Organize host and robot streaming releases

2026-08-09 15:56:20 +08:00
commit decff19daf
532 changed files with 127054 additions and 0 deletions
--- a/robot/v4l2/OmniSocketGo_robot/include/video_pipeline.h
+++ b/robot/v4l2/OmniSocketGo_robot/include/video_pipeline.h
@@ -0,0 +1,105 @@
+#ifndef OMNI_VIDEO_PIPELINE_H
+#define OMNI_VIDEO_PIPELINE_H
+
+#include <pthread.h>
+#include <signal.h>
+#include <stdatomic.h>
+#include <stdint.h>
+
+#include "gps_buffer.h"
+#include "omni_common.h"
+#include "peer_kcp_client.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(__GNUC__)
+typedef struct __attribute__((packed)) video_pipeline_packet_metadata {
+#else
+typedef struct video_pipeline_packet_metadata {
+#endif
+    uint64_t timestamp_ms;
+    double latitude;
+    double longitude;
+    uint32_t capture_to_send_ms;
+} video_pipeline_packet_metadata_t;
+
+typedef struct video_stage_logger {
+    omni_file_logger_t file_logger;
+    int enabled;
+    uint64_t sample_mod;
+} video_stage_logger_t;
+
+typedef void (*video_pipeline_progress_fn)(void *context);
+
+#if defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201112L
+_Static_assert(sizeof(video_pipeline_packet_metadata_t) == 28, "video trailer metadata must be 28 bytes");
+#endif
+
+typedef struct video_pipeline_config {
+    const char *camera_device;
+    const char *camera_head_device;
+    const char *camera_waist_device;
+    atomic_int *active_camera;
+    const char *server_addr;
+    const char *relay_via;
+    const char *bind_ip;
+    const char *bind_device;
+    const char *peer_id;
+    const char *target_peer;
+    int capture_width;
+    int capture_height;
+    int output_width;
+    int output_height;
+    int max_frames;
+    int enable_timing_logs;
+    int soft_backpressure_segments;
+    int hard_backpressure_segments;
+    int hard_backpressure_hold_ms;
+    int frame_stall_reconnect_ms;
+    kcp_session_stats_logger_t *stats_logger;
+    video_stage_logger_t *stage_logger;
+    int stats_interval_ms;
+    video_pipeline_progress_fn progress_callback;
+    void *progress_context;
+} video_pipeline_config_t;
+
+enum {
+    VIDEO_CAMERA_HEAD = 0,
+    VIDEO_CAMERA_WAIST = 1
+};
+
+typedef struct video_pipeline_stats {
+    pthread_mutex_t mutex;
+    uint64_t frames_sent;
+    uint64_t bytes_sent;
+    uint64_t send_errors;
+    uint64_t backpressure_drops;
+    uint64_t backlog_resets;
+    uint64_t last_frame_bytes;
+    uint32_t last_backlog_segments;
+    uint32_t last_capture_to_send_ms;
+    double avg_capture_to_send_ms;
+    int connected;
+    char last_error[256];
+    char last_backlog_reason[128];
+    kcp_runtime_stats_t transport;
+} video_pipeline_stats_t;
+
+#define VIDEO_PIPELINE_RUN_RETRY_IMMEDIATE 2
+
+void video_pipeline_config_init(video_pipeline_config_t *config);
+void video_pipeline_config_load_env(video_pipeline_config_t *config);
+int video_pipeline_stats_init(video_pipeline_stats_t *stats);
+void video_pipeline_stats_destroy(video_pipeline_stats_t *stats);
+void video_pipeline_stats_snapshot(video_pipeline_stats_t *stats, video_pipeline_stats_t *out_stats);
+video_stage_logger_t *video_stage_logger_open_jsonl(const char *path, uint64_t sample_mod);
+void video_stage_logger_close(video_stage_logger_t *logger);
+int video_pipeline_run(const video_pipeline_config_t *config, video_pipeline_stats_t *stats, volatile sig_atomic_t *stop_requested);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif