Cargo.lock

@@ -274,9 +274,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.7.2"
+version = "1.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "428d9aa8fbc0670b7b8d6030a7fadd0f86151cae55e4dbbece15f3780a3dfaf3"
+checksum = "8318a53db07bb3f8dca91a600466bdb3f2eaadeedfdbcf02e1accbad9271ba50"
 
 [[package]]
 name = "cbc"
@@ -289,9 +289,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.1.21"
+version = "1.1.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07b1695e2c7e8fc85310cde85aeaab7e3097f593c91d209d3f9df76c928100f0"
+checksum = "b62ac837cdb5cb22e10a256099b4fc502b1dfe560cb282963a974d7abd80e476"
 dependencies = [
  "shlex",
 ]
@@ -1310,9 +1310,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.19.0"
+version = "1.20.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
+checksum = "33ea5043e58958ee56f3e15a90aee535795cd7dfd319846288d93c5b57d85cbe"
 
 [[package]]
 name = "opaque-debug"
@@ -2258,9 +2258,9 @@ dependencies = [
 
 [[package]]
 name = "toml_edit"
-version = "0.22.21"
+version = "0.22.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3b072cee73c449a636ffd6f32bd8de3a9f7119139aff882f44943ce2986dc5cf"
+checksum = "583c44c02ad26b0c3f3066fe629275e50627026c51ac2e595cca4c230ce1ce1d"
 dependencies = [
  "indexmap",
  "serde",
@@ -2391,9 +2391,9 @@ checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
 
 [[package]]
 name = "unicode-normalization"
-version = "0.1.24"
+version = "0.1.23"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5033c97c4262335cded6d6fc3e5c18ab755e1a3dc96376350f3d8e9f009ad956"
+checksum = "a56d1686db2308d901306f92a263857ef59ea39678a5458e7cb17f01415101f5"
 dependencies = [
  "tinyvec",
 ]
@@ -2486,7 +2486,7 @@ dependencies = [
 [[package]]
 name = "vcs-common"
 version = "0.1.0"
-source = "git+https://git.nickiel.net/VCC/vcs-common.git?branch=main#f1c42e73a701755803c239db905f98aa764ac696"
+source = "git+https://git.nickiel.net/VCC/vcs-common.git?branch=main#14b06e3351761a5eb29b9a2d35b1f5aa4212b82b"
 dependencies = [
  "async-channel",
  "bincode",

src/gst.rs

@@ -20,17 +20,9 @@ pub fn new_pipeline(config: &AppConfig) -> Pipeline {
         .name("camera_to_rtp_pipeine")
         .build();
 
-    let source = ElementFactory::make("mfvideosrc")
+    let source = ElementFactory::make("mfvideosrc").build().unwrap();
-        .build()
-        .expect("Could not make mfvideosrc element!");
 
-    let video_convert = ElementFactory::make("videoconvert")
+    let video_convert = ElementFactory::make("videoconvert").build().unwrap();
-        .build()
-        .expect("Could not make videoconvert gst element!");
-
-    let video_rate = ElementFactory::make("videorate")
-        .build()
-        .expect("Could not make videoscale gst element!");
 
     let video_scale = ElementFactory::make("videoscale")
         .property("add-borders", true)
@@ -40,18 +32,13 @@ pub fn new_pipeline(config: &AppConfig) -> Pipeline {
     let video_scale_caps = gstreamer::Caps::builder("video/x-raw")
         .field("height", HEIGHT as i32)
         .field("width", (HEIGHT as f64 * config.aspect_ratio) as i32)
-        // .field("framerate", gstreamer::Fraction::new(30, 1))
         .build();
 
     // We are using VP8 because VP9 resulted in much worse video quality
     // when testing -NY 8/25/2024
-    let vp8enc = ElementFactory::make("vp8enc")
+    let vp8enc = ElementFactory::make("vp8enc").build().unwrap();
-        .build()
-        .expect("Could not make vp8enc gst element!");
 
-    let rtp = ElementFactory::make("rtpvp8pay")
+    let rtp = ElementFactory::make("rtpvp8pay").build().unwrap();
-        .build()
-        .expect("Could not make rtpvp8pay gst element!");
 
     let app_sink = gst_app::AppSink::builder().build();
 
@@ -59,7 +46,6 @@ pub fn new_pipeline(config: &AppConfig) -> Pipeline {
         .add_many([
             &source,
             &video_convert,
-            &video_rate,
             &video_scale,
             &vp8enc,
             &rtp,
@@ -67,15 +53,13 @@ pub fn new_pipeline(config: &AppConfig) -> Pipeline {
         ])
         .expect("Could not add all the stuff to the pipeline");
 
