Stream media using LiveKit

backend/api/EventHandlers/MqttEventHandler.cs

@@ -58,6 +58,7 @@ public override void Subscribe()
             MqttService.MqttIsarPressureReceived += OnIsarPressureUpdate;
             MqttService.MqttIsarPoseReceived += OnIsarPoseUpdate;
             MqttService.MqttIsarCloudHealthReceived += OnIsarCloudHealthUpdate;
+            MqttService.MqttIsarMediaConfigReceived += OnIsarMediaConfigUpdate;
         }
 
         public override void Unsubscribe()
@@ -71,6 +72,7 @@ public override void Unsubscribe()
             MqttService.MqttIsarPressureReceived -= OnIsarPressureUpdate;
             MqttService.MqttIsarPoseReceived -= OnIsarPoseUpdate;
             MqttService.MqttIsarCloudHealthReceived -= OnIsarCloudHealthUpdate;
+            MqttService.MqttIsarMediaConfigReceived -= OnIsarMediaConfigUpdate;
         }
 
         protected override async Task ExecuteAsync(CancellationToken stoppingToken) { await stoppingToken; }
@@ -485,5 +487,25 @@ private async void OnIsarCloudHealthUpdate(object? sender, MqttReceivedArgs mqtt
 
             TeamsMessageService.TriggerTeamsMessageReceived(new TeamsMessageEventArgs(message));
         }
+
+        private async void OnIsarMediaConfigUpdate(object? sender, MqttReceivedArgs mqttArgs)
+        {
+            var isarTelemetyUpdate = (IsarMediaConfigMessage)mqttArgs.Message;
+
+            var robot = await RobotService.ReadByIsarId(isarTelemetyUpdate.IsarId);
+            if (robot == null)
+            {
+                _logger.LogInformation("Received message from unknown ISAR instance {Id} with robot name {Name}", isarTelemetyUpdate.IsarId, isarTelemetyUpdate.RobotName);
+                return;
+            }
+            await SignalRService.SendMessageAsync("Media stream config received", robot.CurrentInstallation,
+                new MediaConfig
+                {
+                    Url = isarTelemetyUpdate.Url,
+                    Token = isarTelemetyUpdate.Token,
+                    RobotId = robot.Id,
+                    MediaConnectionType = isarTelemetyUpdate.MediaConnectionType
+                });
+        }
     }
 }

backend/api/MQTT/MessageModels/IsarMediaConfig.cs

@@ -0,0 +1,25 @@
+using System.Text.Json.Serialization;
+using Api.Services.Models;
+
+namespace Api.Mqtt.MessageModels
+{
+#nullable disable
+    public class IsarMediaConfigMessage : MqttMessage
+    {
+        [JsonPropertyName("robot_name")]
+        public string RobotName { get; set; }
+
+        [JsonPropertyName("isar_id")]
+        public string IsarId { get; set; }
+
+        [JsonPropertyName("url")]
+        public string Url { get; set; }
+
+        [JsonPropertyName("token")]
+        public string Token { get; set; }
+
+        [JsonPropertyName("mediaConnectionType")]
+        public MediaConnectionType MediaConnectionType { get; set; }
+
+    }
+}

backend/api/MQTT/MqttService.cs

@@ -91,6 +91,7 @@ public MqttService(ILogger<MqttService> logger, IConfiguration config)
         public static event EventHandler<MqttReceivedArgs>? MqttIsarPressureReceived;
         public static event EventHandler<MqttReceivedArgs>? MqttIsarPoseReceived;
         public static event EventHandler<MqttReceivedArgs>? MqttIsarCloudHealthReceived;
+        public static event EventHandler<MqttReceivedArgs>? MqttIsarMediaConfigReceived;
 
