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Author SHA1 Message Date
copilot-swe-agent[bot]
baaa558cff Initial plan 2026-02-16 11:44:09 +00:00
4 changed files with 25 additions and 343 deletions

3
.gitignore vendored
View File

@@ -14,5 +14,4 @@ machinery/test*
machinery/init-dev.sh
machinery/.env.local
machinery/vendor
deployments/docker/private-docker-compose.yaml
video.mp4
deployments/docker/private-docker-compose.yaml

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@@ -695,37 +695,14 @@ func (g *Golibrtsp) Start(ctx context.Context, streamType string, queue *packets
g.Streams[g.VideoH264Index].FPS = fps
log.Log.Debug(fmt.Sprintf("capture.golibrtsp.Start(%s): Final FPS=%.2f", streamType, fps))
g.VideoH264Forma.SPS = nalu
if streamType == "main" && len(nalu) > 0 {
// Fallback: store SPS from in-band NALUs when SDP was missing it.
configuration.Config.Capture.IPCamera.SPSNALUs = [][]byte{nalu}
}
}
case h264.NALUTypePPS:
g.VideoH264Forma.PPS = nalu
if streamType == "main" && len(nalu) > 0 {
// Fallback: store PPS from in-band NALUs when SDP was missing it.
configuration.Config.Capture.IPCamera.PPSNALUs = [][]byte{nalu}
}
}
filteredAU = append(filteredAU, nalu)
}
if idrPresent && streamType == "main" {
// Ensure config has parameter sets before recordings start.
if len(configuration.Config.Capture.IPCamera.SPSNALUs) == 0 && len(g.VideoH264Forma.SPS) > 0 {
configuration.Config.Capture.IPCamera.SPSNALUs = [][]byte{g.VideoH264Forma.SPS}
log.Log.Warning("capture.golibrtsp.Start(main): fallback SPS set from keyframe")
}
if len(configuration.Config.Capture.IPCamera.PPSNALUs) == 0 && len(g.VideoH264Forma.PPS) > 0 {
configuration.Config.Capture.IPCamera.PPSNALUs = [][]byte{g.VideoH264Forma.PPS}
log.Log.Warning("capture.golibrtsp.Start(main): fallback PPS set from keyframe")
}
if len(configuration.Config.Capture.IPCamera.SPSNALUs) == 0 || len(configuration.Config.Capture.IPCamera.PPSNALUs) == 0 {
log.Log.Warning("capture.golibrtsp.Start(main): SPS/PPS still missing after IDR keyframe")
}
}
if len(filteredAU) <= 1 || (!nonIDRPresent && !idrPresent) {
return
}

View File

@@ -159,19 +159,6 @@ func HandleRecordStream(queue *packets.Queue, configDirectory string, configurat
}
// Close mp4
if len(mp4Video.SPSNALUs) == 0 && len(configuration.Config.Capture.IPCamera.SPSNALUs) > 0 {
mp4Video.SPSNALUs = configuration.Config.Capture.IPCamera.SPSNALUs
}
if len(mp4Video.PPSNALUs) == 0 && len(configuration.Config.Capture.IPCamera.PPSNALUs) > 0 {
mp4Video.PPSNALUs = configuration.Config.Capture.IPCamera.PPSNALUs
}
if len(mp4Video.VPSNALUs) == 0 && len(configuration.Config.Capture.IPCamera.VPSNALUs) > 0 {
mp4Video.VPSNALUs = configuration.Config.Capture.IPCamera.VPSNALUs
}
if (videoCodec == "H264" && (len(mp4Video.SPSNALUs) == 0 || len(mp4Video.PPSNALUs) == 0)) ||
(videoCodec == "H265" && (len(mp4Video.VPSNALUs) == 0 || len(mp4Video.SPSNALUs) == 0 || len(mp4Video.PPSNALUs) == 0)) {
log.Log.Warning("capture.main.HandleRecordStream(continuous): closing MP4 without full parameter sets, moov may be incomplete")
}
mp4Video.Close(&config)
log.Log.Info("capture.main.HandleRecordStream(continuous): recording finished: file save: " + name)
@@ -292,9 +279,6 @@ func HandleRecordStream(queue *packets.Queue, configDirectory string, configurat
ppsNALUS := configuration.Config.Capture.IPCamera.PPSNALUs
vpsNALUS := configuration.Config.Capture.IPCamera.VPSNALUs
if len(spsNALUS) == 0 || len(ppsNALUS) == 0 {
log.Log.Warning("capture.main.HandleRecordStream(continuous): missing SPS/PPS at recording start")
}
// Create a video file, and set the dimensions.
