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@rzeldent
rzeldent committed Mar 30, 2024
1 parent 3e688dd commit c599657
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Showing 2 changed files with 68 additions and 61 deletions.
8 changes: 4 additions & 4 deletions lib/micro-rtsp-server/include/micro_rtsp_streamer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,14 @@

#include <jpg.h>


class micro_rtsp_streamer
{
public:
micro_rtsp_streamer();
size_t create_jpg_packet(const uint8_t *jpg, const uint8_t *jpg_end, uint32_t timestamp);
private :
micro_rtsp_streamer(const uint16_t width, const uint16_t height);
size_t create_jpg_packet(const uint8_t *jpg, uint8_t **jpg_current, const uint8_t *jpg_end, const uint32_t timestamp);

private:
uint16_t width_, height_;
uint32_t ssrc_;
uint16_t sequenceNumber_;
};
121 changes: 64 additions & 57 deletions lib/micro-rtsp-server/src/micro_rtsp_streamer.cpp
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@@ -1,13 +1,13 @@
#include "micro_rtsp_streamer.h"

//#include "rtp_payloads.h"

#include <stddef.h>
#include <memory.h>

#include "micro_rtsp_streamer.h"
#include "esp_random.h"

// https://github.com/txgcwm/Linux-C-Examples/blob/master/h264/h264dec/rtcp.h

#define RTP_PAYLOAD_JPG 26

// RTP data header (http://www.ietf.org/rfc/rfc3550.txt)
struct rtp_hdr
{
Expand All @@ -18,9 +18,9 @@ struct rtp_hdr
uint16_t m : 1; // marker bit
uint16_t pt : 7; // payload type
uint16_t seq : 16; // sequence number
uint32_t ts; // timestamp
uint32_t ssrc; // synchronization source
uint32_t csrc[]; // optional CSRC list
uint32_t ts; // timestamp
uint32_t ssrc; // synchronization source
uint32_t csrc[]; // optional CSRC list
} rtp_hdr;

// https://datatracker.ietf.org/doc/html/rfc2435
Expand All @@ -32,10 +32,10 @@ struct jpeghdr
{
uint32_t tspec : 8; // type-specific field
uint32_t off : 24; // fragment byte offset
uint8_t type; // id of jpeg decoder params
uint8_t q; // quantization factor (or table id)
uint8_t width; // frame width in 8 pixel blocks
uint8_t height; // frame height in 8 pixel blocks
uint8_t type; // id of jpeg decoder params
uint8_t q; // quantization factor (or table id)
uint8_t width; // frame width in 8 pixel blocks
uint8_t height; // frame height in 8 pixel blocks
};

struct jpeghdr_rst
Expand All @@ -55,76 +55,83 @@ struct jpeghdr_qtable

#define RTP_JPEG_RESTART 0x40

micro_rtsp_streamer::micro_rtsp_streamer()
micro_rtsp_streamer::micro_rtsp_streamer(const uint16_t width, const uint16_t height)
{
width_ = width;
height_ = height;
// Random number
ssrc_ = esp_random();
sequenceNumber_ = 0;
}

#define MAX_ESP32_MTU 1440

size_t micro_rtsp_streamer::create_jpg_packet(const uint8_t *jpg, const uint8_t *jpg_end, uint32_t timestamp)
size_t micro_rtsp_streamer::create_jpg_packet(const uint8_t *jpg, uint8_t **jpg_current, const uint8_t *jpg_end, const uint32_t timestamp)
{
const int MAX_FRAGMENT_SIZE = 1100; // FIXME, pick more carefully
int fragmentLen = MAX_FRAGMENT_SIZE;
if (fragmentLen + fragmentOffset > jpegLen) // Shrink last fragment if needed
fragmentLen = jpegLen - fragmentOffset;
auto jpegLen = jpg_end - *jpg_current;

auto offset = *jpg_current - jpg;
if (fragmentLen + offset > jpegLen) // Shrink last fragment if needed
fragmentLen = jpegLen - offset;

bool isLastFragment = (fragmentOffset + fragmentLen) == jpegLen;
// bool isLastFragment = (fragmentOffset + fragmentLen) == jpegLen;

struct rtp_header header = {
struct rtp_hdr header = {
.version = 2,
.m = 1, // TODO = 1 if last fragfment
.pt = RTP_PAYLOAD_JPG,
.seq = sequenceNumber_,
.marker = 1, // TODO = 1 if last fragfment
.pt = rtp_payload.JPEG,
.ts = timestamp,
.ssrc = ssrc_};

struct jpeghdr jpghdr = {
.tspec = 0, // type-specific field
.off = offset, // fragment byte offset
.type = 0, // id of jpeg decoder params
.q = 0x5e, // quantization factor (or table id)
.width = width >> 3, // frame width in 8 pixel blocks
.height = height >> 3 // frame height in 8 pixel blocks
.tspec = 0, // type-specific field
.off = offset, // fragment byte offset
.type = 0, // id of jpeg decoder params
.q = 0x5e, // quantization factor (or table id)
.width = width_ >> 3, // frame width in 8 pixel blocks
.height = height_ >> 3 // frame height in 8 pixel blocks
};

