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fix: decouple sideband destination from video (SIDEBAND_HOST via tunnel WFB-NG)

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nicoboy
2026-07-18 13:58:07 +02:00
parent cdd3fa6965
commit c30bc2e801
1 changed files with 12 additions and 13 deletions
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25
camera_server.py
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@ -3,7 +3,7 @@
WireClaw — Pi Zero 2W camera server WireClaw — Pi Zero 2W camera server
Flask API port 5000 : /health /settings Flask API port 5000 : /health /settings
RTP H264 → Jetson via GStreamer subprocess RTP H264 → Jetson via GStreamer subprocess
Sideband JSON UDP port 5602 → Jetson (1 Hz) Sideband JSON UDP port 5602 → Jetson (1 Hz), via tunnel WFB-NG (10.5.0.1)
Encoder strategy: v4l2h264enc hardware (default) → x264enc software (auto-fallback) Encoder strategy: v4l2h264enc hardware (default) → x264enc software (auto-fallback)
Config: .env (base) overridden by .env.dev if present Config: .env (base) overridden by .env.dev if present
@ -54,6 +54,10 @@ DEFAULTS: dict = {
FLASK_PORT = 5000 FLASK_PORT = 5000
SIDEBAND_PORT = 5602 SIDEBAND_PORT = 5602
# Sideband destination is intentionally decoupled from jetson_host (video target).
# It always rides the WFB-NG radio tunnel (long-range link), never the short-range
# WireClaw hotspot (takeoff/landing only) nor mycelium (deprecated for this link).
SIDEBAND_HOST = os.environ.get("SIDEBAND_HOST", "10.5.0.1") # WFB-NG tunnel IP (gs side)
START_TIME = time.time() START_TIME = time.time()
# --- Logging ----------------------------------------------------------------- # --- Logging -----------------------------------------------------------------
@ -152,19 +156,14 @@ def _udp_sock(host: str) -> tuple:
def _sideband_worker(gst: "GstManager") -> None: def _sideband_worker(gst: "GstManager") -> None:
init_cfg = gst.get_cfg() # Sideband destination is fixed (SIDEBAND_HOST) and independent from the
sock, is_ipv6 = _udp_sock(init_cfg["jetson_host"]) # video target (cfg["jetson_host"]) — patching the video destination via
current_host = init_cfg["jetson_host"] # /settings must never silently break the sideband overlay.
log.info("Sideband UDP ready (→ %s port %d)", "IPv6" if is_ipv6 else "IPv4", SIDEBAND_PORT) sock, is_ipv6 = _udp_sock(SIDEBAND_HOST)
log.info("Sideband UDP ready (→ %s %s port %d)", SIDEBAND_HOST, "IPv6" if is_ipv6 else "IPv4", SIDEBAND_PORT)
try: try:
while not gst._shutdown.is_set(): while not gst._shutdown.is_set():
cfg = gst.get_cfg() cfg = gst.get_cfg()
host = cfg["jetson_host"]
if host != current_host:
sock.close()
sock, is_ipv6 = _udp_sock(host)
current_host = host
log.info("Sideband socket recreated for new host %s (%s)", host, "IPv6" if is_ipv6 else "IPv4")
cpu_pct = _get_cpu_pct() # blocks 0.5 s internally cpu_pct = _get_cpu_pct() # blocks 0.5 s internally
temp = _get_temp_celsius() temp = _get_temp_celsius()
throttled = _get_throttled() throttled = _get_throttled()
@ -180,7 +179,7 @@ def _sideband_worker(gst: "GstManager") -> None:
"throttled": throttled, "throttled": throttled,
"uptime_s": int(time.time() - START_TIME), "uptime_s": int(time.time() - START_TIME),
}).encode() }).encode()
addr = (host, SIDEBAND_PORT, 0, 0) if is_ipv6 else (host, SIDEBAND_PORT) addr = (SIDEBAND_HOST, SIDEBAND_PORT, 0, 0) if is_ipv6 else (SIDEBAND_HOST, SIDEBAND_PORT)
try: try:
sock.sendto(payload, addr) sock.sendto(payload, addr)
except OSError as exc: except OSError as exc:
@ -361,4 +360,4 @@ if __name__ == "__main__":
time.sleep(1) time.sleep(1)
log.info("Flask API on 0.0.0.0:%d", FLASK_PORT) log.info("Flask API on 0.0.0.0:%d", FLASK_PORT)
app.run(host="0.0.0.0", port=FLASK_PORT, threaded=True) app.run(host="0.0.0.0", port=FLASK_PORT, threaded=True)