Harbor WebRTC Camera Streaming System

Harbor is a WebRTC-based camera streaming system designed for Raspberry Pi boats with relay server architecture.

Architecture

The system consists of two main components:

1. Harbor Server (Relay)

• Runs on a central server/computer
• Relays WebRTC streams between boat clients and browser clients
• Provides web interface for viewing boat streams
• Manages boat connections and availability

2. Boat Client

• Runs on Raspberry Pi Zero (or other Pi models)
• Captures camera feed and streams via WebRTC
• Connects to Harbor server as a client
• Includes GPIO control for LEDs and motors

Quick Start

Running the Harbor Server

# Start the relay server
python3 app.py --host 0.0.0.0 --port 8080

The server will be available at http://localhost:8080

Running a Boat Client

# On the Raspberry Pi
python3 boat_app.py --server ws://your-harbor-server:8080 --boat-id my-boat-1

Installation

Server Requirements

pip install aiohttp aiortc websockets

Boat Client Requirements (Raspberry Pi)

pip install aiohttp aiortc websockets picamera2 gpiozero

Configuration

Harbor Server Options

• --host: Host to bind to (default: 0.0.0.0)
• --port: Port to bind to (default: 8080)
• --cert: Path to TLS cert for HTTPS
• --key: Path to TLS key for HTTPS

Boat Client Options

• --server: Harbor server URL (required)
• --width: Camera width (default: 160)
• --height: Camera height (default: 120)
• --fps: Camera FPS (default: 30)
• --boat-id: Unique boat identifier

Usage

1. Start the Harbor server on your main computer
2. Start boat clients on each Raspberry Pi
3. Open the web interface at the server URL
4. Select a boat from the dropdown
5. Click "Connect" to start streaming

Features

• WebRTC Streaming: Low-latency video streaming
• Multi-boat Support: Connect multiple boats to one server
• Web Interface: Modern responsive web UI
• GPIO Control: LED and motor control on boat clients
• Auto-discovery: Boats automatically register with server
• Fallback Modes: Demo mode when camera unavailable

File Structure

harbor/
├── app.py                 # Main Harbor server application
├── boat_app.py           # Boat client application
├── harbor/               # Harbor server package
│   ├── __init__.py
│   ├── client.py         # Web interface HTML
│   ├── server.py         # WebSocket server for boats/browsers
│   └── relay.py          # WebRTC relay functionality
└── boat/                 # Boat client package
    ├── __init__.py
    ├── client.py         # Boat WebRTC client
    ├── video.py          # Camera streaming
    ├── motor.py          # Motor control
    ├── led.py            # LED control
    └── websocket.py      # Local WebSocket server

Network Requirements

• Boats need network access to reach the Harbor server
• WebRTC uses UDP for media streams
• WebSocket connections for signaling
• Default ports: 8080 (HTTP), 8443 (HTTPS if enabled)

Troubleshooting

Camera Issues

• Ensure camera is enabled: sudo raspi-config
• Check picamera2 installation
• Verify camera permissions

Network Issues

• Check firewall settings
• Ensure boats can reach server IP
• Verify WebSocket connectivity

GPIO Issues

• Run with sudo if GPIO access fails
• Check pin assignments
• Verify gpiozero installation

Development

The system is built with:

• aiohttp: Async web framework
• aiortc: WebRTC implementation
• picamera2: Raspberry Pi camera interface
• gpiozero: GPIO control library

License

This project is open source and available under the MIT License.