Merge branch 'dev' of https://106.52.207.92:9103/limingjie/OmniSocketGo into dev

cmd/b_side_video_sender.c

@@ -26,6 +26,8 @@
 
 #define WORKER_CONTROL_FD 3
 #define WORKER_TELEMETRY_FD 4
+#define WORKER_CONTROL_FD_ENV "OMNI_WORKER_CONTROL_FD"
+#define WORKER_TELEMETRY_FD_ENV "OMNI_WORKER_TELEMETRY_FD"
 #define NUM_BUFFERS 4
 #define CLEAR(x) memset(&(x), 0, sizeof(x))
 
@@ -238,11 +240,15 @@ static void telemetry_write_kcp_metrics(runtime_state_t *runtime, const kcp_conn
 
 static int load_worker_config(worker_config_t *cfg) {
     const char *server_addr = getenv(VIDEO_SERVER_ADDR_ENV);
+    const char *relay_addr = env_or_default(VIDEO_RELAY_ADDR_ENV, "");
 
     if (cfg == NULL) {
         errno = EINVAL;
         return -1;
     }
+    if ((server_addr == NULL || server_addr[0] == '\0') && relay_addr[0] != '\0') {
+        server_addr = relay_addr;
+    }
     if (server_addr == NULL || server_addr[0] == '\0') {
         fprintf(stderr, "%s is required\n", VIDEO_SERVER_ADDR_ENV);
         errno = EINVAL;
@@ -251,7 +257,7 @@ static int load_worker_config(worker_config_t *cfg) {
 
     CLEAR(*cfg);
     snprintf(cfg->server_addr, sizeof(cfg->server_addr), "%s", server_addr);
-    snprintf(cfg->relay_addr, sizeof(cfg->relay_addr), "%s", env_or_default(VIDEO_RELAY_ADDR_ENV, ""));
+    snprintf(cfg->relay_addr, sizeof(cfg->relay_addr), "%s", relay_addr);
     snprintf(cfg->bind_ip, sizeof(cfg->bind_ip), "%s", env_or_default(VIDEO_BIND_IP_ENV, ""));
     snprintf(cfg->bind_device, sizeof(cfg->bind_device), "%s", env_or_default(VIDEO_BIND_DEVICE_ENV, ""));
     snprintf(cfg->peer_id, sizeof(cfg->peer_id), "%s", env_or_default(VIDEO_PEER_ID_ENV, "peer-b-video"));
@@ -607,6 +613,8 @@ int main(void) {
     Buffer *buffers = NULL;
     int num_buffers = 0;
     int camera_fd = -1;
+    int control_fd = env_as_int(WORKER_CONTROL_FD_ENV, WORKER_CONTROL_FD);
+    int telemetry_fd = env_as_int(WORKER_TELEMETRY_FD_ENV, WORKER_TELEMETRY_FD);
     enum v4l2_buf_type stream_type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
     AVCodecContext *decoder = NULL;
     AVCodecContext *encoder = NULL;
@@ -636,8 +644,8 @@ int main(void) {
     runtime.jpeg_quality_qscale = cfg.initial_qscale;
     runtime.max_frame_bytes = cfg.initial_max_frame_bytes;
 
-    control_stream = fdopen(WORKER_CONTROL_FD, "r");
+    control_stream = fdopen(control_fd, "r");
-    telemetry_stream = fdopen(WORKER_TELEMETRY_FD, "w");
+    telemetry_stream = fdopen(telemetry_fd, "w");
     if (control_stream == NULL || telemetry_stream == NULL) {
         perror("fdopen worker control/telemetry");
         goto cleanup;

python/omnisocket_a_side/daemon.py

@@ -10,10 +10,11 @@ from pathlib import Path
 import queue
 import signal
 import socketserver
+import sys
 import threading
 import time
 from dataclasses import dataclass
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from http import HTTPStatus
 from http.server import BaseHTTPRequestHandler
 from typing import Any
@@ -25,7 +26,7 @@ from .control_codec import ANALOG_EVENT_CODES, EVENT_NAME_TO_ID, make_control_pa
 
 
 def utc_iso_now() -> str:
-    return datetime.now(UTC).isoformat(timespec="seconds").replace("+00:00", "Z")
+    return datetime.now(timezone.utc).isoformat(timespec="seconds").replace("+00:00", "Z")
 
 
 def load_omnisocket_api():
@@ -1043,6 +1044,15 @@ def main(argv: list[str] | None = None) -> None:
     args = parser.parse_args(argv)
 
     app = ASideOmniDaemon(config_path=args.config_path)
+    print(
+        (
+            "A-side OmniDaemon starting "
+            f"(config={app._config['config_path']}, "
+            f"socket={app._config['daemon']['socket_path']})"
+        ),
+        file=sys.stderr,
+        flush=True,
+    )
 
     def _handle_signal(_signum: int, _frame: Any) -> None:
         app.stop()
@@ -1052,7 +1062,17 @@ def main(argv: list[str] | None = None) -> None:
     signal.signal(signal.SIGTERM, _handle_signal)
 