-    gst::Element::link_many(&[&source, &video_convert, &video_rate, &video_scale])
+    gst::Element::link_many(&[&source, &video_convert, &video_scale]).unwrap();
-        .expect("Could not link source through video scale!");
 
     video_scale
         .link_filtered(&vp8enc, &video_scale_caps)
         .expect("Could not link videoscale to vp8enc with caps!");
 
-    gst::Element::link_many(&[&vp8enc, &rtp, app_sink.upcast_ref()])
+    gst::Element::link_many(&[&vp8enc, &rtp, app_sink.upcast_ref()]).unwrap();
-        .expect("Could not gst link vp8enc through appsink!");
 
     Pipeline {
         pipeline,

src/main.rs

@@ -3,12 +3,12 @@ use std::sync::{
     Arc,
 };
 
+use gstreamer::Buffer;
 use gstreamer::{prelude::ElementExt, State};
-use gstreamer::{Buffer, FlowError, FlowSuccess};
 use gstreamer_app as gst_app;
 use tokio::{net::TcpListener, sync::Notify};
 use tokio_util::sync::CancellationToken;
-use tracing::{debug, error, info};
+use tracing::{error, info, debug};
 use webrtc::{
     peer_connection::RTCPeerConnection,
     track::track_local::{track_local_static_rtp::TrackLocalStaticRTP, TrackLocalWriter},
@@ -22,9 +22,9 @@ mod rig;
 mod tracker;
 mod web_rtc;
 
+use web_rtc::{kickoff_connection, setup_callbacks, listen_for_socket};
 use rig::{start_event_loop, ApplicationEvent};
 use tracker::{tracker_loop, TrackerEvent};
-use web_rtc::{kickoff_connection, listen_for_socket, setup_callbacks};
 
 const SATELLITE_NAME: &str = "CameraSatellite_1";
 
@@ -57,13 +57,12 @@ async fn main() {
 
     let rt = tokio::runtime::Handle::current();
 
-    let stream: Arc<tokio::sync::Mutex<tokio::sync::mpsc::Receiver<Buffer>>> =
+    let stream: Arc<tokio::sync::Mutex<tokio::sync::mpsc::Receiver<Buffer>>> = Arc::new(tokio::sync::Mutex::new(stream));
-        Arc::new(tokio::sync::Mutex::new(stream));
 
     let cs1 = cancel_tasks.clone();
     pipeline.sink.set_callbacks(
         gst_app::AppSinkCallbacks::builder()
-            .new_sample(move |app_sink| -> Result<FlowSuccess, FlowError> {
+            .new_sample(move |app_sink| {
                 let sample = app_sink
                     .pull_sample()
                     .map_err(|_| gstreamer::FlowError::Eos)?;
@@ -80,7 +79,6 @@ async fn main() {
                     error!("Error sending to stream of buffers, it was closed: {e}");
                     cs1.cancel();
                     to_quit_5.store(true, Ordering::SeqCst);
-                    return Err(gstreamer::FlowError::Error);
                 }
 
                 Ok(gstreamer::FlowSuccess::Ok)
@@ -113,7 +111,12 @@ async fn main() {
     tokio::spawn(start_event_loop(mec, to_mec.clone()));
 
     let (to_tec, tec) = async_channel::bounded::<TrackerEvent>(20);
-    tokio::spawn(tracker_loop(to_tec.clone(), tec, to_mec.clone()));
+    tokio::spawn(tracker_loop(
+        to_tec.clone(),
+        tec,
+        to_mec.clone(),
+    ));
+
 
     loop {
         let to_quit_2 = to_quit.clone();
@@ -124,14 +127,13 @@ async fn main() {
         let reset_connection_3 = reset_connection.clone();
 
         let video_receiver_stream = stream.clone();
-        let listener = TcpListener::bind("127.0.0.1:8765")
+        let listener = TcpListener::bind("127.0.0.1:8765").await.expect("Could not bind tcp listener!");
-            .await
-            .expect("Could not bind tcp listener!");
         info!("Started listening on 127.0.0.1:8765");
 
         let (app_sender, to_core_reciever) = async_channel::bounded::<ApplicationMessage>(20);
         let (to_app_events, app_receiver) = async_channel::bounded::<ApplicationMessage>(20);
 
+
         if to_quit_3.load(Ordering::SeqCst) {
             break;
         }
@@ -149,71 +151,28 @@ async fn main() {
         
         drop(listener);
 
-        if let Err(e) = app_sender
+        if let Err(e) = to_tec.send(TrackerEvent::ChangeMEC(app_sender.clone())).await {
-            .send(ApplicationMessage::ConnectionSupportsWebRTCRequest)
-            .await
-        {
-            error!("Could not post request webrtc support to async channel: {e}");
-            break;
-        }
-
-        if let Err(e) = to_tec
-            .send(TrackerEvent::ChangeMEC(app_sender.clone()))
-            .await
-        {
             error!("There was an error sending a message to the TEC! {e}");
             to_quit_2.store(true, Ordering::SeqCst);
         }
 
