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chore: sync from monorepo 2026-07-17 #32

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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -98,8 +98,8 @@ sudo cmake --install build
| `OpenSSL` | Yes | TLS |
| `libmosquitto` + `nlohmann_json` + `spdlog` | For MQTT | Real-time pub/sub |
| `OpenCV` | Optional | `camera_stream_opencv` example (`./install.sh --with-opencv`) |
| `libdatachannel` | Optional | WebRTC in CameraStreamer and EncodedH264CameraStreamer |
| FFmpeg (`libavcodec`, `libavutil`, `libswscale`) | Optional | H264 encoding in CameraStreamer (not required for EncodedH264CameraStreamer passthrough) |
| `libdatachannel` | Optional | WebRTC camera streaming |
| FFmpeg (`libavcodec`, `libavutil`, `libswscale`) | Optional | H264 encoding in CameraStreamer |

## Using the SDK in Your Project

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75 changes: 1 addition & 74 deletions include/cyberwave/camera_streaming.h
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Expand Up @@ -101,6 +101,7 @@ class CameraStreamer

private:
void stream_loop();
void publish_edge_health(double now_seconds);

std::shared_ptr<IMqttClient> mqtt_;
std::string twin_uuid_;
Expand All @@ -117,7 +118,6 @@ class CameraStreamer
std::string webrtc_stun_url_;
std::vector<std::string> webrtc_turn_servers_;
std::unique_ptr<WebRTCAdapter> webrtc_adapter_;
std::unique_ptr<MqttSubscriptionHandle> webrtc_mqtt_subscription_;

// Optional: JPEG -> Annex-B H264 conversion when WebRTC is enabled.
std::unique_ptr<JpegToH264EncoderImpl> h264_encoder_;
Expand All @@ -137,79 +137,6 @@ class CameraStreamer
std::function<void(const std::string&)> log_fn_;
};

/**
* @brief Streamer for pre-encoded Annex-B H264 video.
*
* Bypasses raw-frame conversion and software H264 encoding for devices that
* already produce browser-compatible Annex-B access units. WebRTC carries video;
* MQTT carries signaling and edge_health telemetry (same contract as
* CameraStreamer).
*
* send_frame() forwards every access unit as-is: incoming frames are already
* inter-predicted by the source encoder, so dropping a non-key frame here would
* corrupt the decode chain for every subsequent frame until the next IDR. Rate
* limiting (if ever needed) must happen at GOP granularity upstream, not here.
*
* Threading: do not call send_frame() concurrently with stop() or from multiple
* threads without external synchronization.
*/
class EncodedH264CameraStreamer
{
public:
/**
* @param mqtt Must outlive the streamer; can be nullptr (start() no-op).
* @param twin_uuid Twin to stream to.
*/
EncodedH264CameraStreamer(std::shared_ptr<IMqttClient> mqtt, const std::string& twin_uuid,
std::string sensor_name = "",
std::string webrtc_stun_url = "stun:stun.l.google.com:19302",
std::vector<std::string> webrtc_turn_servers = {});
~EncodedH264CameraStreamer();

EncodedH264CameraStreamer(const EncodedH264CameraStreamer&) = delete;
EncodedH264CameraStreamer& operator=(const EncodedH264CameraStreamer&) = delete;

void start();
void stop();
bool running() const noexcept { return running_.load(); }

/**
* @brief Inject a log callback so WebRTC state messages use the caller's logger.
*
* Call before start().
*/
void set_log_callback(std::function<void(const std::string&)> fn);

/**
* @brief Enable or disable recording in the WebRTC offer sent to the media service.
*
* Call before start(). Default is false.
*/
void set_recording(bool recording) { recording_ = recording; }

