WebRTC.h

 
#ifndef WEBRTC_H
#define WEBRTC_H
 
#include <nlohmann/json.hpp>
#include <opencv2/opencv.hpp>
#include <rtc/rtc.hpp>
#include <shared_mutex>
 
extern "C"
{
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libavutil/avutil.h>
#include <libavutil/error.h>
#include <libavutil/frame.h>
#include <libavutil/imgutils.h>
#include <libavutil/mem.h>
#include <libavutil/opt.h>
#include <libswscale/swscale.h>
}
 
 
 
class WebRTC
{
    public:
        // Declare public methods and member variables.
        WebRTC(const std::string& szSignallingServerURL, const std::string& szStreamerID);
        ~WebRTC();
 
        // Setter for the frame received callback.
        void SetOnFrameReceivedCallback(std::function<void(cv::Mat&)> fnOnFrameReceivedCallback, const AVPixelFormat eOutputPixelFormat = AV_PIX_FMT_BGR24);
        bool GetIsConnected() const;
 
    private:
        // Declare private methods.
        bool ConnectToSignallingServer(const std::string& szSignallingServerURL);
        bool InitializeH264Decoder();
        bool DecodeH264BytesToCVMat(const std::vector<uint8_t>& vH264EncodedBytes, cv::Mat& cvDecodedFrame, const AVPixelFormat eOutputPixelFormat);
        bool RequestKeyFrame();
        bool SendCommandToStreamer(const std::string& szCommand);
 
        // Declare private member variables.
 
        // Normal member variables.
        std::string m_szSignallingServerURL;
        std::string m_szStreamerID;
 
        // WebRTC connection to RoveSoSimulator Pixel Streamer.
        std::shared_ptr<rtc::WebSocket> m_pWebSocket;
        std::shared_ptr<rtc::PeerConnection> m_pPeerConnection;
        std::shared_ptr<rtc::DataChannel> m_pDataChannel;
        std::shared_ptr<rtc::Track> m_pVideoTrack1;
        std::shared_ptr<rtc::H264RtpDepacketizer> m_pTrack1H264DepacketizationHandler;
        std::shared_ptr<rtc::RtcpReceivingSession> m_pTrack1RtcpReceivingSession;
        std::chrono::system_clock::time_point m_tmLastKeyFrameRequestTime;
 
        // AV codec context for decoding H264.
        AVCodecContext* m_pAVCodecContext;
        AVFrame* m_pFrame;
        AVPacket* m_pPacket;
        SwsContext* m_pSWSContext;
        AVPixelFormat m_eOutputPixelFormat;
        std::shared_mutex m_muDecoderMutex;
 
        // OpenCV Mat for storing the frame.
        cv::Mat m_cvFrame;
 
        // Callback function for when a new frame is received.
        std::function<void(cv::Mat&)> m_fnOnFrameReceivedCallback;
};
#endif