@apocaliss92/nodelink-js 0.4.21 → 0.4.23

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@apocaliss92/nodelink-js",
-  "version": "0.4.21",
+  "version": "0.4.23",
   "description": "TypeScript library implementing Reolink Baichuan protocol (control + streaming) with CGI and RTSP helpers. Full TypeScript support with comprehensive type definitions.",
   "license": "MIT",
   "author": "",

package/dist/BaichuanVideoStream-HGPU2MZ3.js

@@ -1,7 +0,0 @@
-import {
-  BaichuanVideoStream
-} from "./chunk-C57QV7IL.js";
-export {
-  BaichuanVideoStream
-};
-//# sourceMappingURL=BaichuanVideoStream-HGPU2MZ3.js.map

package/dist/chunk-C57QV7IL.js.map

@@ -1 +0,0 @@
-{"version":3,"sources":["../src/baichuan/stream/BaichuanVideoStream.ts","../src/protocol/crypto.ts","../src/protocol/constants.ts","../src/debug/DebugConfig.ts","../src/baichuan/stream/BcMediaParser.ts","../src/baichuan/stream/BcMediaCodec.ts","../src/baichuan/stream/H264Converter.ts","../src/baichuan/stream/H265Converter.ts","../src/baichuan/stream/BcMediaAnnexBDecoder.ts"],"sourcesContent":["/**\n * Baichuan Video Stream - Builds a video stream from the native Baichuan protocol.\n *\n * Receives video frames via `push` events and exposes them as access units.\n */\n\nimport { BaichuanClient } from \"../../client/BaichuanClient\";\nimport type { BaichuanFrame } from \"../../protocol/framing\";\nimport { EventEmitter } from \"node:events\";\nimport * as fs from \"node:fs\";\nimport * as path from \"node:path\";\nimport type { StreamProfile } from \"../../reolink/baichuan/types\";\nimport type { ReolinkBaichuanApi } from \"../../reolink/baichuan/ReolinkBaichuanApi\";\nimport type { NativeVideoStreamVariant } from \"../../reolink/baichuan/types\";\nimport type { EncryptionProtocol } from \"../../protocol/crypto\";\nimport { aesDecrypt, AesStreamDecryptor } from \"../../protocol/crypto\";\nimport { ensureDumpDir, type Logger } from \"../../debug/DebugConfig\";\nimport { BcMediaCodec } from \"./BcMediaCodec\";\nimport {\n  convertToAnnexB,\n  hasStartCodes,\n  H264RtpDepacketizer,\n  isValidH264AnnexBAccessUnit,\n  isH264KeyframeAnnexB,\n  splitAnnexBToNalPayloads,\n} from \"./H264Converter\";\nimport {\n  convertToAnnexB as convertH265ToAnnexB,\n  isValidH265AnnexBAccessUnit,\n  isH265KeyframeAnnexB,\n  splitAnnexBToNalPayloads as splitH265AnnexBToNalPayloads,\n  extractVpsFromAnnexB,\n  extractSpsFromAnnexB,\n  extractPpsFromAnnexB,\n  getH265NalType,\n  H265RtpDepacketizer,\n} from \"./H265Converter\";\nimport { detectVideoCodecFromNal } from \"./BcMediaAnnexBDecoder\";\n\nconst NAL_START_CODE_4B = Buffer.from([0x00, 0x00, 0x00, 0x01]);\n\nconst WATCHDOG_TICK_MS = 1000;\nconst WATCHDOG_MAX_RESTARTS_PER_MINUTE = 3;\n\nclass AsyncFsQueue {\n  private running = false;\n  private readonly queue: Array<() => Promise<void>> = [];\n  private readonly maxQueueSize: number;\n\n  constructor(maxQueueSize: number) {\n    this.maxQueueSize = maxQueueSize;\n  }\n\n  enqueue(task: () => Promise<void>): void {\n    if (this.queue.length >= this.maxQueueSize) return;\n    this.queue.push(task);\n    this.pump();\n  }\n\n  private pump(): void {\n    if (this.running) return;\n    this.running = true;\n    void this.run();\n  }\n\n  private async run(): Promise<void> {\n    try {\n      while (this.queue.length > 0) {\n        const task = this.queue.shift();\n        if (!task) continue;\n        try {\n          await task();\n        } catch {\n          // ignore\n        }\n      }\n    } finally {\n      this.running = false;\n    }\n  }\n}\n\n// --- Minimal H.264 bit parsing helpers (for SPS/PPS IDs + slice pps_id) ---\nfunction removeEmulationPreventionBytes(rbsp: Buffer): Buffer {\n  // Remove 0x03 after 00 00 (Annex-B emulation prevention)\n  const out: number[] = [];\n  for (let i = 0; i < rbsp.length; i++) {\n    if (\n      i >= 2 &&\n      rbsp[i] === 0x03 &&\n      rbsp[i - 1] === 0x00 &&\n      rbsp[i - 2] === 0x00\n    ) {\n      continue;\n    }\n    out.push(rbsp[i]!);\n  }\n  return Buffer.from(out);\n}\n\nclass BitReader {\n  private readonly b: Buffer;\n  private bitPos = 0;\n  constructor(buf: Buffer) {\n    this.b = buf;\n  }\n  readBits(n: number): number | null {\n    if (n <= 0) return 0;\n    let v = 0;\n    for (let i = 0; i < n; i++) {\n      const bytePos = this.bitPos >> 3;\n      if (bytePos >= this.b.length) return null;\n      const bitInByte = 7 - (this.bitPos & 7);\n      const bit = (this.b[bytePos]! >> bitInByte) & 1;\n      v = (v << 1) | bit;\n      this.bitPos++;\n    }\n    return v >>> 0;\n  }\n  readUE(): number | null {\n    // unsigned Exp-Golomb\n    let zeros = 0;\n    while (true) {\n      const bit = this.readBits(1);\n      if (bit == null) return null;\n      if (bit === 0) zeros++;\n      else break;\n      if (zeros > 31) return null;\n    }\n    const rest = zeros ? this.readBits(zeros) : 0;\n    if (rest == null) return null;\n    return ((1 << zeros) - 1 + rest) >>> 0;\n  }\n}\n\nfunction parseSpsIdFromNal(nalPayload: Buffer): number | null {\n  // nalPayload includes nal header byte (type=7)\n  if (((nalPayload[0] ?? 0) & 0x1f) !== 7) return null;\n  const rbsp = removeEmulationPreventionBytes(nalPayload.subarray(1));\n  const r = new BitReader(rbsp);\n  // profile_idc (8), constraint flags+reserved (8), level_idc (8)\n  if (r.readBits(8) == null) return null;\n  if (r.readBits(8) == null) return null;\n  if (r.readBits(8) == null) return null;\n  return r.readUE();\n}\n\nfunction parsePpsIdsFromNal(\n  nalPayload: Buffer,\n): { ppsId: number; spsId: number } | null {\n  if (((nalPayload[0] ?? 0) & 0x1f) !== 8) return null;\n  const rbsp = removeEmulationPreventionBytes(nalPayload.subarray(1));\n  const r = new BitReader(rbsp);\n  const ppsId = r.readUE();\n  const spsId = r.readUE();\n  if (ppsId == null || spsId == null) return null;\n  return { ppsId, spsId };\n}\n\nfunction parseSlicePpsIdFromNal(nalPayload: Buffer): number | null {\n  const t = (nalPayload[0] ?? 0) & 0x1f;\n  if (t !== 1 && t !== 5) return null;\n  const rbsp = removeEmulationPreventionBytes(nalPayload.subarray(1));\n  const r = new BitReader(rbsp);\n  // first_mb_in_slice, slice_type, pic_parameter_set_id\n  if (r.readUE() == null) return null;\n  if (r.readUE() == null) return null;\n  return r.readUE();\n}\n\nexport interface BaichuanVideoStreamOptions {\n  client: BaichuanClient;\n  api?: ReolinkBaichuanApi; // Optional API for requesting stream\n  channel: number;\n  profile: StreamProfile; // \"main\" | \"sub\" | \"ext\"\n  /** Native-only: TrackMix tele/autotrack variants (usually on NVR/Hub). */\n  variant?: NativeVideoStreamVariant | undefined;\n  logger?: Logger;\n\n  /**\n   * cmdId that carries the BcMedia payload.\n   * Live stream typically uses 3; recording replay typically uses 5.\n   */\n  cmdId?: number;\n  /**\n   * If provided, frames with other msgNum will be discarded.\n   * Useful for replay (where the caller reserves the msgNum).\n   */\n  msgNum?: number;\n  /** If true, do not filter by streamType (only by cmdId/msgNum). */\n  acceptAnyStreamType?: boolean;\n}\n\n/**\n * BaichuanVideoStream - Handles video streaming via the Baichuan protocol.\n *\n * Video frames arrive as `push` events from `BaichuanClient`.\n * This stream receives frames, decodes BcMedia packets and emits H.264/H.265 access units.\n *\n * - cmd_id is the stream message id (typically 3)\n * - streamType: 0 for main/ext, 1 for sub\n * - body/payload contains embedded BcMedia packets (H.264/H.265 + audio)\n */\nexport class BaichuanVideoStream extends EventEmitter<{\n  videoFrame: [Buffer]; // Decoded video frame (H.264/H.265 Annex-B access unit)\n  /**\n   * Richer (non-breaking) event: access unit with metadata.\n   * Useful for servers (HTTP/RTSP) to wait for a keyframe and/or prepend SPS/PPS.\n   */\n  videoAccessUnit: [\n    {\n      data: Buffer;\n      isKeyframe: boolean;\n      videoType: \"H264\" | \"H265\";\n      microseconds: number;\n      time?: number;\n    },\n  ];\n  /**\n   * Raw BcMedia `additionalHeader` block emitted for every I-frame and P-frame.\n   * Carries Reolink's per-frame side-channel metadata (detection bounding boxes).\n   * `frameWidth`/`frameHeight` come from the most recent BcMedia InfoV1/V2 packet\n   * so consumers can normalize pixel coordinates against the actual stream size.\n   */\n  additionalHeader: [\n    {\n      raw: Buffer;\n      frameType: \"Iframe\" | \"Pframe\";\n      videoType: \"H264\" | \"H265\";\n      microseconds: number;\n      frameWidth?: number;\n      frameHeight?: number;\n    },\n  ];\n  audioFrame: [Buffer]; // Audio frame (if present)\n  error: [Error];\n  close: [];\n}> {\n  private client: BaichuanClient;\n  private api: ReolinkBaichuanApi | undefined;\n  private channel: number;\n  private profile: StreamProfile;\n  private variant: NativeVideoStreamVariant;\n  private logger: Logger | undefined;\n  private active = false;\n  private videoFrameHandler: ((frame: BaichuanFrame) => void) | undefined;\n  private readonly expectedStreamTypes: Set<number>;\n  private activeMsgNum: number | undefined;\n  private readonly cmdId: number;\n  private readonly acceptAnyStreamType: boolean;\n  private lockedChannelId: number | undefined;\n  private bcMediaCodec: BcMediaCodec;\n  /**\n   * Diagnostic-only accessor for the BcMedia codec. Used by tools that need to\n   * inspect unknown chunks (for example to discover undocumented audio\n   * sub-packets the parser currently skips). Not part of the supported public\n   * surface — do not rely on it in application code.\n   */\n  get _bcMediaCodec(): BcMediaCodec {\n    return this.bcMediaCodec;\n  }\n  private debugH264LogsLeft: number;\n  private debugSavedSamples: boolean;\n  private warnedNonAnnexBOnce = false;\n  // \"RTP-like\" depacketizer (some models encapsulate NAL units in FU-A/STAP)\n  private readonly depacketizer = new H264RtpDepacketizer();\n  private readonly depacketizerH265 = new H265RtpDepacketizer();\n  private dumpChunkIdx = 0;\n  private dumpNalLines = 0;\n  private readonly dumpIo = new AsyncFsQueue(200);\n  private spsById = new Map<number, Buffer>(); // NAL payload (without start code) - H.264\n  private ppsById = new Map<number, { nal: Buffer; spsId: number }>(); // NAL payload + mapping - H.264\n  private lastSps: Buffer | null = null; // H.264\n  private lastPps: Buffer | null = null; // H.264\n  private lastPrependedPpsId: number | null = null; // H.264\n  // H.265 parameter sets\n  private lastVps: Buffer | null = null; // H.265 VPS\n  private lastSpsH265: Buffer | null = null; // H.265 SPS\n  private lastPpsH265: Buffer | null = null; // H.265 PPS\n  private lastPrependedParamSetsH265 = false; // Track if we've prepended H.265 param sets\n\n  // Stateful AES decryptor for fragmented BcMedia packets (full_aes mode)\n  // In CFB mode, continuation frames must use the cipher state from previous frames.\n  private aesStreamDecryptor: AesStreamDecryptor | null = null;\n\n  // Latest frame dimensions reported by BcMedia InfoV1/V2 packets.\n  // Used to attach width/height context to the `additionalHeader` event so\n  // consumers can normalize box coordinates to a fraction of the stream size.\n  private latestFrameWidth: number | undefined;\n  private latestFrameHeight: number | undefined;\n\n  // Teardown returned by ReolinkBaichuanApi._registerVideoStreamForDetection.\n  // Called from stop() to detach the detection bridge.\n  private detectionTeardown: (() => void) | undefined;\n\n  /**\n   * Pending startup error stashed when emitSafeError is called before any\n   * \"error\" listener is registered (e.g. camera returns 400 during start()).\n   * The rfc4571-server's waitForKeyframe can consume this immediately instead\n   * of waiting for the full keyframe timeout.\n   */\n  private _pendingStartupError: Error | undefined;\n\n  /** Consume and clear any pending startup error. */\n  consumePendingStartupError(): Error | undefined {\n    const err = this._pendingStartupError;\n    this._pendingStartupError = undefined;\n    return err;\n  }\n\n  private emitSafeError(err: Error): void {\n    // If we're no longer active, this is almost always a late/rejected in-flight request.\n    // Emitting 'error' with no listeners will crash the process, so guard both cases.\n    if (!this.active) {\n      this.logger?.warn?.(\n        `[BaichuanVideoStream] Suppressed error after stop: ${err.message}`,\n      );\n      return;\n    }\n\n    if (this.listenerCount(\"error\") === 0) {\n      this.logger?.warn?.(\n        `[BaichuanVideoStream] Unhandled stream error: ${err.message}`,\n      );\n      // Stash the error so the rfc4571-server can consume it immediately\n      // instead of waiting for the full keyframe timeout.\n      this._pendingStartupError = err;\n      return;\n    }\n\n    this.emit(\"error\", err);\n  }\n  private lastMediaAtMs = 0;\n  private watchdogTimer: NodeJS.Timeout | undefined;\n  private restarting = false;\n  private restartWindowStartMs = 0;\n  private restartCountInWindow = 0;\n  private readonly idleRestartMs: number;\n  // Note: reassembly happens at the BcMediaCodec transport level, so we do not\n  // accumulate frames here.\n\n  private static scoreBcMediaLike(b: Buffer): { score: number; first: number } {\n    if (b.length < 4) return { score: -1, first: -1 };\n    const maxScan = Math.min(64 * 1024, b.length - 4);\n    let count = 0;\n    let first = -1;\n    for (let i = 0; i <= maxScan; i++) {\n      const magic = b.readUInt32LE(i);\n      const isInfoV1 = magic === 0x31303031; // \"1001\"\n      const isInfoV2 = magic === 0x32303031; // \"1002\"\n      const isIFrame = magic >= 0x63643030 && magic <= 0x63643039; // \"cd00\"..\"cd09\"\n      const isPFrame = magic >= 0x63643130 && magic <= 0x63643139; // \"cd10\"..\"cd19\"\n      const isAac = magic === 0x62773530; // \"bw50\"\n      const isAdpcm = magic === 0x62773130; // \"bw10\"\n      if (isInfoV1 || isInfoV2 || isIFrame || isPFrame || isAac || isAdpcm) {\n        count++;\n        if (first < 0) first = i;\n        if (count > 32 && first === 0) break;\n      }\n    }\n    return { score: count * 1000 - (first < 0 ? 50000 : first), first };\n  }\n\n  private chooseDecryptedOrRawCandidate(params: {\n    raw: Buffer;\n    enc: EncryptionProtocol;\n    channelId: number;\n    allowResync: boolean;\n    encryptLen?: number;\n  }): Buffer {\n    const { raw, enc, channelId, allowResync, encryptLen } = params;\n\n    // If encryptLen is provided, only decrypt the first encryptLen bytes\n    // and keep the rest as-is. This is how Reolink partial encryption works.\n    if (encryptLen !== undefined && encryptLen > 0 && encryptLen < raw.length) {\n      const encryptedPart = raw.subarray(0, encryptLen);\n      const clearPart = raw.subarray(encryptLen);\n      const decryptedPart = this.client.tryDecryptBinary(\n        encryptedPart,\n        channelId,\n        enc,\n      );\n      const chosen = Buffer.concat([decryptedPart, clearPart]);\n      if (!allowResync) return chosen;\n      const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n      return best.first > 0 ? chosen.subarray(best.first) : chosen;\n    }\n\n    // --- Special handling for full_aes mode ---\n    // In AES-128-CFB mode, decryption behavior differs between live and replay:\n    //\n    // LIVE STREAM (cmdId=3): Each Baichuan frame contains complete BcMedia packets.\n    // Fresh IV decryption works correctly for every frame.\n    //\n    // PLAYBACK/REPLAY (cmdId=5):\n    // - I-frames: Entire chunk is encrypted, fresh IV works.\n    // - P-frames: Only the BcMedia HEADER is encrypted, video PAYLOAD is clear!\n    //   Fresh IV decryption corrupts the clear payload.\n    //   We must use partial decryption: decrypt header, keep payload as-is.\n    //\n    // Detection: After fresh decrypt, check if raw bytes at video payload offset\n    // have H.264 start codes. If yes, use partial decryption.\n    if (enc.kind === \"full_aes\") {\n      const key = enc.key;\n      const isReplayMode = this.cmdId === 5; // BC_CMD_ID_FILE_INFO_LIST_REPLAY\n\n      // Try decryption with fresh IV\n      const freshDecrypted = aesDecrypt(raw, key);\n      const freshScore = BaichuanVideoStream.scoreBcMediaLike(freshDecrypted);\n      const rawScore = BaichuanVideoStream.scoreBcMediaLike(raw);\n\n      // Check if fresh-decrypted data starts with a BcMedia magic\n      const startsWithMagic = freshScore.first === 0 && freshScore.score > 0;\n\n      // For live stream (cmdId=3), always use fresh IV decryption\n      if (!isReplayMode) {\n        const chosen = freshScore.score > rawScore.score ? freshDecrypted : raw;\n        if (!allowResync) return chosen;\n        const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n        return best.first > 0 ? chosen.subarray(best.first) : chosen;\n      }\n\n      // --- Replay mode: handle partial encryption for P-frames ---\n\n      if (startsWithMagic && freshDecrypted.length >= 24) {\n        // Parse BcMedia header to determine if we need partial decryption\n        const magic = freshDecrypted.readUInt32LE(0);\n        const isIFrame = magic >= 0x63643030 && magic <= 0x63643039;\n        const isPFrame = magic >= 0x63643130 && magic <= 0x63643139;\n\n        if ((isIFrame || isPFrame) && freshDecrypted.length >= 24) {\n          // Video frame: magic(4) + videoType(4) + payloadSize(4) + additionalHeaderSize(4) + microseconds(4) + unknown(4) + additionalHeader + payload\n          const additionalHeaderSize = freshDecrypted.readUInt32LE(12);\n          const headerLen = 24 + additionalHeaderSize;\n\n          if (headerLen > 0 && headerLen < raw.length) {\n            // Check if raw bytes at headerLen have H.264 start codes (clear payload indicator)\n            const rawPayloadStart = raw.subarray(headerLen, headerLen + 4);\n            const hasRawStartCode =\n              rawPayloadStart.length >= 4 &&\n              rawPayloadStart[0] === 0 &&\n              rawPayloadStart[1] === 0 &&\n              (rawPayloadStart[2] === 1 ||\n                (rawPayloadStart[2] === 0 && rawPayloadStart[3] === 1));\n\n            if (hasRawStartCode) {\n              // P-frame case: header is encrypted, payload is clear\n              // Use partial decryption: decrypt only the header\n              const headerDecrypted = aesDecrypt(\n                raw.subarray(0, headerLen),\n                key,\n              );\n              const clearPayload = raw.subarray(headerLen);\n              const chosen = Buffer.concat([headerDecrypted, clearPayload]);\n              if (!allowResync) return chosen;\n              const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n              return best.first > 0 ? chosen.subarray(best.first) : chosen;\n            }\n          }\n        }\n\n        // I-frame case: Reolink encrypts only the first 1024 bytes of the BcMedia frame.