[RSDK-8982, RSDK-9167, RSDK-8979] - Add SetStreamOptions to stream server

robot/web/stream/server.go

@@ -336,6 +336,8 @@ func (server *Server) GetStreamOptions(
 	ctx context.Context,
 	req *streampb.GetStreamOptionsRequest,
 ) (*streampb.GetStreamOptionsResponse, error) {
+	server.mu.RLock()
+	defer server.mu.RUnlock()
 	if req.Name == "" {
 		return nil, errors.New("stream name is required")
 	}
@@ -372,6 +374,55 @@ func (server *Server) GetStreamOptions(
 	}, nil
 }
 
+// SetStreamOptions implements part of the StreamServiceServer. It sets the resolution of the stream
+// to the given width and height.
+func (server *Server) SetStreamOptions(
+	ctx context.Context,
+	req *streampb.SetStreamOptionsRequest,
+) (*streampb.SetStreamOptionsResponse, error) {
+	if req.Name == "" {
+		return nil, errors.New("stream name is required")
+	}
+	if req.Resolution == nil {
+		return nil, errors.New("resolution is required")
+	}
+	if req.Resolution.Width <= 0 || req.Resolution.Height <= 0 {
+		return nil, errors.New("invalid resolution, width and height must be greater than 0")
+	}
+	server.mu.Lock()
+	defer server.mu.Unlock()
+	err := server.resizeVideoSource(req.Name, int(req.Resolution.Width), int(req.Resolution.Height))
+	if err != nil {
+		return nil, fmt.Errorf("failed to resize video source: %w", err)
+	}
+	streamState, ok := server.nameToStreamState[req.Name]
+	if !ok {
+		return nil, fmt.Errorf("stream %q not found", req.Name)
+	}
+	err = streamState.Resize()
+	if err != nil {
+		return nil, fmt.Errorf("failed to resize stream: %w", err)
+	}
+	return &streampb.SetStreamOptionsResponse{}, nil
+}
+
+// ResizeVideoSource resizes the video source with the given name.
+func (server *Server) resizeVideoSource(name string, width, height int) error {
+	existing, ok := server.videoSources[name]
+	if !ok {
+		return fmt.Errorf("video source %q not found", name)
+	}
+	cam, err := camera.FromRobot(server.robot, name)
+	if err != nil {
+		server.logger.Errorf("error getting camera %q from robot", name)
+		return err
+	}
+	resizer := gostream.NewResizeVideoSource(cam, width, height)
+	server.logger.Debug("resizing video source with swap")
+	existing.Swap(resizer)
+	return nil
+}
+
 // AddNewStreams adds new video and audio streams to the server using the updated set of video and
 // audio sources. It refreshes the sources, checks for a valid stream configuration, and starts
 // the streams if applicable.

robot/web/stream/state/state.go

@@ -43,6 +43,9 @@ type StreamState struct {
 	streamSource  streamSource
 	// streamSourceSub is only non nil if streamSource == streamSourcePassthrough
 	streamSourceSub rtppassthrough.Subscription
+	// resized is set to true when the stream has been resized.
+	// It is a signal to avoid trying to restart the passthrough stream.
+	resized bool
 }
 
 // New returns a new *StreamState.
@@ -61,6 +64,7 @@ func New(
 		robot:     r,
 		msgChan:   make(chan msg),
 		tickChan:  make(chan struct{}),
+		resized:   false,
 		logger:    logger,
 	}
 
@@ -90,6 +94,14 @@ func (state *StreamState) Decrement() error {
 	return state.send(msgTypeDecrement)
 }
 
+// Resize notifies the StreamState that the stream has been resized.
+func (state *StreamState) Resize() error {
+	if err := state.closedCtx.Err(); err != nil {
+		return multierr.Combine(ErrClosed, err)
+	}
+	return state.send(msgTypeResize)
+}
+
 // Close closes the StreamState.
 func (state *StreamState) Close() error {
 	state.logger.Info("Closing streamState")
@@ -129,6 +141,7 @@ const (
 	msgTypeUnknown msgType = iota
 	msgTypeIncrement
 	msgTypeDecrement
+	msgTypeResize
 )
 