mp4Video = video.NewMP4(fullName, spsNALUS, ppsNALUS, vpsNALUS, configuration.Config.Capture.MaxLengthRecording)
mp4Video.SetWidth(width)
@@ -515,11 +499,21 @@ func HandleRecordStream(queue *packets.Queue, configDirectory string, configurat
ppsNALUS := configuration.Config.Capture.IPCamera.PPSNALUs
vpsNALUS := configuration.Config.Capture.IPCamera.VPSNALUs
if len(spsNALUS) == 0 || len(ppsNALUS) == 0 {
log.Log.Warning("capture.main.HandleRecordStream(motiondetection): missing SPS/PPS at recording start")
// Create a video file, and set the dimensions.
mp4Video := video.NewMP4(fullName, spsNALUS, ppsNALUS, vpsNALUS, configuration.Config.Capture.MaxLengthRecording)
mp4Video.SetWidth(width)
mp4Video.SetHeight(height)
if videoCodec == "H264" {
videoTrack = mp4Video.AddVideoTrack("H264")
} else if videoCodec == "H265" {
videoTrack = mp4Video.AddVideoTrack("H265")
}
if audioCodec == "AAC" {
audioTrack = mp4Video.AddAudioTrack("AAC")
} else if audioCodec == "PCM_MULAW" {
log.Log.Debug("capture.main.HandleRecordStream(continuous): no AAC audio codec detected, skipping audio track.")
}
// Create the MP4 only once the first keyframe arrives.
var mp4Video *video.MP4
for cursorError == nil {
@@ -538,7 +532,7 @@ func HandleRecordStream(queue *packets.Queue, configDirectory string, configurat
default:
}
if start && (motionTimestamp+postRecording-now < 0 || now-startRecording > maxRecordingPeriod-500) && nextPkt.IsKeyFrame {
if (motionTimestamp+postRecording-now < 0 || now-startRecording > maxRecordingPeriod-500) && nextPkt.IsKeyFrame {
log.Log.Info("capture.main.HandleRecordStream(motiondetection): timestamp+postRecording-now < 0 - " + strconv.FormatInt(motionTimestamp+postRecording-now, 10) + " < 0")
log.Log.Info("capture.main.HandleRecordStream(motiondetection): now-startRecording > maxRecordingPeriod-500 - " + strconv.FormatInt(now-startRecording, 10) + " > " + strconv.FormatInt(maxRecordingPeriod-500, 10))
log.Log.Info("capture.main.HandleRecordStream(motiondetection): closing recording (timestamp: " + strconv.FormatInt(motionTimestamp, 10) + ", postRecording: " + strconv.FormatInt(postRecording, 10) + ", now: " + strconv.FormatInt(now, 10) + ", startRecording: " + strconv.FormatInt(startRecording, 10) + ", maxRecordingPeriod: " + strconv.FormatInt(maxRecordingPeriod, 10))
@@ -548,44 +542,20 @@ func HandleRecordStream(queue *packets.Queue, configDirectory string, configurat
// We start the recording if we have a keyframe and the last duration is 0 or less than the current packet time.
// It could be start we start from the beginning of the recording.
log.Log.Debug("capture.main.HandleRecordStream(motiondetection): write frames")
log.Log.Debug("capture.main.HandleRecordStream(motiondetection): recording started on keyframe")
// Align duration timers with the first keyframe.
startRecording = pkt.CurrentTime
// Create a video file, and set the dimensions.
mp4Video = video.NewMP4(fullName, spsNALUS, ppsNALUS, vpsNALUS, configuration.Config.Capture.MaxLengthRecording)
mp4Video.SetWidth(width)
mp4Video.SetHeight(height)
if videoCodec == "H264" {
videoTrack = mp4Video.AddVideoTrack("H264")
} else if videoCodec == "H265" {
videoTrack = mp4Video.AddVideoTrack("H265")
}
if audioCodec == "AAC" {
audioTrack = mp4Video.AddAudioTrack("AAC")
} else if audioCodec == "PCM_MULAW" {
log.Log.Debug("capture.main.HandleRecordStream(continuous): no AAC audio codec detected, skipping audio track.")