-        let mut do_webrtc = false;
-        match app_receiver.recv().await {
-            Ok(ApplicationMessage::NameRequest(None)) => {
-                if let Err(e) = app_sender
-                    .send(ApplicationMessage::NameRequest(Some(
-                        SATELLITE_NAME.to_owned(),
-                    )))
-                    .await
-                {
-                    error!("Could not let the remote know my name! {e}");
-                }
-            }
-            Ok(ApplicationMessage::ConnectionSupportsWebRTCRequest) => {
-                if let Err(e) = app_sender
-                    .send(ApplicationMessage::ConnectionSupportsWebRTC(true))
-                    .await
-                {
-                    error!("Coudl not post request webrtc support=true to async channel, dropping connection: {e}");
-                    break;
-                }
-            }
-            Ok(ApplicationMessage::ConnectionSupportsWebRTC(state)) => {
-                do_webrtc = state;
-            }
-            Err(e) => {
-                error!("Could not receive incoming message from remote during webrtc status check!: {e}");
-            }
-            _ => {
-                info!("Received unhandled message from remote");
-            }
-        }
-
-        let mut peer_connection: Option<Arc<RTCPeerConnection>> = None;
-        let video_track: Arc<TrackLocalStaticRTP>;
-        if do_webrtc {
         info!("Setting up web rtc pc status");
         // Set up the webrtc peer connection
+        let peer_connection: Arc<RTCPeerConnection>;
+        let video_track: Arc<TrackLocalStaticRTP>;
         match web_rtc::setup_webrtc(uuid.clone()).await {
             Err(e) => {
                 panic!("Could not set up WebRTC connection! {e}");
             }
             Ok((pc, vt)) => {
-                    peer_connection = Some(pc);
+                peer_connection = pc;
                 video_track = vt;
             }
         }
 
+
         // Send the local description to the remote
-            if let Some(local_desc) = peer_connection.as_ref().unwrap().local_description().await {
+        if let Some(local_desc) = peer_connection.local_description().await {
             app_sender
                 .send(ApplicationMessage::WebRTCPacket(local_desc))
                 .await
@@ -225,7 +184,7 @@ async fn main() {
         let notify_video = notify_tx.clone();
 
         setup_callbacks(
-                peer_connection.as_mut().unwrap().clone(),
+            peer_connection.clone(),
             to_quit_3,
             app_sender.clone(),
             notify_tx,
@@ -263,54 +222,28 @@ async fn main() {
 
         info!("starting webrtc connection kickoff");
         // send the offer and trickle ice candidates to the remote, and accept their description
-            if let Err(e) = kickoff_connection(
+        if let Err(e) = kickoff_connection(&peer_connection, app_sender.clone(), &app_receiver).await {
-                peer_connection.as_ref().unwrap(),
-                app_sender.clone(),
-                &app_receiver,
-            )
-            .await
-            {
             error!("There was an issue with WebRTC setup! Resetting connection: {e}");
         }
 
         info!("webrtc kickoff complete, entering watch mode");
-        } // end supports_webrtc  portion
 
         // loop through messages coming from the remote.
-        loop {
+        while let Ok(msg) = app_receiver.recv().await {
-            tokio::select! {
+            if to_quit.load(Ordering::SeqCst) { break; }
-                _ = cancel_tasks.cancelled() => {
-                    info!("Event Loop cancelled flag caught");
-                    break;
-                }
-                Ok(msg) = app_receiver.recv() => {
-                    if to_quit.load(Ordering::SeqCst) {
-                        info!("ToQuit set, breaking app_receiver set");
-                        break;
-                    }
             match msg {
-                        ApplicationMessage::ConnectionSupportsWebRTC(_) => {},
-                        ApplicationMessage::ConnectionSupportsWebRTCRequest => {
-                            if let Err(e) = app_sender.send(ApplicationMessage::ConnectionSupportsWebRTC(do_webrtc)).await {
-                                error!("Could not post connection supports webrtc status to async channel!: {e}");
-                            }
-                        }
                 ApplicationMessage::WebRTCPacket(_pkt) => {
                     error!("don't know what to do with this packet!");
                 }
                 ApplicationMessage::WebRTCIceCandidateInit(pkt) => {
-                            if peer_connection.is_some() {
+                    if let Err(e) = peer_connection.add_ice_candidate(pkt).await {
-                                if let Err(e) = peer_connection.as_ref().unwrap().add_ice_candidate(pkt).await {
                         error!("There was an error adding the trickle ICE candidate! {e}");
                     }
                 }
-                        }
                 ApplicationMessage::WebRTCIceCandidate(_pkg) => {
                     error!("Unhandled ice candidate!");
                 }
-                        ApplicationMessage::NameRequest(Some(name)) => {
+                ApplicationMessage::NameRequest(Some(name)) => info!("Got a message about '{}'", name),
-                            info!("Got a message about '{}'", name)
-                        }
                 ApplicationMessage::NameRequest(None) => {
                     if let Err(e) = app_sender
                         .send(ApplicationMessage::NameRequest(Some(
@@ -341,26 +274,13 @@ async fn main() {
                     to_quit.store(true, Ordering::SeqCst);
                     cancel_tasks.cancel();
 
