Added Tango.WebRTC

1 files changed, 537 insertions, 0 deletions

diff --git a/Software/Visual_Studio/Tango.WebRTC/WebRtcClient.cs b/Software/Visual_Studio/Tango.WebRTC/WebRtcClient.cs
new file mode 100644
index 000000000..9866395ae
--- /dev/null
+++ b/Software/Visual_Studio/Tango.WebRTC/WebRtcClient.cs
@@ -0,0 +1,537 @@
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Drawing;
+using System.Drawing.Imaging;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using WebRtc.NET;
+
+namespace Tango.WebRTC
+{
+    public class WebRtcClient : IDisposable
+    {
+        private ManagedConductor _conductor;
+        private Thread _conductorThread;
+        private TurboJpegEncoder _encoder;
+        private byte[] _bgrBufflocal;
+        private byte[] _imgBuf;
+        private GCHandle _bufHandle;
+        private IntPtr _imgBufPtr = IntPtr.Zero;
+        private bool _isDisposed;
+        private Bitmap _sendFrame;
+        private TaskCompletionSource<bool> _readyCompletionSource;
+
+        #region Events
+
+        public event EventHandler<NewIceCandidateEventArgs> NewIceCandidate;
+        public event EventHandler Ready;
+        public event EventHandler<DataMessageReceivedEventArgs<String>> TextMessageReceived;
+        public event EventHandler<DataMessageReceivedEventArgs<byte[]>> BinaryMessageReceived;
+        public event EventHandler<VideoFrameReceivedEventArgs> FrameReceived;
+        public event EventHandler<ErrorEventArgs> Error;
+        public event EventHandler Disconnected;
+
+        #endregion
+
+        #region Properties
+
+        private int _frameWidth;
+        public int FrameWidth
+        {
+            get { return _frameWidth; }
+            set
+            {
+                if (IsInitialized)
+                {
+                    throw new InvalidOperationException("The frame height must be set before calling Init();");
+                }
+
+                _frameWidth = value;
+            }
+        }
+
+        private int _frameHeight;
+        public int FrameHeight
+        {
+            get { return _frameHeight; }
+            set
+            {
+                if (IsInitialized)
+                {
+                    throw new InvalidOperationException("The frame width must be set before calling Init();");
+                }
+
+                _frameHeight = value;
+            }
+        }
+
+        private int _frameRate;
+        public int FrameRate
+        {
+            get { return _frameRate; }
+            set
+            {
+                if (IsInitialized)
+                {
+                    throw new InvalidOperationException("The frame rate must be set before calling Init();");
+                }
+
+                _frameRate = value;
+            }
+        }
+
+
+        private String _dataChannelName;
+        public String DataChannelName
+        {
+            get { return _dataChannelName; }
+            set
+            {
+                if (IsInitialized)
+                {
+                    throw new InvalidOperationException("The data channel must be set before calling Init();");
+                }
+
+                _dataChannelName = value;
+            }
+        }
+
+        public bool IsInitialized { get; private set; }
+        public bool IsReady { get; private set; }
+
+        #endregion
+
+        #region Constructors
+
+        public WebRtcClient()
+        {
+            FrameWidth = 640;
+            FrameHeight = 480;
+            FrameRate = 5;
+            DataChannelName = "DefaultChannelName";
+        }
+
+        public WebRtcClient(int frameWidth, int frameHeight, int frameRate) : this()
+        {
+            FrameWidth = frameWidth;
+            FrameHeight = frameHeight;
+            FrameRate = frameRate;
+        }
+
+        public WebRtcClient(int frameWidth, int frameHeight, int frameRate, String dataChannelName) : this(frameWidth, frameHeight, frameRate)
+        {
+            DataChannelName = dataChannelName;
+        }
+
+        #endregion
+
+        #region Init
+
+        public Task Init()
+        {
+            if (_isDisposed)
+            {
+                throw new ObjectDisposedException("This instance was already disposed.");
+            }
+
+            if (IsInitialized)
+            {
+                throw new InvalidOperationException("This instance was already initialized.");
+            }
+
+            TaskCompletionSource<bool> completion = new TaskCompletionSource<bool>();
+
+            _conductorThread = new Thread(() =>
+            {
+                Thread.Sleep(5); //Wait for function to return at least!