}
start = true
}
if start {
pts := convertPTS(pkt.TimeLegacy)
if pkt.IsVideo {
log.Log.Debug("capture.main.HandleRecordStream(motiondetection): add video sample")
if mp4Video != nil {
if err := mp4Video.AddSampleToTrack(videoTrack, pkt.IsKeyFrame, pkt.Data, pts); err != nil {
log.Log.Error("capture.main.HandleRecordStream(motiondetection): " + err.Error())
}
if err := mp4Video.AddSampleToTrack(videoTrack, pkt.IsKeyFrame, pkt.Data, pts); err != nil {
log.Log.Error("capture.main.HandleRecordStream(motiondetection): " + err.Error())
}
} else if pkt.IsAudio {
log.Log.Debug("capture.main.HandleRecordStream(motiondetection): add audio sample")
if pkt.Codec == "AAC" {
if mp4Video != nil {
if err := mp4Video.AddSampleToTrack(audioTrack, pkt.IsKeyFrame, pkt.Data, pts); err != nil {
log.Log.Error("capture.main.HandleRecordStream(motiondetection): " + err.Error())
}
if err := mp4Video.AddSampleToTrack(audioTrack, pkt.IsKeyFrame, pkt.Data, pts); err != nil {
log.Log.Error("capture.main.HandleRecordStream(motiondetection): " + err.Error())
}
} else if pkt.Codec == "PCM_MULAW" {
// TODO: transcode to AAC, some work to do..
@@ -603,25 +573,7 @@ func HandleRecordStream(queue *packets.Queue, configDirectory string, configurat
// This is used to determine if we need to start a new recording.
lastRecordingTime = pkt.CurrentTime
if mp4Video == nil {
log.Log.Warning("capture.main.HandleRecordStream(motiondetection): recording closed without keyframe; no MP4 created")
continue
}
// This will close the recording and write the last packet.
if len(mp4Video.SPSNALUs) == 0 && len(configuration.Config.Capture.IPCamera.SPSNALUs) > 0 {
mp4Video.SPSNALUs = configuration.Config.Capture.IPCamera.SPSNALUs
}
if len(mp4Video.PPSNALUs) == 0 && len(configuration.Config.Capture.IPCamera.PPSNALUs) > 0 {
mp4Video.PPSNALUs = configuration.Config.Capture.IPCamera.PPSNALUs
}
if len(mp4Video.VPSNALUs) == 0 && len(configuration.Config.Capture.IPCamera.VPSNALUs) > 0 {
mp4Video.VPSNALUs = configuration.Config.Capture.IPCamera.VPSNALUs
}
if (videoCodec == "H264" && (len(mp4Video.SPSNALUs) == 0 || len(mp4Video.PPSNALUs) == 0)) ||
(videoCodec == "H265" && (len(mp4Video.VPSNALUs) == 0 || len(mp4Video.SPSNALUs) == 0 || len(mp4Video.PPSNALUs) == 0)) {
log.Log.Warning("capture.main.HandleRecordStream(motiondetection): closing MP4 without full parameter sets, moov may be incomplete")
}
mp4Video.Close(&config)
log.Log.Info("capture.main.HandleRecordStream(motiondetection): file save: " + name)

View File

@@ -13,7 +13,6 @@ import (
"strings"
"time"
"github.com/Eyevinn/mp4ff/avc"
mp4ff "github.com/Eyevinn/mp4ff/mp4"
"github.com/kerberos-io/agent/machinery/src/encryption"
"github.com/kerberos-io/agent/machinery/src/log"
@@ -159,68 +158,6 @@ func (mp4 *MP4) AddAudioTrack(codec string) uint32 {
func (mp4 *MP4) AddMediaSegment(segNr int) {
}
// updateVideoParameterSetsFromAnnexB inspects Annex B data to fill missing SPS/PPS/VPS.