+
                     break;
                 }
             }
         }
     }
-        }
+    info!("WebRTC loop exited, should be closing down\nTo_Quit: {}", to_quit.load(Ordering::SeqCst));
-
-        if peer_connection.is_some() {
-            if let Err(e) = peer_connection.as_mut().unwrap().close().await {
-                error!("Got an error while closing the webrtc connection! {}", e);
-            }
-        }
-        app_sender.close();
-        app_receiver.close();
-        info!("Loop is exiting!");
-    }
-    info!(
-        "WebRTC loop exited, should be closing down\nTo_Quit: {}",
-        to_quit.load(Ordering::SeqCst)
-    );
     if let Err(e) = pipeline.pipeline.set_state(State::Null) {
         panic!("Could not start pipeline! {e}");
     }

src/tracker/mod.rs

@@ -52,8 +52,7 @@ pub async fn tracker_loop(
         if state.app_sender.is_some() {
             if let Err(e) = state
                 .app_sender
-                .as_ref()
+                .as_ref().unwrap()
-                .unwrap()
                 .send(ApplicationMessage::TrackingBoxes(
                     vcs_common::types::TrackingUpdate {
                         target_id: None,

src/web_rtc.rs

@@ -3,12 +3,12 @@ use std::sync::{
     Arc,
 };
 
-use futures_util::{SinkExt, StreamExt};
-use tokio::net::TcpListener;
 use tokio::sync::Notify;
-use tokio_tungstenite::accept_async;
+use tokio::net::TcpListener;
 use tokio_tungstenite::tungstenite::Message;
-use tracing::{debug, error, info, instrument, warn};
+use tokio_tungstenite::accept_async;
+use futures_util::{SinkExt, StreamExt};
+use tracing::{error, info, debug, warn, instrument};
 use vcs_common::{AppReceiver, AppSender, ApplicationMessage};
 use webrtc::{
     api::{
@@ -227,9 +227,7 @@ pub async fn kickoff_connection(
             }
             Ok(ApplicationMessage::ChangeTrackingID(_))
             | Ok(ApplicationMessage::TrackingBoxes(_))
-            | Ok(ApplicationMessage::ManualMovementOverride(_))
+            | Ok(ApplicationMessage::ManualMovementOverride(_)) => {}
-            | Ok(ApplicationMessage::ConnectionSupportsWebRTC(_))
-            | Ok(ApplicationMessage::ConnectionSupportsWebRTCRequest) => {}
             Err(e) => {
                 panic!("WC channel was closed?! {e}");
             }
@@ -241,12 +239,7 @@ pub async fn kickoff_connection(
     Ok(())
 }
 
-pub async fn listen_for_socket(
+pub async fn listen_for_socket(listener: &TcpListener, from_app: AppReceiver, to_ui: AppSender, reset_connection: Arc<AtomicBool>) {
-    listener: &TcpListener,
-    from_app: AppReceiver,
-    to_ui: AppSender,
-    reset_connection: Arc<AtomicBool>,
-) {
     if let Ok((stream, _)) = listener.accept().await {
         match accept_async(stream).await {
             Err(e) => error!("Could not convert incoming stream to websocket: {e}"),
@@ -294,9 +287,9 @@ pub async fn listen_for_socket(
                             Err(e) => {
                                 error!("There was an error getting a message from the remote! {e}");
                                 reset_connection.store(true, Ordering::SeqCst);
+
                             }
-                            Ok(msg) => {
+                            Ok(msg) => match msg {
-                                match msg {
                                 Message::Ping(_) | Message::Pong(_) => {}
                                 Message::Close(_) => {
                                     info!("Received WebSocket close message! Closing the websocket");
@@ -349,8 +342,7 @@ pub async fn listen_for_socket(
                                             "Was the other endpoing running debug mode?");
                                     }
                                 }
-                                }
+                            },
-                            }
                         }
                     }
                     warn!("The websocket listener closed");
@@ -359,3 +351,4 @@ pub async fn listen_for_socket(
         }
     }
 }
+