+
+                _conductor = new ManagedConductor();
+                _encoder = TurboJpegEncoder.CreateEncoder();
+
+                try
+                {
+                    ManagedConductor.InitializeSSL();
+
+                    _conductor.AddServerConfig("stun:stun.l.google.com:19302", String.Empty, String.Empty);
+                    _conductor.AddServerConfig("stun:stun.anyfirewall.com:3478", String.Empty, String.Empty);
+                    _conductor.AddServerConfig("stun:stun.stunprotocol.org:3478", String.Empty, String.Empty);
+
+                    _conductor.SetAudio(false);
+                    _conductor.SetVideoCapturer(FrameWidth, FrameHeight, FrameRate, false);
+
+                    if (!_conductor.InitializePeerConnection())
+                    {
+                        completion.SetException(new ApplicationException("Error initializing peer connection."));
+                    }
+
+                    _conductor.CreateDataChannel(DataChannelName);
+                    _conductor.OnIceCandidate += _conductor_OnIceCandidate;
+                    _conductor.OnDataMessage += _conductor_OnDataMessage;
+                    _conductor.OnDataBinaryMessage += _conductor_OnDataBinaryMessage;
+                    _conductor.OnError += _conductor_OnError;
+                    _conductor.OnFailure += _conductor_OnFailure;
+                    _conductor.OnIceStateChanged += _conductor_OnIceStateChanged;
+
+                    unsafe
+                    {
+                        _conductor.OnRenderRemote += _conductor_OnRenderRemote;
+                    }
+
+                    _conductor.ProcessMessages(1000);
+                }
+                catch (Exception ex)
+                {
+                    completion.SetException(ex);
+                }
+
+                IsInitialized = true;
+
+                completion.SetResult(true);
+
+                Stopwatch watch = new Stopwatch();
+                watch.Start();
+
+                while (!_isDisposed)
+                {
+                    watch.Restart();
+                    _conductor.ProcessMessages(1000);
+                    Thread.Sleep(Math.Max(10, (int)watch.ElapsedMilliseconds));
+                }
+
+                IsInitialized = false;
+
+                _conductor.OnIceCandidate -= _conductor_OnIceCandidate;
+                _conductor.OnDataMessage -= _conductor_OnDataMessage;
+                _conductor.OnDataBinaryMessage -= _conductor_OnDataBinaryMessage;
+                _conductor.OnError -= _conductor_OnError;
+                _conductor.OnFailure -= _conductor_OnFailure;
+                _conductor.OnIceStateChanged -= _conductor_OnIceStateChanged;
+
+                _conductor.Dispose();
+            });
+
+            _conductorThread.IsBackground = true;
+            _conductorThread.Start();
+
+            return completion.Task;
+        }
+
+        private void _conductor_OnIceStateChanged(IceConnectionStates state)
+        {
+            if (!_isDisposed)
+            {
+                if (state == IceConnectionStates.kIceConnectionConnected)
+                {
+                    OnReady();
+                }
+                else if (state == IceConnectionStates.kIceConnectionFailed)
+                {
+                    Disconnected?.Invoke(this, new EventArgs());
+                }
+            }
+        }
+
+        #endregion
+
+        #region WebRTC Event Handlers
+
+        private void _conductor_OnIceCandidate(string sdp_mid, int sdp_mline_index, string sdp)
+        {
+            NewIceCandidate?.Invoke(this, new NewIceCandidateEventArgs()
+            {
+                IceCandidate = new IceCandidate()
+                {
+                    SdpMid = sdp_mid,
+                    SdpMLineIndex = sdp_mline_index,
+                    Sdp = sdp
+                }
+            });
+        }
+
+        private void _conductor_OnDataMessage(string text)
+        {
+            OnTextMessageReceived(text);
+        }
+