func (mp4 *MP4) updateVideoParameterSetsFromAnnexB(data []byte) {
if len(data) == 0 {
return
}
needSPS := len(mp4.SPSNALUs) == 0
needPPS := len(mp4.PPSNALUs) == 0
needVPS := len(mp4.VPSNALUs) == 0
if !(needSPS || needPPS || needVPS) {
return
}
for _, nalu := range splitNALUs(data) {
nalu = removeAnnexBStartCode(nalu)
if len(nalu) == 0 {
continue
}
switch mp4.VideoTrackName {
case "H264", "AVC1":
nalType := nalu[0] & 0x1F
switch nalType {
case 7: // SPS
if needSPS {
mp4.SPSNALUs = [][]byte{nalu}
needSPS = false
log.Log.Warning("mp4.updateVideoParameterSetsFromAnnexB(): SPS recovered from in-band NALU")
}
case 8: // PPS
if needPPS {
mp4.PPSNALUs = [][]byte{nalu}
needPPS = false
log.Log.Warning("mp4.updateVideoParameterSetsFromAnnexB(): PPS recovered from in-band NALU")
}
}
case "H265", "HVC1":
nalType := (nalu[0] >> 1) & 0x3F
switch nalType {
case 32: // VPS
if needVPS {
mp4.VPSNALUs = [][]byte{nalu}
needVPS = false
log.Log.Warning("mp4.updateVideoParameterSetsFromAnnexB(): VPS recovered from in-band NALU")
}
case 33: // SPS
if needSPS {
mp4.SPSNALUs = [][]byte{nalu}
needSPS = false
log.Log.Warning("mp4.updateVideoParameterSetsFromAnnexB(): SPS recovered from in-band NALU")
}
case 34: // PPS
if needPPS {
mp4.PPSNALUs = [][]byte{nalu}
needPPS = false
log.Log.Warning("mp4.updateVideoParameterSetsFromAnnexB(): PPS recovered from in-band NALU")
}
}
}
}
}
// flushPendingVideoSample writes the pending video sample to the current fragment.
// If nextPTS is provided (non-zero), it calculates duration from the PTS difference.
// If nextPTS is 0 (e.g., at Close time), it uses the last known duration.
@@ -346,7 +283,6 @@ func (mp4 *MP4) AddSampleToTrack(trackID uint32, isKeyframe bool, data []byte, p
if mp4.Start {
if trackID == uint32(mp4.VideoTrack) {
mp4.updateVideoParameterSetsFromAnnexB(data)
var lengthPrefixed []byte
var err error
@@ -432,12 +368,7 @@ func (mp4 *MP4) Close(config *models.Config) {
mp4.TotalKeyframesReceived, mp4.TotalKeyframesWritten, mp4.SegmentCount, mp4.FragmentKeyframeCount))
if mp4.VideoTotalDuration == 0 && mp4.AudioTotalDuration == 0 {
log.Log.Error("mp4.Close(): no video or audio samples added, removing empty MP4 file")
mp4.Writer.Flush()
_ = mp4.FileWriter.Sync()
_ = mp4.FileWriter.Close()
_ = os.Remove(mp4.FileName)
return
log.Log.Error("mp4.Close(): no video or audio samples added, cannot create MP4 file")
}
// Add final pending samples before closing
@@ -560,16 +491,8 @@ func (mp4 *MP4) Close(config *models.Config) {
case "H264", "AVC1":
init.AddEmptyTrack(videoTimescale, "video", "und")
includePS := true
spsNALUs, ppsNALUs := normalizeH264ParameterSets(mp4.SPSNALUs, mp4.PPSNALUs)
log.Log.Debug("mp4.Close(): AVC parameter sets: SPS=" + formatNaluDebug(spsNALUs) + ", PPS=" + formatNaluDebug(ppsNALUs))
err := init.Moov.Traks[0].SetAVCDescriptor("avc1", spsNALUs, ppsNALUs, includePS)
err := init.Moov.Traks[0].SetAVCDescriptor("avc1", mp4.SPSNALUs, mp4.PPSNALUs, includePS)
if err != nil {
log.Log.Error("mp4.Close(): error setting AVC descriptor: " + err.Error())
if fallbackErr := addAVCDescriptorFallback(init.Moov.Traks[0], spsNALUs, ppsNALUs, uint16(mp4.width), uint16(mp4.height)); fallbackErr != nil {
