Add native support for the Raspberry Pi camera

.dockerignore

@@ -1,3 +1,6 @@
 # do not add .git, since it is needed to extract the tag
 
+/tmp
 /release
+/coverage*.txt
+/apidocs/*.html

Makefile

@@ -2,6 +2,8 @@
 BASE_IMAGE = golang:1.18-alpine3.15
 LINT_IMAGE = golangci/golangci-lint:v1.45.2
 NODE_IMAGE = node:16-alpine3.15
+RPI32_IMAGE = balenalib/raspberrypi3:buster-run
+RPI64_IMAGE = balenalib/raspberrypi3-64:buster-run
 
 .PHONY: $(shell ls)
 
@@ -162,17 +164,6 @@ apidocs-lint:
 	docker run --rm -v $(PWD)/apidocs:/s -w /s temp \
 	sh -c "openapi lint openapi.yaml"
 
-define DOCKERFILE_RELEASE
-FROM $(BASE_IMAGE)
-RUN apk add --no-cache zip make git tar
-WORKDIR /s
-COPY go.mod go.sum ./
-RUN go mod download
-COPY . ./
-RUN make release-nodocker
-endef
-export DOCKERFILE_RELEASE
-
 define DOCKERFILE_APIDOCS_GEN
 FROM $(NODE_IMAGE)
 RUN yarn global add redoc-cli@0.13.7
@@ -184,36 +175,63 @@ apidocs-gen:
 	docker run --rm -v $(PWD)/apidocs:/s -w /s temp \
 	sh -c "redoc-cli bundle openapi.yaml"
 
-release:
-	echo "$$DOCKERFILE_RELEASE" | docker build . -f - -t temp
-	docker run --rm -v $(PWD):/out \
-	temp sh -c "rm -rf /out/release && cp -r /s/release /out/"
+define DOCKERFILE_RELEASE
+FROM $(RPI32_IMAGE) AS rpicamera32
+RUN ["cross-build-start"]
+RUN apt update && apt install -y g++ pkg-config make libcamera-dev
+WORKDIR /s/internal/rpicamera
+COPY internal/rpicamera .
+RUN cd exe && make
+
+FROM $(RPI64_IMAGE) AS rpicamera64
+RUN ["cross-build-start"]
+RUN apt update && apt install -y g++ pkg-config make libcamera-dev
+WORKDIR /s/internal/rpicamera
+COPY internal/rpicamera .
+RUN cd exe && make
 
-release-nodocker:
-	$(eval export CGO_ENABLED=0)
-	$(eval VERSION := $(shell git describe --tags))
-	$(eval GOBUILD := go build -ldflags '-X github.com/aler9/rtsp-simple-server/internal/core.version=$(VERSION)')
-	rm -rf tmp && mkdir tmp
-	rm -rf release && mkdir release
-	cp rtsp-simple-server.yml tmp/
+FROM $(BASE_IMAGE)
+RUN apk add --no-cache zip make git tar
+WORKDIR /s
+COPY go.mod go.sum ./
+RUN go mod download
+COPY . ./
 
-	GOOS=windows GOARCH=amd64 $(GOBUILD) -o tmp/rtsp-simple-server.exe
-	cd tmp && zip -q $(PWD)/release/rtsp-simple-server_$(VERSION)_windows_amd64.zip rtsp-simple-server.exe rtsp-simple-server.yml
+ENV VERSION $(shell git describe --tags)
+ENV CGO_ENABLED 0
+RUN mkdir tmp release
+RUN cp rtsp-simple-server.yml tmp/
 
-	GOOS=linux GOARCH=amd64 $(GOBUILD) -o tmp/rtsp-simple-server
-	tar -C tmp -czf $(PWD)/release/rtsp-simple-server_$(VERSION)_linux_amd64.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+RUN GOOS=windows GOARCH=amd64 go build -ldflags "-X github.com/aler9/rtsp-simple-server/internal/core.version=$$VERSION" -o tmp/rtsp-simple-server.exe
+RUN cd tmp && zip -q ../release/rtsp-simple-server_$${VERSION}_windows_amd64.zip rtsp-simple-server.exe rtsp-simple-server.yml
 
-	GOOS=linux GOARCH=arm GOARM=6 $(GOBUILD) -o tmp/rtsp-simple-server
-	tar -C tmp -czf $(PWD)/release/rtsp-simple-server_$(VERSION)_linux_armv6.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+RUN GOOS=linux GOARCH=amd64 go build -ldflags "-X github.com/aler9/rtsp-simple-server/internal/core.version=$$VERSION" -o tmp/rtsp-simple-server
+RUN tar -C tmp -czf release/rtsp-simple-server_$${VERSION}_linux_amd64.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
 