+        private void _conductor_OnDataBinaryMessage(byte[] data)
+        {
+            OnBinaryMessageReceived(data);
+        }
+
+        unsafe private void _conductor_OnRenderRemote(byte* frame_buffer, uint w, uint h)
+        {
+            if (_isDisposed) return;
+
+            try
+            {
+                if (_encoder.EncodeI420toBGR24(frame_buffer, w, h, ref _bgrBufflocal, true) == 0)
+                {
+                    var bufHandle = GCHandle.Alloc(_bgrBufflocal, GCHandleType.Pinned);
+                    var bmp = new Bitmap((int)w, (int)h, (int)w * 3, PixelFormat.Format24bppRgb, bufHandle.AddrOfPinnedObject());
+                    FrameReceived?.Invoke(this, new VideoFrameReceivedEventArgs()
+                    {
+                        Bitmap = bmp
+                    });
+                }
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"Error occurred while receiving the remote video frame.\n{ex.Message}");
+            }
+        }
+
+        private void _conductor_OnFailure(string error)
+        {
+            OnError(error);
+        }
+
+        private void _conductor_OnError()
+        {
+            OnError("Unspecified error.");
+        }
+
+        #endregion
+
+        #region Public Methods
+
+        public Task<Offer> CreateOffer()
+        {
+            EnsureInitialized();
+
+            TaskCompletionSource<Offer> completion = new TaskCompletionSource<Offer>();
+
+            ManagedConductor.OnCallbackSdp del = null;
+
+            bool completed = false;
+
+            del = (sdp) =>
+            {
+                if (!completed)
+                {
+                    completed = true;
+                    _conductor.OnSuccessOffer -= del;
+                    completion.SetResult(new Offer() { Sdp = sdp });
+                }
+            };
+
+            _conductor.OnSuccessOffer += del;
+
+            Task.Factory.StartNew(async () =>
+            {
+                await Task.Delay(10000);
+
+                if (!completed)
+                {
+                    completed = true;
+                    completion.SetException(new TimeoutException("The offer was not created within the given time."));
+                }
+            });
+
+            _conductor.CreateOffer();
+
+            return completion.Task;
+        }
+
+        public Task<Answer> CreateAnswer(Offer offer)
+        {
+            EnsureInitialized();
+
+            TaskCompletionSource<Answer> completion = new TaskCompletionSource<Answer>();
+
+            ManagedConductor.OnCallbackSdp del = null;
+
+            bool completed = false;
+
+            del = (sdp) =>
+            {
+                if (!completed)
+                {
+                    completed = true;
+                    _conductor.OnSuccessAnswer -= del;
+                    completion.SetResult(new Answer() { Sdp = sdp });
+                }
+            };
+
+            _conductor.OnSuccessAnswer += del;
+
+            Task.Factory.StartNew(async () =>
+            {
+                await Task.Delay(10000);
+
+                if (!completed)
+                {
+                    completed = true;
+                    completion.SetException(new TimeoutException("The answer was not created within the given time."));
+                }
+            });
+
+            _conductor.OnOfferRequest(offer.Sdp);
+
+            return completion.Task;
+        }
+
+        public void SetAnswer(Answer answer)
+        {
+            EnsureInitialized();
+
+            _conductor.OnOfferReply("answer", answer.Sdp);
+        }
+
+        public void SendText(String msg)
+        {
+            EnsureInitialized();
+
+            _conductor.DataChannelSendText(msg);
+        }
+
+        public void AddIceCandidate(IceCandidate ice)
+        {
+            EnsureInitialized();
+
+            Task.Factory.StartNew(() =>
+            {
+                _conductor.AddIceCandidate(ice.SdpMid, ice.SdpMLineIndex, ice.Sdp);
+            });
+        }
+
+        public unsafe void PushFrame(Bitmap bitmap)
