WebRTC做大疆无人机直播

大疆带屏遥控器有直播功能，用的是rtmp，但是延时有点大，所以在遥控器里安装自己的软件，用webrtc来做一个无人机视频实时传输。需要自定义一个VideoCapturer来获取无人机视频封装成便于webrtc使用的流。

1、自定义一个CapturerAircraft类来实现VideoCapturer接口

public class CapturerDefault implements VideoCapturer {@Overridepublic void initialize(SurfaceTextureHelper surfaceTextureHelper, Context context, CapturerObserver capturerObserver) {}@Overridepublic void startCapture(int i, int i1, int i2) {}@Overridepublic void stopCapture() throws InterruptedException {}@Overridepublic void changeCaptureFormat(int i, int i1, int i2) {}@Overridepublic void dispose() {}@Overridepublic boolean isScreencast() {return false;}
}

2、构造函数传入DJICodecManager参数

    public CapturerAircraft(DJICodecManager manager) {dji_code_manager_ = manager;dji_code_manager_.resetKeyFrame();if (isM300Product()) {OcuSyncLink ocuSyncLink = DJILogIn.getProductInstance().getAirLink().getOcuSyncLink();// If your MutltipleLensCamera is set at right or top, you need to change the PhysicalSource to RIGHT_CAM or TOP_CAM.ocuSyncLink.assignSourceToPrimaryChannel(PhysicalSource.LEFT_CAM, PhysicalSource.FPV_CAM, new CommonCallbacks.CompletionCallback() {@Overridepublic void onResult(DJIError error) {if (error == null) {
//                        showToast("assignSourceToPrimaryChannel success.");} else {
//                        showToast("assignSourceToPrimaryChannel fail, reason: "+ error.getDescription());}}});}}public static boolean isM300Product() {if (DJISDKManager.getInstance().getProduct() == null) {return false;}Model model = DJISDKManager.getInstance().getProduct().getModel();return model == Model.MATRICE_300_RTK;}

3、initialize函数里面创建一个DJIYuvDataCallback实例

DJIYuvDataCallback的onYuvDataReceived函数用来接收每一帧的yuv数据，再实例化一个CapturerObserver对象，用来将无人机的视频捕获作为webrtc能使用的I420视频流

    @Overridepublic void initialize(SurfaceTextureHelper surfaceTextureHelper, Context context, CapturerObserver capturerObserver) {//For M300RTK, you need to actively request an I frame.dji_yuv_data_callback_ = new DJIYuvDataCallback();capturer_observer_ = capturerObserver;}private class DJIYuvDataCallback implements DJICodecManager.YuvDataCallback {@Overridepublic void onYuvDataReceived(MediaFormat mediaFormat, ByteBuffer byteBuffer, int dataSize, int width, int height) {if (is_rate_time) {//is_rate_time = false;JavaI420Buffer buffer = JavaI420Buffer.allocate(width, height);ByteBuffer dataY = buffer.getDataY();ByteBuffer dataU = buffer.getDataU();ByteBuffer dataV = buffer.getDataV();final byte[] bytes = new byte[dataSize];byteBuffer.get(bytes);int yLen = width * height;int uLen = (width + 1) / 2 * ((height + 1) / 2);int vLen = uLen;int color_format = mediaFormat.getInteger(MediaFormat.KEY_COLOR_FORMAT);switch (color_format) {case MediaCodecInfo.CodecCapabilities.COLOR_FormatYUV420SemiPlanar://NV12byte[] ubytes = new byte[uLen];byte[] vbytes = new byte[vLen];for (int i = 0; i < uLen; i++) {ubytes[i] = bytes[yLen + 2 * i];vbytes[i] = bytes[yLen + 2 * i + 1];}dataY.put(bytes, 0, yLen);dataU.put(ubytes, 0, uLen);dataV.put(vbytes, 0, vLen);break;case MediaCodecInfo.CodecCapabilities.COLOR_FormatYUV420Planar://YUV420P=I420int yPos = 0;int uPos = yPos + yLen;int vPos = uPos + uLen;dataY.put(bytes, yPos, yLen);dataU.put(bytes, uPos, uLen);dataV.put(bytes, vPos, vLen);break;default:break;}long captureTimeNs = TimeUnit.MILLISECONDS.toNanos(SystemClock.elapsedRealtime());VideoFrame videoFrame = new VideoFrame(buffer, 0, captureTimeNs);capturer_observer_.onFrameCaptured(videoFrame);videoFrame.release();}}}

4、startCapture中用setYuvDataCallback设置yuv帧回调

    @Overridepublic void startCapture(int width, int height, int framerate) {this.frame_width_ = width;this.frame_height_ = height;this.frame_rate_ = framerate;this.timer.schedule(this.tickTask, 0L, (long)(1000 / frame_rate_));dji_code_manager_.enabledYuvData(true);dji_code_manager_.setYuvDataCallback(dji_yuv_data_callback_);}

