' inside for profile mapping.
+                          # For example: 'binlog_%%s.log'
+
+set_nm_unmanaged = True   # Set radio interface in 'unmanaged state' in NetworkManager
+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
+tunnel_agg_timeout= 0.005 # aggragate tuntap packets if less than radio_mtu but no longer than 5ms
+mavlink_agg_timeout = 0.1 # aggragate mavlink packets if less than radio_mtu but no longer than 100ms
+mavlink_err_rate = True   # If true then inject RX error rate else absolute values
+
+log_interval = 1000       # [ms] Default interval which wfb_rx/tx use for statistics reporting
+tx_sel_rssi_delta = 3     # [dB] hysteresis for antenna selection by RSSI
+tx_sel_counter_abs_delta = 3   # [pkt] hysteresis for antenna selection by RX packet counter
+tx_sel_counter_rel_delta = 0.1 # default is max(3 packets or 10% of packets from the best antenna)
+
+tx_rcv_buf_size = 2097152  # UDP SO_RCVBUF. Set 0 to use net.core.rmem_default. Increase in case of non-cbr data stream
+                           # This should not be greater than net.core.rmem_max
+
+wifi_channel = 161        # radio channel @5825 MHz, range: 5815-5835 MHz, width 20MHz
+                          # Also you can set own frequency channel for each wifi card, for example:
+                          # {'wlan0': 161, 'wlan1': 165}
+
+wifi_region = 'BO'        # Set CRDA region
+wifi_txpower = None       # Leave None to use default power settings from driver.
+                          # There is a special value 'off' for RX only cards.
+                          # For 8812au set to -dBm * 100. I.e for 30dBm set to -3000
+                          # For 8812eu set to dBm * 100. I.e for 30dBm set to 3000
+                          # Also you can set own txpower for each wifi card, for example:
+                          # {'wlan0': -100, 'wlan1': 100, 'wlan2': 'off'}
+
+
+temp_measurement_interval = 10  # [s] (8812eu only) Internal RF path temp measurement.
+temp_overheat_warning = 60      # [*C] (8812eu only) Overheat warning threshold.
+
+[gs]
+streams = [{'name': 'video',   'stream_rx': 0x00, 'stream_tx': None, 'service_type': 'udp_direct_rx',  'profiles': ['base', 'gs_base', 'video', 'gs_video']},
+           {'name': 'mavlink', 'stream_rx': 0x10, 'stream_tx': 0x90, 'service_type': 'mavlink', 'profiles': ['base', 'gs_base', 'mavlink', 'gs_mavlink']},
+           {'name': 'tunnel',  'stream_rx': 0x20, 'stream_tx': 0xa0, 'service_type': 'tunnel',  'profiles': ['base', 'gs_base', 'tunnel', 'gs_tunnel']}
+           ]
+
+stats_port = 8003  # used by wfb-cli
+api_port = 8103    # public JSON API
+link_domain = "default"
+
+###########################################################################################################################
+# Low level profiles can be used to build top level profiles via inheritance                                                     #
+# You can define any number of them and split options between them as you want - only resulting set of options has matter #
+###########################################################################################################################
+
+## Low level profiles have protocol-dependant fields
+
+[base]
+stream_rx = None
+stream_tx = None
+keypair = None
+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.
+
+# Radio settings for TX and RX
+bandwidth = 20     # bandwidth 20 or 40 MHz
+force_vht = False  # Use VHT for 20 and 40 MHz bandwidth
+
+# Radiotap flags for TX:
+short_gi = False   # use short GI or not
+stbc = 1           # stbc streams: 1, 2, 3 or 0 if unused
+ldpc = 1           # use LDPC FEC. Currently available only for 8812au and must be supported both on TX and RX.
+mcs_index = 1      # mcs index
+
+# Packet queueing control
+use_qdisc = False  # Use or bypass kernel qdisc. Set to True if you want to use traffic shaper
+fwmark = 0         # If use qdisc then set fwmark to this value for data packets and to fwmark + 1 for FEC packets
+control_port = 0   # Override in tx sections if you want to manually control wfb_tx processes via wfb_tx_cmd utility
+
+[gs_base]
+keypair = 'gs.key'
+
+[radio_base]
+frame_type = 'data'  # Use data or rts frames
+fec_k = 1            # FEC K (For tx side. Rx will get FEC settings from session packet)
+fec_n = 2            # FEC N (For tx side. Rx will get FEC settings from session packet)
+fec_timeout = 0      # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
+fec_delay = 0        # [us], 0 to disable. Issue FEC packets with delay between them.
+
+[video]
+frame_type = 'data'  # Use data or rts frames
+fec_k = 8          # FEC K (For tx side. Rx will get FEC settings from session packet)
+fec_n = 12         # FEC N (For tx side. Rx will get FEC settings from session packet)
+fec_timeout = 0    # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
+fec_delay = 0        # [us], 0 to disable. Issue FEC packets with delay between them.
+
+peer = None
+
+[mavlink]
+log_messages = False # Log all messages to binary log for post processing
+frame_type = 'data'  # Use data or rts frames
+fec_k = 1            # FEC K (For tx side. Rx will get FEC settings from session packet)
+fec_n = 2            # FEC N (For tx side. Rx will get FEC settings from session packet)
+fec_timeout = 0      # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
+fec_delay = 0        # [us], 0 to disable. Issue FEC packets with delay between them.
+
+peer = None
+osd = None
+
+inject_rssi = True    # inject RADIO_STATUS packets
+mavlink_sys_id = 3    # for injected rssi packets
+mavlink_comp_id = 68  # MAV_COMP_ID_TELEMETRY_RADIO
+
+call_on_arm = None      # call program on arm
+call_on_disarm = None   # call program on disarm
+mavlink_tcp_port = None # listen for connections from QGC or from onboard computer
+
+[tunnel]
+frame_type = 'data'  # Use data or rts frames
+fec_k = 1            # FEC K (For tx side. Rx will get FEC settings from session packet)
+fec_n = 2            # FEC N (For tx side. Rx will get FEC settings from session packet)
+fec_timeout = 0      # [ms], 0 to disable. If no new packets during timeout, emit one empty packet if FEC block is open
+fec_delay = 0        # [us], 0 to disable. Issue FEC packets with delay between them.
+
+[gs_video]
+fwmark = 20  #  traffic shaper label
+peer = 'connect://127.0.0.1:5600'  # outgoing connection for video sink (GS)
+
+[gs_mavlink]
+fwmark = 10  #  traffic shaper label
+peer = 'connect://127.0.0.1:14550'  # outgoing connection
+# peer = 'listen://0.0.0.0:14550'   # incoming connection
+# osd = 'connect://127.0.0.1:14551' # mirroring mavlink packets to OSD
+
+[gs_tunnel]
+fwmark = 30  #  traffic shaper label
+ifname = 'gs-wfb'
+ifaddr = '10.5.0.1/24'
+default_route = False