/** Push one Annex-B access unit. Returns false when not running, throttled, or send failed. */
bool send_frame(const std::vector<std::uint8_t>& annexb_h264, std::uint64_t timestamp_us);

private:
std::shared_ptr<IMqttClient> mqtt_;
std::string twin_uuid_;
std::atomic<bool> running_{false};

std::string sensor_name_{};
bool recording_{false};
std::string webrtc_stun_url_;
std::vector<std::string> webrtc_turn_servers_;
std::unique_ptr<WebRTCAdapter> webrtc_adapter_;
std::unique_ptr<MqttSubscriptionHandle> webrtc_mqtt_subscription_;

double edge_health_stream_started_at_seconds_{0.0};
double edge_health_last_publish_ts_seconds_{0.0};
double edge_health_last_frame_ts_seconds_{0.0};
std::uint64_t edge_health_frames_sent_{0};

std::function<void(const std::string&)> log_fn_;
};

/**
* @brief Synthetic frame source for tests and placeholder streaming.
*/
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7 changes: 0 additions & 7 deletions include/cyberwave/cyberwave_mqtt_adapter.h
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Expand Up @@ -177,13 +177,6 @@ class CyberwaveMqttAdapter : public IMqttClient
inner_->subscribe_pointcloud_stream(twin_uuid, wrap(handler));
}

std::unique_ptr<MqttSubscriptionHandle> subscribe_webrtc_messages_scoped(const std::string& twin_uuid,
MqttMessageHandler handler) override
{
inner_->publish_telemetry_start(twin_uuid);
return IMqttClient::subscribe_webrtc_messages_scoped(twin_uuid, std::move(handler));
}

void subscribe_environment(const std::string& env_uuid, MqttMessageHandler handler) override
{
inner_->subscribe_environment(env_uuid, wrap(handler));
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21 changes: 0 additions & 21 deletions include/cyberwave/mqtt_interface.h
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Expand Up @@ -14,7 +14,6 @@
#include <optional>
#include <sstream>
#include <string>
#include <vector>

namespace cyberwave
{
Expand Down Expand Up @@ -403,26 +402,6 @@ struct IMqttClient
subscribe(get_topic_prefix() + "cyberwave/twin/" + twin_uuid + "/webrtc-candidate", std::move(handler));
}

/**
* Subscribe to WebRTC signaling with RAII unsubscribe when the handle is destroyed.
* Prefer this over subscribe_webrtc_messages() for stream lifecycles tied to start()/stop().
*/
virtual std::unique_ptr<MqttSubscriptionHandle> subscribe_webrtc_messages_scoped(const std::string& twin_uuid,
MqttMessageHandler handler)
{
struct WebRtcMessageSubscriptions final : MqttSubscriptionHandle
{
std::vector<std::unique_ptr<MqttSubscriptionHandle>> subscriptions;
};

auto handle = std::make_unique<WebRtcMessageSubscriptions>();
const std::string base = get_topic_prefix() + "cyberwave/twin/" + twin_uuid + "/webrtc-";
handle->subscriptions.push_back(subscribe_scoped(base + "offer", handler));
handle->subscriptions.push_back(subscribe_scoped(base + "answer", handler));
handle->subscriptions.push_back(subscribe_scoped(base + "candidate", std::move(handler)));
return handle;
}

/**
* Publish an edge command response message for a twin.
* Topic: {prefix}cyberwave/twin/{uuid}/command
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55 changes: 0 additions & 55 deletions rest/include/CppRestOpenAPIClient/api/CatalogApi.h
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Expand Up @@ -23,16 +23,9 @@
#include "CppRestOpenAPIClient/ApiClient.h"

#include "CppRestOpenAPIClient/AnyType.h"
#include "CppRestOpenAPIClient/model/CatalogSeedDetailSchema.h"
#include "CppRestOpenAPIClient/model/CatalogSeedOptionsResponseSchema.h"
#include "CppRestOpenAPIClient/model/CatalogSeedRequestSchema.h"
#include "CppRestOpenAPIClient/model/CatalogSeedResponseSchema.h"
#include "CppRestOpenAPIClient/model/DriverControllerAssetsResponseSchema.h"
#include "CppRestOpenAPIClient/model/DriverControllerSeedRequestSchema.h"
#include "CppRestOpenAPIClient/model/DriverControllerSeedResponseSchema.h"
#include "CppRestOpenAPIClient/model/SeedAutogenControllersRequestSchema.h"
#include "CppRestOpenAPIClient/model/SeedAutogenControllersResponseSchema.h"
#include "CppRestOpenAPIClient/model/TriggerAutogenControllersResponseSchema.h"
#include <map>
#include <cpprest/details/basic_types.h>
#include <boost/optional.hpp>
Expand All @@ -54,14 +47,6 @@ class CatalogApi

virtual ~CatalogApi();

