mirror of
https://github.com/IS1DI/x0gp.git
synced 2026-07-16 20:47:55 +00:00
Add WebRTC support and remove deviceId from apis
This commit is contained in:
x0gp
@@ -0,0 +1,386 @@
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package main
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import (
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"context"
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"encoding/json"
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"log/slog"
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"net/http"
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"sync"
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"time"
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"github.com/pion/webrtc/v4"
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"github.com/x0gp/server/internal/control"
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"github.com/x0gp/server/internal/lobby"
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"github.com/x0gp/server/internal/transport"
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)
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type driverSession struct {
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driverID string
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deviceID uint8
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pc *webrtc.PeerConnection
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videoDC *webrtc.DataChannel
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dataDC *webrtc.DataChannel
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lastCommand string
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cancelCtx context.CancelFunc
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}
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type WebRTCService struct {
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logger *slog.Logger
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engine *control.Engine
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lobbySvc *lobby.Service
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videoSvc *UDPVideoService
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sessions map[string]*driverSession
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sessionsMu sync.RWMutex
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}
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func NewWebRTCService(logger *slog.Logger, e *control.Engine, lobbySvc *lobby.Service, videoSvc *UDPVideoService) *WebRTCService {
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return &WebRTCService{
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logger: logger,
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engine: e,
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lobbySvc: lobbySvc,
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videoSvc: videoSvc,
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sessions: make(map[string]*driverSession),
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}
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}
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func (s *WebRTCService) Start(ctx context.Context, wg *sync.WaitGroup) {
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wg.Add(1)
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go func() {
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defer wg.Done()
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ticker := time.NewTicker(1 * time.Second)
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defer ticker.Stop()
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for {
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select {
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case <-ctx.Done():
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s.CloseAll()
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return
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case <-ticker.C:
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s.broadcastTelemetry()
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}
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}
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}()
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}
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// ConnectHandler godoc
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// @Summary Establish WebRTC connection for driver-car 1-to-1 proxying
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// @Description Accepts SDP Offer, negotiates peer connection, and returns SDP Answer. Routes video and control data via DataChannels.
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// @Tags webrtc
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// @Accept json
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// @Produce json
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// @Param body body transport.WebRTCConnectRequest true "SDP Offer details"
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// @Success 200 {object} transport.WebRTCConnectResponse "SDP Answer negotiation success"
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// @Router /api/webrtc/connect [post]
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func (s *WebRTCService) ConnectHandler() http.HandlerFunc {
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return func(w http.ResponseWriter, r *http.Request) {
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if r.Method != http.MethodPost {
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writeError(w, http.StatusMethodNotAllowed, "method_not_allowed", "Only POST is allowed")
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return
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}
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var req transport.WebRTCConnectRequest
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if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
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writeError(w, http.StatusBadRequest, "bad_request", "Invalid request JSON")
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return
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}
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if req.DriverID == "" {
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writeError(w, http.StatusBadRequest, "bad_request", "driver_id is required")
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return
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}
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// Resolve device ID for this driver
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deviceID := uint8(1) // default fallback
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if driver, err := s.lobbySvc.GetDriver(req.DriverID); err == nil && driver.DeviceID != nil {
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deviceID = uint8(*driver.DeviceID)
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} else {
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s.logger.Warn("webrtc client connected but no physical device_id assigned in lobbySvc. Defaulting to device 1", "driver_id", req.DriverID)
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}
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// Create PeerConnection
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config := webrtc.Configuration{
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ICEServers: []webrtc.ICEServer{
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{
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URLs: []string{"stun:stun.l.google.com:19302"},
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},
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},
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}
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pc, err := webrtc.NewPeerConnection(config)
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if err != nil {
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s.logger.Error("failed to create webrtc peer connection", "err", err)
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writeError(w, http.StatusInternalServerError, "internal_error", err.Error())
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return
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}
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// Prepare context for background video pumping
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connCtx, connCancel := context.WithCancel(context.Background())
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session := &driverSession{
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driverID: req.DriverID,
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deviceID: deviceID,
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pc: pc,
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cancelCtx: connCancel,
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}
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// Handle Data Channels
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pc.OnDataChannel(func(d *webrtc.DataChannel) {
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s.logger.Info("received remote data channel", "label", d.Label(), "driver_id", req.DriverID)