\n        // Bytes 0-1023 are encrypted, bytes 1024+ are clear (unencrypted).\n        // This is a form of partial encryption for efficiency (64 AES blocks).\n        const IFRAME_ENCRYPT_BOUNDARY = 1024;\n\n        if (raw.length > IFRAME_ENCRYPT_BOUNDARY) {\n          // Partial encryption: decrypt first 1024 bytes, keep rest as-is\n          const encryptedPart = raw.subarray(0, IFRAME_ENCRYPT_BOUNDARY);\n          const clearPart = raw.subarray(IFRAME_ENCRYPT_BOUNDARY);\n          const decryptedPart = aesDecrypt(encryptedPart, key);\n          const chosen = Buffer.concat([decryptedPart, clearPart]);\n          if (!allowResync) return chosen;\n          const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n          return best.first > 0 ? chosen.subarray(best.first) : chosen;\n        }\n\n        // Small frame (<=1024 bytes): full decryption needed\n        {\n          const chosen = freshDecrypted;\n          if (!allowResync) return chosen;\n          const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n          return best.first > 0 ? chosen.subarray(best.first) : chosen;\n        }\n      }\n\n      // Check if raw data already looks like valid BcMedia (not encrypted)\n      if (rawScore.first === 0 && rawScore.score > freshScore.score) {\n        // Data is not encrypted - use raw\n        // Note: we don't reset the decryptor here since the stream may be mixed\n        const chosen = raw;\n        if (!allowResync) return chosen;\n        const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n        return best.first > 0 ? chosen.subarray(best.first) : chosen;\n      }\n\n      // Continuation frame - use stateful decryptor if available\n      if (this.aesStreamDecryptor && this.aesStreamDecryptor.isInitialized()) {\n        const statefulDecrypted = this.aesStreamDecryptor.update(raw);\n        // Continuation frames don't start with magic, so we return as-is\n        // (the BcMediaCodec will append to its buffer)\n        return statefulDecrypted;\n      }\n\n      // Fallback: no stateful decryptor yet - might be first frame or stream desync\n      // Try fresh decryption as last resort\n      const chosen = freshScore.score > rawScore.score ? freshDecrypted : raw;\n      if (!allowResync) return chosen;\n      const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n      return best.first > 0 ? chosen.subarray(best.first) : chosen;\n    }\n\n    // --- Standard handling for other encryption modes ---\n    const rawScore = BaichuanVideoStream.scoreBcMediaLike(raw);\n    const dec =\n      this.client.enc.kind === \"aes\" || this.client.enc.kind === \"bc\"\n        ? this.client.tryDecryptBinary(raw, channelId, enc)\n        : raw;\n    const decScore = BaichuanVideoStream.scoreBcMediaLike(dec);\n    const chosen = decScore.score > rawScore.score ? dec : raw;\n\n    // WARNING: trimming to the first magic boundary can drop bytes that belong to a\n    // fragmented BcMedia packet (spanning across frames). Only do this when we know\n    // the chunk may contain non-media bytes (e.g. XML) at the start.\n    if (!allowResync) return chosen;\n    const best = BaichuanVideoStream.scoreBcMediaLike(chosen);\n    return best.first > 0 ? chosen.subarray(best.first) : chosen;\n  }\n\n  constructor(options: BaichuanVideoStreamOptions) {\n    super();\n    this.client = options.client;\n    this.api = options.api;\n    this.channel = options.channel;\n    this.profile = options.profile;\n    this.variant = options.variant ?? \"default\";\n    this.logger = options.logger;\n    this.cmdId = options.cmdId ?? 3;\n    this.acceptAnyStreamType = options.acceptAnyStreamType ?? false;\n    // Stream type varies across firmwares:\n    // - some use 0/1 for main/sub (even for tele on Hub/NVR)\n    // - others use 2/3 for autotrack/telephoto variants\n    // Accept both and rely on msgNum filtering when available.\n    this.expectedStreamTypes =\n      this.profile === \"sub\" ? new Set([1, 3]) : new Set([0, 2]);\n    // Hub/NVR tele selection uses Preview v1.1 while keeping header streamType=0.\n    // Without this, native_sub telephoto would discard all frames and timeout.\n    if (this.variant === \"telephoto\") this.expectedStreamTypes.add(0);\n    // this.logger?.log(\n    //   `[BaichuanVideoStream] constructor: channel=${this.channel}, profile=${this.profile}, variant=${this.variant}, expectedStreamTypes=[${[\n    //     ...this.expectedStreamTypes,\n    //   ].join(\",\")}]`\n    // );\n    this.bcMediaCodec = new BcMediaCodec(false, this.logger); // non-strict mode for error recovery\n    // Debug is configured on the client; the library must not read env vars.\n    const dbg = this.client.getDebugConfig();\n    this.debugH264LogsLeft = dbg.traceNativeStream ? 200 : 0;\n    this.debugSavedSamples = false;\n    this.dumpChunkIdx = 0;\n    this.spsById = new Map();\n    this.ppsById = new Map();\n    this.lastSps = null;\n    this.lastPps = null;\n    this.lastPrependedPpsId = null;\n    // H.265 parameter sets\n    this.lastVps = null;\n    this.lastSpsH265 = null;\n    this.lastPpsH265 = null;\n    this.lastPrependedParamSetsH265 = false;\n\n    // If the caller knows the msgNum (e.g. replay), lock to it immediately.\n    if (options.msgNum !== undefined) {\n      this.activeMsgNum = options.msgNum;\n    }\n\n    // Internal defaults (no external knobs): if the stream goes idle for too long,\n    // best-effort restart the native stream request.\n    // NOTE: UDP (battery/BCUDP) can legitimately take longer to wake and begin streaming.\n    // Keep this relatively high to avoid causing reconnect storms.\n    // TCP: 30s timeout (cameras may have temporary delays)\n    // UDP: 60s timeout (battery cameras take longer to wake)\n    const transport = this.client.getTransport?.();\n    this.idleRestartMs = transport === \"udp\" ? 60_000 : 30_000;\n  }\n\n  private noteMediaActivity(): void {\n    this.lastMediaAtMs = Date.now();\n  }\n\n  private startWatchdog(): void {\n    // Only useful when we can re-request the stream via API.\n    if (!this.api) return;\n    if (this.watchdogTimer) return;\n\n    this.restartWindowStartMs = Date.now();\n    this.restartCountInWindow = 0;\n    this.watchdogTimer = setInterval(() => {\n      void this.watchdogTick();\n    }, WATCHDOG_TICK_MS);\n  }\n\n  private stopWatchdog(): void {\n    if (this.watchdogTimer) clearInterval(this.watchdogTimer);\n    this.watchdogTimer = undefined;\n  }\n\n  private async watchdogTick(): Promise<void> {\n    if (!this.active) return;\n    if (!this.api) return;\n    if (this.restarting) return;\n    if (this.lastMediaAtMs <= 0) return;\n\n    const now = Date.now();\n    const idleMs = now - this.lastMediaAtMs;\n    if (idleMs < this.idleRestartMs) return;\n\n    // Rate-limit restarts to avoid loops.\n    if (now - this.restartWindowStartMs > 60_000) {\n      this.restartWindowStartMs = now;\n      this.restartCountInWindow = 0;\n    }\n    if (this.restartCountInWindow >= WATCHDOG_MAX_RESTARTS_PER_MINUTE) {\n      this.logger?.warn(\n        `[BaichuanVideoStream] Watchdog: idle for ${idleMs}ms, but restart budget exceeded (${WATCHDOG_MAX_RESTARTS_PER_MINUTE}/min); leaving stream as-is`,\n      );\n      // Avoid spamming: reset lastMediaAt to delay the next restart attempt.\n      this.lastMediaAtMs = now;\n      return;\n    }\n    this.restartCountInWindow++;\n\n    void this.restartNativeStream({ reason: `idle ${idleMs}ms` });\n  }\n\n  private async restartNativeStream(params: { reason: string }): Promise<void> {\n    if (!this.api) return;\n    if (!this.active) return;\n    if (this.restarting) return;\n    this.restarting = true;\n\n    try {\n      const transport = this.client.getTransport?.() ?? \"unknown\";\n      const msgNum = this.activeMsgNum ?? \"unknown\";\n      this.logger?.warn(\n        `[BaichuanVideoStream] Watchdog restarting native stream (channel=${this.channel} profile=${this.profile} expectedStreamTypes=[${[\n          ...this.expectedStreamTypes,\n        ].join(\n          \",\",\n        )}] msgNum=${msgNum} transport=${transport} reason=${params.reason})`,\n      );\n\n      // Reset parsers to avoid carrying corrupt state across a restart.\n      this.depacketizer.reset();\n      this.depacketizerH265.reset();\n      this.bcMediaCodec.clear();\n      this.activeMsgNum = undefined;\n      this.lockedChannelId = undefined;\n      this.lastPrependedPpsId = null;\n      this.lastPrependedParamSetsH265 = false;\n\n      // Best-effort stop/start: some firmwares behave better with a full reset.\n      try {\n        await this.api.stopVideoStream(this.channel, this.profile, {\n          variant: this.variant,\n          client: this.client,\n        });\n      } catch {\n        // ignore\n      }\n\n      await this.api.startVideoStream(this.channel, this.profile, {\n        variant: this.variant,\n        client: this.client,\n      });\n\n      try {\n        const getMsgNum = (this.api as any).getActiveVideoMsgNumWithVariant as\n          | ((\n              ch: number,\n              p: StreamProfile,\n              v?: NativeVideoStreamVariant,\n            ) => number | undefined)\n          | undefined;\n        const v =\n          typeof getMsgNum === \"function\"\n            ? getMsgNum(this.channel, this.profile, this.variant)\n            : undefined;\n        if (v !== undefined) this.activeMsgNum = v;\n      } catch {\n        // keep current activeMsgNum (may have been learned from frames)\n      }\n\n      // Avoid immediate re-trigger if the camera takes a moment.\n      this.lastMediaAtMs = Date.now();\n    } catch (error) {\n      const err = error instanceof Error ? error : new Error(String(error));\n      this.emitSafeError(err);\n    } finally {\n      this.restarting = false;\n    }\n  }\n\n  /**\n   * Start video stream.\n   * Listens to `push` events and processes cmd_id=3 frames carrying BcMedia packets.\n   */\n  async start(): Promise<void> {\n    if (this.active) {\n      throw new Error(\"Video stream already active\");\n    }\n\n    // Ensure depacketizers start from a clean state.\n    this.depacketizer.reset();\n    this.depacketizerH265.reset();\n\n    // Listen to push events carrying BcMedia packets (cmd_id=3).\n    // IMPORTANT: register this handler BEFORE awaiting the VIDEO start response.\n    // Some NVR/Hub firmwares are slow to reply, but begin streaming earlier.\n    let totalFramesReceived = 0;\n    let totalMediaPackets = 0;\n    this.videoFrameHandler = (frame: BaichuanFrame) => {\n      // Only frames with the configured cmdId carry the media stream.\n      if (frame.header.cmdId !== this.cmdId) return;\n\n      // Filter by msgNum if we were able to capture it from the API.\n      // Some firmwares reuse streamType but keep msgNum distinct per stream.\n      // NOTE: Some cameras (e.g., TrackMix PoE) always respond with msgNum=0 regardless\n      // of what msgNum we used in the request. When acceptAnyStreamType is true (replay mode),\n      // we also accept msgNum=0 as a fallback.\n      if (\n        this.activeMsgNum !== undefined &&\n        frame.header.msgNum !== this.activeMsgNum\n      ) {\n        // Accept msgNum=0 as fallback when in permissive mode (replay)\n        const allowMsgNum0Fallback =\n          this.acceptAnyStreamType && frame.header.msgNum === 0;\n        if (!allowMsgNum0Fallback) {\n          const frameCount = ((this as any)._msgNumMismatchCount =\n            ((this as any)._msgNumMismatchCount || 0) + 1);\n          // Gated behind the general socket debug flag: on shared sockets\n          // (main+sub on the same TCP socket) it is by-design to receive\n          // frames for the other profile and discard them — this is not a\n          // bug and we don't want it polluting user logs.\n          if (frameCount <= 5 && this.client.getDebugConfig().general) {\n            this.logger?.log(\n              `[BaichuanVideoStream] Frame msgNum mismatch: received=${frame.header.msgNum}, expected=${this.activeMsgNum}, channel=${this.channel}, profile=${this.profile}, variant=${this.variant} (frame discarded)`,\n            );\n          }\n          return;\n        }\n      }\n\n      // Filter by expected streamType(s). Some devices use 0/1, others 2/3 for variants.\n      if (\n        !this.acceptAnyStreamType &&\n        !this.expectedStreamTypes.has(frame.header.streamType)\n      ) {\n        const frameCount = ((this as any)._streamTypeMismatchCount =\n          ((this as any)._streamTypeMismatchCount || 0) + 1);\n        // Gated behind the general socket debug flag — see msgNum mismatch\n        // above. Expected noise during handshake on shared sockets.\n        if (frameCount <= 5 && this.client.getDebugConfig().general) {\n          this.logger?.log(\n            `[BaichuanVideoStream] Frame streamType mismatch: received=${frame.header.streamType}, expectedAny=[${[\n              ...this.expectedStreamTypes,\n            ].join(\n              \",\",\n            )}], channel=${this.channel}, profile=${this.profile}, variant=${this.variant} (frame discarded)`,\n          );\n        }\n        return;\n      }\n\n      // Additional safety net for multi-stream scenarios:\n      // If multiple streams share the same BaichuanClient/socket and msgNum filtering is unavailable,\n      // frames from different channelIds can interleave and manifest as stutter/picture loss.\n      // Lock to the first observed channelId and discard mismatches.\n      if (this.lockedChannelId === undefined) {\n        this.lockedChannelId = frame.header.channelId;\n      } else if (frame.header.channelId !== this.lockedChannelId) {\n        const frameCount = ((this as any)._channelIdMismatchCount =\n          ((this as any)._channelIdMismatchCount || 0) + 1);\n        if (frameCount <= 5) {\n          this.logger?.warn(\n            `[BaichuanVideoStream] Frame channelId mismatch: received=${frame.header.channelId}, locked=${this.lockedChannelId}, streamType=${frame.header.streamType}, msgNum=${frame.header.msgNum}, activeMsgNum=${this.activeMsgNum ?? \"unknown\"}, channel=${this.channel}, profile=${this.profile}, variant=${this.variant} (frame discarded)`,\n          );\n        }\n        return;\n      }\n\n      totalFramesReceived++;\n\n      const dbg = this.client.getDebugConfig();\n      const rtspDebug = dbg.debugRtsp;\n      if (totalFramesReceived === 1) {\n        // Always log first frame info for debugging variant issues\n        // this.logger?.log(\n        //   `[BaichuanVideoStream] First frame accepted: streamType=${frame.header.streamType}, expectedAny=[${[\n        //     ...this.expectedStreamTypes,\n        //   ].join(\",\")}], msgNum=${frame.header.msgNum}, activeMsgNum=${this.activeMsgNum}, channelId=${frame.header.channelId}, bodyLen=${frame.body.length}, variant=${this.variant}`\n        // );\n        if (rtspDebug) {\n          this.logger?.log(\n            `[BaichuanVideoStream] First cmd_id=${this.cmdId} frame received (bodyLen: ${frame.body.length}, channelId: ${frame.header.channelId})`,\n          );\n        }\n      }\n      if (totalFramesReceived % 10 === 0 || totalFramesReceived <= 5) {\n        if (rtspDebug) {\n          this.logger?.log(\n            `[BaichuanVideoStream] Received ${totalFramesReceived} Baichuan frames (cmd_id=${this.cmdId})`,\n          );\n        }\n      }\n\n      // Note: the media stream is often NOT encrypted like control messages.\n      // So we first try to parse the `payload` directly (if present), and only as a fallback\n      // we try stateless decryption.\n      const enc = this.client.enc;\n      const rawCandidate =\n        frame.payload.length > 0 ? frame.payload : frame.body;\n\n      // If the payload still contains XML+binary (missing payloadOffset), strip XML as a fallback.\n      let dataToParse = rawCandidate;\n      if (frame.payload.length === 0) {\n        let searchStart = 0;\n        const extensionEnd = rawCandidate.indexOf(Buffer.from(\"</Extension>\"));\n        const bodyEnd = rawCandidate.indexOf(Buffer.from(\"</body>\"));\n        if (extensionEnd !== -1)\n          searchStart = extensionEnd + Buffer.from(\"</Extension>\").length;\n        else if (bodyEnd !== -1)\n          searchStart = bodyEnd + Buffer.from(\"</body>\").length;\n        dataToParse = rawCandidate.subarray(searchStart);\n      }\n\n      // Extract encryptLen from extension XML if present.\n      // This tells us how many bytes are encrypted (rest is clear).\n      // Format: <encryptLen>N</encryptLen>\n      let encryptLen: number | undefined;\n      if (frame.extension && frame.extension.length > 0) {\n        try {\n          const extDec = this.client.tryDecryptXml(\n            frame.extension,\n            frame.header.channelId,\n            enc,\n          );\n          const encryptLenMatch = extDec.match(\n            /<encryptLen>(\\d+)<\\/encryptLen>/i,\n          );\n          if (encryptLenMatch && encryptLenMatch[1]) {\n            encryptLen = parseInt(encryptLenMatch[1], 10);\n          }\n        } catch {\n          // ignore decryption errors\n        }\n      }\n\n      // If the session uses encryption, some models send an encrypted stream at the frame level.\n      // If we find a BcMedia magic in the raw payload, it's not a guarantee the content is NOT encrypted\n      // (it can be a false positive). So we also try stateless decryption and pick\n      // the most \"BcMedia-like\" candidate (decrypt before deserializing).\n\n      const dataAfterXml = this.chooseDecryptedOrRawCandidate({\n        raw: dataToParse,\n        enc,\n        channelId: frame.header.channelId,\n        // Some NVR/Hub streams appear to include non-media bytes even when payloadOffset is present.\n        // Allow a one-time resync at startup to avoid delaying the first keyframe.\n        allowResync:\n          frame.payload.length === 0 ||\n          (totalFramesReceived <= 10 && totalMediaPackets === 0),\n        ...(encryptLen !== undefined ? { encryptLen } : {}),\n      });\n\n      // If we are currently aligned (no pending buffered bytes) and we receive a tiny chunk that\n      // contains no recognizable BcMedia magic anywhere, it's very likely out-of-band data.\n      // Dropping it avoids repeated recover/resync loops (commonly 528/1056-byte patterns on some NVRs).