---

import asyncio
import cv2
import aiohttp
from aiortc import RTCPeerConnection, RTCSessionDescription

WHEP_URL = "http://10.10.10.10:8889/cam/whep"

async def run():
    pc = RTCPeerConnection()

    # Добавляем трансceiver только для приёма видео
    pc.addTransceiver("video", direction="recvonly")

    @pc.on("track")
    def on_track(track):
        if track.kind == "video":
            print("Видеопоток WebRTC получен!")
            asyncio.ensure_future(display_frames(track))

    # Создаем SDP Offer
    offer = await pc.createOffer()
    await pc.setLocalDescription(offer)

    print(f"Отправка WHEP-запроса на {WHEP_URL}...")
    async with aiohttp.ClientSession() as session:
        headers = {"Content-Type": "application/sdp"}
        async with session.post(WHEP_URL, data=pc.localDescription.sdp, headers=headers) as resp:
            if resp.status not in (200, 201):
                text = await resp.text()
                print(f"Ошибка WHEP сервера ({resp.status}): {text}")
                await pc.close()
                return

            answer_sdp = await resp.text()

    # Применяем SDP Answer от MediaMTX
    answer = RTCSessionDescription(sdp=answer_sdp, type="answer")
    await pc.setRemoteDescription(answer)
    print("Соединение WebRTC установлено! Ждем кадры...")

    # Держим соединение активным
    while True:
        await asyncio.sleep(1)

async def display_frames(track):
    while True:
        try:
            frame = await track.recv()
            # Конвертируем PyAV VideoFrame в numpy-массив BGR для OpenCV
            img = frame.to_ndarray(format="bgr24")
            
            cv2.imshow("RoboMarvel WebRTC Camera", img)
            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
        except Exception as e:
            print(f"Ошибка получения кадра: {e}")
            break
    cv2.destroyAllWindows()

if __name__ == "__main__":
    try:
        asyncio.run(run())
    except KeyboardInterrupt:
        print("Остановлено пользователем")