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client.go
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client.go
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package rtsp
import (
"bufio"
"bytes"
"crypto/md5"
"encoding/base64"
"encoding/binary"
"encoding/hex"
"fmt"
"io"
"github.com/kerberos-io/joy4/av"
"github.com/kerberos-io/joy4/av/avutil"
"github.com/kerberos-io/joy4/codec"
"github.com/kerberos-io/joy4/codec/aacparser"
"github.com/kerberos-io/joy4/codec/h264parser"
"github.com/kerberos-io/joy4/format/rtp"
"github.com/kerberos-io/joy4/format/rtsp/sdp"
"github.com/kerberos-io/joy4/utils/bits/pio"
"log"
"net"
"net/textproto"
"net/url"
"strconv"
"strings"
"time"
)
var ErrCodecDataChange = fmt.Errorf("rtsp: codec data change, please call HandleCodecDataChange()")
var DebugRtp = false
var DebugRtsp = false
var SkipErrRtpBlock = false
const (
stageOptionsDone = iota + 1
stageDescribeDone
stageSetupDone
stageWaitCodecData
stageCodecDataDone
)
type Client struct {
DebugRtsp bool
DebugRtp bool
Headers []string
WithBackChannel bool
SkipErrRtpBlock bool
RtspTimeout time.Duration
RtpTimeout time.Duration
RtpKeepAliveTimeout time.Duration
rtpKeepaliveTimer time.Time
rtpKeepaliveEnterCnt int
sequenceNumber uint16
stage int
setupIdx []int
setupMap []int
authHeaders func(method string) []string
url *url.URL
conn *connWithTimeout
brconn *bufio.Reader
requestUri string
cseq uint
streams []*Stream
streamsintf []av.CodecData
session string
body io.Reader
}
type Request struct {
Header []string
Uri string
Method string
}
type Response struct {
StatusCode int
Headers textproto.MIMEHeader
ContentLength int
Body []byte
Block []byte
}
func DialTimeout(uri string, timeout time.Duration, withBackChannel bool) (self *Client, err error) {
var URL *url.URL
if URL, err = url.Parse(uri); err != nil {
return
}
if _, _, err := net.SplitHostPort(URL.Host); err != nil {
URL.Host = URL.Host + ":554"
}
dailer := net.Dialer{Timeout: timeout}
var conn net.Conn
if conn, err = dailer.Dial("tcp", URL.Host); err != nil {
return
}
u2 := *URL
u2.User = nil
connt := &connWithTimeout{Conn: conn}
self = &Client{
conn: connt,
brconn: bufio.NewReaderSize(connt, 256),
url: URL,
requestUri: u2.String(),
DebugRtp: DebugRtp,
DebugRtsp: DebugRtsp,
SkipErrRtpBlock: SkipErrRtpBlock,
RtpKeepAliveTimeout: 10 * time.Second,
RtspTimeout: 10 * time.Second,
RtpTimeout: 10 * time.Second,
WithBackChannel: withBackChannel,
}
return
}
func Dial(uri string) (self *Client, err error) {
return DialTimeout(uri, time.Second*5, false)
}
func (self *Client) allCodecDataReady() bool {
for _, si := range self.setupIdx {
stream := self.streams[si]
if stream.CodecData == nil {
return false
}
}
return true
}
// hvd
func (self *Client) allSPSAndPPSAlready() bool {
for _, si := range self.setupIdx {
stream := self.streams[si]
if stream.sps == nil || stream.pps == nil {
return false
}
}
return true
}
func (self *Client) probe() (err error) {
for {
if self.allCodecDataReady() && self.allSPSAndPPSAlready() {
break
}
if _, err = self.readPacket(); err != nil {
return
}
}
self.stage = stageCodecDataDone
return
}
func (self *Client) prepare(stage int) (err error) {