-	GOOS=linux GOARCH=arm GOARM=7 $(GOBUILD) -o tmp/rtsp-simple-server
-	tar -C tmp -czf $(PWD)/release/rtsp-simple-server_$(VERSION)_linux_armv7.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+RUN GOOS=darwin GOARCH=amd64 go build -ldflags "-X github.com/aler9/rtsp-simple-server/internal/core.version=$$VERSION" -o tmp/rtsp-simple-server
+RUN tar -C tmp -czf release/rtsp-simple-server_$${VERSION}_darwin_amd64.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
 
-	GOOS=linux GOARCH=arm64 $(GOBUILD) -o tmp/rtsp-simple-server
-	tar -C tmp -czf $(PWD)/release/rtsp-simple-server_$(VERSION)_linux_arm64v8.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+COPY --from=rpicamera32 /s/internal/rpicamera/exe/exe internal/rpicamera/exe/
+RUN GOOS=linux GOARCH=arm GOARM=6 go build -ldflags "-X github.com/aler9/rtsp-simple-server/internal/core.version=$$VERSION" -o tmp/rtsp-simple-server -tags rpicamera
+RUN tar -C tmp -czf release/rtsp-simple-server_$${VERSION}_linux_armv6.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+RUN rm internal/rpicamera/exe/exe
 
-	GOOS=darwin GOARCH=amd64 $(GOBUILD) -o tmp/rtsp-simple-server
-	tar -C tmp -czf $(PWD)/release/rtsp-simple-server_$(VERSION)_darwin_amd64.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+COPY --from=rpicamera32 /s/internal/rpicamera/exe/exe internal/rpicamera/exe/
+RUN GOOS=linux GOARCH=arm GOARM=7 go build -ldflags "-X github.com/aler9/rtsp-simple-server/internal/core.version=$$VERSION" -o tmp/rtsp-simple-server -tags rpicamera
+RUN tar -C tmp -czf release/rtsp-simple-server_$${VERSION}_linux_armv7.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+RUN rm internal/rpicamera/exe/exe
+
+COPY --from=rpicamera64 /s/internal/rpicamera/exe/exe internal/rpicamera/exe/
+RUN GOOS=linux GOARCH=arm64 go build -ldflags "-X github.com/aler9/rtsp-simple-server/internal/core.version=$$VERSION" -o tmp/rtsp-simple-server -tags rpicamera
+RUN tar -C tmp -czf release/rtsp-simple-server_$${VERSION}_linux_arm64v8.tar.gz --owner=0 --group=0 rtsp-simple-server rtsp-simple-server.yml
+RUN rm internal/rpicamera/exe/exe
+endef
+export DOCKERFILE_RELEASE
+
+release:
+	echo "$$DOCKERFILE_RELEASE" | DOCKER_BUILDKIT=1 docker build . -f - -t temp
+	docker run --rm -v $(PWD):/out \
+	temp sh -c "rm -rf /out/release && cp -r /s/release /out/"
 
 define DOCKERFILE_DOCKERHUB
 FROM --platform=linux/amd64 $(BASE_IMAGE) AS build

README.md

@@ -15,16 +15,17 @@ Features:
 
 * Publish live streams to the server
 * Read live streams from the server
-* Act as a proxy and serve streams from other servers or cameras, always or on-demand
-* Each stream can have multiple video and audio tracks, encoded with any codec, including H264, H265, VP8, VP9, MPEG2, MP3, AAC, Opus, PCM, JPEG
+* Proxy streams from other servers or cameras, always or on-demand
+* Each stream can have multiple video and audio tracks, encoded with any RTP-compatible codec, including H264, H265, VP8, VP9, MPEG2, MP3, AAC, Opus, PCM, JPEG
 * Streams are automatically converted from a protocol to another. For instance, it's possible to publish a stream with RTSP and read it with HLS
 * Serve multiple streams at once in separate paths
 * Authenticate users; use internal or external authentication
+* Redirect readers to other RTSP servers (load balancing)
 * Query and control the server through an HTTP API
+* Reload the configuration without disconnecting existing clients (hot reloading)
 * Read Prometheus-compatible metrics
-* Redirect readers to other RTSP servers (load balancing)
 * Run external commands when clients connect, disconnect, read or publish streams
-* Reload the configuration without disconnecting existing clients (hot reloading)
+* Natively compatible with the Raspberry Pi Camera
 * Compatible with Linux, Windows and macOS, does not require any dependency or interpreter, it's a single executable
 
 [![Test](https://github.com/aler9/rtsp-simple-server/workflows/test/badge.svg)](https://github.com/aler9/rtsp-simple-server/actions?query=workflow:test)
@@ -361,7 +362,7 @@ The command inserted into `runOnDemand` will start only when a client requests t
 
 #### Linux
 
-Systemd is the service manager used by Ubuntu, Debian and many other Linux distributions, and allows to launch rtsp-simple-server on boot.
+Systemd is the service manager used by Ubuntu, Debian and many other Linux distributions, and allows to launch _rtsp-simple-server_ on boot.
 