log.Log.Error("mp4.Close(): error setting AVC descriptor fallback: " + fallbackErr.Error())
} else {
log.Log.Warning("mp4.Close(): AVC descriptor fallback used due to SPS parse error")
}
}
init.Moov.Traks[0].Tkhd.Duration = actualVideoDuration
init.Moov.Traks[0].Tkhd.Width = mp4ff.Fixed32(uint32(mp4.width) << 16)
@@ -586,11 +509,8 @@ func (mp4 *MP4) Close(config *models.Config) {
case "H265", "HVC1":
init.AddEmptyTrack(videoTimescale, "video", "und")
includePS := true
vpsNALUs, spsNALUs, ppsNALUs := normalizeH265ParameterSets(mp4.VPSNALUs, mp4.SPSNALUs, mp4.PPSNALUs)
log.Log.Debug("mp4.Close(): HEVC parameter sets: VPS=" + formatNaluDebug(vpsNALUs) + ", SPS=" + formatNaluDebug(spsNALUs) + ", PPS=" + formatNaluDebug(ppsNALUs))
err := init.Moov.Traks[0].SetHEVCDescriptor("hvc1", vpsNALUs, spsNALUs, ppsNALUs, [][]byte{}, includePS)
err := init.Moov.Traks[0].SetHEVCDescriptor("hvc1", mp4.VPSNALUs, mp4.SPSNALUs, mp4.PPSNALUs, [][]byte{}, includePS)
if err != nil {
log.Log.Error("mp4.Close(): error setting HEVC descriptor: " + err.Error())
}
init.Moov.Traks[0].Tkhd.Duration = actualVideoDuration
init.Moov.Traks[0].Tkhd.Width = mp4ff.Fixed32(uint32(mp4.width) << 16)
@@ -604,8 +524,8 @@ func (mp4 *MP4) Close(config *models.Config) {
init.Moov.Traks[0].Mdia.Mdhd.ModificationTime = macTime
}
// Try adding audio track if available and samples were recorded.
if (mp4.AudioTrackName == "AAC" || mp4.AudioTrackName == "MP4A") && mp4.AudioTotalDuration > 0 {
// Try adding audio track if available
if mp4.AudioTrackName == "AAC" || mp4.AudioTrackName == "MP4A" {
// Add an audio track to the moov box
init.AddEmptyTrack(audioTimescale, "audio", "und")
@@ -843,172 +763,6 @@ func removeAnnexBStartCode(nalu []byte) []byte {
return nalu
}
// sanitizeParameterSets removes Annex B start codes and drops empty NALUs.
func sanitizeParameterSets(nalus [][]byte) [][]byte {
if len(nalus) == 0 {
return nalus
}
clean := make([][]byte, 0, len(nalus))
for _, nalu := range nalus {
trimmed := removeAnnexBStartCode(nalu)
if len(trimmed) == 0 {
continue
}
clean = append(clean, trimmed)
}
return clean
}
// normalizeH264ParameterSets splits Annex B blobs and extracts SPS/PPS NALUs.
func normalizeH264ParameterSets(spsIn [][]byte, ppsIn [][]byte) ([][]byte, [][]byte) {
all := make([][]byte, 0, len(spsIn)+len(ppsIn))
all = append(all, spsIn...)
all = append(all, ppsIn...)
var spsOut [][]byte
var ppsOut [][]byte
for _, blob := range all {
for _, nalu := range splitParamSetNALUs(blob) {
nalu = removeAnnexBStartCode(nalu)
if len(nalu) == 0 {
continue
}
typ := nalu[0] & 0x1F
switch typ {
case 7:
spsOut = append(spsOut, nalu)
case 8:
ppsOut = append(ppsOut, nalu)
}
}
}
if len(spsOut) == 0 {
spsOut = sanitizeParameterSets(spsIn)
}
if len(ppsOut) == 0 {
ppsOut = sanitizeParameterSets(ppsIn)
}
return spsOut, ppsOut
}
// normalizeH265ParameterSets splits Annex B blobs and extracts VPS/SPS/PPS NALUs.
func normalizeH265ParameterSets(vpsIn [][]byte, spsIn [][]byte, ppsIn [][]byte) ([][]byte, [][]byte, [][]byte) {
all := make([][]byte, 0, len(vpsIn)+len(spsIn)+len(ppsIn))
all = append(all, vpsIn...)
