Merge branch 'main' of https://github.com/utahrobotics/lunadev-2024

lunabase/addons/kenney_interface_sounds/LICENSE.txt

@@ -0,0 +1,22 @@
+
+
+	Interface Sounds (1.0)
+
+	Created/distributed by Kenney (www.kenney.nl)
+	Creation date: 11-02-2020
+
+			------------------------------
+
+	License: (Creative Commons Zero, CC0)
+	http://creativecommons.org/publicdomain/zero/1.0/
+
+	This content is free to use in personal, educational and commercial projects.
+	Support us by crediting Kenney or www.kenney.nl (this is not mandatory)
+
+			------------------------------
+
+	Donate:   http://support.kenney.nl
+	Patreon:  http://patreon.com/kenney/
+
+	Follow on Twitter for updates:
+	http://twitter.com/KenneyNL

lunabase/addons/kenney_interface_sounds/confirmation_002.wav.import

@@ -0,0 +1,24 @@
+[remap]
+
+importer="wav"
+type="AudioStreamWAV"
+uid="uid://dpp0287wnfjsc"
+path="res://.godot/imported/confirmation_002.wav-73fe748f66ffd31b01fbcf2befa1842b.sample"
+
+[deps]
+
+source_file="res://addons/kenney_interface_sounds/confirmation_002.wav"
+dest_files=["res://.godot/imported/confirmation_002.wav-73fe748f66ffd31b01fbcf2befa1842b.sample"]
+
+[params]
+
+force/8_bit=false
+force/mono=false
+force/max_rate=false
+force/max_rate_hz=44100
+edit/trim=false
+edit/normalize=false
+edit/loop_mode=0
+edit/loop_begin=0
+edit/loop_end=-1
+compress/mode=0

lunabase/addons/kenney_interface_sounds/error_002.wav.import

@@ -0,0 +1,24 @@
+[remap]
+
+importer="wav"
+type="AudioStreamWAV"
+uid="uid://cephremnedhtp"
+path="res://.godot/imported/error_002.wav-0ace3396c9a9a4a935dcc15d3408b216.sample"
+
+[deps]
+
+source_file="res://addons/kenney_interface_sounds/error_002.wav"
+dest_files=["res://.godot/imported/error_002.wav-0ace3396c9a9a4a935dcc15d3408b216.sample"]
+
+[params]
+
+force/8_bit=false
+force/mono=false
+force/max_rate=false
+force/max_rate_hz=44100
+edit/trim=false
+edit/normalize=false
+edit/loop_mode=0
+edit/loop_begin=0
+edit/loop_end=-1
+compress/mode=0