\n      if (\n        this.bcMediaCodec.getRemainingBuffer().length === 0 &&\n        dataAfterXml.length <= 600\n      ) {\n        const s = BaichuanVideoStream.scoreBcMediaLike(dataAfterXml);\n        if (s.first < 0) {\n          return;\n        }\n      }\n      if (totalFramesReceived === 1) {\n        if (rtspDebug) {\n          this.logger?.log(\n            `[BaichuanVideoStream] Data after XML: ${dataAfterXml.length} bytes, first 32 bytes: ${dataAfterXml\n              .subarray(0, Math.min(32, dataAfterXml.length))\n              .toString(\"hex\")}`,\n          );\n        }\n      }\n      if (dbg.dumpEnabled) ensureDumpDir(dbg);\n\n      // Dumps the exact chunks fed to the BcMedia decoder.\n      if (dbg.dumpBcMedia && this.dumpChunkIdx < 200) {\n        const outDir = dbg.dumpDir;\n        const idx = String(this.dumpChunkIdx).padStart(4, \"0\");\n        const chunkPath = path.join(outDir, `bcmedia_chunk_${idx}.bin`);\n        const infoPath = path.join(outDir, \"bcmedia_info.json\");\n        const chunk = Buffer.from(dataAfterXml);\n        const writeInfo = this.dumpChunkIdx === 0;\n        const infoJson = writeInfo\n          ? JSON.stringify(\n              {\n                note: \"Chunks fed into the BcMedia decoder (after XML stripping/alignment).\",\n                profile: this.profile,\n                channel: this.channel,\n                encKind: this.client.enc.kind,\n              },\n              null,\n              2,\n            )\n          : \"\";\n\n        // Non-blocking: sync FS calls can starve BCUDP ACK/keepalive and abort the stream.\n        this.dumpIo.enqueue(async () => {\n          await fs.promises.writeFile(chunkPath, chunk);\n          if (writeInfo) {\n            await fs.promises.writeFile(infoPath, infoJson);\n          }\n        });\n        this.dumpChunkIdx++;\n      }\n\n      const mediaPackets = this.bcMediaCodec.decode(dataAfterXml);\n      totalMediaPackets += mediaPackets.length;\n\n      // Count packet types\n      const packetTypes = new Map<string, number>();\n      for (const pkt of mediaPackets) {\n        packetTypes.set(pkt.type, (packetTypes.get(pkt.type) || 0) + 1);\n      }\n\n      // Log detailed info for first few frames and periodically\n      // Disabled for production - enable for debugging only\n      // if (totalFramesReceived <= 10 || totalFramesReceived % 100 === 0) {\n      //   const remainingBuffer = this.bcMediaCodec.getRemainingBuffer();\n      //   const typesStr = Array.from(packetTypes.entries())\n      //     .map(([t, c]) => `${t}:${c}`)\n      //     .join(\", \");\n      //   console.log(\n      //     `[BaichuanVideoStream] Frame #${totalFramesReceived}: dataToParse=${dataAfterXml.length} bytes, parsed ${mediaPackets.length} BcMedia packets (${typesStr || \"none\"}), total: ${totalMediaPackets}, remaining buffer: ${remainingBuffer.length} bytes`,\n      //   );\n      // }\n\n      // Process complete BcMedia packets.\n      // Each BcMedia::Iframe/Pframe already contains a complete frame (access unit).\n      // BcMediaCodec only handles transport fragmentation, not \"half frames\".\n      let videoFramesEmitted = 0;\n      let audioFramesEmitted = 0;\n\n      for (const media of mediaPackets) {\n        const maybeCacheParamSets = (\n          annexB: Buffer,\n          source: \"Iframe\" | \"Pframe\",\n          videoType: \"H264\" | \"H265\",\n        ) => {\n          // Some models send parameter sets outside of I-frames (e.g. parameter set updates),\n          // so we always allow caching from both I-frames and P-frames.\n\n          if (videoType === \"H264\") {\n            const nals = splitAnnexBToNalPayloads(annexB);\n            for (const nal of nals) {\n              const t = (nal[0] ?? 0) & 0x1f;\n              if (t === 7) {\n                const id = parseSpsIdFromNal(nal);\n                if (id != null) {\n                  if (!isPlausibleH264Sps(nal)) continue;\n                  this.spsById.set(id, nal);\n                  if (dbg.traceNativeStream) {\n                    this.logger?.warn(\n                      `[BaichuanVideoStream] Cached H.264 SPS id=${id} len=${nal.length}`,\n                    );\n                  }\n                }\n                if (isPlausibleH264Sps(nal)) this.lastSps = nal;\n              }\n              if (t === 8) {\n                const ids = parsePpsIdsFromNal(nal);\n                if (ids) {\n                  // If the PPS points to an implausible SPS, drop it.\n                  const sps = this.spsById.get(ids.spsId);\n                  if (sps && !isPlausibleH264Sps(sps)) continue;\n                  this.ppsById.set(ids.ppsId, { nal, spsId: ids.spsId });\n                  if (dbg.traceNativeStream) {\n                    this.logger?.warn(\n                      `[BaichuanVideoStream] Cached H.264 PPS id=${ids.ppsId} (spsId=${ids.spsId}) len=${nal.length}`,\n                    );\n                  }\n                }\n                this.lastPps = nal;\n              }\n            }\n          } else if (videoType === \"H265\") {\n            // Cache H.265 parameter sets (VPS, SPS, PPS)\n            const vps = extractVpsFromAnnexB(annexB);\n            if (vps) {\n              this.lastVps = vps;\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Cached H.265 VPS len=${vps.length}`,\n                );\n              }\n            }\n            const sps = extractSpsFromAnnexB(annexB);\n            if (sps) {\n              this.lastSpsH265 = sps;\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Cached H.265 SPS len=${sps.length}`,\n                );\n              }\n            }\n            const pps = extractPpsFromAnnexB(annexB);\n            if (pps) {\n              this.lastPpsH265 = pps;\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Cached H.265 PPS len=${pps.length}`,\n                );\n              }\n            }\n          }\n        };\n\n        const prependParamSetsIfNeeded = (\n          annexB: Buffer,\n          videoType: \"H264\" | \"H265\",\n          isPframe = false,\n        ): Buffer => {\n          if (videoType === \"H264\") {\n            const nals = splitAnnexBToNalPayloads(annexB);\n            if (nals.length === 0) return annexB;\n            const types = nals.map((n) => (n[0] ?? 0) & 0x1f);\n\n            // Check if there's VCL (slice data) - required for P-frames\n            const hasVcl = types.some(\n              (t) => t === 1 || t === 5 || t === 19 || t === 20,\n            );\n\n            // For P-frames without VCL (e.g., only SPS+PPS), drop the frame\n            // This can happen with NVR replay when parameter sets are sent separately\n            if (isPframe && !hasVcl) {\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Dropping P-frame without VCL (only param sets): types=${types.join(\",\")}`,\n                );\n              }\n              return Buffer.alloc(0);\n            }\n\n            // If it already includes SPS/PPS, do not prepend but mark as \"prepended\"\n            // to avoid prepending to subsequent P-frames\n            if (types.includes(7) && types.includes(8)) {\n              // Extract ppsId from the slice to track which PPS was used\n              let ppsIdFromSlice: number | null = null;\n              for (const nal of nals) {\n                const t = (nal[0] ?? 0) & 0x1f;\n                if (t === 1 || t === 5) {\n                  ppsIdFromSlice = parseSlicePpsIdFromNal(nal);\n                  break;\n                }\n              }\n              // Mark that we've already seen param sets, so subsequent P-frames don't get them prepended\n              if (ppsIdFromSlice != null && ppsIdFromSlice <= 255) {\n                this.lastPrependedPpsId = ppsIdFromSlice;\n              } else {\n                // Fallback: mark as -1 to indicate \"some\" param sets were seen\n                this.lastPrependedPpsId = -1;\n              }\n              return annexB;\n            }\n            // If there is no VCL, there's nothing to prepend to.\n            if (!hasVcl) return annexB;\n\n            // Determine pps_id referenced by the first slice (if present)\n            let ppsId: number | null = null;\n            for (const nal of nals) {\n              const t = (nal[0] ?? 0) & 0x1f;\n              if (t === 1 || t === 5) {\n                ppsId = parseSlicePpsIdFromNal(nal);\n                break;\n              }\n            }\n            if (dbg.traceNativeStream) {\n              this.logger?.warn(\n                `[BaichuanVideoStream] Slice references ppsId=${ppsId ?? \"?\"} lastPrepended=${this.lastPrependedPpsId ?? \"?\"}`,\n              );\n            }\n\n            // If we can't parse it, be conservative: only use the last seen SPS/PPS once at the beginning.\n            if (ppsId == null || ppsId > 255) {\n              if (this.lastPrependedPpsId != null) return annexB;\n              if (!this.lastSps || !this.lastPps) return annexB;\n              this.lastPrependedPpsId = -1;\n              return Buffer.concat([\n                NAL_START_CODE_4B,\n                this.lastSps,\n                NAL_START_CODE_4B,\n                this.lastPps,\n                annexB,\n              ]);\n            }\n\n            // Only prepend when ppsId changes (reduces duplication and instability)\n            if (this.lastPrependedPpsId === ppsId) return annexB;\n\n            const pps = this.ppsById.get(ppsId);\n            if (pps) {\n              const sps = this.spsById.get(pps.spsId);\n              if (sps) {\n                this.lastPrependedPpsId = ppsId;\n                return Buffer.concat([\n                  NAL_START_CODE_4B,\n                  sps,\n                  NAL_START_CODE_4B,\n                  pps.nal,\n                  annexB,\n                ]);\n              }\n            }\n            // If the slice references a PPS we don't have, we cannot \"invent it\".\n            // Drop the access unit until the correct PPS arrives (prevents black/garbled video).\n            return Buffer.alloc(0);\n          } else if (videoType === \"H265\") {\n            // For H.265, prepend VPS, SPS, PPS if not already present\n            const nals = splitH265AnnexBToNalPayloads(annexB);\n            if (nals.length === 0) return annexB;\n\n            const types = nals\n              .map((n) => getH265NalType(n))\n              .filter((t): t is number => t !== null);\n\n            // If there is no VCL (IRAP or non-IRAP picture), there's nothing to prepend to.\n            const hasVcl = types.some(\n              (t) => (t >= 0 && t <= 9) || (t >= 16 && t <= 23),\n            );\n\n            // For P-frames without VCL (e.g., only VPS+SPS+PPS), drop the frame\n            if (isPframe && !hasVcl) {\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Dropping H.265 P-frame without VCL (only param sets): types=${types.join(\",\")}`,\n                );\n              }\n              return Buffer.alloc(0);\n            }\n\n            // If it already includes VPS/SPS/PPS, do not prepend\n            if (types.includes(32) && types.includes(33) && types.includes(34))\n              return annexB;\n\n            if (!hasVcl) return annexB;\n\n            // Only prepend once to avoid duplication\n            if (this.lastPrependedParamSetsH265) return annexB;\n\n            // Prepend VPS, SPS, PPS if we have them\n            if (!this.lastVps || !this.lastSpsH265 || !this.lastPpsH265)\n              return annexB;\n\n            this.lastPrependedParamSetsH265 = true;\n            if (dbg.traceNativeStream) {\n              this.logger?.warn(\n                `[BaichuanVideoStream] Prepending H.265 VPS/SPS/PPS to frame`,\n              );\n            }\n            return Buffer.concat([\n              NAL_START_CODE_4B,\n              this.lastVps,\n              NAL_START_CODE_4B,\n              this.lastSpsH265,\n              NAL_START_CODE_4B,\n              this.lastPpsH265,\n              annexB,\n            ]);\n          }\n          return annexB;\n        };\n\n        const dumpNalSummary = (\n          annexB: Buffer,\n          label: string,\n          microseconds: number,\n        ) => {\n          if (!dbg.dumpNals) return;\n          try {\n            if (dbg.dumpEnabled) ensureDumpDir(dbg);\n            const outDir = dbg.dumpDir;\n            const nals = splitAnnexBToNalPayloads(annexB);\n            const types = nals.map((n) => (n[0] ?? 0) & 0x1f);\n            let slicePpsId: number | null = null;\n            const spsIds: number[] = [];\n            const ppsIds: number[] = [];\n            for (const nal of nals) {\n              const t = (nal[0] ?? 0) & 0x1f;\n              if ((t === 1 || t === 5) && slicePpsId == null) {\n                slicePpsId = parseSlicePpsIdFromNal(nal);\n              }\n              if (t === 7) {\n                const id = parseSpsIdFromNal(nal);\n                if (id != null) spsIds.push(id);\n              }\n              if (t === 8) {\n                const ids = parsePpsIdsFromNal(nal);\n                if (ids) ppsIds.push(ids.ppsId);\n              }\n            }\n            // Keep this non-blocking: sync FS writes can starve BCUDP ACK/keepalive.\n            // Also cap total dumped lines to avoid unbounded I/O.\n            if (this.dumpNalLines >= 20_000) return;\n            const line =\n              JSON.stringify({\n                label,\n                microseconds,\n                len: annexB.length,\n                nalTypes: types,\n                slicePpsId,\n                auSpsIds: spsIds,\n                auPpsIds: ppsIds,\n                cachedSps: this.spsById.size,\n                cachedPps: this.ppsById.size,\n                lastPrependedPpsId: this.lastPrependedPpsId,\n              }) + \"\\n\";\n            this.dumpNalLines++;\n            const outPath = path.join(outDir, \"nal_dump.ndjson\");\n            this.dumpIo.enqueue(async () => {\n              await fs.promises.appendFile(outPath, line);\n            });\n          } catch {\n            // ignore\n          }\n        };\n\n        // Media payloads are expected to be plaintext here because we select the best\n        // raw vs decrypted candidate before running BcMedia decoding.\n        const isPlausibleH264Sps = (nal: Buffer): boolean => {\n          // nal is a payload without a start code. nal[0] is the NAL header (type=7)\n          if (nal.length < 4) return false;\n          if (((nal[0] ?? 0) & 0x1f) !== 7) return false;\n          const profileIdc = nal[1] ?? 0;\n          const levelIdc = nal[3] ?? 0;\n          const knownProfiles = new Set([66, 77, 88, 100, 110, 122, 244]);\n          if (!knownProfiles.has(profileIdc)) return false;\n          if (levelIdc === 0 || levelIdc > 255) return false;\n          return true;\n        };\n        if (media.type === \"Iframe\") {\n          // Detect actual video codec from NAL data (some cameras report wrong codec in BcMedia header)\n          let videoType = media.videoType;\n          const detectedCodec = detectVideoCodecFromNal(media.data);\n          if (detectedCodec && detectedCodec !== videoType) {\n            if (dbg.traceNativeStream) {\n              this.logger?.warn(\n                `[BaichuanVideoStream] Codec mismatch in Iframe: header says ${videoType}, NAL says ${detectedCodec} - using ${detectedCodec}`,\n              );\n            }\n            videoType = detectedCodec;\n          }\n\n          if (media.additionalHeader && media.additionalHeader.length > 0) {\n            this.emit(\"additionalHeader\", {\n              raw: media.additionalHeader,\n              frameType: \"Iframe\",\n              videoType,\n              microseconds: media.microseconds,\n              ...(this.latestFrameWidth !== undefined\n                ? { frameWidth: this.latestFrameWidth }\n                : {}),\n              ...(this.latestFrameHeight !== undefined\n                ? { frameHeight: this.latestFrameHeight }\n                : {}),\n            });\n          }\n\n          // Convert to Annex-B format (different converters for H.264 and H.265)\n          const annexBData =\n            videoType === \"H265\"\n              ? convertH265ToAnnexB(media.data)\n              : convertToAnnexB(media.data);\n\n          const isKeyframe = true;\n\n          maybeCacheParamSets(annexBData, \"Iframe\", videoType);\n          const outAnnex = prependParamSetsIfNeeded(annexBData, videoType);\n\n          if (outAnnex.length === 0) {\n            if (dbg.traceNativeStream) {\n              this.logger?.warn(\n                `[BaichuanVideoStream] Iframe DROPPED: outAnnex is empty`,\n              );\n            }\n            continue;\n          }\n\n          dumpNalSummary(outAnnex, \"Iframe\", media.microseconds);\n\n          // Guard rail: do not emit invalid keyframes (prevents cascading parameter set issues)\n          if (videoType === \"H264\") {\n            if (\n              !isValidH264AnnexBAccessUnit(outAnnex) ||\n              !isH264KeyframeAnnexB(outAnnex)\n            ) {\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Dropping invalid H.264 Iframe (Annex-B) len=${outAnnex.length}`,\n                );\n              }\n              continue;\n            }\n          } else if (videoType === \"H265\") {\n            // For H.265, validate access unit and check for keyframe (IRAP with VPS/SPS/PPS)\n            if (!isValidH265AnnexBAccessUnit(outAnnex)) {\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Dropping invalid H.265 Iframe (Annex-B) len=${outAnnex.length} first16=${outAnnex.subarray(0, 16).toString(\"hex\")}`,\n                );\n              }\n              continue;\n            }\n            // Check if it's a proper keyframe (should have VPS/SPS/PPS and IRAP)\n            if (!isH265KeyframeAnnexB(outAnnex)) {\n              if (dbg.traceNativeStream) {\n                this.logger?.warn(\n                  `[BaichuanVideoStream] H.265 Iframe missing VPS/SPS/PPS or IRAP, but continuing len=${outAnnex.length}`,\n                );\n              }\n              // Continue anyway - the parameter sets might be prepended\n            }\n          }\n\n          // Save a one-off sample for offline analysis\n          if (dbg.traceNativeStream && !this.debugSavedSamples) {\n            try {\n              const outDir = dbg.dumpDir;\n              fs.mkdirSync(outDir, { recursive: true });\n              if (media.type === \"Iframe\" && hasStartCodes(annexBData)) {\n                fs.writeFileSync(\n                  path.join(outDir, \"iframe_annexb.bin\"),\n                  annexBData,\n                );\n              }\n            } catch {\n              // do not block streaming for debug\n            }\n          }\n\n          // If debug is off, still emit a single warning the first time we see non-AnnexB output.