for self.stage < stage {
switch self.stage {
case 0:
if err = self.Options(); err != nil {
return
}
case stageOptionsDone:
if _, err = self.Describe(); err != nil {
return
}
case stageDescribeDone:
if err = self.SetupAll(); err != nil {
return
}
case stageSetupDone:
if err = self.Play(); err != nil {
return
}
case stageWaitCodecData:
if err = self.probe(); err != nil {
return
}
}
}
return
}
func (self *Client) Streams() (streams []av.CodecData, err error) {
if err = self.prepare(stageCodecDataDone); err != nil {
return
}
for _, si := range self.setupIdx {
stream := self.streams[si]
streams = append(streams, stream.CodecData)
}
return
}
func (self *Client) SendRtpKeepalive() (err error) {
if self.RtpKeepAliveTimeout > 0 {
if self.rtpKeepaliveTimer.IsZero() {
self.rtpKeepaliveTimer = time.Now()
} else if time.Now().Sub(self.rtpKeepaliveTimer) > self.RtpKeepAliveTimeout {
self.rtpKeepaliveTimer = time.Now()
if self.DebugRtsp {
fmt.Println("rtp: keep alive")
}
req := Request{
Method: "OPTIONS",
Uri: self.requestUri,
Header: []string{
"User-Agent: Kerberos.io",
},
}
if self.session != "" {
req.Header = append(req.Header, "Session: "+self.session)
}
if err = self.WriteRequest(req); err != nil {
return
}
}
}
return
}
func (self *Client) WriteRequest(req Request) (err error) {
self.conn.Timeout = self.RtspTimeout
self.cseq++
buf := &bytes.Buffer{}
fmt.Fprintf(buf, "%s %s RTSP/1.0\r\n", req.Method, req.Uri)
fmt.Fprintf(buf, "CSeq: %d\r\n", self.cseq)
if self.authHeaders != nil {
headers := self.authHeaders(req.Method)
for _, s := range headers {
io.WriteString(buf, s)
io.WriteString(buf, "\r\n")
}
}
for _, s := range req.Header {
io.WriteString(buf, s)
io.WriteString(buf, "\r\n")
}
for _, s := range self.Headers {
io.WriteString(buf, s)
io.WriteString(buf, "\r\n")
}
io.WriteString(buf, "\r\n")
bufout := buf.Bytes()
if self.DebugRtsp {
fmt.Print("> ", string(bufout))
}
if _, err = self.conn.Write(bufout); err != nil {
return
}
return
}
func (self *Client) parseBlockHeader(h []byte) (length int, no int, valid bool) {
length = int(h[2])<<8 + int(h[3])
no = int(h[1])
if no/2 >= len(self.streams) {
return
}
if no%2 == 0 { // rtp
if length < 8 {
return
}
// V=2
if h[4]&0xc0 != 0x80 {
return
}
stream := self.streams[no/2]
if int(h[5]&0x7f) != stream.Sdp.PayloadType {
return
}
timestamp := binary.BigEndian.Uint32(h[8:12])
if stream.firsttimestamp != 0 {
timestamp -= stream.firsttimestamp
if timestamp < stream.timestamp {
return
} else if timestamp-stream.timestamp > uint32(stream.timeScale()*60*60) {
return
}
}
} else { // rtcp
}
valid = true
return
}
func (self *Client) parseHeaders(b []byte) (statusCode int, headers textproto.MIMEHeader, err error) {
var line string
r := textproto.NewReader(bufio.NewReader(bytes.NewReader(b)))
if line, err = r.ReadLine(); err != nil {
err = fmt.Errorf("rtsp: header invalid")
return
}
if codes := strings.Split(line, " "); len(codes) >= 2 {
if statusCode, err = strconv.Atoi(codes[1]); err != nil {
err = fmt.Errorf("rtsp: header invalid: %s", err)
return
}
}
headers, _ = r.ReadMIMEHeader()
return
}
func (self *Client) handleResp(res *Response) (err error) {