lunabase/ffmpeg.gd

@@ -0,0 +1,115 @@
+extends Node
+
+
+signal image_received(Image)
+
+
+const IMAGE_WIDTH := 1280
+const IMAGE_HEIGHT := 720
+const IMAGE_SIZE := IMAGE_HEIGHT * IMAGE_WIDTH * 3
+
+#var thr := Thread.new()
+#var udp_sender := PacketPeerUDP.new()
+var tcp_server := TCPServer.new()
+var ffmpeg_tcp: StreamPeerTCP
+var buffer := PackedByteArray()
+
+var send_from: int
+#var send_to: int
+
+
+func subprocess():
+	var output := []
+	var err := OS.execute(
+		"ffmpeg",
+#		[
+#			"-f", "mpegts",
+#			"-c:v", "libvpx-vp9",
+#			"-i", "udp://127.0.0.1:%s" % send_to,
+#			"-f", "rawvideo",
+#			"-pix_fmt", "rgb24",
+#			"udp://127.0.0.1:%s" % send_from 
+#		],
+		[
+			"-f", "mpegts",
+			"-c:v", "libvpx-vp9",
+			"-b:v", "1500k",
+			"-i", "tcp://127.0.0.1:%s" % send_from,
+			"-c", "copy",
+			"-map", "0",
+			"-f", "segment",
+			"-segment_time", "5",
+			"-segment_format", "matroska",
+			"capture-%03d.mkv",
+
+		],
+#		output,
+#		true
+		[],
+		false,
+		true
+	)
+
+	if err != OK:
+		push_error(output[0])
+
+
+func _ready() -> void:
+	send_from = randi_range(10000, 65000)
+#	send_to = randi_range(10000, 65000)
+	if tcp_server.listen(send_from, "127.0.0.1") != OK:
+		push_error("Failed to start FFMPEG TCP Server")
+#	udp_sender.bind(send_from, "127.0.0.1")
+#	udp_sender.set_dest_address("127.0.0.1", send_to)
+#	thr.start(subprocess)
+	OS.create_process(
+		"ffmpeg",
+#		[
+#			"-f", "mpegts",
+#			"-c:v", "libvpx-vp9",
+#			"-i", "udp://127.0.0.1:%s" % send_to,
+#			"-f", "rawvideo",
+#			"-pix_fmt", "rgb24",
+#			"udp://127.0.0.1:%s" % send_from 
+#		],
+		[
+			"-v", "debug",
+#			"-f", "mpegts",
+#			"-c:v", "libvpx-vp9",
+			"-i", "tcp://127.0.0.1:%s" % send_from,
+			"-f", "matroska",
+			"out.mkv"
+		],
+		true
+	)
+
+
+func _process(_delta: float) -> void:
+	if ffmpeg_tcp == null and tcp_server.is_connection_available():
+		ffmpeg_tcp = tcp_server.take_connection()
+#	if udp_sender.get_available_packet_count() == 0:
+#		return
+#
+#	print_debug("receivedee")
+#	for _i in range(udp_sender.get_available_packet_count()):
+#		buffer.append_array(udp_sender.get_packet())
+#		if buffer.size() >= IMAGE_SIZE:
+#			var img := Image.create_from_data(IMAGE_WIDTH, IMAGE_HEIGHT, false,Image.FORMAT_RGB8, buffer.slice(0, IMAGE_SIZE))
+#			buffer = buffer.slice(IMAGE_SIZE)
+#			image_received.emit(img)
+#			print_debug("received")
+
+
+func process_data(data: PackedByteArray):
+	if ffmpeg_tcp == null:
+		push_error("Failed to send to FFMPEG")
+		return
+	ffmpeg_tcp.put_data(data)
+#	ffmpeg_tcp.disconnect_from_host()
+#	ffmpeg_tcp = null
+
+
+func _exit_tree() -> void:
+	if ffmpeg_tcp != null:
+		ffmpeg_tcp.disconnect_from_host()
+#	thr.wait_to_finish()

lunabase/lunabot.gd

@@ -1,10 +1,11 @@
 extends Node
 
 
-const USE_ARCHIMEDES := true
+const RECV_FROM := 43762
+const USE_ARCHIMEDES := false
 
 enum Channels { IMPORTANT, CAMERA, ODOMETRY, CONTROLS, MAX }
-enum ImportantMessage { ENABLE_CAMERA, DISABLE_CAMERA }
+enum ImportantMessage { ENABLE_CAMERA, DISABLE_CAMERA, PING }
 
 signal connected
 signal disconnected
@@ -29,7 +30,7 @@ func _ready() -> void:
 		controls_data = PackedByteArray([0, 0, 0])
 
 	server = ENetConnection.new()
-	var err := server.create_host_bound("*", 43721, 1, 0, 0, 0)
+	var err := server.create_host_bound("*", RECV_FROM, 1, 0, 0, 0)
 	if err != OK:
 		push_error("Failed to start ENet Server: " + str(err))
 		return
@@ -46,11 +47,21 @@ func is_lunabot_connected() -> bool:
 
 
 func _run_thr():
+	var last_receive_time := Time.get_ticks_msec()
+	var pinged := false
 	while running:
 		var result: Array = server.service(200)
 
 		lunabot_mutex.lock()
 		if lunabot != null:
+			if not pinged and Time.get_ticks_msec() - last_receive_time >= 3000:
+				pinged = true
+				lunabot.send(
+					Channels.IMPORTANT,
+					PackedByteArray([ImportantMessage.PING]),
+					ENetPacketPeer.FLAG_RELIABLE
+				)
+
 			call_deferred(
 				"emit_signal",
 				"network_statistics",
@@ -89,15 +100,31 @@ func _run_thr():
 					continue
 				lunabot = null
 				lunabot_mutex.unlock()
+				push_error("Lost connection to lunabot!")
 				call_deferred("emit_signal", "disconnected")
 
