The sim takes an optional video source. Nothing flows until
ardrone3.MediaStreaming.VideoEnable arrives with 1; RTP then goes from the
sim's own 5004 to whatever arstream2_client_stream_port the controller named
in its handshake, and stops on a 0, on a link loss, or at shutdown. The
MediaStreamingState.VideoEnableChanged reply goes out either way, because
that reports the aircraft's state and not its bitrate, so a client waiting on
the confirmation must not hang for want of a file to stream.
Video stays optional: a FakeBebop() with no source gains no thread and sends
no packets.
One source object for the life of the sim, so sequence numbers and timestamps
keep advancing across both the loop point in the file and a disable/enable
cycle. A decoder handed a timestamp that went backwards treats the stream as
corrupt and stays that way.
The test that proves any of this works is the ffmpeg decode: frames come out
at 856x480, including when ffmpeg joins a stream that has already been running
for two seconds, which is the case a goggle viewer actually faces. The clip is
generated at setup and never committed.
Also fixed stop() on a sim that was never started: the sockets bind in
__post_init__, so it had ports to release, and joining an unstarted thread
raised and left them held.
protocol/types.py and arsdk/types.py are the interfaces the parallel streams
build against: command/arg/enum/expectation specs and the safety tiers on one
side, frame encoding and the buffer conventions on the other.
Logging goes to stderr throughout, since stdout carries JSON-RPC. That is also
why this package will speak ARSDK itself rather than through pyparrot, which
prints from its receive thread.
rsp2k