send_video_mac.py

import subprocess
import shlex
import re
import os
import time
import urllib.request
import platform
import json
import sys
import base64
import random
import argparse
import robot_util


print("example:")
print('python3 send_video_mac.py 199 --screen-capture --kbps 2500 --audio-input-device "Microphone (HD Webcam C270)"')

parser = argparse.ArgumentParser(description='robot control')
parser.add_argument('--info-server', help="handles things such as rest API requests about ports, for example 1.1.1.1:8082", default='robotstreamer.com:6001')
parser.add_argument('--info-server-protocol', default="http", help="either https or http")
parser.add_argument('camera_id')
parser.add_argument('--kbps', default=650, type=int)
parser.add_argument('--brightness', type=int, help='camera brightness')
parser.add_argument('--contrast', type=int, help='camera contrast')
parser.add_argument('--saturation', type=int, help='camera saturation')
parser.add_argument('--rotate180', default=False, type=bool, help='rotate image 180 degrees')
parser.add_argument('--env', default="prod")
parser.add_argument('--screen-capture', dest='screen_capture', action='store_true') # tells windows to pull from different camera, this should just be replaced with a video input device option
parser.set_defaults(screen_capture=False)
parser.add_argument('--no-mic', dest='mic', action='store_false')
parser.set_defaults(mic=True)
parser.add_argument('--mic-channels', type=int, help='microphone channels, typically 1 or 2', default=1)
parser.add_argument('--audio-input-device', default='Microphone (HD Webcam C270)') # currently, this option is only used for windows screen capture

commandArgs = parser.parse_args()
print("command args", commandArgs)
server = "robotstreamer.com"
cameraID = commandArgs.camera_id


def onHandleCameraCommand(*args):
    print(args)


def randomSleep():
    """A short wait is good for quick recovery, but sometimes a longer delay is needed or it will just keep trying and failing short intervals, like because the system thinks the port is still in use and every retry makes the system think it's still in use. So, this has a high likelihood of picking a short interval, but will pick a long one sometimes."""

    timeToWait = random.choice((0.25, 0.25, 0.25, 0.25, 0.25, 0.25, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 5))
    print("sleeping", timeToWait)
    time.sleep(timeToWait)



def getVideoPort():

    url = 'http://%s:6001/get_video_port/%s' % (server, cameraID)

    for retryNumber in range(2000):
        try:
            print("GET", url)
            response = urllib.request.urlopen(url).read()
            break
        except:
            print("could not open url ", url)
            time.sleep(2)

    return json.loads(response)['mpeg_stream_port']


def getAudioPort():

    url = 'http://%s:6001/get_audio_port/%s' % (server, cameraID)

    for retryNumber in range(2000):
        try:
            print("GET", url)
            response = urllib.request.urlopen(url).read()
            break
        except:
            print("could not open url ", url)
            time.sleep(2)

    return json.loads(response)['audio_stream_port']



def runFfmpeg(commandLine):

    print(commandLine)
    splitCommandLine = shlex.split(commandLine)
    print("split command line:", splitCommandLine)
    ffmpegProcess = subprocess.Popen(splitCommandLine)
    print("command started")

    return ffmpegProcess




def macVideoCapture(videoPort):

    global videoProcess

    if commandArgs.screen_capture:
        frameRateArgument = "-framerate 30"
        number = 0
    else:
        frameRateArgument = ""
        number = 1


    videoCommandLine = 'ffmpeg -r 30 -f avfoundation %s -i %d:none -f mpegts -codec:v mpeg1video -s 640x480 -b:v %dk -bf 0 -muxdelay 0.001 http://%s:%s/hellobluecat/640/480/' % (frameRateArgument, number, commandArgs.kbps, server, videoPort)

    # kill other instances if they exist
    os.system("pkill -f %d:none" % number)

    print("video command line:", videoCommandLine)
    videoProcess = runFfmpeg(videoCommandLine)
    return videoProcess



def macAudioCapture(audioPort):

    global audioProcess

    audioCommandLine = 'ffmpeg -f avfoundation -i none:0 -f mpegts -codec:a mp2 -b:a 32k -muxdelay 0.001 http://%s:%s/hellobluecat/640/480/' % (server, audioPort)


    # kill other instances if they exist
    os.system("pkill -f none:0")

    print("audio command line:", audioCommandLine)
    audioProcess = runFfmpeg(audioCommandLine)
    return audioProcess



def startVideoCapture():

    global videoProcess
    videoPort = getVideoPort()
    print("video port:", videoPort)
    videoProcess = macVideoCapture(videoPort)
    return videoProcess



def startAudioCapture():

    global audioProcess

    audioPort = getAudioPort()
    print("audio port:", audioPort)
    audioProcess = macAudioCapture(audioPort)
    return audioProcess


def timeInMilliseconds():
    return int(round(time.time() * 1000))



def main():

    global videoProcess
    global audioProcess

    # clean up, kill any ffmpeg process that are hanging around from a previous run
    print("killing all ffmpeg processes")
    os.system("killall ffmpeg")

    print("main")

    streamProcessDict = None

    twitterSnapCount = 0

    videoProcess = startVideoCapture()
    audioProcess = startAudioCapture()


    count = 0
    while True:
        print("audioProcess.poll()", audioProcess.poll())
        print("videoProcess.poll()", videoProcess.poll())

        if audioProcess.poll() is not None:
            time.sleep(5)
            videoProcess = startAudioCapture()

        if videoProcess.poll() is not None:
            time.sleep(5)
            audioProcess = startVideoCapture()

        if (count % robot_util.KeepAlivePeriod) == 0:
            robot_util.sendCameraAliveMessage(commandArgs.info_server_protocol,
                                              commandArgs.info_server,
                                              commandArgs.camera_id)

        time.sleep(1)
        count += 1


if __name__ == "__main__":

    main()