/// <summary>
/// List Driver Controller Assets
/// </summary>
/// <remarks>
///
/// </remarks>
pplx::task<std::shared_ptr<DriverControllerAssetsResponseSchema>> srcAppApiCatalogSeedListDriverControllerAssets(
) const;
/// <summary>
/// Search Catalog
/// </summary>
Expand All @@ -77,16 +62,6 @@ class CatalogApi
boost::optional<int32_t> offset
) const;
/// <summary>
/// Seed Autogen Controllers
/// </summary>
/// <remarks>
/// Seed (create or update) all autogenerated controllers into a workspace. Autogenerated controllers are derived from asset capabilities and stored in AUTOGENERATED_CONTROLLERS inside seed_controllers.py. This endpoint mirrors what the CLI does without the --autogen-controllers-from-prod file-write step. If the list is empty (no autogen run has happened yet), returns a zero-count result.
/// </remarks>
/// <param name="seedAutogenControllersRequestSchema"></param>
pplx::task<std::shared_ptr<SeedAutogenControllersResponseSchema>> srcAppApiCatalogSeedSeedAutogenControllers(
std::shared_ptr<SeedAutogenControllersRequestSchema> seedAutogenControllersRequestSchema
) const;
/// <summary>
/// Seed Catalog
/// </summary>
/// <remarks>
Expand All @@ -97,43 +72,13 @@ class CatalogApi
std::shared_ptr<CatalogSeedRequestSchema> catalogSeedRequestSchema
) const;
/// <summary>
/// Seed Detail
/// </summary>
/// <remarks>
/// Inspectable detail for a single catalog item (admin \&quot;info\&quot; button). &#x60;&#x60;group&#x60;&#x60; is one of &#x60;&#x60;controllers&#x60;&#x60;, &#x60;&#x60;mlmodels&#x60;&#x60;, &#x60;&#x60;workflow_templates&#x60;&#x60;, &#x60;&#x60;asset_patches&#x60;&#x60;, or &#x60;&#x60;simplified_meshes&#x60;&#x60;; &#x60;&#x60;key&#x60;&#x60; is the item&#39;s catalog key (or registry_id for asset patches and simplified meshes).
/// </remarks>
/// <param name="group"></param>
/// <param name="key"></param>
pplx::task<std::shared_ptr<CatalogSeedDetailSchema>> srcAppApiCatalogSeedSeedDetail(
utility::string_t group,
utility::string_t key
) const;
/// <summary>
/// Seed Driver Controllers
/// </summary>
/// <remarks>
///
/// </remarks>
/// <param name="driverControllerSeedRequestSchema"></param>
pplx::task<std::shared_ptr<DriverControllerSeedResponseSchema>> srcAppApiCatalogSeedSeedDriverControllers(
std::shared_ptr<DriverControllerSeedRequestSchema> driverControllerSeedRequestSchema
) const;
/// <summary>
/// Seed Options
/// </summary>
/// <remarks>
///
/// </remarks>
pplx::task<std::shared_ptr<CatalogSeedOptionsResponseSchema>> srcAppApiCatalogSeedSeedOptions(
) const;
/// <summary>
/// Trigger Autogen Controllers
/// </summary>
/// <remarks>
/// Fetch assets from production, regenerate AUTOGENERATED_CONTROLLERS in seed_controllers.py. Equivalent to running: python manage.py seed_controllers --env {env} --autogen-controllers-from-prod After the file is written, the module is reloaded so subsequent calls to /seed-options and /seed-autogen-controllers see the updated list immediately.
/// </remarks>
pplx::task<std::shared_ptr<TriggerAutogenControllersResponseSchema>> srcAppApiCatalogSeedTriggerAutogenControllers(
) const;

protected:
std::shared_ptr<const ApiClient> m_ApiClient;
Expand Down
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