     try:
-        app.serve_forever()
+        app.start()
+        print(
+            (
+                "A-side OmniDaemon ready "
+                f"(state: curl --unix-socket {app.socket_path} http://localhost/v1/state)"
+            ),
+            file=sys.stderr,
+            flush=True,
+        )
+        assert app._server is not None
+        app._server.serve_forever()
     except KeyboardInterrupt:
         pass
     finally:

python/omnisocket_b_side/daemon.py

@@ -5,7 +5,7 @@ from __future__ import annotations
 import argparse
 import copy
 from dataclasses import dataclass
-from datetime import UTC, datetime
+from datetime import datetime, timezone
 from http import HTTPStatus
 from http.server import BaseHTTPRequestHandler
 import json
@@ -16,6 +16,7 @@ import signal
 import socket
 import socketserver
 import subprocess
+import sys
 import threading
 import time
 from typing import Any
@@ -34,7 +35,7 @@ from . import (
 
 
 def utc_iso_now() -> str:
-    return datetime.now(UTC).isoformat(timespec="seconds").replace("+00:00", "Z")
+    return datetime.now(timezone.utc).isoformat(timespec="seconds").replace("+00:00", "Z")
 
 
 def load_omnisocket_api():
@@ -540,6 +541,16 @@ class VideoWorkerManager:
     def start(self) -> None:
         if not self._enabled:
             return
+        if not os.path.exists(self._video_cfg["binary_path"]):
+            print(
+                (
+                    "B-side video worker binary missing: "
+                    f"{self._video_cfg['binary_path']} "
+                    "(run `make b_side_video_sender` in OmniSocketGo)"
+                ),
+                file=sys.stderr,
+                flush=True,
+            )
         self._thread.start()
 
     def stop(self) -> None:
@@ -650,16 +661,6 @@ class VideoWorkerManager:
         command_read_fd, command_write_fd = os.pipe()
         telemetry_read_fd, telemetry_write_fd = os.pipe()
 
-        def _preexec() -> None:
-            os.dup2(command_read_fd, 3)
-            os.dup2(telemetry_write_fd, 4)
-            for fd in (command_read_fd, command_write_fd, telemetry_read_fd, telemetry_write_fd):
-                if fd not in (3, 4):
-                    try:
-                        os.close(fd)
-                    except OSError:
-                        pass
-
         env = dict(os.environ)
         env.update(
             {
@@ -675,6 +676,8 @@ class VideoWorkerManager:
                 "OMNI_VIDEO_OUTPUT_WIDTH": str(self._video_cfg["output_width"]),
                 "OMNI_VIDEO_OUTPUT_HEIGHT": str(self._video_cfg["output_height"]),
                 "OMNI_VIDEO_STATS_INTERVAL_MS": str(self._video_cfg["stats_interval_ms"]),
+                "OMNI_WORKER_CONTROL_FD": str(command_read_fd),
+                "OMNI_WORKER_TELEMETRY_FD": str(telemetry_write_fd),
             }
         )
         with self._lock:
@@ -692,7 +695,6 @@ class VideoWorkerManager:
                 env=env,
                 close_fds=True,
                 pass_fds=(command_read_fd, telemetry_write_fd),
-                preexec_fn=_preexec,
             )
         except Exception as error:  # pragma: no cover - runtime integration
             for fd in (command_read_fd, command_write_fd, telemetry_read_fd, telemetry_write_fd):
@@ -1259,6 +1261,14 @@ class BSideOmniDaemon:
             daemon=True,
         )
         self._server_thread.start()
+        print(
+            (
+                "B-side OmniDaemon ready "
+                f"(state: curl --unix-socket {self.socket_path} http://localhost/v1/state)"
+            ),
+            file=sys.stderr,
+            flush=True,
+        )
         self._server_thread.join()
 
     def get_state(self) -> dict[str, Any]:
@@ -1299,6 +1309,17 @@ def main(argv: list[str] | None = None) -> None:
     args = parser.parse_args(argv)
 
     app = BSideOmniDaemon(config_path=args.config_path)
+    print(
+        (
+            "B-side OmniDaemon starting "
+            f"(config={app._config['config_path']}, "
+            f"socket={app._config['daemon']['socket_path']}, "
+            f"ctrl_socket={app._config['daemon']['ctrl_socket_path']}, "
+            f"video_enabled={app._config['video_sender']['enabled']})"
+        ),
+        file=sys.stderr,
+        flush=True,
+    )
 
     def _handle_signal(_signum: int, _frame: Any) -> None:
         app.stop()

python/setup.py

@@ -36,6 +36,9 @@ setup(
     name="omnisocket",
     version="0.1.0",
     packages=["omnisocket", "omnisocket_a_side", "omnisocket_b_side"],
+    install_requires=[
+        "PyYAML>=6.0",
+    ],
     entry_points={
         "console_scripts": [
             "omnisocket-a-side-daemon=omnisocket_a_side.daemon:main",