         protected override async Task ExecuteAsync(CancellationToken stoppingToken)
         {
@@ -152,6 +153,9 @@ private Task OnMessageReceived(MqttApplicationMessageReceivedEventArgs messageRe
                 case Type type when type == typeof(IsarCloudHealthMessage):
                     OnIsarTopicReceived<IsarCloudHealthMessage>(content);
                     break;
+                case Type type when type == typeof(IsarMediaConfigMessage):
+                    OnIsarTopicReceived<IsarMediaConfigMessage>(content);
+                    break;
                 default:
                     _logger.LogWarning(
                         "No callback defined for MQTT message type '{type}'",
@@ -301,6 +305,7 @@ private void OnIsarTopicReceived<T>(string content) where T : MqttMessage
                     _ when type == typeof(IsarPressureMessage) => MqttIsarPressureReceived,
                     _ when type == typeof(IsarPoseMessage) => MqttIsarPoseReceived,
                     _ when type == typeof(IsarCloudHealthMessage) => MqttIsarCloudHealthReceived,
+                    _ when type == typeof(IsarMediaConfigMessage) => MqttIsarMediaConfigReceived,
                     _
                         => throw new NotImplementedException(
                             $"No event defined for message type '{typeof(T).Name}'"

backend/api/MQTT/MqttTopics.cs

@@ -42,6 +42,9 @@ public static class MqttTopics
                 },
                 {
                     "isar/+/cloud_health", typeof(IsarCloudHealthMessage)
+                },
+                {
+                    "isar/+/media_config", typeof(IsarMediaConfigMessage)
                 }
             };
 

backend/api/Services/Models/MediaConfig.cs

@@ -0,0 +1,20 @@
+using System.Text.Json.Serialization;
+namespace Api.Services.Models
+{
+    public struct MediaConfig
+    {
+        [JsonPropertyName("url")]
+        public string? Url { get; set; }
+
+        [JsonPropertyName("token")]
+        public string? Token { get; set; }
+
+        [JsonPropertyName("robotId")]
+        public string? RobotId { get; set; }
+
+        [JsonPropertyName("mediaConnectionType")]
+        public MediaConnectionType MediaConnectionType { get; set; }
+    }
+
+    public enum MediaConnectionType { LiveKit };
+}

backend/api/appsettings.Development.json

@@ -32,7 +32,8 @@
       "isar/+/battery",
       "isar/+/pressure",
       "isar/+/pose",
-      "isar/+/cloud_health"
+      "isar/+/cloud_health",
+      "isar/+/media_config"
     ],
     "MaxRetryAttempts": 5,
     "ShouldFailOnMaxRetries": false

backend/api/appsettings.Local.json

@@ -32,7 +32,8 @@
       "isar/+/battery",
       "isar/+/pressure",
       "isar/+/pose",
-      "isar/+/cloud_health"
+      "isar/+/cloud_health",
+      "isar/+/media_config"
     ],
     "MaxRetryAttempts": 5,
     "ShouldFailOnMaxRetries": false

backend/api/appsettings.Production.json

@@ -28,7 +28,8 @@
       "isar/+/battery",
       "isar/+/pressure",
       "isar/+/pose",
-      "isar/+/cloud_health"
+      "isar/+/cloud_health",
+      "isar/+/media_config"
     ],
     "MaxRetryAttempts": 15,
     "ShouldFailOnMaxRetries": true

backend/api/appsettings.Staging.json

@@ -32,7 +32,8 @@
       "isar/+/battery",
       "isar/+/pressure",
       "isar/+/pose",
-      "isar/+/cloud_health"
+      "isar/+/cloud_health",
+      "isar/+/media_config"
     ],
     "MaxRetryAttempts": 15,
     "ShouldFailOnMaxRetries": true

backend/api/appsettings.Test.json

@@ -30,7 +30,8 @@
       "isar/+/battery",
       "isar/+/pressure",
       "isar/+/pose",
-      "isar/+/cloud_health"
+      "isar/+/cloud_health",
+      "isar/+/media_config"
     ],
     "MaxRetryAttempts": 15,
     "ShouldFailOnMaxRetries": true