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fix some bugs #4

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167 changes: 95 additions & 72 deletions server/apis/extenal.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
from typing import Dict
from typing import Optional

import yaml
from pydantic import BaseModel
from pyee.asyncio import AsyncIOEventEmitter
from robosdk.common.config import Config
Expand Down Expand Up @@ -341,90 +342,112 @@ async def on_app_create(self,

async def on_app_deploy(self, app: AppModel, robot: RobotModel, **kwargs):
self.logger.debug(f"CloudRTC app {app} deploy")
if robot.robot_id in self._app_env and app.app_type == "sparkrtc":
if not (app.run_env and isinstance(app.run_env, dict)):
app.run_env = {}

mode = app.run_env.get("mode", "p2p") # p2p / mutil
token: str = gen_token()
rtc: RTCModel = self._app_env[robot.robot_id]["rtc"]
expire_time = ""
if mode == "mutil":
agent_num = int(app.run_env.get("agent_num", 1))
stream = {}
for i in range(agent_num):
client_id = app.run_env.get(f"stream_{i}_id", "")
client_name = (app.run_env.get(f"stream_{i}_name", "")
or f"{robot.robot_name}_{i}")

if not client_id:
ros_topic = app.run_env.get(
f"stream_{i}_ros_topic", "/camera/color/image_raw"
)
client_id = genearteMD5(ros_topic)
if client_id in rtc.clients:
client_id = f"{client_id}_{token}"
client_name = f"{client_name}_{token}"
client = self._add_single_client(
robot=robot,
client_id=client_id,
client_name=client_name,
)
stream[client_id] = {
"stream_id": client_id,
"stream_name": client_name,
"signature": client.signature,
"rtc_ctime": client.expire_time
}
expire_time = client.expire_time
run_env = {
"device_id": rtc.room_id,
"rtc_app_id": rtc.app_id,
"stream": stream,
"rtc_app_key": rtc.app_key,
"rtc_domain": rtc.domain,
"rtc_ctime": expire_time
}
else:
if "stream_id" in app.run_env:
client_id = app.run_env["stream_id"]
else:
client_id = kwargs.get("client_id", "")
if not client_id:
client_id = genearteMD5(
app.run_env.get(
"ros_image_topic", "/camera/color/image_raw"
)
)
if not (robot.robot_id in self._app_env and app.app_type == "sparkrtc"):
return
if not (app.run_env and isinstance(app.run_env, dict)):
app.run_env = {}

if "stream_name" in app.run_env:
client_name = app.run_env["stream_name"]
else:
client_name = (
kwargs.get("client_name", "") or robot.robot_name
)
mode = app.run_env.get("mode", "p2p") # p2p / mutil
token: str = gen_token()
rtc: RTCModel = self._app_env[robot.robot_id]["rtc"]
expire_time = ""
if mode == "mutil":
agent_num = int(app.run_env.get("agent_num", 1))
stream = []
for i in range(agent_num):
client_id = app.run_env.get(f"stream_{i}_id", "")
client_name = (app.run_env.get(f"stream_{i}_name", "")
or f"{robot.robot_name}_{i}")
ros_topic = app.run_env.get(
f"stream_{i}_ros_topic", "/camera/color/image_raw"
)
if not client_id:
client_id = genearteMD5(ros_topic)
if client_id in rtc.clients:
client_id = f"{client_id}_{token}"
client_name = f"{client_name}_{token}"

client = self._add_single_client(
robot=robot,
client_id=client_id,
client_name=client_name,
)
run_env = {
"device_id": rtc.room_id,
"rtc_app_id": rtc.app_id,
"stream_id": client_id,
"stream_name": client_name,
"signature": client.signature,
"rtc_app_key": rtc.app_key,
"rtc_domain": rtc.domain,
"rtc_ctime": client.expire_time
stream.append(
{
"stream_id": client_id,
"stream_name": client_name,
"ros_image_topic": ros_topic,
"signature": client.signature,
"rtc_ctime": client.expire_time,
"client_type": "robot"
}
)
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JoeyHwong-gk marked this conversation as resolved.
expire_time = client.expire_time
run_env = {
"device_id": rtc.room_id,
"app_id": rtc.app_id,
"app_key": rtc.app_key,
"domain": rtc.domain,
"ctime": expire_time,
"streams": stream,
}
if not app.volumes:
app.volumes = []
app.volumes = list(
filter(lambda x: x["name"] != "sparkrtconf", app.volumes)
)
app.volumes.append(
{
"name": "sparkrtconf",
"type": "configMap",
"source": "sparkrtc-config",
"destination": "/home/cameraagent/share/robocamera_agent/config", # noqa
"data": {
"config.yaml": yaml.dump(run_env)
}
}
)

else:
if "stream_id" in app.run_env:
client_id = app.run_env["stream_id"]
else:
client_id = kwargs.get("client_id", "")
if not client_id:
client_id = genearteMD5(
app.run_env.get(
"ros_image_topic", "/camera/color/image_raw"
)
)

if "stream_name" in app.run_env:
client_name = app.run_env["stream_name"]
else:
client_name = (
kwargs.get("client_name", "") or robot.robot_name
)
if client_id in rtc.clients:
client_id = f"{client_id}_{token}"
client_name = f"{client_name}_{token}"

client = self._add_single_client(
robot=robot,
client_id=client_id,
client_name=client_name,
)
run_env = {
"device_id": rtc.room_id,
"rtc_app_id": rtc.app_id,
"stream_id": client_id,
"stream_name": client_name,
"signature": client.signature,
"rtc_app_key": rtc.app_key,
"rtc_domain": rtc.domain,
"rtc_ctime": client.expire_time
}
app.run_env.update(run_env)

def _add_single_client(self, robot: RobotModel, client_id: str, client_name: str):
def _add_single_client(self, robot: RobotModel, client_id: str,
client_name: str):
rtc: RTCModel = self._app_env[robot.robot_id]["rtc"]
rooms: RoomManage = self._app_env[robot.robot_id]["rooms"]
room: RoomModel = self._app_env[robot.robot_id]["room"]
Expand Down
3 changes: 3 additions & 0 deletions server/apis/restapi.py
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Original file line number Diff line number Diff line change
Expand Up @@ -211,6 +211,9 @@ def initial(self, **kwargs):
on_startup=[self._on_startup],
on_shutdown=[self._on_shutdown],
routes=rounters,
openapi_url=None,
docs_url=None,
redoc_url=None
)

self.app.add_middleware(
Expand Down