\n          // This helps diagnose models that prepend headers or use nonstandard framing.\n          if (!this.warnedNonAnnexBOnce && !hasStartCodes(annexBData)) {\n            this.warnedNonAnnexBOnce = true;\n            const b = media.data;\n            const head = b.subarray(0, Math.min(24, b.length)).toString(\"hex\");\n            const headAnnex = annexBData\n              .subarray(0, Math.min(24, annexBData.length))\n              .toString(\"hex\");\n            this.logger?.warn(\n              `[BaichuanVideoStream] WARNING: non-AnnexB frame after conversion (${media.type} ${media.videoType}) ` +\n                `len=${b.length} head=${head} convertedLen=${annexBData.length} convertedHead=${headAnnex}`,\n            );\n          }\n\n          this.emit(\"videoFrame\", outAnnex);\n          this.emit(\"videoAccessUnit\", {\n            data: outAnnex,\n            isKeyframe,\n            videoType, // Use the detected/corrected videoType, not media.videoType\n            microseconds: media.microseconds,\n            ...(media.type === \"Iframe\" && \"time\" in media\n              ? media.time !== undefined\n                ? { time: media.time }\n                : {}\n              : {}),\n          });\n          videoFramesEmitted++;\n\n          if (totalFramesReceived <= 5 || videoFramesEmitted <= 5) {\n            const sc = hasStartCodes(annexBData) ? \"yes\" : \"no\";\n            if (rtspDebug) {\n              this.logger?.log(\n                `[BaichuanVideoStream] Emitted ${media.type} (${media.videoType}) ${media.data.length} bytes -> ${annexBData.length} bytes (Annex-B, startCode:${sc})`,\n              );\n            }\n          }\n        } else if (media.type === \"Pframe\") {\n          const chunk = media.data;\n\n          if (media.additionalHeader && media.additionalHeader.length > 0) {\n            // Detect codec on raw NAL chunk before annex-B conversion, mirroring the\n            // logic below so the emitted videoType is consistent across both events.\n            const detected = detectVideoCodecFromNal(chunk);\n            const videoTypeForHeader = detected ?? media.videoType;\n            this.emit(\"additionalHeader\", {\n              raw: media.additionalHeader,\n              frameType: \"Pframe\",\n              videoType: videoTypeForHeader,\n              microseconds: media.microseconds,\n              ...(this.latestFrameWidth !== undefined\n                ? { frameWidth: this.latestFrameWidth }\n                : {}),\n              ...(this.latestFrameHeight !== undefined\n                ? { frameHeight: this.latestFrameHeight }\n                : {}),\n            });\n          }\n\n          // Detect actual video codec from NAL data (some cameras report wrong codec in BcMedia header)\n          let videoType = media.videoType;\n          const detectedCodec = detectVideoCodecFromNal(chunk);\n          if (detectedCodec && detectedCodec !== videoType) {\n            videoType = detectedCodec;\n          }\n\n          // P-frame: often not a complete access unit but an \"RTP-like\" payload (FU-A/STAP)\n          // which must be depacketized with state. Do NOT run AVCC heuristics before depacketizing.\n          // First try AVCC/HVCC -> AnnexB (some models send P-frames length-prefixed).\n          // If we still don't get start codes, try RFC6184 depacketizer (FU-A/STAP) for H.264.\n          // Note: H.265 RTP depacketization is similar but uses different NAL unit types.\n          const annexBOrRaw = hasStartCodes(chunk)\n            ? chunk\n            : videoType === \"H265\"\n              ? convertH265ToAnnexB(chunk)\n              : convertToAnnexB(chunk);\n\n          // For H.264, use the depacketizer. For H.265, we might need a similar depacketizer in the future.\n          const parts = hasStartCodes(annexBOrRaw)\n            ? [annexBOrRaw]\n            : videoType === \"H265\"\n              ? this.depacketizerH265.push(chunk)\n              : this.depacketizer.push(chunk);\n\n          if (parts.length === 0) {\n            // incomplete fragment (FU-A mid) or unrecognized payload: wait for more packets\n            continue;\n          }\n\n          for (const p of parts) {\n            maybeCacheParamSets(p, \"Pframe\", videoType);\n            const outP0 = prependParamSetsIfNeeded(p, videoType, true); // isPframe=true\n            if (outP0.length === 0) continue;\n            const outP = outP0;\n            dumpNalSummary(outP, \"Pframe\", media.microseconds);\n            // Guard rail: drop only if the access unit is invalid (codec-specific)\n            const isValid =\n              videoType === \"H265\"\n                ? isValidH265AnnexBAccessUnit(outP)\n                : isValidH264AnnexBAccessUnit(outP);\n            if (!isValid) {\n              if (dbg.traceNativeStream && this.debugH264LogsLeft > 0) {\n                this.debugH264LogsLeft--;\n                const head = outP\n                  .subarray(0, Math.min(24, outP.length))\n                  .toString(\"hex\");\n                this.logger?.warn(\n                  `[BaichuanVideoStream] Dropping invalid Pframe (${videoType}): len=${outP.length} head=${head}`,\n                );\n              }\n              continue;\n            }\n            this.emit(\"videoFrame\", outP);\n            this.emit(\"videoAccessUnit\", {\n              data: outP,\n              isKeyframe: false,\n              videoType: videoType,\n              microseconds: media.microseconds,\n            });\n            videoFramesEmitted++;\n          }\n        }\n\n        // Emit audio frames\n        if (media.type === \"Aac\" || media.type === \"Adpcm\") {\n          audioFramesEmitted++;\n          this.emit(\"audioFrame\", media.data);\n        }\n\n        // Emit info frames for metadata\n        if (media.type === \"InfoV1\" || media.type === \"InfoV2\") {\n          // Cache the most recent frame dimensions so subsequent additionalHeader\n          // events can attach width/height context for normalized box coords.\n          if (media.videoWidth > 0) this.latestFrameWidth = media.videoWidth;\n          if (media.videoHeight > 0) this.latestFrameHeight = media.videoHeight;\n        }\n      }\n\n      // Log frame emission stats\n      if (\n        totalFramesReceived <= 10 ||\n        (totalFramesReceived % 20 === 0 &&\n          (videoFramesEmitted > 0 || audioFramesEmitted > 0))\n      ) {\n        if (rtspDebug) {\n          this.logger?.log(\n            `[BaichuanVideoStream] Frame #${totalFramesReceived}: emitted ${videoFramesEmitted} video frames, ${audioFramesEmitted} audio frames`,\n          );\n        }\n      }\n\n      // Mark liveness only when we actually produced media (not just transport frames).\n      if (videoFramesEmitted > 0 || audioFramesEmitted > 0) {\n        this.noteMediaActivity();\n      }\n\n      // Track total video frames emitted\n      if (\n        videoFramesEmitted > 0 &&\n        (totalFramesReceived <= 10 || totalFramesReceived % 50 === 0)\n      ) {\n        let totalVideoFrames = 0;\n        // Count would need to be tracked separately - for now just log\n      }\n    };\n\n    // Register the push handler BEFORE the VIDEO start command.\n    // Some NVR/Hub firmwares begin streaming before replying to the start command.\n    this.client.on(\"push\", this.videoFrameHandler);\n    this.active = true;\n    this.startWatchdog();\n\n    // Register with the API so it can forward additionalHeader frames to any\n    // onDetection listeners.\n    if (this.api && typeof this.api._registerVideoStreamForDetection === \"function\") {\n      this.detectionTeardown = this.api._registerVideoStreamForDetection(this, {\n        channel: this.channel,\n        profile: this.profile,\n      });\n    }\n\n    // Seed liveness so the watchdog doesn't immediately restart while we are still negotiating.\n    this.lastMediaAtMs = Date.now();\n\n    // Request the video stream if the API is available.\n    if (this.api) {\n      try {\n        // Best-effort stop: stop any existing stream on this channel/profile.\n        // This ensures we start fresh when switching between variants.\n        if (this.variant === \"default\") {\n          // Default stream: best-effort stop default before starting.\n          try {\n            await this.api.stopVideoStream(this.channel, this.profile, {\n              variant: \"default\",\n              client: this.client,\n            });\n          } catch {\n            // ignore\n          }\n        } else {\n          // Variant stream: stop ONLY the same variant. Do not forcibly stop the default stream.\n          // Rationale:\n          // - BaichuanClient subscriptions are per msgNum, so different streams can coexist without mixing.\n          // - Stopping default streams on some NVRs can add several seconds of renegotiation delay.\n          try {\n            await this.api.stopVideoStream(this.channel, this.profile, {\n              variant: this.variant,\n              client: this.client,\n            });\n            this.logger?.log(\n              `[BaichuanVideoStream] Successfully stopped existing variant stream: ${this.variant}`,\n            );\n          } catch (e) {\n            this.logger?.log(\n              `[BaichuanVideoStream] Error stopping variant stream ${this.variant} (may not exist): ${e instanceof Error ? e.message : String(e)}`,\n            );\n          }\n        }\n\n        // Small delay to ensure the device has processed the stop commands\n        await new Promise((resolve) => setTimeout(resolve, 100));\n\n        // Start the video stream. startVideoStream() synchronously reserves a msgNum and\n        // stores it in activeVideoMsgNums BEFORE its first await (sendFrame). Read the\n        // activeMsgNum immediately after to enable per-stream frame filtering on shared sockets.\n        const startPromise = this.api.startVideoStream(\n          this.channel,\n          this.profile,\n          { variant: this.variant, client: this.client },\n        );\n\n        const updateActiveMsgNum = () => {\n          try {\n            const getMsgNum = (this.api as any)\n              .getActiveVideoMsgNumWithVariant as\n              | ((\n                  ch: number,\n                  p: StreamProfile,\n                  v?: NativeVideoStreamVariant,\n                ) => number | undefined)\n              | undefined;\n            const v =\n              typeof getMsgNum === \"function\"\n                ? getMsgNum(this.channel, this.profile, this.variant)\n                : undefined;\n            if (v !== undefined) this.activeMsgNum = v;\n          } catch {\n            // keep current activeMsgNum (may have been learned from frames)\n          }\n        };\n\n        // Read activeMsgNum immediately — it was set synchronously by startVideoStream().\n        // This enables msgNum-based frame filtering even before the camera responds.\n        updateActiveMsgNum();\n\n        // On UDP/battery cams the stream typically will NOT start automatically; wait for the response.\n        // On TCP/NVR/Hub the response can be very slow; do not block stream processing on it.\n        if (this.client.getTransport?.() === \"udp\") {\n          await startPromise;\n        } else {\n          // Give it a brief window to fail fast (bad credentials, disconnected).\n          await Promise.race([\n            startPromise,\n            new Promise<void>((resolve) => setTimeout(resolve, 400)),\n          ]);\n        }\n\n        updateActiveMsgNum();\n        void startPromise\n          .then(() => updateActiveMsgNum())\n          .catch((e) => {\n            const err = e instanceof Error ? e : new Error(String(e));\n            this.emitSafeError(err);\n          });\n      } catch (error) {\n        const err = error instanceof Error ? error : new Error(String(error));\n        if (this.client.getTransport?.() === \"udp\") {\n          this.stopWatchdog();\n          this.active = false;\n          if (this.videoFrameHandler)\n            this.client.off(\"push\", this.videoFrameHandler);\n          this.videoFrameHandler = undefined;\n          throw err;\n        }\n        this.emitSafeError(err);\n      }\n    }\n  }\n\n  // isVideoFrame, isAudioFrame, and extractVideoData are no longer needed\n  // BcMediaParser handles all frame parsing and extraction\n\n  /**\n   * Stop video stream.\n   */\n  async stop(): Promise<void> {\n    if (!this.active) return;\n\n    this.stopWatchdog();\n\n    // Ensure depacketizers don't keep FU state across restarts.\n    this.depacketizer.reset();\n    this.depacketizerH265.reset();\n\n    if (this.videoFrameHandler) {\n      this.client.removeListener(\"push\", this.videoFrameHandler);\n    }\n    this.videoFrameHandler = undefined;\n\n    // Note: stream-level decipher is not used here; we pick decrypted/raw before BcMedia decoding.\n\n    // Clear codec buffer\n    this.bcMediaCodec.clear();\n\n    this.activeMsgNum = undefined;\n\n    // Stop the video stream if the API is available\n    if (this.api) {\n      try {\n        await this.api.stopVideoStream(this.channel, this.profile, {\n          variant: this.variant,\n          client: this.client,\n        });\n      } catch (error) {\n        // Log error but continue\n        this.emitSafeError(\n          error instanceof Error ? error : new Error(String(error)),\n        );\n      }\n    }\n\n    this.active = false;\n    if (this.detectionTeardown) {\n      try {\n        this.detectionTeardown();\n      } catch {\n        // Swallow: the API may already be torn down at this point.\n      }\n      this.detectionTeardown = undefined;\n    }\n    this.emit(\"close\");\n  }\n\n  isActive(): boolean {\n    return this.active;\n  }\n}\n","import { createCipheriv, createDecipheriv, createHash } from \"node:crypto\";\nimport { BC_AES_IV, BC_XML_KEY } from \"./constants\";\n\nexport type EncryptionProtocol =\n  | { kind: \"none\" }\n  | { kind: \"bc\" }\n  | { kind: \"aes\"; key: Buffer }\n  | { kind: \"full_aes\"; key: Buffer };\n\nexport function md5HexUpper(input: string): string {\n  return createHash(\"md5\").update(input, \"utf8\").digest(\"hex\").toUpperCase();\n}\n\n/**\n * MD5 \"modern\" formatting used by Baichuan:\n * - MD5 hex uppercase\n * - truncate to 31 chars\n */\nexport function md5StrModern(input: string): string {\n  return md5HexUpper(input).slice(0, 31);\n}\n\n/**\n * AES key derivation used by Reolink:\n * keyString = md5_str_modern(`${nonce}-${password}`).slice(0,16)\n * keyBytes = UTF-8 bytes of that string (16 bytes)\n */\nexport function deriveAesKey(nonce: string, password: string): Buffer {\n  const keyStr = md5StrModern(`${nonce}-${password}`).slice(0, 16);\n  return Buffer.from(keyStr, \"utf8\");\n}\n\nexport function bcEncrypt(buf: Buffer, offset: number): Buffer {\n  const off = offset & 0xff;\n  const out = Buffer.allocUnsafe(buf.length);\n  for (let i = 0; i < buf.length; i++) {\n    const key = BC_XML_KEY[(off + i) % BC_XML_KEY.length]!;\n    out[i] = buf[i]! ^ key ^ off;\n  }\n  return out;\n}\n\nexport function bcDecrypt(buf: Buffer, offset: number): Buffer {\n  // XOR is symmetric\n  return bcEncrypt(buf, offset);\n}\n\nexport function aesEncrypt(buf: Buffer, key: Buffer): Buffer {\n  if (buf.length === 0) return Buffer.alloc(0);\n  const cipher = createCipheriv(\"aes-128-cfb\", key, BC_AES_IV);\n  cipher.setAutoPadding(false);\n  return Buffer.concat([cipher.update(buf), cipher.final()]);\n}\n\nexport function aesDecrypt(buf: Buffer, key: Buffer): Buffer {\n  if (buf.length === 0) return Buffer.alloc(0);\n  const decipher = createDecipheriv(\"aes-128-cfb\", key, BC_AES_IV);\n  decipher.setAutoPadding(false);\n  return Buffer.concat([decipher.update(buf), decipher.final()]);\n}\n\n/**\n * Stateful AES-128-CFB stream decryptor.\n *\n * AES-128-CFB mode requires maintaining cipher state across chunk boundaries.\n * When a large BcMedia packet (e.g., a 400KB I-frame) is fragmented into multiple\n * Baichuan frames, each frame must be decrypted using the cipher state from the\n * previous frame, NOT a fresh IV.\n *\n * The first frame of a new BcMedia packet starts with a recognizable magic\n * (e.g., \"cd00\", \"1001\", \"1002\"). This signals we should reset the cipher state.\n * Subsequent frames (continuations) should use the continued cipher state.\n *\n * Usage:\n * ```ts\n * const decryptor = new AesStreamDecryptor(key);\n *\n * for (const frame of baichuanFrames) {\n *   // Try fresh IV to detect new packet\n *   const freshDecrypted = aesDecrypt(frame.payload, key);\n *   if (startsWithBcMediaMagic(freshDecrypted)) {\n *     // New packet - reset and decrypt with fresh state\n *     decryptor.reset();\n *     const decrypted = decryptor.update(frame.payload);\n *   } else {\n *     // Continuation - use existing state\n *     const decrypted = decryptor.update(frame.payload);\n *   }\n * }\n * ```\n */\nexport class AesStreamDecryptor {\n  private decipher: ReturnType<typeof createDecipheriv> | null = null;\n  private readonly key: Buffer;\n\n  constructor(key: Buffer) {\n    this.key = key;\n  }\n\n  /**\n   * Reset the cipher state (start decrypting with fresh IV).\n   * Call this when a new BcMedia packet is detected.\n   */\n  reset(): void {\n    this.decipher = createDecipheriv(\"aes-128-cfb\", this.key, BC_AES_IV);\n    this.decipher.setAutoPadding(false);\n  }\n\n  /**\n   * Decrypt a chunk using the current cipher state.\n   * Automatically resets if no cipher exists.\n   *\n   * @param buf - Encrypted buffer to decrypt\n   * @returns Decrypted buffer\n   */\n  update(buf: Buffer): Buffer {\n    if (buf.length === 0) return Buffer.alloc(0);\n    if (!this.decipher) this.reset();\n    return this.decipher!.update(buf);\n  }\n\n  /**\n   * Check if the decryptor has been initialized.\n   */\n  isInitialized(): boolean {\n    return this.decipher !== null;\n  }\n}\n","export const BC_TCP_DEFAULT_PORT = 9000;\n\n/** Magic header bytes: `f0 de bc 0a` */\nexport const BC_MAGIC = Buffer.from([0xf0, 0xde, 0xbc, 0x0a]);\n\n/**\n * Some cameras sometimes send a reversed-endian magic header for certain payloads (e.g. JPEG).\n * In Rust reference this appears as 0x0fedcba0 (LE bytes: a0 cb ed 0f).\n */\nexport const BC_MAGIC_REV = Buffer.from([0xa0, 0xcb, 0xed, 0x0f]);\n\n/** Reolink \"BCEncrypt\" XOR key for XML payloads. */\nexport const BC_XML_KEY = Uint8Array.from([\n  0x1f, 0x2d, 0x3c, 0x4b, 0x5a, 0x69, 0x78, 0xff,\n]);\n\n/** Fixed IV used by Reolink for AES-CFB. */\nexport const BC_AES_IV = Buffer.from(\"0123456789abcdef\", \"utf8\");\n\nexport const BC_CLASS_LEGACY = 0x6514;\nexport const BC_CLASS_MODERN_20 = 0x6614;\nexport const BC_CLASS_MODERN_24 = 0x6414;\nexport const BC_CLASS_MODERN_24_ALT = 0x0000;\n// Modern (file download) message class, still uses 24-byte header with payloadOffset.