if sess := res.Headers.Get("Session"); sess != "" && self.session == "" {
if fields := strings.Split(sess, ";"); len(fields) > 0 {
self.session = fields[0]
}
}
if res.StatusCode == 302 {
if err = self.handle302(res); err != nil {
return
}
}
if res.StatusCode == 401 {
if err = self.handle401(res); err != nil {
return
}
}
return
}
func (self *Client) handle302(res *Response) (err error) {
/*
RTSP/1.0 200 OK
CSeq: 302
*/
newLocation := res.Headers.Get("Location")
fmt.Printf("\tRedirecting stream to other location: %s\n", newLocation)
err = self.Close()
if err != nil {
return err
}
newConnect, err := Dial(newLocation)
if err != nil {
return err
}
self.requestUri = newLocation
self.conn = newConnect.conn
self.brconn = newConnect.brconn
return err
}
func (self *Client) handle401(res *Response) (err error) {
/*
RTSP/1.0 401 Unauthorized
CSeq: 2
Date: Wed, May 04 2016 10:10:51 GMT
WWW-Authenticate: Digest realm="LIVE555 Streaming Media", nonce="c633aaf8b83127633cbe98fac1d20d87"
*/
authval := res.Headers.Get("WWW-Authenticate")
hdrval := strings.SplitN(authval, " ", 2)
var realm, nonce string
if len(hdrval) == 2 {
for _, field := range strings.Split(hdrval[1], ",") {
field = strings.Trim(field, ", ")
if keyval := strings.Split(field, "="); len(keyval) == 2 {
key := keyval[0]
val := strings.Trim(keyval[1], `"`)
switch key {
case "realm":
realm = val
case "nonce":
nonce = val
}
}
}
if realm != "" {
var username string
var password string
if self.url.User == nil {
err = fmt.Errorf("rtsp: no username")
return
}
username = self.url.User.Username()
password, _ = self.url.User.Password()
self.authHeaders = func(method string) []string {
var headers []string
if nonce == "" {
headers = []string{
fmt.Sprintf(`Authorization: Basic %s`, base64.StdEncoding.EncodeToString([]byte(username+":"+password))),
}
} else {
hs1 := md5hash(username + ":" + realm + ":" + password)
hs2 := md5hash(method + ":" + self.requestUri)
response := md5hash(hs1 + ":" + nonce + ":" + hs2)
headers = []string{fmt.Sprintf(
`Authorization: Digest username="%s", realm="%s", nonce="%s", uri="%s", response="%s"`,
username, realm, nonce, self.requestUri, response)}
}
return headers
}
}
}
return
}
func (self *Client) findRTSP() (block []byte, data []byte, err error) {
const (
R = iota + 1
T
S
Header
Dollar
)
var _peek [8]byte
peek := _peek[0:0]
stat := 0
for i := 0; ; i++ {
var b byte
if b, err = self.brconn.ReadByte(); err != nil {
return
}
switch b {
case 'R':
if stat == 0 {
stat = R
}
case 'T':
if stat == R {
stat = T
}
case 'S':
if stat == T {
stat = S
}
case 'P':
if stat == S {
stat = Header
}
case '$':
if stat != Dollar {
stat = Dollar
peek = _peek[0:0]
}
default:
if stat != Dollar {
stat = 0
peek = _peek[0:0]
}
}
if false && self.DebugRtp {
fmt.Println("rtsp: findRTSP", i, b)
}
if stat != 0 {
peek = append(peek, b)
}
if stat == Header {
data = peek
return
}
if stat == Dollar && len(peek) >= 12 {
if self.DebugRtp {
fmt.Println("rtsp: dollar at", i, len(peek))
}
if blocklen, _, ok := self.parseBlockHeader(peek); ok {
left := blocklen + 4 - len(peek)
if left >= 0 {
block = append(peek, make([]byte, left)...)