以上就完成CapturerAircraft了，完整代码如下：

package com.example.livebroadcastfordrone;import android.content.Context;
import android.media.MediaFormat;
import android.media.MediaCodecInfo;
import android.os.SystemClock;import org.webrtc.CapturerObserver;
import org.webrtc.JavaI420Buffer;
import org.webrtc.SurfaceTextureHelper;
import org.webrtc.VideoCapturer;
import org.webrtc.VideoFrame;import java.nio.ByteBuffer;
import java.util.Timer;
import java.util.TimerTask;
import java.util.concurrent.TimeUnit;import dji.common.airlink.PhysicalSource;
import dji.common.error.DJIError;
import dji.common.product.Model;
import dji.common.util.CommonCallbacks;
import dji.sdk.airlink.OcuSyncLink;
import dji.sdk.codec.DJICodecManager;
import dji.sdk.sdkmanager.DJISDKManager;public class CapturerAircraft implements VideoCapturer{private DJICodecManager dji_code_manager_;private DJIYuvDataCallback dji_yuv_data_callback_;private CapturerObserver capturer_observer_;private int frame_width_;private int frame_height_;private int frame_rate_;private boolean is_rate_time = false;private final Timer timer = new Timer();private final TimerTask tickTask = new TimerTask() {public void run() {is_rate_time = true;}};public CapturerAircraft(DJICodecManager manager) {dji_code_manager_ = manager;dji_code_manager_.resetKeyFrame();if (isM300Product()) {OcuSyncLink ocuSyncLink = DJILogIn.getProductInstance().getAirLink().getOcuSyncLink();// If your MutltipleLensCamera is set at right or top, you need to change the PhysicalSource to RIGHT_CAM or TOP_CAM.ocuSyncLink.assignSourceToPrimaryChannel(PhysicalSource.LEFT_CAM, PhysicalSource.FPV_CAM, new CommonCallbacks.CompletionCallback() {@Overridepublic void onResult(DJIError error) {if (error == null) {
//                        showToast("assignSourceToPrimaryChannel success.");} else {
//                        showToast("assignSourceToPrimaryChannel fail, reason: "+ error.getDescription());}}});}}public static boolean isM300Product() {if (DJISDKManager.getInstance().getProduct() == null) {return false;}Model model = DJISDKManager.getInstance().getProduct().getModel();return model == Model.MATRICE_300_RTK;}@Overridepublic void initialize(SurfaceTextureHelper surfaceTextureHelper, Context context, CapturerObserver capturerObserver) {//For M300RTK, you need to actively request an I frame.dji_yuv_data_callback_ = new DJIYuvDataCallback();capturer_observer_ = capturerObserver;}private void checkNotDisposed() {}@Overridepublic void startCapture(int width, int height, int framerate) {this.frame_width_ = width;this.frame_height_ = height;this.frame_rate_ = framerate;this.timer.schedule(this.tickTask, 0L, (long)(1000 / frame_rate_));dji_code_manager_.enabledYuvData(true);dji_code_manager_.setYuvDataCallback(dji_yuv_data_callback_);}@Overridepublic void stopCapture() throws InterruptedException {this.timer.cancel();dji_code_manager_.enabledYuvData(false);dji_code_manager_.setYuvDataCallback(null);}@Overridepublic void changeCaptureFormat(int width, int height, int framerate) {}@Overridepublic void dispose() {}@Overridepublic boolean isScreencast() {return false;}private class DJIYuvDataCallback implements DJICodecManager.YuvDataCallback {@Overridepublic void onYuvDataReceived(MediaFormat mediaFormat, ByteBuffer byteBuffer, int dataSize, int width, int height) {if (is_rate_time) {//is_rate_time = false;JavaI420Buffer buffer = JavaI420Buffer.allocate(width, height);ByteBuffer dataY = buffer.getDataY();ByteBuffer dataU = buffer.getDataU();ByteBuffer dataV = buffer.getDataV();final byte[] bytes = new byte[dataSize];byteBuffer.get(bytes);int yLen = width * height;int uLen = (width + 1) / 2 * ((height + 1) / 2);int vLen = uLen;int color_format = mediaFormat.getInteger(MediaFormat.KEY_COLOR_FORMAT);switch (color_format) {case MediaCodecInfo.CodecCapabilities.COLOR_FormatYUV420SemiPlanar://NV12byte[] ubytes = new byte[uLen];byte[] vbytes = new byte[vLen];for (int i = 0; i < uLen; i++) {ubytes[i] = bytes[yLen + 2 * i];vbytes[i] = bytes[yLen + 2 * i + 1];}dataY.put(bytes, 0, yLen);dataU.put(ubytes, 0, uLen);dataV.put(vbytes, 0, vLen);break;case MediaCodecInfo.CodecCapabilities.COLOR_FormatYUV420Planar://YUV420P=I420int yPos = 0;int uPos = yPos + yLen;int vPos = uPos + uLen;dataY.put(bytes, yPos, yLen);dataU.put(bytes, uPos, uLen);dataV.put(bytes, vPos, vLen);break;default:break;}long captureTimeNs = TimeUnit.MILLISECONDS.toNanos(SystemClock.elapsedRealtime());VideoFrame videoFrame = new VideoFrame(buffer, 0, captureTimeNs);capturer_observer_.onFrameCaptured(videoFrame);videoFrame.release();}}}
}

注：DJICodecManager实例要在主线程中创建

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