\nexport const BC_CLASS_FILE_DOWNLOAD = 0x6482;\n\nexport function bcHeaderHasPayloadOffset(messageClass: number): boolean {\n  return (\n    messageClass === BC_CLASS_MODERN_24 ||\n    messageClass === BC_CLASS_MODERN_24_ALT ||\n    messageClass === BC_CLASS_FILE_DOWNLOAD\n  );\n}\n\n/**\n * Baichuan command IDs for login/logout.\n *\n * Values:\n * - MSG_ID_LOGIN = 1: Login request/response\n * - MSG_ID_LOGOUT = 2: Logout request/response\n */\nexport const BC_CMD_ID_LOGIN = 1; // MSG_ID_LOGIN - Login request/response\nexport const BC_CMD_ID_LOGOUT = 2; // MSG_ID_LOGOUT - Logout request/response (PCAP-confirmed)\n\n/**\n * Baichuan command IDs for video streaming.\n *\n * Values:\n * - MSG_ID_VIDEO = 3: Video and Audio Streams messages\n * - MSG_ID_VIDEO_STOP = 4: ID used to stop the video stream\n */\nexport const BC_CMD_ID_VIDEO = 3; // MSG_ID_VIDEO - Video and Audio Streams messages\nexport const BC_CMD_ID_VIDEO_STOP = 4; // MSG_ID_VIDEO_STOP - ID used to stop the video stream\n\n// Replay / recordings / file list\nexport const BC_CMD_ID_FILE_INFO_LIST_REPLAY = 5; // <FileInfoList> (replay)\nexport const BC_CMD_ID_FILE_INFO_LIST_STOP = 7; // <FileInfoList> (stop)\nexport const BC_CMD_ID_FILE_INFO_LIST_DL_VIDEO = 8; // <FileInfoList> (DL Video)\nexport const BC_CMD_ID_FILE_INFO_LIST_DOWNLOAD = 13; // <FileInfoList> (download)\nexport const BC_CMD_ID_FILE_INFO_LIST_OPEN = 14; // <FileInfoList> (open/list)\nexport const BC_CMD_ID_FILE_INFO_LIST_GET = 15; // <FileInfoList> (get/list page)\nexport const BC_CMD_ID_FILE_INFO_LIST_CLOSE = 16; // <FileInfoList> (close)\n\n// Recording search (alarm video list)\nexport const BC_CMD_ID_FIND_REC_VIDEO_OPEN = 272; // <findAlarmVideo> (open)\nexport const BC_CMD_ID_FIND_REC_VIDEO_GET = 273; // <findAlarmVideo> (get)\nexport const BC_CMD_ID_FIND_REC_VIDEO_CLOSE = 274; // <findAlarmVideo> (close)\n\n// CoverPreview / Thumbnail commands\n// cmd_id=298: CoverPreview for NVR/HomeHub (XML-based, returns I-frame)\nexport const BC_CMD_ID_COVER_PREVIEW = 298; // <CoverPreview> - I-frame from recording\n// cmd_id=458-462: Cover/Thumbnail for standalone cameras (PCAP-observed)\n// These appear to be batch/paged cover requests used by the Reolink app\nexport const BC_CMD_ID_COVER_STANDALONE_458 = 458; // Standalone cover request type A\nexport const BC_CMD_ID_COVER_STANDALONE_459 = 459; // Standalone cover request type B\nexport const BC_CMD_ID_COVER_STANDALONE_460 = 460; // Standalone cover request type C (main)\nexport const BC_CMD_ID_COVER_STANDALONE_461 = 461; // Standalone cover request type D\nexport const BC_CMD_ID_COVER_STANDALONE_462 = 462; // Standalone cover request type E\n// Response cmd_id for cover data (observed in PCAP)\nexport const BC_CMD_ID_COVER_RESPONSE = 138; // Response containing cover/thumbnail data (0x8A)\n\n// Talk / two-way audio command IDs\nexport const BC_CMD_ID_TALK_ABILITY = 10; // MSG_ID_TALKABILITY - get talk ability/config\nexport const BC_CMD_ID_TALK_RESET = 11; // MSG_ID_TALKRESET - stop/reset talk session\nexport const BC_CMD_ID_TALK_CONFIG = 201; // MSG_ID_TALKCONFIG - configure talk audio format\nexport const BC_CMD_ID_TALK = 202; // MSG_ID_TALK - send talk binary (BcMedia ADPCM)\n\n// PTZ Control command IDs\nexport const BC_CMD_ID_PTZ_CONTROL = 18; // MSG_ID_PTZ_CONTROL - Pan/tilt/zoom control\nexport const BC_CMD_ID_PTZ_CONTROL_PRESET = 19; // MSG_ID_PTZ_CONTROL_PRESET - Set/move to preset\nexport const BC_CMD_ID_GET_PTZ_PRESET = 190; // MSG_ID_GET_PTZ_PRESET - Get preset list\nexport const BC_CMD_ID_GET_PTZ_POSITION = 433; // Get current PTZ position\n\n// PTZ Zoom/Focus command IDs\nexport const BC_CMD_ID_GET_ZOOM_FOCUS = 294; // MSG_ID_GET_ZOOM_FOCUS - Read zoom/focus min/max/current\nexport const BC_CMD_ID_SET_ZOOM_FOCUS = 295; // MSG_ID_SET_ZOOM_FOCUS - Write zoom/focus position\n\n// Battery Info command IDs\n// - 252: MSG_ID_BATTERY_INFO_LIST (camera-initiated status/event)\n// - 253: MSG_ID_BATTERY_INFO (client-initiated request)\nexport const BC_CMD_ID_GET_BATTERY_INFO_LIST = 252; // MSG_ID_BATTERY_INFO_LIST\nexport const BC_CMD_ID_GET_BATTERY_INFO = 253; // MSG_ID_BATTERY_INFO\n\n// UDP Keep Alive command ID\n// Battery cameras (BCUDP) periodically send this and expect a 200 response.\nexport const BC_CMD_ID_UDP_KEEP_ALIVE = 234; // MSG_ID_UDP_KEEP_ALIVE\n\n// PIR State command IDs\nexport const BC_CMD_ID_GET_PIR_INFO = 212; // MSG_ID_GET_PIR_ALARM - Get PIR settings\nexport const BC_CMD_ID_SET_PIR_INFO = 213; // MSG_ID_START_PIR_ALARM - Set PIR settings\n\n// Motion Detection command IDs\nexport const BC_CMD_ID_GET_MOTION_ALARM = 46; // GetMdAlarm - Get motion detection state\nexport const BC_CMD_ID_SET_MOTION_ALARM = 47; // SetMdAlarm - Set motion detection\n\n// Alarm Event List (push from camera when alarm state changes)\nexport const BC_CMD_ID_ALARM_EVENT_LIST = 33; // AlarmEventList push - contains motion/AI alarm status\n\n// AI Detection command IDs\nexport const BC_CMD_ID_GET_AI_ALARM = 342; // GetAiAlarm - Get AI detection state\nexport const BC_CMD_ID_SET_AI_ALARM = 343; // SetAiAlarm - Set AI detection\n\n// Siren/Audio Alarm command IDs\nexport const BC_CMD_ID_GET_AUDIO_ALARM = 547; // GetAudioAlarm - Get siren status (push event)\nexport const BC_CMD_ID_AUDIO_ALARM_PLAY = 263; // MSG_ID_PLAY_AUDIO - Play siren/audio alarm\n\n// White LED/Floodlight command IDs\nexport const BC_CMD_ID_GET_WHITE_LED = 289; // GetWhiteLed/Floodlight - Get floodlight state\nexport const BC_CMD_ID_SET_WHITE_LED_STATE = 288; // SetWhiteLed state\nexport const BC_CMD_ID_SET_WHITE_LED_TASK = 290; // SetWhiteLed task (brightness, mode, etc.)\n// Floodlight status report pushed by camera\nexport const BC_CMD_ID_FLOODLIGHT_STATUS_LIST = 291; // MSG_ID_FLOODLIGHT_STATUS_LIST\n\n// Ability Info command ID\nexport const BC_CMD_ID_ABILITY_INFO = 151; // MSG_ID_ABILITY_INFO - Get device capabilities/abilities\n\n// Support query command ID\n// Returns a <Support> XML block with ptzMode and per-channel flags (e.g. battery, ledCtrl).\nexport const BC_CMD_ID_SUPPORT = 199; // MSG_ID_SUPPORT\n\n// Ping command ID\nexport const BC_CMD_ID_PING = 93; // MSG_ID_PING - Keep connection alive / check status\n\n// Channel Info command IDs\nexport const BC_CMD_ID_CHANNEL_INFO_ALL = 145; // Get channel info for all channels in a single request\n\n// --- PCAP-derived (settings) command IDs (not yet wrapped in helpers) ---\n// These command IDs were observed in our settings PCAPs and are exported here so they can be used\n// by library callers (e.g. via ReolinkBaichuanApi.sendXml({ cmdId, ... })).\n// Naming is best-effort and derived from the first XML tag under <body> seen in responses.\n\n// client->device (request/response)\nexport const BC_CMD_ID_GET_OSD_DATETIME = 44; // <OsdDatetime>\nexport const BC_CMD_ID_SET_OSD_DATETIME = 45; // <OsdDatetime> + <OsdChannelName>\nexport const BC_CMD_ID_GET_RECORD_CFG = 54; // <RecordCfg>\nexport const BC_CMD_ID_GET_ABILITY_SUPPORT = 58; // <AbilitySuppport> (spelling as seen in XML)\nexport const BC_CMD_ID_GET_FTP_TASK = 70; // <FtpTask>\nexport const BC_CMD_ID_GET_VERSION_INFO = 80; // <VersionInfo> - model / firmware / serial number\nexport const BC_CMD_ID_GET_RECORD = 81; // <Record>\nexport const BC_CMD_ID_GET_HDD_INFO_LIST = 102; // <HddInfoList>\nexport const BC_CMD_ID_GET_WIFI_SIGNAL = 115; // <WifiSignal>\nexport const BC_CMD_ID_GET_WIFI = 116; // <Wifi>\nexport const BC_CMD_ID_GET_ONLINE_USER_LIST = 120; // <OnlineUserList> - active user sessions\nexport const BC_CMD_ID_GET_DAY_RECORDS = 142; // <DayRecords>\nexport const BC_CMD_ID_GET_STREAM_INFO_LIST = 146; // <StreamInfoList>\nexport const BC_CMD_ID_GET_LED_STATE = 208; // <LedState>\nexport const BC_CMD_ID_GET_EMAIL_TASK = 217; // <EmailTask>\nexport const BC_CMD_ID_GET_AUDIO_TASK = 232; // <AudioTask>\nexport const BC_CMD_ID_GET_AUDIO_CFG = 264; // <audioCfg>\nexport const BC_CMD_ID_GET_DAY_NIGHT_THRESHOLD = 296; // <DayNightThreshold>\nexport const BC_CMD_ID_GET_TIMELAPSE_CFG = 319; // <timelapseCfg>\nexport const BC_CMD_ID_GET_AI_DENOISE = 439; // <aiDenoise>\nexport const BC_CMD_ID_GET_KIT_AP_CFG = 481; // <kitApCfg>\nexport const BC_CMD_ID_GET_REC_ENC_CFG = 507; // <RecEncCfg>\nexport const BC_CMD_ID_GET_ACCESS_USER_LIST = 511; // <accessUserList>\nexport const BC_CMD_ID_GET_SLEEP_STATE = 574; // <sleepState>\n\n// Additional discovered command IDs from PCAP analysis (motion_alarm.pcapng)\nexport const BC_CMD_ID_GET_VIDEO_INPUT = 26; // <VideoInput> + <InputAdvanceCfg> - Video settings/exposure\nexport const BC_CMD_ID_GET_SYSTEM_GENERAL = 104; // <SystemGeneral> + <Norm> - System time/name/language\nexport const BC_CMD_ID_GET_SUPPORT = 199; // <Support> - Device capability flags\nexport const BC_CMD_ID_GET_AI_CFG = 299; // <AiCfg> - AI tracking config\nexport const BC_CMD_ID_SET_AI_CFG = 300; // <AiCfg> - Set AI tracking config (autotracking)\nexport const BC_CMD_ID_GET_SIREN_STATUS = 547; // <SirenStatusList> - Siren status\n\n// AudioTask - Motion Alarm control (confirmed in PCAP analysis)\n// cmdId=232 GET returns <AudioTask><enable>1/0</enable>...</AudioTask>\n// cmdId=231 SET sends encrypted XML payload to toggle motion alarm\nexport const BC_CMD_ID_SET_AUDIO_TASK = 231; // SetAudioTask - Toggle motion alarm enable/disable\n\n// SetVideoInput / SetImage / SetIsp share the same write cmdId.\n// GET (cmdId=26) returns the merged blob, SET (cmdId=25) writes back the\n// patched XML. Mirrors reolink_aio's @http_cmd(\"SetImage\") / SetIsp.\nexport const BC_CMD_ID_SET_VIDEO_INPUT = 25; // SetImage / SetIsp - write patched VideoInput/InputAdvanceCfg\nexport const BC_CMD_ID_SET_DAY_NIGHT_THRESHOLD = 297; // SetIsp dayNightThreshold writer\n\n// Encoding settings (mainStream / subStream / audio / bitrate / framerate).\n// cmdId=56 GET <Enc>, cmdId=57 SET (read-modify-write).\nexport const BC_CMD_ID_GET_ENC = 56; // GetEnc - encoding info\nexport const BC_CMD_ID_SET_ENC = 57; // SetEnc - write patched encoding\n\n// Privacy mask (Shelter). cmdId=52 GET, cmdId=53 SET (read-modify-write).\nexport const BC_CMD_ID_GET_PRIVACY_MASK = 52; // GetMask - privacy mask config\nexport const BC_CMD_ID_SET_PRIVACY_MASK = 53; // SetMask - write patched mask\n\n// Audio noise reduction (aiDenoise). cmdId=439 GET, cmdId=440 SET.\nexport const BC_CMD_ID_SET_AI_DENOISE = 440; // SetAudioNoise - write aiDenoise\n\n// LED state (status LED + IR lights). cmdId=208 GET, cmdId=209 SET.\nexport const BC_CMD_ID_SET_LED_STATE = 209; // SetIrLights / SetPowerLed - write LedState\n\n// AudioCfg (volume / talk / visitor). cmdId=264 GET, cmdId=265 SET.\nexport const BC_CMD_ID_SET_AUDIO_CFG = 265; // SetAudioCfg - write audio settings\n\n// Recording schedule. cmdId=81 GET schedule, cmdId=82 SET schedule.\n// cmdId=54 GET RecordCfg (delay/pack), cmdId=55 SET RecordCfg.\nexport const BC_CMD_ID_SET_RECORD = 82; // SetRec - write recording schedule\nexport const BC_CMD_ID_SET_RECORD_CFG = 55; // SetRecCfg - write recording delay/pack\n\n// Email task. cmdId=217 GET, cmdId=216 SET.\nexport const BC_CMD_ID_SET_EMAIL_TASK = 216; // SetEmail - write email schedule\n\n// Push task. cmdId=219 GET, cmdId=218 SET.\nexport const BC_CMD_ID_GET_PUSH_TASK = 219; // GetPush - push schedule\nexport const BC_CMD_ID_SET_PUSH_TASK = 218; // SetPush - write push schedule\n\n// Audio alarm (siren on event). GET cmdId=232 (shared with AudioTask),\n// SET cmdId=231 (shared with SetAudioTask).\n// We reuse BC_CMD_ID_GET_AUDIO_TASK / BC_CMD_ID_SET_AUDIO_TASK above.\n\n// Auto focus. cmdId=224 GET, cmdId=225 SET.\nexport const BC_CMD_ID_GET_AUTO_FOCUS = 224; // GetAutoFocus - auto focus settings\nexport const BC_CMD_ID_SET_AUTO_FOCUS = 225; // SetAutoFocus - write auto focus\n\n// Email SMTP server config. cmdId=42 GET, cmdId=43 SET, cmdId=141 TEST.\n// Schema confirmed from Reolink Client pcap (2026-05-16):\n//   <Email><smtpServer/><userName/><password/><address1..3/><smtpPort/>\n//   <sendNickname/><attachment/><attachmentType/><textType/><ssl/><interval/></Email>\nexport const BC_CMD_ID_GET_EMAIL = 42;\nexport const BC_CMD_ID_SET_EMAIL = 43;\nexport const BC_CMD_ID_TEST_EMAIL = 141; // Server returns 200=ok, 482=test failed\n\n// NTP. cmdId=38 GET, cmdId=39 SET.\n//   <Ntp><enable/><server/><synchronizeInterval/><port/></Ntp>\nexport const BC_CMD_ID_GET_NTP = 38;\nexport const BC_CMD_ID_SET_NTP = 39;\n\n// System general (timezone, manual time, osd date format, device name, language).\n// cmdId=104 GET (already declared), cmdId=105 SET.\n// SET supports partial payloads: include only the fields to change, plus the\n// `<year>0</year>` marker meaning \"do not set manual time\". `<deviceNameOnly>1</deviceNameOnly>`\n// is required when patching only the device name.\nexport const BC_CMD_ID_SET_SYSTEM_GENERAL = 105;\n\n// Daylight Saving Time. cmdId=106 GET, cmdId=107 SET.\n//   <Dst><enable/><offset/><startMonth/><startWeekIndex/><startWeekday/>\n//   <startHour/><startMinute/><startSecond/><endMonth/><endWeekIndex/>\n//   <endWeekday/><endHour/><endMinute/><endSecond/><version/></Dst>\nexport const BC_CMD_ID_GET_DST = 106;\nexport const BC_CMD_ID_SET_DST = 107;\n\n// Auto reboot. cmdId=101 GET, cmdId=100 SET.\n//   <AutoReboot><enable/><weekDay/><hour/><minute/><second/></AutoReboot>\n// weekDay accepts \"Sunday\"..\"Saturday\" or \"everyday\".\nexport const BC_CMD_ID_GET_AUTO_REBOOT = 101;\nexport const BC_CMD_ID_SET_AUTO_REBOOT = 100;\n\n// Legacy placeholder aliases — kept for back-compat with consumers that\n// referenced the cmd_id directly. New callers should use the semantic\n// names above.\n/** @deprecated Use {@link BC_CMD_ID_SET_LED_STATE} (209). */\nexport const BC_CMD_ID_CMD_123 = 123;\n/** @deprecated Use {@link BC_CMD_ID_SET_LED_STATE} (209). */\nexport const BC_CMD_ID_CMD_209 = 209;\n/** @deprecated Use {@link BC_CMD_ID_SET_AUDIO_CFG} (265). */\nexport const BC_CMD_ID_CMD_265 = 265;\n/** @deprecated Use {@link BC_CMD_ID_SET_AI_DENOISE} (440). */\nexport const BC_CMD_ID_CMD_440 = 440;\n\n// push/device->client (camera-initiated)\nexport const BC_CMD_ID_PUSH_VIDEO_INPUT = 78; // <VideoInput>\nexport const BC_CMD_ID_PUSH_SERIAL = 79; // <Serial>\nexport const BC_CMD_ID_PUSH_NET_INFO = 464; // <NetInfo>\nexport const BC_CMD_ID_PUSH_DINGDONG_LIST = 484; // <dingdongList>\nexport const BC_CMD_ID_PUSH_SLEEP_STATUS = 623; // <sleepStatus>\nexport const BC_CMD_ID_PUSH_COORDINATE_POINT_LIST = 723; // <coordinatePointList>\n\n// Chime / DingDong command IDs\nexport const BC_CMD_ID_DING_DONG_CTRL = 483; // GetDingDongCtrl / SetDingDongCtrl (hardwired chime)\nexport const BC_CMD_ID_GET_DING_DONG_LIST = 484; // GetDingDongList (paired wireless chimes)\nexport const BC_CMD_ID_DING_DONG_OPT = 485; // DingDongOpt (get/set/ring wireless chime params)\nexport const BC_CMD_ID_GET_DING_DONG_CFG = 486; // GetDingDongCfg (chime event config)\nexport const BC_CMD_ID_SET_DING_DONG_CFG = 487; // SetDingDongCfg (set chime event config)\nexport const BC_CMD_ID_QUICK_REPLY_PLAY = 349; // QuickReplyPlay (play audio file on doorbell)\nexport const BC_CMD_ID_GET_DING_DONG_SILENT = 609; // GetDingDongSilent (get wireless chime silent mode)\nexport const BC_CMD_ID_SET_DING_DONG_SILENT = 610; // SetDingDongSilent (set wireless chime silent mode)\n","import * as fs from \"node:fs\";\nimport * as path from \"node:path\";\n\nexport type Logger = import(\"../logging/logger\").Logger;\n\nexport type DebugOptions = {\n  /** Enables generic debug logs. */\n  general?: boolean;\n  /** Enables extra RTSP proxy/server debug logs (quiet by default). */\n  debugRtsp?: boolean;\n  /**\n   * Enables native stream tracing and related low-level logs.\n   *\n   * Includes:\n   * - stream command tracing (tx/rx cmd_id 3/4 + rx stream frames)\n   * - H.264/H.265 debug logs/samples\n   * - SPS/PPS/VPS parameter sets debug logs\n   */\n  traceNativeStream?: boolean;\n  /**\n   * Enables detailed tracing for recording-related commands (FileInfoList, findAlarmVideo, download).\n   * Useful to understand what is happening on the wire for recordings only.