memset(RtpBuf, 0x00, sizeof(RtpBuf));
uint8_t rtp_buffer[0x800];
// memset(RtpBuf, 0x00, sizeof(RtpBuf));
// Prepare the first 4 byte of the packet. This is the Rtp over Rtsp header in case of TCP based transport
RtpBuf[0] = '$'; // magic number
RtpBuf[1] = 0; // number of multiplexed subchannel on RTPS connection - here the RTP channel
RtpBuf[2] = (RtpPacketSize & 0x0000FF00) >> 8;
RtpBuf[3] = (RtpPacketSize & 0x000000FF);
rtp_buffer[0] = (uint8_t)'$'; // magic number
rtp_buffer[1] = 0; // number of multiplexed subchannel on RTPS connection - here the RTP channel
// rtp_buffer[2] = (RtpPacketSize & 0xFF00) >> 8;
// rtp_buffer[3] = (RtpPacketSize & 0x00FF);
// Prepare the 12 byte RTP header
RtpBuf[4] = 0x80; // RTP version
RtpBuf[5] = 0x1a | (isLastFragment ? 0x80 : 0x00); // JPEG payload (26) and marker bit
RtpBuf[7] = m_SequenceNumber & 0x0FF; // each packet is counted with a sequence counter
RtpBuf[6] = m_SequenceNumber >> 8;
RtpBuf[8] = (m_Timestamp & 0xFF000000) >> 24; // each image gets a timestamp
RtpBuf[9] = (m_Timestamp & 0x00FF0000) >> 16;
RtpBuf[10] = (m_Timestamp & 0x0000FF00) >> 8;
RtpBuf[11] = (m_Timestamp & 0x000000FF);
RtpBuf[12] = 0x13; // 4 byte SSRC (sychronization source identifier)
RtpBuf[13] = 0xf9; // we just an arbitrary number here to keep it simple
RtpBuf[14] = 0x7e;
RtpBuf[15] = 0x67;
// RtpBuf[4] = 0x80; // RTP version
// RtpBuf[5] = 0x1a | (isLastFragment ? 0x80 : 0x00); // JPEG payload (26) and marker bit
// RtpBuf[7] = m_SequenceNumber & 0x0FF; // each packet is counted with a sequence counter
// RtpBuf[6] = m_SequenceNumber >> 8;
// RtpBuf[8] = (m_Timestamp & 0xFF000000) >> 24; // each image gets a timestamp
// RtpBuf[9] = (m_Timestamp & 0x00FF0000) >> 16;
// RtpBuf[10] = (m_Timestamp & 0x0000FF00) >> 8;
// RtpBuf[11] = (m_Timestamp & 0x000000FF);
// RtpBuf[12] = 0x13; // 4 byte SSRC (sychronization source identifier)
// RtpBuf[13] = 0xf9; // we just an arbitrary number here to keep it simple
// RtpBuf[14] = 0x7e;
// RtpBuf[15] = 0x67;

// Prepare the 8 byte payload JPEG header
RtpBuf[16] = 0x00; // type specific
RtpBuf[17] = (fragmentOffset & 0x00FF0000) >> 16; // 3 byte fragmentation offset for fragmented images
RtpBuf[18] = (fragmentOffset & 0x0000FF00) >> 8;
RtpBuf[19] = (fragmentOffset & 0x000000FF);

/* These sampling factors indicate that the chrominance components of
type 0 video is downsampled horizontally by 2 (often called 4:2:2)
while the chrominance components of type 1 video are downsampled both
horizontally and vertically by 2 (often called 4:2:0). */
RtpBuf[20] = 0x00; // type (fixme might be wrong for camera data) https://tools.ietf.org/html/rfc2435
RtpBuf[21] = q; // quality scale factor was 0x5e
RtpBuf[22] = m_width / 8; // width / 8
RtpBuf[23] = m_height / 8; // height / 8

int headerLen = 24; // Inlcuding jpeg header but not qant table header
// RtpBuf[16] = 0x00; // type specific
// RtpBuf[17] = (fragmentOffset & 0x00FF0000) >> 16; // 3 byte fragmentation offset for fragmented images
// RtpBuf[18] = (fragmentOffset & 0x0000FF00) >> 8;
// RtpBuf[19] = (fragmentOffset & 0x000000FF);

// /* These sampling factors indicate that the chrominance components of
// type 0 video is downsampled horizontally by 2 (often called 4:2:2)
// while the chrominance components of type 1 video are downsampled both
// horizontally and vertically by 2 (often called 4:2:0). */
// RtpBuf[20] = 0x00; // type (fixme might be wrong for camera data) https://tools.ietf.org/html/rfc2435
// RtpBuf[21] = q; // quality scale factor was 0x5e
// RtpBuf[22] = width_ / 8; // width / 8
// RtpBuf[23] = height_ / 8; // height / 8

int headerLen = 24; // Including jpeg header but not qant table header
if (includeQuantTbl)
{ // we need a quant header - but only in first packet of the frame
// printf("inserting quanttbl\n");
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