if _, err = io.ReadFull(self.brconn, block[len(peek):]); err != nil {
return
}
return
} else {
fmt.Println("Left < 0 ", blocklen, len(peek), left)
}
}
stat = 0
peek = _peek[0:0]
}
}
return
}
func (self *Client) readLFLF() (block []byte, data []byte, err error) {
const (
LF = iota + 1
LFLF
)
peek := []byte{}
stat := 0
dollarpos := -1
lpos := 0
pos := 0
for {
var b byte
if b, err = self.brconn.ReadByte(); err != nil {
return
}
switch b {
case '\n':
if stat == 0 {
stat = LF
lpos = pos
} else if stat == LF {
if pos-lpos <= 2 {
stat = LFLF
} else {
lpos = pos
}
}
case '$':
dollarpos = pos
}
peek = append(peek, b)
if stat == LFLF {
data = peek
return
} else if dollarpos != -1 && dollarpos-pos >= 12 {
hdrlen := dollarpos - pos
start := len(peek) - hdrlen
if blocklen, _, ok := self.parseBlockHeader(peek[start:]); ok {
block = append(peek[start:], make([]byte, blocklen+4-hdrlen)...)
if _, err = io.ReadFull(self.brconn, block[hdrlen:]); err != nil {
return
}
return
}
dollarpos = -1
}
pos++
}
return
}
func (self *Client) readResp(b []byte) (res Response, err error) {
if res.StatusCode, res.Headers, err = self.parseHeaders(b); err != nil {
return
}
res.ContentLength, _ = strconv.Atoi(res.Headers.Get("Content-Length"))
if res.ContentLength > 0 {
res.Body = make([]byte, res.ContentLength)
if _, err = io.ReadFull(self.brconn, res.Body); err != nil {
return
}
}
if err = self.handleResp(&res); err != nil {
return
}
return
}
func (self *Client) poll() (res Response, err error) {
var block []byte
var rtsp []byte
var headers []byte
self.conn.Timeout = self.RtspTimeout
for {
if block, rtsp, err = self.findRTSP(); err != nil {
return
}
if len(block) > 0 {
res.Block = block
return
} else {
if block, headers, err = self.readLFLF(); err != nil {
return
}
if len(block) > 0 {
res.Block = block
return
}
if res, err = self.readResp(append(rtsp, headers...)); err != nil {
return
}
}
return
}
return
}
func (self *Client) ReadResponse() (res Response, err error) {
for {
if res, err = self.poll(); err != nil {
return
}
if res.StatusCode > 0 {
return
}
}
return
}
func (self *Client) SetupAll() (err error) {
idx := []int{}
for i := range self.streams {
idx = append(idx, i)
}
return self.Setup(idx)
}
func (self *Client) Setup(idx []int) (err error) {
if err = self.prepare(stageDescribeDone); err != nil {
return
}
self.setupMap = make([]int, len(self.streams))
for i := range self.setupMap {
self.setupMap[i] = -1
}
self.setupIdx = idx
for i, si := range idx {
self.setupMap[si] = i
uri := ""
control := self.streams[si].Sdp.Control
if strings.HasPrefix(control, "rtsp://") {
uri = control
} else {
uri = self.requestUri + "/" + control
}
req := Request{Method: "SETUP", Uri: uri}
req.Header = append(req.Header, fmt.Sprintf("Transport: RTP/AVP/TCP;unicast;interleaved=%d-%d", si*2, si*2+1))
if self.session != "" {
req.Header = append(req.Header, "Session: "+self.session)
}
if err = self.WriteRequest(req); err != nil {
return
}
if _, err = self.ReadResponse(); err != nil {
return
}
}
if self.stage == stageDescribeDone {
self.stage = stageSetupDone
}
return
}
func md5hash(s string) string {
h := md5.Sum([]byte(s))
return hex.EncodeToString(h[:])
}
func (self *Client) Describe() (streams []sdp.Media, err error) {
var res Response
headers := []string{
"User-Agent: Kerberos.io",
"Accept: application/sdp",
}
if self.WithBackChannel {
headers = append(headers, "Require: www.onvif.org/ver20/backchannel")
}
for i := 0; i < 2; i++ {
req := Request{