+        {
+            if (_isDisposed) return;
+
+            EnsureInitialized();
+
+            try
+            {
+                if (_sendFrame == null)
+                {
+                    _imgBuf = new byte[FrameWidth * 3 * FrameHeight];
+                    _bufHandle = GCHandle.Alloc(_imgBuf, GCHandleType.Pinned);
+                    _imgBufPtr = _bufHandle.AddrOfPinnedObject();
+                    _sendFrame = new Bitmap(FrameWidth, FrameHeight, FrameWidth * 3, PixelFormat.Format24bppRgb, _imgBufPtr);
+                }
+
+                using (var g = Graphics.FromImage(_sendFrame))
+                {
+                    g.DrawImage(bitmap, new Rectangle(0, 0, _sendFrame.Width, _sendFrame.Height));
+                }
+
+                byte* firstYuv = _conductor.VideoCapturerI420Buffer();
+
+                int yuvSize = _encoder.EncodeI420((byte*)_imgBufPtr.ToPointer(), FrameWidth, FrameHeight, (int)TJPF.TJPF_BGR, 0, true, firstYuv);
+
+                _conductor.PushFrame();
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine($"Error occurred while pushing the frame.\n{ex.Message}");
+            }
+        }
+
+        public Task WaitForReady(TimeSpan? timeout = null)
+        {
+            if (!IsReady)
+            {
+                if (timeout != null)
+                {
+                    Task.Factory.StartNew(async () =>
+                    {
+                        await Task.Delay(timeout.Value);
+
+                        if (!IsReady)
+                        {
+                            _readyCompletionSource.SetException(new TimeoutException("The connection was not ready within the given time."));
+                            _readyCompletionSource = null;
+                        }
+                    });
+                }
+
+                _readyCompletionSource = new TaskCompletionSource<bool>();
+                return _readyCompletionSource.Task;
+            }
+            else
+            {
+                return Task.FromResult(true);
+            }
+        }
+
+        public void Dispose()
+        {
+            if (!_isDisposed)
+            {
+                _isDisposed = true;
+
+                try
+                {
+                    if (_sendFrame != null)
+                    {
+                        _sendFrame.Dispose();
+                    }
+
+                }
+                catch { }
+
+
+                try
+                {
+                    if (_bufHandle != null)
+                    {
+                        _bufHandle.Free();
+                    }
+                }
+                catch { }
+            }
+        }
+
+        #endregion
+
+        #region Virtual Methods
+
+        protected virtual void OnTextMessageReceived(String text)
+        {
+            TextMessageReceived?.Invoke(this, new DataMessageReceivedEventArgs<string>() { Data = text });
+        }
+
+        protected virtual void OnBinaryMessageReceived(byte[] data)
+        {
+            BinaryMessageReceived?.Invoke(this, new DataMessageReceivedEventArgs<byte[]>() { Data = data });
+        }
+
+        protected virtual void OnReady()
+        {
+            if (!IsReady)
+            {
+                IsReady = true;
+                Ready?.Invoke(this, new EventArgs());
+
+                if (_readyCompletionSource != null)
+                {
+                    _readyCompletionSource.SetResult(true);
+                    _readyCompletionSource = null;
+                }
+            }
+        }
+
+        protected virtual void OnError(String error)
+        {
+            Error?.Invoke(this, new ErrorEventArgs() { Error = error });
+        }
+
+        #endregion
+
+        #region Private Methods
+
+        private void EnsureInitialized()
+        {
+            if (!IsInitialized)
+            {
+                throw new InvalidOperationException("Invalid operation. The instance was not initialized using Init();");
+            }
+        }
+
+        #endregion
+    }
+}