all = append(all, spsIn...)
all = append(all, ppsIn...)
var vpsOut [][]byte
var spsOut [][]byte
var ppsOut [][]byte
for _, blob := range all {
for _, nalu := range splitParamSetNALUs(blob) {
nalu = removeAnnexBStartCode(nalu)
if len(nalu) == 0 {
continue
}
typ := (nalu[0] >> 1) & 0x3F
switch typ {
case 32:
vpsOut = append(vpsOut, nalu)
case 33:
spsOut = append(spsOut, nalu)
case 34:
ppsOut = append(ppsOut, nalu)
}
}
}
if len(vpsOut) == 0 {
vpsOut = sanitizeParameterSets(vpsIn)
}
if len(spsOut) == 0 {
spsOut = sanitizeParameterSets(spsIn)
}
if len(ppsOut) == 0 {
ppsOut = sanitizeParameterSets(ppsIn)
}
return vpsOut, spsOut, ppsOut
}
// splitParamSetNALUs splits Annex B parameter set blobs; raw NALUs are returned as-is.
func splitParamSetNALUs(blob []byte) [][]byte {
if len(blob) == 0 {
return nil
}
if findStartCode(blob, 0) >= 0 {
return splitNALUs(blob)
}
return [][]byte{blob}
}
func formatNaluDebug(nalus [][]byte) string {
if len(nalus) == 0 {
return "none"
}
parts := make([]string, 0, len(nalus))
for _, nalu := range nalus {
if len(nalu) == 0 {
parts = append(parts, "len=0")
continue
}
max := 8
if len(nalu) < max {
max = len(nalu)
}
parts = append(parts, fmt.Sprintf("len=%d head=%x", len(nalu), nalu[:max]))
}
return strings.Join(parts, "; ")
}
func addAVCDescriptorFallback(trak *mp4ff.TrakBox, spsNALUs, ppsNALUs [][]byte, width, height uint16) error {
if trak == nil || trak.Mdia == nil || trak.Mdia.Minf == nil || trak.Mdia.Minf.Stbl == nil || trak.Mdia.Minf.Stbl.Stsd == nil {
return fmt.Errorf("missing trak stsd")
}
if len(spsNALUs) == 0 {
return fmt.Errorf("no SPS NALU available")
}
decConfRec, err := buildAVCDecConfRecFromSPS(spsNALUs, ppsNALUs)
if err != nil {
return err
}
if width == 0 && trak.Tkhd != nil {
width = uint16(uint32(trak.Tkhd.Width) >> 16)
}
if height == 0 && trak.Tkhd != nil {
height = uint16(uint32(trak.Tkhd.Height) >> 16)
}
if width > 0 && height > 0 && trak.Tkhd != nil {
trak.Tkhd.Width = mp4ff.Fixed32(uint32(width) << 16)
trak.Tkhd.Height = mp4ff.Fixed32(uint32(height) << 16)
}
avcC := &mp4ff.AvcCBox{DecConfRec: *decConfRec}
avcx := mp4ff.CreateVisualSampleEntryBox("avc1", width, height, avcC)
trak.Mdia.Minf.Stbl.Stsd.AddChild(avcx)
return nil
}
func buildAVCDecConfRecFromSPS(spsNALUs, ppsNALUs [][]byte) (*avc.DecConfRec, error) {
if len(spsNALUs) == 0 {
return nil, fmt.Errorf("no SPS NALU available")
}
sps := spsNALUs[0]
if len(sps) < 4 {
return nil, fmt.Errorf("SPS too short: len=%d", len(sps))
}
// SPS NALU: byte 0 is NAL header, next 3 bytes are profile/compat/level.
dec := &avc.DecConfRec{
AVCProfileIndication: sps[1],
ProfileCompatibility: sps[2],
AVCLevelIndication: sps[3],
SPSnalus: spsNALUs,
PPSnalus: ppsNALUs,
ChromaFormat: 1,
BitDepthLumaMinus1: 0,
BitDepthChromaMinus1: 0,
NumSPSExt: 0,
NoTrailingInfo: true,
}
return dec, nil
}
// splitNALUs splits Annex B data into raw NAL units without start codes.
func splitNALUs(data []byte) [][]byte {
var nalus [][]byte