Method: "DESCRIBE",
Uri: self.requestUri,
Header: headers,
}
if err = self.WriteRequest(req); err != nil {
return
}
if res, err = self.ReadResponse(); err != nil {
return
}
if res.StatusCode == 200 {
break
}
}
if res.ContentLength == 0 {
err = fmt.Errorf("rtsp: Describe failed, StatusCode=%d", res.StatusCode)
return
}
body := string(res.Body)
if self.DebugRtsp {
fmt.Println("<", body)
}
_, medias := sdp.Parse(body)
self.streams = []*Stream{}
for _, media := range medias {
stream := &Stream{Sdp: media, client: self}
err = stream.makeCodecData()
if err == nil {
self.streams = append(self.streams, stream)
streams = append(streams, media)
} else {
log.Print("Error: ", err.Error())
}
}
self.stage = stageDescribeDone
return
}
func (self *Client) Options() (err error) {
req := Request{
Method: "OPTIONS",
Uri: self.requestUri,
}
if self.session != "" {
req.Header = append(req.Header, "Session: "+self.session)
}
if err = self.WriteRequest(req); err != nil {
return
}
if _, err = self.ReadResponse(); err != nil {
return
}
self.stage = stageOptionsDone
return
}
func (self *Client) HandleCodecDataChange() (_newcli *Client, err error) {
newcli := &Client{}
*newcli = *self
newcli.streams = []*Stream{}
for _, stream := range self.streams {
newstream := &Stream{}
*newstream = *stream
newstream.client = newcli
if newstream.isCodecDataChange() {
if err = newstream.makeCodecData(); err != nil {
return
}
newstream.clearCodecDataChange()
}
newcli.streams = append(newcli.streams, newstream)
}
_newcli = newcli
return
}
func (self *Stream) clearCodecDataChange() {
self.spsChanged = false
self.ppsChanged = false
}
func (self *Stream) isCodecDataChange() bool {
if self.spsChanged && self.ppsChanged {
return true
}
return false
}
func (self *Stream) timeScale() int {
t := self.Sdp.TimeScale
if t == 0 {
// https://tools.ietf.org/html/rfc5391
t = 8000
}
return t
}
func (self *Stream) makeCodecData() (err error) {
media := self.Sdp
index := media.Index
direction := media.Direction
backchannel := media.BackChannel
if media.PayloadType >= 96 && media.PayloadType <= 127 {
switch media.Type {
case av.H264:
for _, nalu := range media.SpropParameterSets {
if len(nalu) > 0 {
self.handleH264Payload(0, nalu)
}
}
if len(self.sps) == 0 || len(self.pps) == 0 {
if nalus, typ := h264parser.SplitNALUs(media.Config); typ != h264parser.NALU_RAW {
for _, nalu := range nalus {
if len(nalu) > 0 {
self.handleH264Payload(0, nalu)
}
}
}
}
// hvd
if len(self.sps) > 0 || len(self.pps) > 0 {
if self.CodecData, err = h264parser.NewCodecDataFromSPSAndPPS(self.sps, self.pps, index, direction, backchannel); err != nil {
err = fmt.Errorf("rtsp: h264 sps/pps invalid: %s", err)
return
}
} else {
// err = fmt.Errorf("rtsp: missing h264 sps or pps")
fmt.Println("rtsp: missing h264 sps or pps")
fmt.Println("should be edited to get SPS and PPS from the H264 NALUs")
return
}
// if len(self.sps) > 0 && len(self.pps) > 0 {
// if self.CodecData, err = h264parser.NewCodecDataFromSPSAndPPS(self.sps, self.pps); err != nil {
// err = fmt.Errorf("rtsp: h264 sps/pps invalid: %s", err)
// return
// }
// } else {
// err = fmt.Errorf("rtsp: missing h264 sps or pps")
// return
// }
case av.AAC:
if len(media.Config) == 0 {
err = fmt.Errorf("rtsp: aac sdp config missing")
return
}
if self.CodecData, err = aacparser.NewCodecDataFromMPEG4AudioConfigBytes(media.Config); err != nil {
err = fmt.Errorf("rtsp: aac sdp config invalid: %s", err)
return
}
case av.OPUS:
// TODO!