\n   */\n  traceRecordings?: boolean;\n  /** Enables talkback tracing (tx/rx cmd_id 10/11/201/202). */\n  traceTalk?: boolean;\n  /** Enables per-event tracing for cmd_id 33 (AlarmEventList push). */\n  traceEvents?: boolean;\n  dump?: {\n    enabled?: boolean;\n    dir?: string;\n    bcmedia?: boolean;\n    nals?: boolean;\n  };\n};\n\nexport type DebugConfig = {\n  general: boolean;\n  debugRtsp: boolean;\n  traceNativeStream: boolean;\n  traceRecordings: boolean;\n  traceTalk: boolean;\n  traceEvents: boolean;\n  dumpEnabled: boolean;\n  dumpDir: string;\n  dumpBcMedia: boolean;\n  dumpNals: boolean;\n};\n\nexport function normalizeDebugOptions(opts?: DebugOptions): DebugConfig {\n  const general = opts?.general === true;\n  const debugRtsp = opts?.debugRtsp === true;\n  const traceNativeStream = opts?.traceNativeStream === true;\n  const traceRecordings = opts?.traceRecordings === true;\n  const traceTalk = opts?.traceTalk === true;\n  const traceEvents = opts?.traceEvents === true;\n\n  const dumpEnabled = opts?.dump?.enabled === true;\n  const dumpDir =\n    (opts?.dump?.dir && opts.dump.dir.trim()) ||\n    path.join(process.cwd(), \"test\", \"frames-debug\");\n  const dumpBcMedia = opts?.dump?.bcmedia ?? dumpEnabled;\n  const dumpNals = opts?.dump?.nals ?? dumpEnabled;\n\n  return {\n    general,\n    debugRtsp,\n    traceNativeStream,\n    traceRecordings,\n    traceTalk,\n    traceEvents,\n    dumpEnabled,\n    dumpDir,\n    dumpBcMedia,\n    dumpNals,\n  };\n}\n\nexport function recordingsTraceLog(\n  cfg: DebugConfig | undefined,\n  logger: Logger | undefined,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg?.traceRecordings || !logger) return;\n  logger.log(`[${tag}] ${message}`);\n}\n\nexport function ensureDumpDir(cfg: DebugConfig): void {\n  if (!cfg.dumpEnabled) return;\n  fs.mkdirSync(cfg.dumpDir, { recursive: true });\n}\n\nexport function debugLog(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.general) return;\n  logger.debug(`[${tag}] ${message}`);\n}\n\nexport function debugWarn(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.general) return;\n  logger.warn(`[${tag}] ${message}`);\n}\n\nexport function traceLog(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.traceNativeStream) return;\n  logger.debug(`[${tag}] ${message}`);\n}\n\nexport function talkTraceLog(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.traceTalk) return;\n  logger.debug(`[${tag}] ${message}`);\n}\n\nexport function talkTraceWarn(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.traceTalk) return;\n  logger.warn(`[${tag}] ${message}`);\n}\n\nexport function eventTraceLog(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.traceEvents) return;\n  logger.debug(`[${tag}] ${message}`);\n}\n\nexport function rtspLog(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.debugRtsp) return;\n  logger.info(`[${tag}] ${message}`);\n}\n\nexport function rtspWarn(\n  cfg: DebugConfig,\n  logger: Logger,\n  tag: string,\n  message: string,\n): void {\n  if (!cfg.debugRtsp) return;\n  logger.warn(`[${tag}] ${message}`);\n}\n","/**\n * BcMedia Parser - Parses Baichuan media packets (video/audio frames)\n * \n * BcMedia packets have magic headers that identify the packet type:\n * - InfoV1: 0x31303031\n * - InfoV2: 0x32303031\n * - IFrame: 0x63643030 - 0x63643039 (includes channel number)\n * - PFrame: 0x63643130 - 0x63643139 (includes channel number)\n * - AAC: 0x62773530\n * - ADPCM: 0x62773130\n */\n\nexport type BcMediaType = \"InfoV1\" | \"InfoV2\" | \"Iframe\" | \"Pframe\" | \"Aac\" | \"Adpcm\";\n\nexport interface BcMediaIframe {\n  type: \"Iframe\";\n  videoType: \"H264\" | \"H265\";\n  microseconds: number;\n  time?: number;\n  /** Raw additional header (if present) */\n  additionalHeader?: Buffer;\n  /** Additional header size */\n  additionalHeaderSize?: number;\n  /** Unknown u32 field after microseconds */\n  unknown?: number;\n  data: Buffer; // Raw video data (H.264/H.265 NAL units)\n}\n\nexport interface BcMediaPframe {\n  type: \"Pframe\";\n  videoType: \"H264\" | \"H265\";\n  microseconds: number;\n  /** Raw additional header (if present) */\n  additionalHeader?: Buffer;\n  /** Additional header size */\n  additionalHeaderSize?: number;\n  /** Unknown u32 field after microseconds */\n  unknown?: number;\n  data: Buffer; // Raw video data (H.264/H.265 NAL units)\n}\n\nexport interface BcMediaInfoV1 {\n  type: \"InfoV1\";\n  videoWidth: number;\n  videoHeight: number;\n  fps: number;\n  startYear: number;\n  startMonth: number;\n  startDay: number;\n  startHour: number;\n  startMin: number;\n  startSeconds: number;\n  endYear: number;\n  endMonth: number;\n  endDay: number;\n  endHour: number;\n  endMin: number;\n  endSeconds: number;\n}\n\nexport interface BcMediaInfoV2 {\n  type: \"InfoV2\";\n  videoWidth: number;\n  videoHeight: number;\n  fps: number;\n  startYear: number;\n  startMonth: number;\n  startDay: number;\n  startHour: number;\n  startMin: number;\n  startSeconds: number;\n  endYear: number;\n  endMonth: number;\n  endDay: number;\n  endHour: number;\n  endMin: number;\n  endSeconds: number;\n}\n\nexport interface BcMediaAac {\n  type: \"Aac\";\n  data: Buffer; // Raw AAC audio data\n}\n\nexport interface BcMediaAdpcm {\n  type: \"Adpcm\";\n  data: Buffer; // Raw ADPCM audio data\n}\n\nexport type BcMedia = BcMediaIframe | BcMediaPframe | BcMediaInfoV1 | BcMediaInfoV2 | BcMediaAac | BcMediaAdpcm;\n\n// Magic headers (u32 little-endian)\nconst MAGIC_INFO_V1 = 0x31303031;\nconst MAGIC_INFO_V2 = 0x32303031;\nconst MAGIC_IFRAME_START = 0x63643030; // \"cd00\"\nconst MAGIC_IFRAME_END = 0x63643039; // \"cd09\"\nconst MAGIC_PFRAME_START = 0x63643130; // \"cd10\"\nconst MAGIC_PFRAME_END = 0x63643139; // \"cd19\"\nconst MAGIC_AAC = 0x62773530; // \"bw50\"\nconst MAGIC_ADPCM = 0x62773130; // \"bw10\"\n\nconst PAD_SIZE = 8; // Media packets use 8 byte padding\n\n/**\n * Parse BcMedia packet from binary data.\n */\nexport function parseBcMedia(buf: Buffer): { media: BcMedia; consumed: number } | null {\n  if (buf.length < 4) return null;\n\n  const magic = buf.readUInt32LE(0);\n\n  // Check magic header\n  if (magic === MAGIC_INFO_V1) {\n    return parseInfoV1(buf);\n  } else if (magic === MAGIC_INFO_V2) {\n    return parseInfoV2(buf);\n  } else if (magic >= MAGIC_IFRAME_START && magic <= MAGIC_IFRAME_END) {\n    return parseIframe(buf);\n  } else if (magic >= MAGIC_PFRAME_START && magic <= MAGIC_PFRAME_END) {\n    return parsePframe(buf);\n  } else if (magic === MAGIC_AAC) {\n    return parseAac(buf);\n  } else if (magic === MAGIC_ADPCM) {\n    return parseAdpcm(buf);\n  }\n\n  return null;\n}\n\nfunction parseInfoV1(buf: Buffer): { media: BcMediaInfoV1; consumed: number } | null {\n  if (buf.length < 32) return null;\n\n  const headerSize = buf.readUInt32LE(4);\n  if (headerSize !== 32) return null;\n\n  const media: BcMediaInfoV1 = {\n    type: \"InfoV1\",\n    videoWidth: buf.readUInt32LE(8),\n    videoHeight: buf.readUInt32LE(12),\n    fps: buf.readUInt8(17),\n    startYear: buf.readUInt8(18),\n    startMonth: buf.readUInt8(19),\n    startDay: buf.readUInt8(20),\n    startHour: buf.readUInt8(21),\n    startMin: buf.readUInt8(22),\n    startSeconds: buf.readUInt8(23),\n    endYear: buf.readUInt8(24),\n    endMonth: buf.readUInt8(25),\n    endDay: buf.readUInt8(26),\n    endHour: buf.readUInt8(27),\n    endMin: buf.readUInt8(28),\n    endSeconds: buf.readUInt8(29),\n  };\n\n  return { media, consumed: 32 };\n}\n\nfunction parseInfoV2(buf: Buffer): { media: BcMediaInfoV2; consumed: number } | null {\n  if (buf.length < 32) return null;\n\n  const headerSize = buf.readUInt32LE(4);\n  if (headerSize !== 32) return null;\n\n  const media: BcMediaInfoV2 = {\n    type: \"InfoV2\",\n    videoWidth: buf.readUInt32LE(8),\n    videoHeight: buf.readUInt32LE(12),\n    fps: buf.readUInt8(17),\n    startYear: buf.readUInt8(18),\n    startMonth: buf.readUInt8(19),\n    startDay: buf.readUInt8(20),\n    startHour: buf.readUInt8(21),\n    startMin: buf.readUInt8(22),\n    startSeconds: buf.readUInt8(23),\n    endYear: buf.readUInt8(24),\n    endMonth: buf.readUInt8(25),\n    endDay: buf.readUInt8(26),\n    endHour: buf.readUInt8(27),\n    endMin: buf.readUInt8(28),\n    endSeconds: buf.readUInt8(29),\n  };\n\n  return { media, consumed: 32 };\n}\n\nfunction parseIframe(buf: Buffer): { media: BcMediaIframe; consumed: number } | null {\n  if (buf.length < 20) return null;\n\n  // Magic (4) + \"H264\"/\"H265\" (4) = 8 bytes minimum\n  const videoTypeStr = buf.toString(\"utf8\", 4, 8);\n  if (videoTypeStr !== \"H264\" && videoTypeStr !== \"H265\") return null;\n\n  const videoType = videoTypeStr as \"H264\" | \"H265\";\n  const payloadSize = buf.readUInt32LE(8);\n  const additionalHeaderSize = buf.readUInt32LE(12);\n  const microseconds = buf.readUInt32LE(16);\n\n  // Calculate total size: magic(4) + videoType(4) + payloadSize(4) + additionalHeaderSize(4) + microseconds(4) + unknown(4) + additionalHeader + payload + padding\n  let offset = 20; // magic(4) + videoType(4) + payloadSize(4) + additionalHeaderSize(4) + microseconds(4)\n  const unknown = buf.readUInt32LE(offset);\n  offset += 4;\n\n  let time: number | undefined;\n  // I-frame has time (u32) in the additional header, but for some models\n  // the entire additional header might be relevant (e.g. IV/flags). So we preserve it COMPLETELY.\n  if (buf.length < offset + additionalHeaderSize) return null;\n  const additionalHeader = buf.subarray(offset, offset + additionalHeaderSize);\n  if (additionalHeaderSize >= 4) {\n    time = additionalHeader.readUInt32LE(0);\n  }\n  offset += additionalHeaderSize;\n\n  // Read payload data\n  if (buf.length < offset + payloadSize) return null;\n  const data = buf.subarray(offset, offset + payloadSize);\n  offset += payloadSize;\n\n  // Skip padding (8-byte aligned)\n  const padSize = payloadSize % PAD_SIZE === 0 ? 0 : PAD_SIZE - (payloadSize % PAD_SIZE);\n  if (buf.length < offset + padSize) return null;\n  offset += padSize;\n\n  const media: BcMediaIframe = {\n    type: \"Iframe\",\n    videoType,\n    microseconds,\n    ...(time !== undefined ? { time } : {}),\n    additionalHeader,\n    additionalHeaderSize,\n    unknown,\n    data,\n  };\n\n  return { media, consumed: offset };\n}\n\nfunction parsePframe(buf: Buffer): { media: BcMediaPframe; consumed: number } | null {\n  if (buf.length < 20) return null;\n\n  // Magic (4) + \"H264\"/\"H265\" (4) = 8 bytes minimum\n  const videoTypeStr = buf.toString(\"utf8\", 4, 8);\n  if (videoTypeStr !== \"H264\" && videoTypeStr !== \"H265\") return null;\n\n  const videoType = videoTypeStr as \"H264\" | \"H265\";\n  const payloadSize = buf.readUInt32LE(8);\n  const additionalHeaderSize = buf.readUInt32LE(12);\n  const microseconds = buf.readUInt32LE(16);\n\n  // Calculate total size\n  let offset = 20; // magic(4) + videoType(4) + payloadSize(4) + additionalHeaderSize(4) + microseconds(4)\n  const unknown = buf.readUInt32LE(offset);\n  offset += 4;\n\n  // Skip additional header\n  if (buf.length < offset + additionalHeaderSize) return null;\n  const additionalHeader = buf.subarray(offset, offset + additionalHeaderSize);\n  offset += additionalHeaderSize;\n\n  // Read payload data\n  if (buf.length < offset + payloadSize) return null;\n  const data = buf.subarray(offset, offset + payloadSize);\n  offset += payloadSize;\n\n  // Skip padding (8-byte aligned)\n  const padSize = payloadSize % PAD_SIZE === 0 ? 0 : PAD_SIZE - (payloadSize % PAD_SIZE);\n  if (buf.length < offset + padSize) return null;\n  offset += padSize;\n\n  const media: BcMediaPframe = {\n    type: \"Pframe\",\n    videoType,\n    microseconds,\n    additionalHeader,\n    additionalHeaderSize,\n    unknown,\n    data,\n  };\n\n  return { media, consumed: offset };\n}\n\nfunction parseAac(buf: Buffer): { media: BcMediaAac; consumed: number } | null {\n  if (buf.length < 12) return null;\n\n  const payloadSize = buf.readUInt16LE(4);\n  const payloadSizeB = buf.readUInt16LE(6);\n\n  if (payloadSize !== payloadSizeB) return null;\n\n  // After the payload there is 8-byte alignment padding (based on payloadSize)\n  const headerLen = 8; // magic(4) + size(2) + sizeB(2)\n  const padSize = payloadSize % PAD_SIZE === 0 ? 0 : PAD_SIZE - (payloadSize % PAD_SIZE);\n  const totalLen = headerLen + payloadSize + padSize;\n  if (buf.length < totalLen) return null;\n  const data = buf.subarray(headerLen, headerLen + payloadSize);\n\n  const media: BcMediaAac = {\n    type: \"Aac\",\n    data,\n  };\n\n  return { media, consumed: totalLen };\n}\n\nfunction parseAdpcm(buf: Buffer): { media: BcMediaAdpcm; consumed: number } | null {\n  // Structure:\n  // magic(4) + payload_size(u16) + payload_size_b(u16) + magic_data(u16=0x0100) + half_block_size(u16) + data(block_size) + padding\n  if (buf.length < 12) return null;\n\n  const payloadSize = buf.readUInt16LE(4);\n  const payloadSizeB = buf.readUInt16LE(6);\n\n  if (payloadSize !== payloadSizeB) return null;\n\n  // Check for MAGIC_HEADER_BCMEDIA_ADPCM_DATA (0x0100)\n  const magicData = buf.readUInt16LE(8);\n  if (magicData !== 0x0100) return null;\n\n  // half_block_size (read but not used to compute the length)\n  const halfBlockSize = buf.readUInt16LE(10);\n  void halfBlockSize;\n\n  // payloadSize include SUB_HEADER_SIZE (4 bytes: magicData + halfBlockSize)\n  const subHeaderSize = 4;\n  if (payloadSize < subHeaderSize) return null;\n  const blockSize = payloadSize - subHeaderSize;\n\n  const headerLen = 12; // magic+sizes+magicData+halfBlockSize\n  const padSize = payloadSize % PAD_SIZE === 0 ? 0 : PAD_SIZE - (payloadSize % PAD_SIZE);\n  const totalLen = headerLen + blockSize + padSize;\n  if (buf.length < totalLen) return null;\n\n  const data = buf.subarray(headerLen, headerLen + blockSize);\n\n  const media: BcMediaAdpcm = {\n    type: \"Adpcm\",\n    data,\n  };\n\n  return { media, consumed: totalLen };\n}\n\n","/**\n * BcMedia Codec - Assembles fragmented BcMedia packets from stream\n * \n * BcMedia packets can be fragmented across multiple Baichuan frames.\n * This codec buffers incomplete packets and assembles them when complete.\n */\n\nimport { parseBcMedia, type BcMedia } from \"./BcMediaParser\";\nimport type { Logger } from \"../../debug/DebugConfig\";\n\n/**\n * Optional listener invoked whenever the codec encounters a 4-byte sequence\n * at the buffer head that does NOT match any known BcMedia magic and is about\n * to be skipped as \"recovery\". Use it to discover undocumented sub-packet\n * shapes (e.g. AI overlay metadata) without altering the codec's behaviour.\n */\nexport type UnknownChunkListener = (info: {\n  magic: number;\n  /** Up to 256 bytes starting at the unknown chunk's first byte. */\n  preview: Buffer;\n  /** Number of bytes the codec is about to skip before resyncing. */\n  skipped: number;\n}) => void;\n\nexport class BcMediaCodec {\n  private buffer: Buffer = Buffer.alloc(0);\n  private strict: boolean;\n  private amountSkipped: number = 0;\n  private logger: Logger | undefined;\n  private onUnknownChunk: UnknownChunkListener | undefined;\n\n  constructor(strict: boolean = false, logger?: Logger) {\n    this.strict = strict;\n    this.logger = logger;\n  }\n\n  /** Register a listener that fires for every unknown chunk before recovery. */\n  setUnknownChunkListener(listener: UnknownChunkListener | undefined): void {\n    this.onUnknownChunk = listener;\n  }\n\n  /**\n   * Push data into the codec buffer and try to parse complete BcMedia packets.\n   * Returns an array of complete BcMedia packets found.\n   * \n   * @param chunk - New data chunk to add to buffer\n   * @returns Array of complete BcMedia packets (empty if none complete yet)\n   */\n  decode(chunk: Buffer): BcMedia[] {\n    // Append new chunk to buffer\n    this.buffer = this.buffer.length === 0 ? chunk : Buffer.concat([this.buffer, chunk]);\n    const results: BcMedia[] = [];\n\n    // Try to parse packets from buffer\n    while (this.buffer.length >= 4) { // Need at least 4 bytes for magic\n      const result = parseBcMedia(this.buffer);\n      \n      if (result) {\n        // Complete packet found\n        if (this.amountSkipped > 0) {\n          // Log recovery if we had to skip data\n          if (this.strict) {\n            this.logger?.warn(`[BcMediaCodec] Recovered stream after skipping ${this.amountSkipped} bytes`);\n          } else {\n            this.logger?.warn(`[BcMediaCodec] Recovered stream after skipping ${this.amountSkipped} bytes`);\n          }\n          this.amountSkipped = 0;\n        }\n        \n        results.push(result.media);\n        this.buffer = this.buffer.subarray(result.consumed);\n      } else {\n        // No complete packet yet.\n        // If the buffer does NOT start with a known magic,\n        // in non-strict mode we drop the whole buffer (prevents desync and \"fake\" packets).\n        const isKnownMagic = (magic: number): boolean => {\n          const isInfoV1 = magic === 0x31303031;\n          const isInfoV2 = magic === 0x32303031;\n          const isIFrame = magic >= 0x63643030 && magic <= 0x63643039;\n          const isPFrame = magic >= 0x63643130 && magic <= 0x63643139;\n          const isAac = magic === 0x62773530;\n          const isAdpcm = magic === 0x62773130;\n          return isInfoV1 || isInfoV2 || isIFrame || isPFrame || isAac || isAdpcm;\n        };\n\n        const magic = this.buffer.readUInt32LE(0);\n        const startsWithKnownMagic = isKnownMagic(magic);\n\n        if (startsWithKnownMagic) {\n          // Likely incomplete: wait for more data.\n          break;\n        }\n\n        // Doesn't start with a valid magic: corrupted or misaligned stream.\n        if (this.strict) {\n          throw new Error(`[BcMediaCodec] Invalid data in stream (no valid magic at buffer start, len=${this.buffer.length})`);\n        }\n\n        if (this.amountSkipped === 0) {\n          this.logger?.warn(`[BcMediaCodec] Error in stream, attempting to recover...`);\n        }\n\n        // Non-strict recovery: find the next known magic.\n        // On some Hub/NVR tele streams we observe repeated fixed-size padding blocks\n        // (commonly 528 bytes, sometimes 1056). A fast-path avoids O(n) scans for every packet.\n        let next = -1;\n        for (const off of [528, 1056, 1584]) {\n          if (this.buffer.length >= off + 4 && isKnownMagic(this.buffer.readUInt32LE(off))) {\n            next = off;\n            break;\n          }\n        }\n\n        // Fallback: linear scan for the next magic.\n        if (next < 0) {\n          for (let i = 1; i <= this.buffer.length - 4; i++) {\n            if (isKnownMagic(this.buffer.readUInt32LE(i))) {\n              next = i;\n              break;\n            }\n          }\n        }\n\n        if (next > 0) {\n          if (this.onUnknownChunk) {\n            this.onUnknownChunk({\n              magic,\n              preview: Buffer.from(this.buffer.subarray(0, Math.min(256, next))),\n              skipped: next,\n            });\n          }\n          this.amountSkipped += next;\n          this.buffer = this.buffer.subarray(next);\n          continue;\n        }\n\n        // No magic found: keep a short tail so that a 4-byte magic split across chunks can be reconstructed.\n        if (this.buffer.length > 3) {\n          const keep = 3;\n          this.amountSkipped += this.buffer.length - keep;\n          this.buffer = this.buffer.subarray(this.buffer.length - keep);\n        }\n        break;\n      }\n    }\n\n    return results;\n  }\n\n  /**\n   * Get remaining buffer (for debugging)\n   */\n  getRemainingBuffer(): Buffer {\n    return this.buffer;\n  }\n\n  /**\n   * Clear the buffer (useful for resetting the codec)\n   */\n  clear(): void {\n    this.buffer = Buffer.alloc(0);\n    this.amountSkipped = 0;\n  }\n}\n\n","/**\n * H.264 Format Converter\n * Converts H.264 data from length-prefixed (AVCC) to Annex-B (start codes).\n *\n * BcMedia payloads can be length-prefixed and must be converted\n * to Annex-B for ffmpeg/RTSP streaming.\n */\n\n// Annex-B start codes:\n// - 4 bytes: 0x00 00 00 01\n// - 3 bytes: 0x00 00 01\nconst NAL_START_CODE_4B = Buffer.from([0x00, 0x00, 0x00, 0x01]);\nconst NAL_START_CODE_3B = Buffer.from([0x00, 0x00, 0x01]);\n\n/** Returns true if the buffer starts with an Annex-B start code. */\nexport function hasStartCodes(data: Buffer): boolean {\n  if (data.length < 4) return false;\n  \n  // Important: to distinguish Annex-B vs AVCC, check ONLY the beginning.\n  // Searching for a start code \"in the middle\" can cause false positives and prevent conversion.\n  if (data.subarray(0, 4).equals(NAL_START_CODE_4B)) return true; // 0x00000001\n  if (data.subarray(0, 3).equals(NAL_START_CODE_3B)) return true; // 0x000001\n  return false;\n}\n\nfunction tryConvertWithLengthReader(data: Buffer, readLen: (buf: Buffer, offset: number) => number): Buffer | null {\n  const result: Buffer[] = [];\n  let offset = 0;\n  let nalCount = 0;\n\n  while (offset < data.length) {\n    if (offset + 4 > data.length) return null;\n    const nalLength = readLen(data, offset);\n    offset += 4;\n    if (nalLength <= 0) return null;\n    if (nalLength > data.length - offset) return null;\n\n    result.push(NAL_START_CODE_4B);\n    result.push(data.subarray(offset, offset + nalLength));\n    offset += nalLength;\n    nalCount++;\n  }\n\n  // Require at least 1 NAL to consider the conversion valid.