 func (mt msgType) String() string {
@@ -137,6 +150,8 @@ func (mt msgType) String() string {
 		return "Increment"
 	case msgTypeDecrement:
 		return "Decrement"
+	case msgTypeResize:
+		return "Resize"
 	case msgTypeUnknown:
 		fallthrough
 	default:
@@ -185,6 +200,10 @@ func (state *StreamState) sourceEventHandler() {
 			if state.activeClients == 0 {
 				state.tick()
 			}
+		case msgTypeResize:
+			state.logger.Debug("resize event received")
+			state.resized = true
+			state.tick()
 		case msgTypeUnknown:
 			fallthrough
 		default:
@@ -247,6 +266,11 @@ func (state *StreamState) tick() {
 		// stop stream if there are no active clients
 		// noop if there is no stream source
 		state.stopInputStream()
+	// If streamSource is unknown and resized is true, we do not want to attempt passthrough.
+	case state.streamSource == streamSourceUnknown && state.resized:
+		state.logger.Debug("in a resized state, using gostream")
+		state.Stream.Start()
+		state.streamSource = streamSourceGoStream
 	case state.streamSource == streamSourceUnknown: // && state.activeClients > 0
 		// this is the first subscription, attempt passthrough
 		state.logger.Info("attempting to subscribe to rtp_passthrough")
@@ -257,6 +281,13 @@ func (state *StreamState) tick() {
 			state.Stream.Start()
 			state.streamSource = streamSourceGoStream
 		}
+	// If we are currently using passthrough, and the stream state changes to resized
+	// we need to stop the passthrough stream and restart it through gostream.
+	case state.streamSource == streamSourcePassthrough && state.resized:
+		state.logger.Info("stream resized, stopping passthrough stream")
+		state.stopInputStream()
+		state.Stream.Start()
+		state.streamSource = streamSourceGoStream
 	case state.streamSource == streamSourcePassthrough && state.streamSourceSub.Terminated.Err() != nil:
 		// restart stream if there we were using passthrough but the sub is terminated
 		state.logger.Info("previous subscription terminated attempting to subscribe to rtp_passthrough")
@@ -271,7 +302,7 @@ func (state *StreamState) tick() {
 	case state.streamSource == streamSourcePassthrough:
 		// no op if we are using passthrough & are healthy
 		state.logger.Debug("still healthy and using h264 passthrough")
-	case state.streamSource == streamSourceGoStream:
+	case state.streamSource == streamSourceGoStream && !state.resized:
 		// Try to upgrade to passthrough if we are using gostream. We leave logs these as debugs as
 		// we expect some components to not implement rtp passthrough.
 		state.logger.Debugw("currently using gostream, trying upgrade to rtp_passthrough")