 Download a release bundle from the [release page](https://github.com/aler9/rtsp-simple-server/releases), unzip it, and move the executable and configuration in the system:
 
@@ -523,26 +524,27 @@ After starting the server, the webcam can be reached on `rtsp://localhost:8554/c
 
 ### From a Raspberry Pi Camera
 
-To publish the video stream of a Raspberry Pi Camera to the server, install a couple of dependencies:
+_rtsp-simple-server_ natively support the Raspberry Pi Camera, enabling high-quality and low-latency video streaming from the camera to any user. To make the video stream of a Raspberry Pi Camera available on the server:
+
+1. The server must be installed on a Raspberry Pi, with Raspberry Pi OS bullseye or newer as operative system, and must be installed by using the standard method (Docker is not actually supported). If you're using the 64-bit version of the operative system, you need to pick the `arm64` variant of the server.
 
-1. _GStreamer_ and _h264parse_:
+2. Make sure that the legacy camera stack is disabled. Type:
 
    ```
-   sudo apt install -y gstreamer1.0-tools gstreamer1.0-rtsp gstreamer1.0-plugins-bad
+   sudo raspi-config
    ```
 
-2. _gst-rpicamsrc_, by following [instruction here](https://github.com/thaytan/gst-rpicamsrc)
+   Then go to `Interfacing options`, `enable/disable legacy camera support`, choose `no`. Reboot the system.
 
-Then edit `rtsp-simple-server.yml` and replace everything inside section `paths` with the following content:
+3. edit `rtsp-simple-server.yml` and replace everything inside section `paths` with the following content:
 
-```yml
-paths:
-  cam:
-    runOnInit: gst-launch-1.0 rpicamsrc preview=false bitrate=2000000 keyframe-interval=50 ! video/x-h264,width=1920,height=1080,framerate=25/1 ! h264parse ! rtspclientsink location=rtsp://localhost:$RTSP_PORT/$RTSP_PATH
-    runOnInitRestart: yes
-```
+   ```yml
+   paths:
+     cam:
+       source: rpiCamera
+   ```
 
-After starting the server, the camera is available on `rtsp://localhost:8554/cam`.
+After starting the server, the camera can be reached on `rtsp://raspberry-pi:8554/cam` or `http://raspberry-pi:8888/cam`.
 
 ### From OBS Studio
 

apidocs/openapi.yaml

@@ -199,6 +199,7 @@ components:
           - $ref: '#/components/schemas/PathSourceRTSPSource'
           - $ref: '#/components/schemas/PathSourceRTMPSource'
           - $ref: '#/components/schemas/PathSourceHLSSource'
+          - $ref: '#/components/schemas/PathSourceRPICameraSource'
         sourceReady:
           type: boolean
         readers:
@@ -258,6 +259,13 @@ components:
           type: string
           enum: [hlsSource]
 
+    PathSourceRPICameraSource:
+      type: object
+      properties:
+        type:
+          type: string
+          enum: [rpiCameraSource]
+
     PathReaderRTSPSession:
       type: object
       properties:

internal/conf/env_test.go

@@ -8,8 +8,17 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
+type subStruct struct {
+	// int
+	MyParam int
+}
+
 type mapEntry struct {
+	// string
 	MyValue string
+
+	// struct
+	MyStruct subStruct
 }
 
 type testStruct struct {
@@ -48,6 +57,9 @@ func TestEnvironment(t *testing.T) {
 	os.Setenv("MYPREFIX_MYMAP_MYKEY2_MYVALUE", "asd")
 	defer os.Unsetenv("MYPREFIX_MYMAP_MYKEY2_MYVALUE")
 