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s.sessionsMu.Lock()
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if d.Label() == "video" {
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session.videoDC = d
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} else if d.Label() == "data" {
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session.dataDC = d
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}
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s.sessionsMu.Unlock()
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d.OnOpen(func() {
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s.logger.Info("data channel opened", "label", d.Label(), "driver_id", req.DriverID)
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if d.Label() == "video" {
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// Start pumping video frames from UDPVideoService to the data channel
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go s.pumpVideo(connCtx, session)
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}
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})
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d.OnMessage(func(msg webrtc.DataChannelMessage) {
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if d.Label() == "data" {
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s.handleDataChannelMessage(session, msg.Data)
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}
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})
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})
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pc.OnConnectionStateChange(func(state webrtc.PeerConnectionState) {
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s.logger.Info("webrtc connection state changed", "state", state.String(), "driver_id", req.DriverID)
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if state == webrtc.PeerConnectionStateClosed || state == webrtc.PeerConnectionStateFailed {
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s.CloseSession(req.DriverID)
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}
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})
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// Set the remote SessionDescription
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err = pc.SetRemoteDescription(webrtc.SessionDescription{
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Type: webrtc.SDPTypeOffer,
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SDP: req.SDP,
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})
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if err != nil {
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pc.Close()
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connCancel()
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s.logger.Error("failed to set remote description", "err", err)
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writeError(w, http.StatusInternalServerError, "internal_error", err.Error())
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return
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}
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// Create Answer
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answer, err := pc.CreateAnswer(nil)
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if err != nil {
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pc.Close()
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connCancel()
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s.logger.Error("failed to create answer", "err", err)
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writeError(w, http.StatusInternalServerError, "internal_error", err.Error())
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return
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}
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// Set Local Description
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err = pc.SetLocalDescription(answer)
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if err != nil {
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pc.Close()
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connCancel()
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s.logger.Error("failed to set local description", "err", err)
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writeError(w, http.StatusInternalServerError, "internal_error", err.Error())
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return
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}
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// Wait for ICE Gathering to complete (Vanilla ICE)
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gatherComplete := webrtc.GatheringCompletePromise(pc)
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<-gatherComplete
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// Save Session
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s.sessionsMu.Lock()
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// Clean up existing session if any
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if existing, ok := s.sessions[req.DriverID]; ok {
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existing.pc.Close()
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existing.cancelCtx()
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}
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s.sessions[req.DriverID] = session
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s.sessionsMu.Unlock()
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localDesc := pc.LocalDescription()
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w.Header().Set("Content-Type", "application/json")
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_ = json.NewEncoder(w).Encode(transport.WebRTCConnectResponse{
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SDP: localDesc.SDP,
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Type: "answer",
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})
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}
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}
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func (s *WebRTCService) pumpVideo(ctx context.Context, session *driverSession) {
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s.logger.Info("starting WebRTC video pump for driver", "driver_id", session.driverID, "device_id", session.deviceID)
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frameCh := make(chan []byte, 10)
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s.videoSvc.registerClient(session.deviceID, frameCh)
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defer func() {
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s.videoSvc.unregisterClient(session.deviceID, frameCh)
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s.logger.Info("stopping WebRTC video pump for driver", "driver_id", session.driverID)
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}()
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for {
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select {
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case <-ctx.Done():
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return
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case frame, ok := <-frameCh:
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if !ok {
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return
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}
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s.sessionsMu.RLock()
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dc := session.videoDC
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s.sessionsMu.RUnlock()
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if dc != nil && dc.ReadyState() == webrtc.DataChannelStateOpen {
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if err := dc.Send(frame); err != nil {
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s.logger.Debug("failed to send video frame over datachannel", "driver_id", session.driverID, "err", err)
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}
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}
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}
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}
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}
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func (s *WebRTCService) handleDataChannelMessage(session *driverSession, data []byte) {
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var payload map[string]any
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if err := json.Unmarshal(data, &payload); err != nil {
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s.logger.Warn("received invalid JSON on data channel", "driver_id", session.driverID, "err", err)
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return
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}
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// 1. Steering & Throttle inputs
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in := transport.InputState{}
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hasInput := false