robot/web/stream/state/state_test.go

@@ -762,4 +762,133 @@ func TestStreamState(t *testing.T) {
 			test.That(tb, stopCount.Load(), test.ShouldEqual, 3)
 		})
 	})
+
+	t.Run("when in rtppassthrough mode and a resize occurs test downgrade path to gostream", func(t *testing.T) {
+		var startCount atomic.Int64
+		var stopCount atomic.Int64
+		writeRTPCalledCtx, writeRTPCalledFunc := context.WithCancel(ctx)
+		streamMock := &mockStream{
+			name: camName,
+			t:    t,
+			startFunc: func() {
+				startCount.Add(1)
+			},
+			stopFunc: func() {
+				stopCount.Add(1)
+			},
+			writeRTPFunc: func(pkt *rtp.Packet) error {
+				// Test that WriteRTP is eventually called when SubscribeRTP is called
+				writeRTPCalledFunc()
+				return nil
+			},
+		}
+
+		var subscribeRTPCount atomic.Int64
+		var unsubscribeCount atomic.Int64
+		type subAndCancel struct {
+			sub      rtppassthrough.Subscription
+			cancelFn context.CancelFunc
+			wg       *sync.WaitGroup
+		}
+
+		var subsAndCancelByIDMu sync.Mutex
+		subsAndCancelByID := map[rtppassthrough.SubscriptionID]subAndCancel{}
+
+		subscribeRTPFunc := func(
+			ctx context.Context,
+			bufferSize int,
+			packetsCB rtppassthrough.PacketCallback,
+		) (rtppassthrough.Subscription, error) {
+			subsAndCancelByIDMu.Lock()
+			defer subsAndCancelByIDMu.Unlock()
+			defer subscribeRTPCount.Add(1)
+			terminatedCtx, terminatedFn := context.WithCancel(context.Background())
+			id := uuid.New()
+			sub := rtppassthrough.Subscription{ID: id, Terminated: terminatedCtx}
+			subsAndCancelByID[id] = subAndCancel{sub: sub, cancelFn: terminatedFn, wg: &sync.WaitGroup{}}
+			subsAndCancelByID[id].wg.Add(1)
+			utils.ManagedGo(func() {
+				for terminatedCtx.Err() == nil {
+					packetsCB([]*rtp.Packet{{}})
+					time.Sleep(time.Millisecond * 50)
+				}
+			}, subsAndCancelByID[id].wg.Done)
+			return sub, nil
+		}
+
+		unsubscribeFunc := func(ctx context.Context, id rtppassthrough.SubscriptionID) error {
+			subsAndCancelByIDMu.Lock()
+			defer subsAndCancelByIDMu.Unlock()
+			defer unsubscribeCount.Add(1)
+			subAndCancel, ok := subsAndCancelByID[id]
+			if !ok {
+				test.That(t, fmt.Sprintf("Unsubscribe called with unknown id: %s", id.String()), test.ShouldBeFalse)
+			}
+			subAndCancel.cancelFn()
+			return nil
+		}
+
+		mockRTPPassthroughSource := &mockRTPPassthroughSource{
+			subscribeRTPFunc: subscribeRTPFunc,
+			unsubscribeFunc:  unsubscribeFunc,
+		}
+
+		robot := mockRobot(mockRTPPassthroughSource)
+		s := state.New(streamMock, robot, logger)
+		defer func() {
+			utils.UncheckedError(s.Close())
+		}()
+
+		test.That(t, subscribeRTPCount.Load(), test.ShouldEqual, 0)
+		test.That(t, unsubscribeCount.Load(), test.ShouldEqual, 0)
+		test.That(t, writeRTPCalledCtx.Err(), test.ShouldBeNil)
+
+		logger.Info("the first Increment() eventually call calls SubscribeRTP()")
+		test.That(t, s.Increment(), test.ShouldBeNil)
+		testutils.WaitForAssertion(t, func(tb testing.TB) {
+			test.That(tb, subscribeRTPCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, unsubscribeCount.Load(), test.ShouldEqual, 0)
+		})
+		// WriteRTP is called
+		<-writeRTPCalledCtx.Done()
+
+		// Call Resize to simulate a resize event. This should stop rtp_passthrough and start gostream.
+		logger.Info("calling Resize() should stop rtp_passthrough and start gostream")
+		test.That(t, s.Resize(), test.ShouldBeNil)
+		testutils.WaitForAssertion(t, func(tb testing.TB) {
+			test.That(tb, unsubscribeCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, startCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, stopCount.Load(), test.ShouldEqual, 0)
+		})
+
+		// Make sure that Decrement() calls Stop() as gostream is the data source
+		logger.Info("calling Decrement() should call Stop() as gostream is the data source")
+		test.That(t, s.Decrement(), test.ShouldBeNil)
+		testutils.WaitForAssertion(t, func(tb testing.TB) {
+			test.That(tb, unsubscribeCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, startCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, stopCount.Load(), test.ShouldEqual, 1)
+		})
+
+		// Call increment again and make sure that gostream is started
+		// and rtppassthrough is not called
+		logger.Info("calling Increment() should call Start() as gostream is the data source")
+		test.That(t, s.Increment(), test.ShouldBeNil)
+		testutils.WaitForAssertion(t, func(tb testing.TB) {
+			test.That(tb, subscribeRTPCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, unsubscribeCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, startCount.Load(), test.ShouldEqual, 2)
+			test.That(tb, stopCount.Load(), test.ShouldEqual, 1)
+		})
+
+		// Call decrement again and make sure that gostream is stopped.
+		logger.Info("calling Decrement() should call Stop() as gostream is the data source")
+		test.That(t, s.Decrement(), test.ShouldBeNil)
+		testutils.WaitForAssertion(t, func(tb testing.TB) {
+			test.That(tb, subscribeRTPCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, unsubscribeCount.Load(), test.ShouldEqual, 1)
+			test.That(tb, startCount.Load(), test.ShouldEqual, 2)
+			test.That(tb, stopCount.Load(), test.ShouldEqual, 2)
+		})
+	})
 }