+	os.Setenv("MYPREFIX_MYMAP_MYKEY2_MYSTRUCT_MYPARAM", "456")
+	defer os.Unsetenv("MYPREFIX_MYMAP_MYKEY2_MYSTRUCT_MYPARAM")
+
 	var s testStruct
 	err := loadFromEnvironment("MYPREFIX", &s)
 	require.NoError(t, err)
@@ -63,4 +75,5 @@ func TestEnvironment(t *testing.T) {
 	v, ok := s.MyMap["mykey2"]
 	require.Equal(t, true, ok)
 	require.Equal(t, "asd", v.MyValue)
+	require.Equal(t, 456, v.MyStruct.MyParam)
 }

internal/conf/path.go

@@ -49,6 +49,14 @@ type PathConf struct {
 	SourceRedirect             string         `json:"sourceRedirect"`
 	DisablePublisherOverride   bool           `json:"disablePublisherOverride"`
 	Fallback                   string         `json:"fallback"`
+	RPICameraCamID             int            `json:"rpiCameraCamID"`
+	RPICameraWidth             int            `json:"rpiCameraWidth"`
+	RPICameraHeight            int            `json:"rpiCameraHeight"`
+	RPICameraFPS               int            `json:"rpiCameraFPS"`
+	RPICameraIDRPeriod         int            `json:"rpiCameraIDRPeriod"`
+	RPICameraBitrate           int            `json:"rpiCameraBitrate"`
+	RPICameraProfile           string         `json:"rpiCameraProfile"`
+	RPICameraLevel             string         `json:"rpiCameraLevel"`
 
 	// authentication
 	PublishUser Credential `json:"publishUser"`
@@ -165,6 +173,29 @@ func (pconf *PathConf) checkAndFillMissing(conf *Conf, name string) error {
 			return fmt.Errorf("'%s' is not a valid RTSP URL", pconf.SourceRedirect)
 		}
 
+	case pconf.Source == "rpiCamera":
+		if pconf.RPICameraWidth == 0 {
+			pconf.RPICameraWidth = 1280
+		}
+		if pconf.RPICameraHeight == 0 {
+			pconf.RPICameraHeight = 720
+		}
+		if pconf.RPICameraFPS == 0 {
+			pconf.RPICameraFPS = 30
+		}
+		if pconf.RPICameraIDRPeriod == 0 {
+			pconf.RPICameraIDRPeriod = 60
+		}
+		if pconf.RPICameraBitrate == 0 {
+			pconf.RPICameraBitrate = 1000000
+		}
+		if pconf.RPICameraProfile == "" {
+			pconf.RPICameraProfile = "main"
+		}
+		if pconf.RPICameraLevel == "" {
+			pconf.RPICameraLevel = "4.1"
+		}
+
 	default:
 		return fmt.Errorf("invalid source: '%s'", pconf.Source)
 	}

internal/core/api.go

@@ -115,6 +115,14 @@ func loadConfPathData(ctx *gin.Context) (interface{}, error) {
 		SourceRedirect             *string              `json:"sourceRedirect"`
 		DisablePublisherOverride   *bool                `json:"disablePublisherOverride"`
 		Fallback                   *string              `json:"fallback"`
+		RPICameraCamID             *int                 `json:"rpiCameraCamID"`
+		RPICameraWidth             *int                 `json:"rpiCameraWidth"`
+		RPICameraHeight            *int                 `json:"rpiCameraHeight"`
+		RPICameraFPS               *int                 `json:"rpiCameraFPS"`
+		RPICameraIDRPeriod         *int                 `json:"rpiCameraIDRPeriod"`
+		RPICameraBitrate           *int                 `json:"rpiCameraBitrate"`
+		RPICameraProfile           *string              `json:"rpiCameraProfile"`
+		RPICameraLevel             *string              `json:"rpiCameraLevel"`
 
 		// authentication
 		PublishUser *conf.Credential `json:"publishUser"`

internal/core/hls_source.go

@@ -72,7 +72,7 @@ func (s *hlsSource) run(ctx context.Context) error {
 			return res.err
 		}
 
-		s.Log(logger.Info, "proxying %s", sourceTrackInfo(tracks))
+		s.Log(logger.Info, "ready: %s", sourceTrackInfo(tracks))
 		stream = res.stream
 
 		return nil

internal/core/path.go

@@ -335,7 +335,8 @@ func (pa *path) hasStaticSource() bool {
 		strings.HasPrefix(pa.conf.Source, "rtsps://") ||
 		strings.HasPrefix(pa.conf.Source, "rtmp://") ||
 		strings.HasPrefix(pa.conf.Source, "http://") ||
-		strings.HasPrefix(pa.conf.Source, "https://")
+		strings.HasPrefix(pa.conf.Source, "https://") ||
+		pa.conf.Source == "rpiCamera"
 }
 
 func (pa *path) hasOnDemandStaticSource() bool {
@@ -353,10 +354,7 @@ func (pa *path) run() {
 		pa.source = &sourceRedirect{}
 	} else if pa.hasStaticSource() {
 		pa.source = newSourceStatic(
-			pa.conf.Source,
-			pa.conf.SourceProtocol,
-			pa.conf.SourceAnyPortEnable,
-			pa.conf.SourceFingerprint,
+			pa.conf,
 			pa.readTimeout,
 			pa.writeTimeout,
 			pa.readBufferCount,