\n  if (nalCount === 0) return null;\n  return Buffer.concat(result);\n}\n\nfunction tryConvertWithLengthReader16(data: Buffer, readLen: (buf: Buffer, offset: number) => number): Buffer | null {\n  const result: Buffer[] = [];\n  let offset = 0;\n  let nalCount = 0;\n\n  while (offset < data.length) {\n    if (offset + 2 > data.length) return null;\n    const nalLength = readLen(data, offset);\n    offset += 2;\n    if (nalLength <= 0) return null;\n    if (nalLength > data.length - offset) return null;\n\n    result.push(NAL_START_CODE_4B);\n    result.push(data.subarray(offset, offset + nalLength));\n    offset += nalLength;\n    nalCount++;\n  }\n\n  if (nalCount === 0) return null;\n  return Buffer.concat(result);\n}\n\nfunction tryConvertWithLengthReader24(data: Buffer, endian: \"be\" | \"le\"): Buffer | null {\n  const result: Buffer[] = [];\n  let offset = 0;\n  let nalCount = 0;\n\n  const readLen24 = (buf: Buffer, at: number): number => {\n    if (at + 3 > buf.length) return 0;\n    const b0 = buf[at]!;\n    const b1 = buf[at + 1]!;\n    const b2 = buf[at + 2]!;\n    return endian === \"be\"\n      ? ((b0 << 16) | (b1 << 8) | b2) >>> 0\n      : ((b2 << 16) | (b1 << 8) | b0) >>> 0;\n  };\n\n  while (offset < data.length) {\n    if (offset + 3 > data.length) return null;\n    const nalLength = readLen24(data, offset);\n    offset += 3;\n    if (nalLength <= 0) return null;\n    if (nalLength > data.length - offset) return null;\n\n    result.push(NAL_START_CODE_4B);\n    result.push(data.subarray(offset, offset + nalLength));\n    offset += nalLength;\n    nalCount++;\n  }\n\n  if (nalCount === 0) return null;\n  return Buffer.concat(result);\n}\n\nfunction looksLikeSingleH264Nal(nalPayload: Buffer): boolean {\n  if (nalPayload.length < 1) return false;\n  const b0 = nalPayload[0];\n  if (b0 === undefined) return false;\n  if ((b0 & 0x80) !== 0) return false; // forbidden_zero_bit must be 0\n  const nalType = b0 & 0x1f;\n  return nalType >= 1 && nalType <= 23;\n}\n\nfunction depacketizeRtpAggregationToAnnexB(payload: Buffer): Buffer | null {\n  // Supports some H.264 \"RTP-style\" aggregation payloads (STAP/MTAP) that can appear in Baichuan streams.\n  // Reference: RFC 6184\n  if (payload.length < 1) return null;\n  const nalHeader = payload[0]!;\n  const nalType = nalHeader & 0x1f;\n\n  const out: Buffer[] = [];\n  const pushNal = (nal: Buffer) => {\n    if (nal.length === 0) return;\n    out.push(NAL_START_CODE_4B, nal);\n  };\n\n  // STAP-A (24): [1B header][2B size][NAL]...\n  if (nalType === 24) {\n    let off = 1;\n    while (off + 2 <= payload.length) {\n      const size = payload.readUInt16BE(off);\n      off += 2;\n      if (size <= 0 || off + size > payload.length) return null;\n      pushNal(payload.subarray(off, off + size));\n      off += size;\n    }\n    return out.length ? Buffer.concat(out) : null;\n  }\n\n  // STAP-B (25): [1B header][2B DON][2B size][NAL]...\n  if (nalType === 25) {\n    let off = 1 + 2; // skip DON\n    if (off > payload.length) return null;\n    while (off + 2 <= payload.length) {\n      const size = payload.readUInt16BE(off);\n      off += 2;\n      if (size <= 0 || off + size > payload.length) return null;\n      pushNal(payload.subarray(off, off + size));\n      off += size;\n    }\n    return out.length ? Buffer.concat(out) : null;\n  }\n\n  // MTAP16 (26): [1B header][2B DON][2B size][1B DOND][2B TS offset][NAL]...\n  if (nalType === 26) {\n    let off = 1 + 2; // skip DON\n    if (off > payload.length) return null;\n    while (off + 2 <= payload.length) {\n      const size = payload.readUInt16BE(off);\n      off += 2;\n      if (off + 1 + 2 > payload.length) return null; // need DOND + TS offset\n      off += 1; // skip DOND\n      off += 2; // skip TS offset (16-bit)\n      if (size <= 0 || off + size > payload.length) return null;\n      pushNal(payload.subarray(off, off + size));\n      off += size;\n    }\n    return out.length ? Buffer.concat(out) : null;\n  }\n\n  // MTAP24 (27): [1B header][2B DON][2B size][1B DOND][3B TS offset][NAL]...\n  if (nalType === 27) {\n    let off = 1 + 2; // skip DON\n    if (off > payload.length) return null;\n    while (off + 2 <= payload.length) {\n      const size = payload.readUInt16BE(off);\n      off += 2;\n      if (off + 1 + 3 > payload.length) return null; // need DOND + TS offset\n      off += 1; // skip DOND\n      off += 3; // skip TS offset (24-bit)\n      if (size <= 0 || off + size > payload.length) return null;\n      pushNal(payload.subarray(off, off + size));\n      off += size;\n    }\n    return out.length ? Buffer.concat(out) : null;\n  }\n\n  return null;\n}\n\n/**\n * Converts H.264 data from length-prefixed (AVCC) to Annex-B (start codes).\n *\n * The length-prefixed format uses a 4-byte big-endian integer to indicate the size\n * of each NAL unit, followed by the NAL unit bytes.\n *\n * Annex-B uses start codes (0x00000001 or 0x000001) before each NAL unit.\n */\nexport function convertToAnnexB(data: Buffer): Buffer {\n  // If the data already has start codes, return it as-is.\n  if (hasStartCodes(data)) {\n    return data;\n  }\n\n  // Some models prepend a small header (e.g. size/timestamp) before an Annex-B access unit.\n  // If we can find a start code very early, resync to it.\n  const sc4 = Buffer.from([0x00, 0x00, 0x00, 0x01]);\n  const sc3 = Buffer.from([0x00, 0x00, 0x01]);\n  const maxScan = Math.min(64, data.length);\n  const idx4 = data.subarray(0, maxScan).indexOf(sc4);\n  if (idx4 > 0) return data.subarray(idx4);\n  const idx3 = data.subarray(0, maxScan).indexOf(sc3);\n  if (idx3 > 0) return data.subarray(idx3);\n\n  // Otherwise, try AVCC -> AnnexB conversion.\n  // In practice most sources use 4-byte big-endian, but some streams can be little-endian:\n  // try both and take the first valid conversion.\n  const be = tryConvertWithLengthReader(data, (b, o) => b.readUInt32BE(o));\n  if (be) return be;\n  const le = tryConvertWithLengthReader(data, (b, o) => b.readUInt32LE(o));\n  if (le) return le;\n\n  // Some devices use 3-byte (24-bit) NAL lengths.\n  const be24 = tryConvertWithLengthReader24(data, \"be\");\n  if (be24) return be24;\n  const le24 = tryConvertWithLengthReader24(data, \"le\");\n  if (le24) return le24;\n\n  // Also try 2-byte length-prefixed (some streams do this on P-frames).\n  const be16 = tryConvertWithLengthReader16(data, (b, o) => b.readUInt16BE(o));\n  if (be16) return be16;\n  const le16 = tryConvertWithLengthReader16(data, (b, o) => b.readUInt16LE(o));\n  if (le16) return le16;\n\n  // Fallback: unrecognized.\n  // If it looks like an RTP aggregation payload (STAP/MTAP), depacketize into Annex-B NAL units.\n  const agg = depacketizeRtpAggregationToAnnexB(data);\n  if (agg) return agg;\n\n  // If it looks like a single H.264 NAL without start codes, prepend a start code.\n  if (looksLikeSingleH264Nal(data)) {\n    return Buffer.concat([NAL_START_CODE_4B, data]);\n  }\n\n  // Last-ditch: if we couldn't convert, return original bytes.\n  // Callers that validate Annex-B will drop invalid frames.\n  return data;\n}\n\nexport function splitAnnexBToNalPayloads(annexB: Buffer): Buffer[] {\n  // Returns NAL payloads without start codes.\n  const starts: Array<{ idx: number; len: number }> = [];\n  for (let i = 0; i < annexB.length - 3; i++) {\n    if (annexB[i] === 0x00 && annexB[i + 1] === 0x00) {\n      if (annexB[i + 2] === 0x01) {\n        starts.push({ idx: i, len: 3 });\n        i += 2;\n      } else if (annexB[i + 2] === 0x00 && annexB[i + 3] === 0x01) {\n        starts.push({ idx: i, len: 4 });\n        i += 3;\n      }\n    }\n  }\n  if (starts.length === 0) return [];\n  const out: Buffer[] = [];\n  for (let s = 0; s < starts.length; s++) {\n    const st = starts[s]!;\n    const start = st.idx + st.len;\n    const end = starts[s + 1] ? starts[s + 1]!.idx : annexB.length;\n    if (end > start) out.push(annexB.subarray(start, end));\n  }\n  return out;\n}\n\nexport function isValidH264AnnexBAccessUnit(annexB: Buffer): boolean {\n  if (!hasStartCodes(annexB)) return false;\n  const nals = splitAnnexBToNalPayloads(annexB);\n  if (nals.length === 0) return false;\n  for (const nal of nals) {\n    if (nal.length < 1) return false;\n    const b0 = nal[0];\n    if (b0 === undefined) return false;\n    if ((b0 & 0x80) !== 0) return false; // forbidden_zero_bit\n    const nalType = b0 & 0x1f;\n    // In Annex-B we expect types 1..23 (VCL + SPS/PPS/SEI/AUD etc).\n    // Types 24..29 are RTP packetization payloads, not a NAL unit byte stream.\n    if (nalType === 0 || nalType >= 24) return false;\n  }\n  return true;\n}\n\nexport function isH264KeyframeAnnexB(annexB: Buffer): boolean {\n  const nals = splitAnnexBToNalPayloads(annexB);\n  let hasSps = false;\n  let hasPps = false;\n  let hasIdr = false;\n  for (const nal of nals) {\n    const t = (nal[0] ?? 0) & 0x1f;\n    if (t === 7) hasSps = true;\n    if (t === 8) hasPps = true;\n    if (t === 5) hasIdr = true;\n  }\n  return hasIdr && hasSps && hasPps;\n}\n\n/**\n * Depacketizer for H.264 \"RTP-like\" payloads (RFC 6184) when the camera sends single NAL units,\n * STAP/MTAP aggregation or FU-A/FU-B fragmentation inside a BcMedia frame payload.\n *\n * Returns NAL units already in Annex-B (with start codes).\n */\nexport class H264RtpDepacketizer {\n  private fuNalHeader: number | null = null;\n  private fuParts: Buffer[] = [];\n\n  private static parseRtpPayload(packet: Buffer): Buffer | null {\n    // Accept full RTP packets (12B header + optional CSRC/ext/padding) and return the payload.\n    if (!packet || packet.length < 12) return null;\n    const version = (packet[0]! >> 6) & 0x03;\n    if (version !== 2) return null;\n\n    const padding = (packet[0]! & 0x20) !== 0;\n    const extension = (packet[0]! & 0x10) !== 0;\n    const csrcCount = packet[0]! & 0x0f;\n\n    let offset = 12 + csrcCount * 4;\n    if (offset > packet.length) return null;\n\n    if (extension) {\n      if (offset + 4 > packet.length) return null;\n      const extLenWords = packet.readUInt16BE(offset + 2);\n      offset += 4 + extLenWords * 4;\n      if (offset > packet.length) return null;\n    }\n\n    let end = packet.length;\n    if (padding) {\n      const padLen = packet[packet.length - 1]!;\n      if (padLen <= 0 || padLen > packet.length) return null;\n      end = packet.length - padLen;\n      if (end < offset) return null;\n    }\n\n    if (end <= offset) return null;\n    return packet.subarray(offset, end);\n  }\n\n  reset(): void {\n    this.fuNalHeader = null;\n    this.fuParts = [];\n  }\n\n  push(payload: Buffer): Buffer[] {\n    if (payload.length === 0) return [];\n\n    // Some models embed full RTP packets in the BcMedia payload.\n    // If this looks like RTP, strip the header and depacketize the RTP payload.\n    const rtpPayload = H264RtpDepacketizer.parseRtpPayload(payload);\n    if (rtpPayload) payload = rtpPayload;\n\n    // Important: behave like an RFC 6184 \"RTP-like\" depacketizer here, so do NOT run\n    // AVCC/heuristic conversions that could produce false positives.\n    // If it's already Annex-B, return as-is.\n    if (hasStartCodes(payload)) return [payload];\n\n    const b0 = payload[0]!;\n    if ((b0 & 0x80) !== 0) return []; // forbidden_zero_bit must be 0 for H.264\n    const nalType = b0 & 0x1f;\n\n    // Single NAL unit\n    if (nalType >= 1 && nalType <= 23) {\n      return [Buffer.concat([NAL_START_CODE_4B, payload])];\n    }\n\n    // STAP-A (24): multiple NAL in one payload\n    if (nalType === 24) {\n      if (payload.length < 1 + 2) return [];\n      let off = 1;\n      const out: Buffer[] = [];\n      while (off + 2 <= payload.length) {\n        const size = payload.readUInt16BE(off);\n        off += 2;\n        if (size <= 0 || off + size > payload.length) return [];\n        const nal = payload.subarray(off, off + size);\n        off += size;\n        if (nal.length < 1) return [];\n        if ((nal[0]! & 0x80) !== 0) return [];\n        const t = nal[0]! & 0x1f;\n        if (t === 0 || t >= 24) return [];\n        out.push(Buffer.concat([NAL_START_CODE_4B, nal]));\n      }\n      return out;\n    }\n\n    // FU-A / FU-B\n    if (nalType === 28 || nalType === 29) {\n      if (payload.length < 2) return [];\n      const fuIndicator = payload[0]!;\n      const fuHeader = payload[1]!;\n      const start = (fuHeader & 0x80) !== 0;\n      const end = (fuHeader & 0x40) !== 0;\n      const origType = fuHeader & 0x1f;\n      const reconstructedHeader = (fuIndicator & 0xe0) | origType; // F+NRI from indicator, type from header\n\n      let off = 2;\n      if (nalType === 29) {\n        // FU-B has DON (2 bytes)\n        if (payload.length < off + 2) return [];\n        off += 2;\n      }\n      const frag = payload.subarray(off);\n\n      if (start) {\n        this.fuNalHeader = reconstructedHeader;\n        this.fuParts = [frag];\n      } else if (this.fuNalHeader != null) {\n        this.fuParts.push(frag);\n      } else {\n        // fragment without start: discard\n        return [];\n      }\n\n      if (end && this.fuNalHeader != null) {\n        const nal = Buffer.concat([Buffer.from([this.fuNalHeader]), ...this.fuParts]);\n        this.reset();\n        return [Buffer.concat([NAL_START_CODE_4B, nal])];\n      }\n      return [];\n    }\n\n    // Other types (24-27) should already be handled by convertToAnnexB; if we are here, ignore.\n    return [];\n  }\n}\n\n/**\n * Converte dati H.264 da Annex-B a length-prefixed (se necessario)\n * Not used for ffmpeg, but useful for other purposes\n */\nexport function convertToLengthPrefixed(data: Buffer): Buffer {\n  const result: Buffer[] = [];\n  let offset = 0;\n  \n  while (offset < data.length) {\n    // Search for start code\n    let startCodeOffset = -1;\n    let startCodeLength = 0;\n    \n    // Search for 4-byte start code\n    if (offset + 4 <= data.length && data.subarray(offset, offset + 4).equals(NAL_START_CODE_4B)) {\n      startCodeOffset = offset;\n      startCodeLength = 4;\n    }\n    // Search for 3-byte start code\n    else if (offset + 3 <= data.length && data.subarray(offset, offset + 3).equals(NAL_START_CODE_3B)) {\n      startCodeOffset = offset;\n      startCodeLength = 3;\n    }\n    \n    if (startCodeOffset === -1) {\n      // No start code found, append the remainder as-is\n      result.push(data.subarray(offset));\n      break;\n    }\n    \n    // Skip the start code\n    offset = startCodeOffset + startCodeLength;\n    \n    // Find the next start code or end of data\n    let nextStartCode = -1;\n    let nextStartCodeLength = 0;\n    \n    for (let i = offset; i < data.length - 3; i++) {\n      if (i + 4 <= data.length && data.subarray(i, i + 4).equals(NAL_START_CODE_4B)) {\n        nextStartCode = i;\n        nextStartCodeLength = 4;\n        break;\n      }\n      if (i + 3 <= data.length && data.subarray(i, i + 3).equals(NAL_START_CODE_3B)) {\n        nextStartCode = i;\n        nextStartCodeLength = 3;\n        break;\n      }\n    }\n    \n    // Estrai il NAL unit\n    const nalEnd = nextStartCode !== -1 ? nextStartCode : data.length;\n    const nalData = data.subarray(offset, nalEnd);\n    \n    // Aggiungi length prefix (4 bytes, big-endian)\n    const lengthBuf = Buffer.alloc(4);\n    lengthBuf.writeUInt32BE(nalData.length, 0);\n    result.push(lengthBuf);\n    \n    // Aggiungi dati NAL\n    result.push(nalData);\n    \n    offset = nalEnd;\n  }\n  \n  return Buffer.concat(result);\n}\n\n","/**\n * H.265/HEVC Format Converter\n * Converts H.265 data from length-prefixed (HVCC) to Annex-B (start codes).\n *\n * Similar to H.264 converter, but handles H.265/HEVC specific NAL unit types.\n * H.265 uses VPS (Video Parameter Set), SPS (Sequence Parameter Set), and PPS (Picture Parameter Set).\n */\n\n// Annex-B start codes (same as H.264):\nconst NAL_START_CODE_4B = Buffer.from([0x00, 0x00, 0x00, 0x01]);\nconst NAL_START_CODE_3B = Buffer.from([0x00, 0x00, 0x01]);\n\n/** Returns true if the buffer starts with an Annex-B start code. */\nexport function hasStartCodes(data: Buffer): boolean {\n  if (data.length < 4) return false;\n  \n  // Important: to distinguish Annex-B vs HVCC, check ONLY the beginning.\n  if (data.subarray(0, 4).equals(NAL_START_CODE_4B)) return true; // 0x00000001\n  if (data.subarray(0, 3).equals(NAL_START_CODE_3B)) return true; // 0x000001\n  return false;\n}\n\nfunction tryConvertWithLengthReader(data: Buffer, readLen: (buf: Buffer, offset: number) => number): Buffer | null {\n  const result: Buffer[] = [];\n  let offset = 0;\n  let nalCount = 0;\n\n  while (offset < data.length) {\n    if (offset + 4 > data.length) return null;\n    const nalLength = readLen(data, offset);\n    offset += 4;\n    if (nalLength <= 0) return null;\n    if (nalLength > data.length - offset) return null;\n\n    result.push(NAL_START_CODE_4B);\n    result.push(data.subarray(offset, offset + nalLength));\n    offset += nalLength;\n    nalCount++;\n  }\n\n  // Require at least 1 NAL to consider the conversion valid.\n  if (nalCount === 0) return null;\n  return Buffer.concat(result);\n}\n\nfunction tryConvertWithLengthReader16(data: Buffer, readLen: (buf: Buffer, offset: number) => number): Buffer | null {\n  const result: Buffer[] = [];\n  let offset = 0;\n  let nalCount = 0;\n\n  while (offset < data.length) {\n    if (offset + 2 > data.length) return null;\n    const nalLength = readLen(data, offset);\n    offset += 2;\n    if (nalLength <= 0) return null;\n    if (nalLength > data.length - offset) return null;\n\n    result.push(NAL_START_CODE_4B);\n    result.push(data.subarray(offset, offset + nalLength));\n    offset += nalLength;\n    nalCount++;\n  }\n\n  if (nalCount === 0) return null;\n  return Buffer.concat(result);\n}\n\nfunction tryConvertWithLengthReader24(data: Buffer, endian: \"be\" | \"le\"): Buffer | null {\n  const result: Buffer[] = [];\n  let offset = 0;\n  let nalCount = 0;\n\n  const readLen24 = (buf: Buffer, at: number): number => {\n    if (at + 3 > buf.length) return 0;\n    const b0 = buf[at]!;\n    const b1 = buf[at + 1]!;\n    const b2 = buf[at + 2]!;\n    return endian === \"be\"\n      ? ((b0 << 16) | (b1 << 8) | b2) >>> 0\n      : ((b2 << 16) | (b1 << 8) | b0) >>> 0;\n  };\n\n  while (offset < data.length) {\n    if (offset + 3 > data.length) return null;\n    const nalLength = readLen24(data, offset);\n    offset += 3;\n    if (nalLength <= 0) return null;\n    if (nalLength > data.length - offset) return null;\n\n    result.push(NAL_START_CODE_4B);\n    result.push(data.subarray(offset, offset + nalLength));\n    offset += nalLength;\n    nalCount++;\n  }\n\n  if (nalCount === 0) return null;\n  return Buffer.concat(result);\n}\n\nfunction looksLikeSingleH265Nal(nalPayload: Buffer): boolean {\n  if (nalPayload.length < 2) return false;\n  const b0 = nalPayload[0];\n  const b1 = nalPayload[1];\n  if (b0 === undefined || b1 === undefined) return false;\n  \n  // H.265 NAL unit header: first byte has forbidden_zero_bit (bit 7) and nal_unit_type (bits 0-6)\n  // Second byte has nuh_layer_id (bits 0-5) and nuh_temporal_id_plus1 (bits 6-7)\n  if ((b0 & 0x80) !