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if v, ok := payload["throttle"].(float64); ok {
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in.Throttle = v
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hasInput = true
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}
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if v, ok := payload["steering"].(float64); ok {
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in.Steering = v
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hasInput = true
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}
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if v, ok := payload["brake"].(float64); ok {
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in.Brake = v
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hasInput = true
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}
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if v, ok := payload["gear"].(float64); ok {
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in.Gear = int(v)
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hasInput = true
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}
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if hasInput {
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s.logger.Debug("received inputs on webrtc data channel", "driver_id", session.driverID, "throttle", in.Throttle, "steering", in.Steering)
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car := s.engine.GetCarByDriver(session.driverID)
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if car != nil {
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car.ApplyInput(in, 1.0/60.0)
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}
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// Send commands to physical car
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var cmd string
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if in.Throttle > 0.1 {
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cmd = "start"
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} else {
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cmd = "stop"
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}
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if in.Steering < -0.2 {
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cmd = "left"
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} else if in.Steering > 0.2 {
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cmd = "right"
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}
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// Resolve destination device
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var destDeviceID *uint8
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if car != nil && car.DeviceID != nil {
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val := uint8(*car.DeviceID)
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destDeviceID = &val
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} else if session.deviceID != 0 {
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// Fallback to connection-time device
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destDeviceID = &session.deviceID
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}
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if destDeviceID != nil && cmd != "" && cmd != session.lastCommand {
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s.logger.Info("webrtc control state transition", "driver_id", session.driverID, "old_cmd", session.lastCommand, "new_cmd", cmd)
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session.lastCommand = cmd
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err := s.videoSvc.SendCommand(*destDeviceID, cmd)
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if err != nil {
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s.logger.Error("failed to forward command to ESP32", "device_id", *destDeviceID, "cmd", cmd, "err", err)
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} else {
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s.logger.Info("forwarded command to ESP32 via UDP", "device_id", *destDeviceID, "cmd", cmd)
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}
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}
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}
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// Echo back message / send ACK
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s.sessionsMu.RLock()
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dc := session.dataDC
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s.sessionsMu.RUnlock()
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if dc != nil && dc.ReadyState() == webrtc.DataChannelStateOpen {
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ack, _ := json.Marshal(map[string]any{
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"type": "ack",
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"applied": true,
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"timestamp": time.Now().UnixMilli(),
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})
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_ = dc.SendText(string(ack))
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}
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}
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func (s *WebRTCService) broadcastTelemetry() {
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s.sessionsMu.RLock()
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defer s.sessionsMu.RUnlock()
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for _, session := range s.sessions {
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dc := session.dataDC
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if dc != nil && dc.ReadyState() == webrtc.DataChannelStateOpen {
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// Pull some stats/telemetry
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car := s.engine.GetCarByDriver(session.driverID)
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var speed float64
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var x, y float64
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var carID string
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if car != nil {
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speed = car.Speed
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x = car.X
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y = car.Y
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carID = car.ID
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}
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telemetry := map[string]any{
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"type": "telemetry",
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"car_id": carID,
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"driver_id": session.driverID,
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"speed": speed,
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"x": x,
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"y": y,
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"timestamp": time.Now().UnixMilli(),
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}
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payload, _ := json.Marshal(telemetry)
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_ = dc.SendText(string(payload))
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}
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}
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}
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func (s *WebRTCService) CloseSession(driverID string) {
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s.sessionsMu.Lock()
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defer s.sessionsMu.Unlock()
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if session, ok := s.sessions[driverID]; ok {
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s.logger.Info("closing WebRTC session for driver", "driver_id", driverID)
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session.pc.Close()
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session.cancelCtx()
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delete(s.sessions, driverID)
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}
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}
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func (s *WebRTCService) CloseAll() {
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s.sessionsMu.Lock()
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defer s.sessionsMu.Unlock()
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for driverID, session := range s.sessions {
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s.logger.Info("closing WebRTC session (shutdown)", "driver_id", driverID)
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session.pc.Close()
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session.cancelCtx()
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}
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s.sessions = make(map[string]*driverSession)
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}
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Block a user