self.CodecData = codec.NewPCMMulawCodecData(index, direction, backchannel)
//channelLayout := av.CH_MONO
//if media.ChannelCount == 2 {
// channelLayout = av.CH_STEREO
//}
//self.CodecData = codec.NewOpusCodecData(media.TimeScale, channelLayout)
default:
err = fmt.Errorf("rtsp: Type=%d unsupported", media.Type)
return
}
} else {
switch media.PayloadType {
case 0:
self.CodecData = codec.NewPCMMulawCodecData(index, direction, backchannel)
case 8:
self.CodecData = codec.NewPCMAlawCodecData(index, direction, backchannel)
default:
err = fmt.Errorf("rtsp: PayloadType=%d unsupported", media.PayloadType)
return
}
}
return
}
func (self *Stream) handleBuggyAnnexbH264Packet(timestamp uint32, packet []byte) (isBuggy bool, err error) {
if len(packet) >= 4 && packet[0] == 0 && packet[1] == 0 && packet[2] == 0 && packet[3] == 1 {
isBuggy = true
if nalus, typ := h264parser.SplitNALUs(packet); typ != h264parser.NALU_RAW {
for _, nalu := range nalus {
if len(nalu) > 0 {
if err = self.handleH264Payload(timestamp, nalu); err != nil {
return
}
}
}
}
}
return
}
func (self *Stream) handleH264Payload(timestamp uint32, packet []byte) (err error) {
if len(packet) < 2 {
err = fmt.Errorf("rtp: h264 packet too short")
return
}
var isBuggy bool
if isBuggy, err = self.handleBuggyAnnexbH264Packet(timestamp, packet); isBuggy {
return
}
naluType := packet[0] & 0x1f
/*
Table 7-1 – NAL unit type codes
1 Coded slice of a non-IDR picture
5 Coded slice of an IDR picture
6 Supplemental enhancement information (SEI)
7 Sequence parameter set
8 Picture parameter set
1-23 NAL unit Single NAL unit packet 5.6
24 STAP-A Single-time aggregation packet 5.7.1
25 STAP-B Single-time aggregation packet 5.7.1
26 MTAP16 Multi-time aggregation packet 5.7.2
27 MTAP24 Multi-time aggregation packet 5.7.2
28 FU-A Fragmentation unit 5.8
29 FU-B Fragmentation unit 5.8
30-31 reserved -
*/
switch {
case naluType >= 1 && naluType <= 5:
if naluType == 5 {
self.pkt.IsKeyFrame = true
}
self.gotpkt = true
// raw nalu to avcc
b := make([]byte, 4+len(packet))
pio.PutU32BE(b[0:4], uint32(len(packet)))
copy(b[4:], packet)
self.pkt.Data = b
self.timestamp = timestamp
case naluType == 7: // sps
if self.client != nil && self.client.DebugRtp {
fmt.Println("rtsp: got sps")
}
if len(self.sps) == 0 {
self.sps = packet
self.makeCodecData()
} else if bytes.Compare(self.sps, packet) != 0 {
self.spsChanged = true
self.sps = packet
if self.client != nil && self.client.DebugRtp {
fmt.Println("rtsp: sps changed")
}
}
case naluType == 8: // pps
if self.client != nil && self.client.DebugRtp {
fmt.Println("rtsp: got pps")
}
if len(self.pps) == 0 {
self.pps = packet
self.makeCodecData()
} else if bytes.Compare(self.pps, packet) != 0 {
self.ppsChanged = true
self.pps = packet
if self.client != nil && self.client.DebugRtp {
fmt.Println("rtsp: pps changed")
}
}
case naluType == 28: // FU-A
/*
0 1 2 3
0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| FU indicator | FU header | |
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ |
| |
| FU payload |
| |
| +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
| :...OPTIONAL RTP padding |
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
Figure 14. RTP payload format for FU-A
The FU indicator octet has the following format:
+---------------+
|0|1|2|3|4|5|6|7|
+-+-+-+-+-+-+-+-+