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# roberto
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Robot
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## Prepare
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sudo systemctl --full --force edit wifi_powersave@.service
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[Unit]
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Description=Set WiFi power save %i
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After=sys-subsystem-net-devices-wlan0.device
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[Service]
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Type=oneshot
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RemainAfterExit=yes
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ExecStart=/sbin/iw dev wlan0 set power_save %i
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[Install]
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WantedBy=sys-subsystem-net-devices-wlan0.device
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rpi ~$ sudo systemctl disable wifi_powersave@on.service
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rpi ~$ sudo systemctl enable wifi_powersave@off.service
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## Test certificate
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openssl req -x509 -newkey rsa:4096 -keyout key.pem -out cert.pem -days 365 -nodes -subj '/CN=localhost'
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## Camera test
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raspivid -a 12 -t 0 -w 1280 -h 720 -vf -ih -fps 30 -l -o tcp://0.0.0.0:5000
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mplayer -x 1280 -y 720 -geometry 0:0 -fps 200 -demuxer h264es -noborder ffmpeg://tcp://172.16.85.221:5000
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sudo apt install gstreamer1.0-tools
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Sender (Pi): gst-launch-1.0 -e v4l2src do-timestamp=true ! video/x-h264,width=640,height=480,framerate=30/1 ! h264parse ! rtph264pay config-interval=1 ! gdppay ! udpsink host=192.168.178.20 port=5000
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Receiver: gst-launch-1.0 -v udpsrc port=5000 ! gdpdepay ! rtph264depay ! avdec_h264 ! fpsdisplaysink sync=false text-overlay=false
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## debugging
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export GST_DEBUG=*webrtc*:7
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export G_MESSAGES_DEBUG=all
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## documentation
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https://flask-socketio.readthedocs.io/en/latest/
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https://github.com/pfertyk/webrtc-working-example
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https://github.com/nanomosfet/WebRTC-Flask-server/blob/master/webRTCserver/webRTCserver.py
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http://blog.nirbheek.in/2018/02/gstreamer-webrtc.html
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https://gitlab.freedesktop.org/gstreamer/gst-examples/-/tree/master/webrtc/sendrecv/gst
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https://github.com/thaytan/gst-rpicamsrc/blob/master/examples/webrtc-unidirectional-h264.c
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https://github.com/centricular/gstwebrtc-demos/blob/master/multiparty-sendrecv/gst/mp-webrtc-sendrecv.c
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https://gitlab.freedesktop.org/gstreamer/gst-examples/-/blob/master/webrtc/multiparty-sendrecv/gst-rust/src/main.rs
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## nginx.conf
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```
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map $http_upgrade $connection_upgrade {
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default upgrade;
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'' close;
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}
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server {
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listen 443 ssl http2;
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listen [::]:443 ssl http2;
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server_name roberto.xd0.de;
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ssl_certificate /etc/letsencrypt/live/roberto.xd0.de/fullchain.pem;
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ssl_certificate_key /etc/letsencrypt/live/roberto.xd0.de/privkey.pem;
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include /etc/letsencrypt/options-ssl-nginx.conf; # managed by Certbot
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ssl_dhparam /etc/letsencrypt/ssl-dhparams.pem; # managed by Certbot
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add_header Strict-Transport-Security "max-age=31536000; includeSubDomains" always;
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access_log /var/log/nginx/roberto_access.log;
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error_log /var/log/nginx/roberto_error.log;
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root /var/www/html;
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index index.html index.htm;
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proxy_buffering off;
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location / {
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include proxy_params;
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# client_max_body_size 0;
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proxy_pass http://172.16.85.42:5000;
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}
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# location /static {
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# alias <path-to-your-application>/static;
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# expires 30d;
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# }
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location /socket.io {
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include proxy_params;
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proxy_set_header Host $host;
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proxy_set_header X-Real-IP $remote_addr;
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proxy_set_header X-Forwarded-For $proxy_add_x_forwarded_for;
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proxy_http_version 1.1;
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proxy_buffering off;
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proxy_set_header Upgrade $http_upgrade;
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proxy_set_header Connection $connection_upgrade;
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proxy_pass http://172.16.85.42:5000/socket.io;
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}
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location ~ /\.ht {
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deny all;
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}
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}
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```
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