 			ENetConnection.EventType.EVENT_RECEIVE:
+				last_receive_time = Time.get_ticks_msec()
+				pinged = false
 				_on_receive(channel)
 
 		lunabot_mutex.lock()
 		if echo_controls:
 			raw_send_unreliable(Channels.CONTROLS, controls_data)
 		lunabot_mutex.unlock()
+
+	if lunabot != null:
+		lunabot_mutex.lock()
+		lunabot.peer_disconnect()
+		while true:
+			var result: Array = server.service(200)
+			var event_type: ENetConnection.EventType = result[0]
+
+			if event_type == ENetConnection.EventType.EVENT_DISCONNECT:
+				break
+		lunabot_mutex.unlock()
+
+	server.destroy()
 
 
 func _on_receive(channel: int) -> void:
@@ -107,16 +134,10 @@ func _on_receive(channel: int) -> void:
 
 	match channel:
 		Channels.IMPORTANT:
-			# TODO
 			pass
 
 		Channels.CAMERA:
-			var frame := Image.new()
-			var err := frame.load_webp_from_buffer(data)
-			if err != OK:
-				push_error("Bad frame: " + str(err))
-				return
-			call_deferred("emit_signal", "camera_frame_received", frame)
+			Ffmpeg.process_data(data)
 
 		Channels.ODOMETRY:
 			var x := data.decode_float(0)

lunabase/main.tscn

@@ -1,4 +1,7 @@
-[gd_scene load_steps=11 format=3 uid="uid://b8qgudi6vkflb"]
+[gd_scene load_steps=13 format=3 uid="uid://b8qgudi6vkflb"]
+
+[ext_resource type="AudioStream" uid="uid://dpp0287wnfjsc" path="res://addons/kenney_interface_sounds/confirmation_002.wav" id="1_hl7kb"]
+[ext_resource type="AudioStream" uid="uid://cephremnedhtp" path="res://addons/kenney_interface_sounds/error_002.wav" id="2_kejy0"]
 
 [sub_resource type="GDScript" id="GDScript_45865"]
 script/source = "extends MarginContainer
@@ -8,6 +11,8 @@ func _ready() -> void:
 	set_process_input(false)
 	Lunabot.connected.connect(func(): set_process_input(true))
 	Lunabot.disconnected.connect(func(): set_process_input(false))
+	Lunabot.connected.connect($Connected.play)
+	Lunabot.disconnected.connect($Disconnected.play)
 
 
 func _input(event: InputEvent) -> void:
@@ -250,5 +255,11 @@ grow_vertical = 2
 layout_mode = 2
 text = "Click to Drive"
 
+[node name="Connected" type="AudioStreamPlayer" parent="."]
+stream = ExtResource("1_hl7kb")
+
+[node name="Disconnected" type="AudioStreamPlayer" parent="."]
+stream = ExtResource("2_kejy0")
+
 [connection signal="pressed" from="Control/VBoxContainer/HBoxContainer/EnableCamera" to="Control/VBoxContainer/HBoxContainer/EnableCamera" method="_on_pressed"]
 [connection signal="mouse_exited" from="Control/VBoxContainer/VBoxContainer/AspectRatioContainer/TextureRect" to="Control/VBoxContainer/VBoxContainer/AspectRatioContainer/TextureRect" method="_on_mouse_exited"]

lunabase/project.godot

@@ -18,6 +18,7 @@ config/icon="res://icon.png"
 [autoload]
 
 Lunabot="*res://lunabot.gd"
+Ffmpeg="*res://ffmpeg.gd"
 
 [display]
 
@@ -70,4 +71,5 @@ SpinDrumCounterClockwise={
 
 [rendering]
 
+renderer/rendering_method="mobile"
 environment/defaults/default_clear_color=Color(0.0588235, 0.0588235, 0.0588235, 1)