== 0) return false; // forbidden_zero_bit must be 0\n  const nalType = (b0 >> 1) & 0x3f; // Extract NAL unit type (6 bits)\n  \n  // Valid H.265 NAL unit types: 0-40 (some are reserved)\n  // Common types: VPS (32), SPS (33), PPS (34), IDR (19-20), CRA (21), etc.\n  return nalType <= 40;\n}\n\n/**\n * Converts H.265 data from length-prefixed (HVCC) to Annex-B (start codes).\n *\n * The length-prefixed format uses a 4-byte big-endian integer to indicate the size\n * of each NAL unit, followed by the NAL unit bytes.\n *\n * Annex-B uses start codes (0x00000001 or 0x000001) before each NAL unit.\n */\nexport function convertToAnnexB(data: Buffer): Buffer {\n  // If the data already has start codes, return it as-is.\n  if (hasStartCodes(data)) {\n    return data;\n  }\n\n  // Some models prepend a small header (e.g. size/timestamp) before an Annex-B access unit.\n  // If we can find a start code very early, resync to it.\n  const sc4 = Buffer.from([0x00, 0x00, 0x00, 0x01]);\n  const sc3 = Buffer.from([0x00, 0x00, 0x01]);\n  const maxScan = Math.min(64, data.length);\n  const idx4 = data.subarray(0, maxScan).indexOf(sc4);\n  if (idx4 > 0) return data.subarray(idx4);\n  const idx3 = data.subarray(0, maxScan).indexOf(sc3);\n  if (idx3 > 0) return data.subarray(idx3);\n\n  // Otherwise, try HVCC -> AnnexB conversion.\n  // In practice most sources use 4-byte big-endian, but some streams can be little-endian:\n  // try both and take the first valid conversion.\n  const be = tryConvertWithLengthReader(data, (b, o) => b.readUInt32BE(o));\n  if (be) return be;\n  const le = tryConvertWithLengthReader(data, (b, o) => b.readUInt32LE(o));\n  if (le) return le;\n\n  // Some devices use 3-byte (24-bit) NAL lengths.\n  const be24 = tryConvertWithLengthReader24(data, \"be\");\n  if (be24) return be24;\n  const le24 = tryConvertWithLengthReader24(data, \"le\");\n  if (le24) return le24;\n\n  // Also try 2-byte length-prefixed.\n  const be16 = tryConvertWithLengthReader16(data, (b, o) => b.readUInt16BE(o));\n  if (be16) return be16;\n  const le16 = tryConvertWithLengthReader16(data, (b, o) => b.readUInt16LE(o));\n  if (le16) return le16;\n\n  // If it looks like a single H.265 NAL without start codes, prepend a start code.\n  if (looksLikeSingleH265Nal(data)) {\n    return Buffer.concat([NAL_START_CODE_4B, data]);\n  }\n  return data;\n}\n\n/**\n * Depacketizer for H.265 \"RTP-like\" payloads (RFC 7798) when the camera sends\n * single NAL units, AP aggregation, or FU fragmentation inside a BcMedia frame payload.\n *\n * Returns complete access units already in Annex-B (with start codes).\n */\nexport class H265RtpDepacketizer {\n  private fuParts: Buffer[] | null = null;\n\n  reset(): void {\n    this.fuParts = null;\n  }\n\n  private static parseRtpPayload(packet: Buffer): Buffer | null {\n    if (!packet || packet.length < 12) return null;\n    const version = (packet[0]! >> 6) & 0x03;\n    if (version !== 2) return null;\n\n    const padding = (packet[0]! & 0x20) !== 0;\n    const extension = (packet[0]! & 0x10) !== 0;\n    const csrcCount = packet[0]! & 0x0f;\n\n    let offset = 12 + csrcCount * 4;\n    if (offset > packet.length) return null;\n\n    if (extension) {\n      if (offset + 4 > packet.length) return null;\n      const extLenWords = packet.readUInt16BE(offset + 2);\n      offset += 4 + extLenWords * 4;\n      if (offset > packet.length) return null;\n    }\n\n    let end = packet.length;\n    if (padding) {\n      const padLen = packet[packet.length - 1]!;\n      if (padLen <= 0 || padLen > packet.length) return null;\n      end = packet.length - padLen;\n      if (end < offset) return null;\n    }\n\n    if (end <= offset) return null;\n    return packet.subarray(offset, end);\n  }\n\n  push(payload: Buffer): Buffer[] {\n    if (!payload || payload.length < 2) return [];\n\n    // Some models embed full RTP packets in the BcMedia payload.\n    // If this looks like RTP, strip the header and depacketize the RTP payload.\n    const rtpPayload = H265RtpDepacketizer.parseRtpPayload(payload);\n    if (rtpPayload) payload = rtpPayload;\n\n    const h0 = payload[0]!;\n    const h1 = payload[1]!;\n\n    // forbidden_zero_bit must be 0\n    if ((h0 & 0x80) !== 0) return [];\n\n    const nalType = (h0 >> 1) & 0x3f;\n\n    // AP (48): [2B header][2B size][NAL (incl 2B hdr)]...\n    if (nalType === 48) {\n      let off = 2;\n      const out: Buffer[] = [];\n      while (off + 2 <= payload.length) {\n        const size = payload.readUInt16BE(off);\n        off += 2;\n        if (size <= 0 || off + size > payload.length) return [];\n        const nal = payload.subarray(off, off + size);\n        off += size;\n        if (nal.length) out.push(NAL_START_CODE_4B, nal);\n      }\n      return out.length ? [Buffer.concat(out)] : [];\n    }\n\n    // FU (49): [2B FU indicator][1B FU header][fragment]\n    if (nalType === 49) {\n      if (payload.length < 3) return [];\n      const fuHeader = payload[2]!;\n      const start = (fuHeader & 0x80) !== 0;\n      const end = (fuHeader & 0x40) !== 0;\n      const origType = fuHeader & 0x3f;\n\n      // Reconstruct original NAL header: keep F bit and nuh_layer_id msb (bit0) from FU indicator,\n      // replace type.\n      const orig0 = (h0 & 0x81) | ((origType & 0x3f) << 1);\n      const orig1 = h1;\n      const frag = payload.subarray(3);\n\n      if (start) {\n        this.fuParts = [NAL_START_CODE_4B, Buffer.from([orig0, orig1]), frag];\n      }\n      else {\n        if (!this.fuParts) return [];\n        this.fuParts.push(frag);\n      }\n\n      if (end) {\n        if (!this.fuParts) return [];\n        const out = Buffer.concat(this.fuParts);\n        this.fuParts = null;\n        return [out];\n      }\n\n      return [];\n    }\n\n    // Single NAL unit (no start code)\n    return [Buffer.concat([NAL_START_CODE_4B, payload])];\n  }\n}\n\n/**\n * Splits Annex-B formatted H.265 data into individual NAL unit payloads (without start codes).\n */\nexport function splitAnnexBToNalPayloads(annexB: Buffer): Buffer[] {\n  // Returns NAL payloads without start codes.\n  const starts: Array<{ idx: number; len: number }> = [];\n  for (let i = 0; i < annexB.length - 3; i++) {\n    if (annexB[i] === 0x00 && annexB[i + 1] === 0x00) {\n      if (annexB[i + 2] === 0x01) {\n        starts.push({ idx: i, len: 3 });\n        i += 2;\n      } else if (annexB[i + 2] === 0x00 && annexB[i + 3] === 0x01) {\n        starts.push({ idx: i, len: 4 });\n        i += 3;\n      }\n    }\n  }\n  if (starts.length === 0) return [];\n  const out: Buffer[] = [];\n  for (let s = 0; s < starts.length; s++) {\n    const st = starts[s]!;\n    const start = st.idx + st.len;\n    const end = starts[s + 1] ? starts[s + 1]!.idx : annexB.length;\n    if (end > start) out.push(annexB.subarray(start, end));\n  }\n  return out;\n}\n\n/**\n * Gets H.265 NAL unit type from a NAL payload (without start code).\n * Returns null if invalid.\n */\nexport function getH265NalType(nalPayload: Buffer): number | null {\n  if (nalPayload.length < 1) return null;\n  const b0 = nalPayload[0];\n  if (b0 === undefined) return null;\n  if ((b0 & 0x80) !== 0) return null; // forbidden_zero_bit must be 0\n  return (b0 >> 1) & 0x3f; // Extract NAL unit type (6 bits)\n}\n\n/**\n * Checks if an H.265 NAL unit is an IRAP (Intra Random Access Point) picture.\n * IRAP pictures include IDR, CRA, and BLA types.\n */\nexport function isH265Irap(nalType: number): boolean {\n  // H.265 IRAP types: 16-23\n  // 16: BLA_W_LP, 17: BLA_W_RADL, 18: BLA_N_LP\n  // 19: IDR_W_RADL, 20: IDR_N_LP\n  // 21: CRA_NUT\n  // 22-23: Reserved\n  return nalType >= 16 && nalType <= 23;\n}\n\n/**\n * Validates an H.265 Annex-B access unit.\n * Checks that it has start codes and contains valid NAL unit types.\n */\nexport function isValidH265AnnexBAccessUnit(annexB: Buffer): boolean {\n  if (!hasStartCodes(annexB)) return false;\n  const nals = splitAnnexBToNalPayloads(annexB);\n  if (nals.length === 0) return false;\n  for (const nal of nals) {\n    if (nal.length < 2) return false; // H.265 NAL header is at least 2 bytes\n    const b0 = nal[0];\n    if (b0 === undefined) return false;\n    if ((b0 & 0x80) !== 0) return false; // forbidden_zero_bit\n    const nalType = getH265NalType(nal);\n    if (nalType === null) return false;\n    // Valid H.265 NAL unit types: 0-40 (some are reserved)\n    if (nalType > 40) return false;\n  }\n  return true;\n}\n\n/**\n * Checks if an H.265 Annex-B access unit is a keyframe (IRAP picture).\n * A keyframe should contain VPS, SPS, PPS, and an IRAP picture.\n */\nexport function isH265KeyframeAnnexB(annexB: Buffer): boolean {\n  const nals = splitAnnexBToNalPayloads(annexB);\n  let hasVps = false;\n  let hasSps = false;\n  let hasPps = false;\n  let hasIrap = false;\n  \n  for (const nal of nals) {\n    const nalType = getH265NalType(nal);\n    if (nalType === null) continue;\n    \n    if (nalType === 32) hasVps = true; // VPS\n    if (nalType === 33) hasSps = true; // SPS\n    if (nalType === 34) hasPps = true; // PPS\n    if (isH265Irap(nalType)) hasIrap = true; // IRAP picture\n  }\n  \n  // A keyframe should have at least VPS, SPS, PPS, and an IRAP picture\n  return hasIrap && hasVps && hasSps && hasPps;\n}\n\n/**\n * Extracts VPS (Video Parameter Set) from H.265 Annex-B data.\n * Returns the VPS NAL payload (without start code) or null if not found.\n */\nexport function extractVpsFromAnnexB(annexB: Buffer): Buffer | null {\n  const nals = splitAnnexBToNalPayloads(annexB);\n  for (const nal of nals) {\n    const nalType = getH265NalType(nal);\n    if (nalType === 32) { // VPS\n      return nal;\n    }\n  }\n  return null;\n}\n\n/**\n * Extracts SPS (Sequence Parameter Set) from H.265 Annex-B data.\n * Returns the SPS NAL payload (without start code) or null if not found.\n */\nexport function extractSpsFromAnnexB(annexB: Buffer): Buffer | null {\n  const nals = splitAnnexBToNalPayloads(annexB);\n  for (const nal of nals) {\n    const nalType = getH265NalType(nal);\n    if (nalType === 33) { // SPS\n      return nal;\n    }\n  }\n  return null;\n}\n\n/**\n * Extracts PPS (Picture Parameter Set) from H.265 Annex-B data.\n * Returns the PPS NAL payload (without start code) or null if not found.\n */\nexport function extractPpsFromAnnexB(annexB: Buffer): Buffer | null {\n  const nals = splitAnnexBToNalPayloads(annexB);\n  for (const nal of nals) {\n    const nalType = getH265NalType(nal);\n    if (nalType === 34) { // PPS\n      return nal;\n    }\n  }\n  return null;\n}\n\n","import type { Logger } from \"../../debug/DebugConfig\";\nimport { BcMediaCodec } from \"./BcMediaCodec\";\nimport type {\n  BcMedia,\n  BcMediaAac,\n  BcMediaAdpcm,\n  BcMediaInfoV1,\n  BcMediaInfoV2,\n} from \"./BcMediaParser\";\nimport {\n  convertToAnnexB as convertH264ToAnnexB,\n  isH264KeyframeAnnexB,\n  splitAnnexBToNalPayloads as splitH264AnnexBToNalPayloads,\n  hasStartCodes as hasH264StartCodes,\n} from \"./H264Converter\";\nimport {\n  convertToAnnexB as convertH265ToAnnexB,\n  extractPpsFromAnnexB,\n  extractSpsFromAnnexB,\n  extractVpsFromAnnexB,\n  isH265KeyframeAnnexB,\n} from \"./H265Converter\";\n\nconst ANNEXB_START_CODE_4B = Buffer.from([0x00, 0x00, 0x00, 0x01]);\n\nexport type BcMediaVideoType = \"H264\" | \"H265\";\nexport type BcMediaAudioType = \"Aac\" | \"Adpcm\";\n\n/**\n * Detect the actual video codec from raw NAL data.\n * Some cameras report wrong codec (e.g. \"H264\" but send H.265 data).\n * This function analyzes the NAL header to determine the real codec.\n *\n * @param data - Raw video data (either Annex-B or length-prefixed)\n * @returns Detected codec type or null if detection fails\n */\nexport function detectVideoCodecFromNal(data: Buffer): BcMediaVideoType | null {\n  if (!data || data.length < 5) return null;\n\n  // Find start code (00 00 00 01 or 00 00 01)\n  let nalStart = -1;\n  for (let i = 0; i < Math.min(data.length - 4, 100); i++) {\n    if (data[i] === 0 && data[i + 1] === 0) {\n      if (data[i + 2] === 0 && data[i + 3] === 1) {\n        nalStart = i + 4;\n        break;\n      }\n      if (data[i + 2] === 1) {\n        nalStart = i + 3;\n        break;\n      }\n    }\n  }\n\n  // If no start code, try length-prefixed (AVCC/HVCC)\n  if (nalStart < 0 && data.length >= 5) {\n    // Try 4-byte length prefix\n    const len = data.readUInt32BE(0);\n    if (len > 0 && len < data.length - 4) {\n      nalStart = 4;\n    }\n  }\n\n  if (nalStart < 0 || nalStart >= data.length) return null;\n\n  const nalByte = data[nalStart];\n  if (nalByte === undefined) return null;\n\n  // IMPORTANT: Check H.264 FIRST because H.264 NAL bytes can be misinterpreted as H.265.\n  // Example: H.264 NAL byte 0x41 (non-IDR slice, nal_ref_idc=2) would be interpreted as\n  // H.265 VPS (type 32) if we check H.265 first. Similarly, 0x21 would appear as H.265 BLA.\n\n  // H.264/AVC: forbidden_zero_bit (bit 7) = 0, nal_ref_idc in bits 5-6, nal_unit_type in bits 0-4\n  // NAL types: SPS=7, PPS=8, IDR=5, non-IDR=1\n  const forbiddenBit264 = (nalByte >> 7) & 1;\n  const h264Type = nalByte & 0x1f;\n\n  if (forbiddenBit264 === 0 && h264Type > 0 && h264Type <= 12) {\n    // Strong H.264 indicators: SPS, PPS (these types don't exist in H.265 in the same form)\n    if (h264Type === 7 || h264Type === 8) {\n      return \"H264\";\n    }\n    // IDR slice (type 5) - H.265 type 5 is RADL_R which is rare without VPS/SPS/PPS\n    if (h264Type === 5) {\n      return \"H264\";\n    }\n    // Non-IDR slice (type 1) - need to be more careful here as it could be H.265 TRAIL_R\n    // For H.264 non-IDR, nal_ref_idc (bits 5-6) is typically non-zero for reference frames\n    // For H.265, the second byte's bits 0-2 contain temporal_id_plus1 which must be 1-7\n    if (h264Type === 1) {\n      // Additional heuristic: if nal_ref_idc is 2 or 3, strongly prefer H.264\n      // H.265 TRAIL_R (type 1) with forbidden=0 would have nalByte values 0x02 or 0x03\n      // H.264 non-IDR with nal_ref_idc=2 has nalByte 0x41, with nal_ref_idc=1 has 0x21\n      const nalRefIdc = (nalByte >> 5) & 0x03;\n      if (nalRefIdc >= 1) {\n        return \"H264\";\n      }\n    }\n  }\n\n  // H.265/HEVC: forbidden_zero_bit (bit 7) = 0, nal_unit_type in bits 1-6\n  // NAL types: VPS=32, SPS=33, PPS=34, IDR=19/20, CRA=21, TRAIL=0/1\n  // The second byte contains temporal_id_plus1 in bits 0-2 (must be non-zero)\n  if (nalStart + 1 < data.length) {\n    const nalByte2 = data[nalStart + 1];\n    if (nalByte2 !== undefined) {\n      const forbiddenBit = (nalByte >> 7) & 1;\n      const hevcType = (nalByte >> 1) & 0x3f;\n      const temporalId = nalByte2 & 0x07;\n\n      // Valid H.265 NAL: forbidden=0, temporal_id_plus1 > 0, type in valid range\n      if (forbiddenBit === 0 && temporalId > 0 && hevcType <= 40) {\n        // Strong H.265 indicators: VPS, SPS, PPS (unique to H.265)\n        if (hevcType === 32 || hevcType === 33 || hevcType === 34) {\n          return \"H265\";\n        }\n        // IDR_W_RADL, IDR_N_LP, CRA_NUT\n        if (hevcType === 19 || hevcType === 20 || hevcType === 21) {\n          return \"H265\";\n        }\n        // TRAIL_N (0), TRAIL_R (1) - but only if we didn't already match H.264\n        // These are weak indicators since H.264 type 1 is common\n        if (hevcType <= 1 && nalByte <= 0x03) {\n          // H.265 TRAIL with low NAL byte values (0x00-0x03) are more likely H.265\n          return \"H265\";\n        }\n      }\n    }\n  }\n\n  return null;\n}\n\nexport type BcMediaAnnexBInfo = {\n  type: \"InfoV1\" | \"InfoV2\";\n  videoWidth: number;\n  videoHeight: number;\n  fps: number;\n  startYear: number;\n  startMonth: number;\n  startDay: number;\n  startHour: number;\n  startMin: number;\n  startSeconds: number;\n  endYear: number;\n  endMonth: number;\n  endDay: number;\n  endHour: number;\n  endMin: number;\n  endSeconds: number;\n};\n\n/**\n * Audio frame emitted by the decoder\n */\nexport type BcMediaAudioFrame = {\n  /** Audio codec type */\n  audioType: BcMediaAudioType;\n  /** Raw audio data (AAC ADTS frames or ADPCM samples) */\n  data: Buffer;\n};\n\n/**\n * Video frame emitted by the decoder\n */\nexport type BcMediaVideoFrame = {\n  videoType: BcMediaVideoType;\n  annexB: Buffer;\n  microseconds: number;\n  isKeyframe: boolean;\n};\n\nexport type BcMediaAnnexBDecoderStats = {\n  bytesIn: number;\n  bytesOut: number;\n  audioBytesOut: number;\n  packets: number;\n  videoPackets: number;\n  audioPackets: number;\n  aacPackets: number;\n  adpcmPackets: number;\n  keyframes: number;\n  videoType: BcMediaVideoType | null;\n  audioType: BcMediaAudioType | null;\n  infos: BcMediaAnnexBInfo[];\n  recoveredSkips: number;\n};\n\nexport class BcMediaAnnexBDecoder {\n  private readonly codec: BcMediaCodec;\n  private readonly logger: Logger | undefined;\n  private readonly onVideoAccessUnit:\n    | ((p: BcMediaVideoFrame) => void)\n    | undefined;\n  private readonly onAudioFrame: ((p: BcMediaAudioFrame) => void) | undefined;\n\n  private stats: BcMediaAnnexBDecoderStats = {\n    bytesIn: 0,\n    bytesOut: 0,\n    audioBytesOut: 0,\n    packets: 0,\n    videoPackets: 0,\n    audioPackets: 0,\n    aacPackets: 0,\n    adpcmPackets: 0,\n    keyframes: 0,\n    videoType: null,\n    audioType: null,\n    infos: [],\n    recoveredSkips: 0,\n  };\n\n  private lastH264Sps: Buffer | null = null;\n  private lastH264Pps: Buffer | null = null;\n\n  private lastH265Vps: Buffer | null = null;\n  private lastH265Sps: Buffer | null = null;\n  private lastH265Pps: Buffer | null = null;\n\n  constructor(params?: {\n    strict?: boolean;\n    logger?: Logger;\n    onVideoAccessUnit?: (p: BcMediaVideoFrame) => void;\n    onAudioFrame?: (p: BcMediaAudioFrame) => void;\n  }) {\n    this.logger = params?.logger;\n    this.onVideoAccessUnit = params?.onVideoAccessUnit;\n    this.onAudioFrame = params?.onAudioFrame;\n    // Default non-strict: cmd143 often has preamble/junk before first magic.\n    this.codec = new BcMediaCodec(params?.strict ?? false, this.logger);\n  }\n\n  getStats(): BcMediaAnnexBDecoderStats {\n    return { ...this.stats, infos: [...this.stats.infos] };\n  }\n\n  /**\n   * Push arbitrary bytes from a Baichuan/BcMedia transport into the decoder.\n   * Emits complete Annex-B access units via callback.\n   */\n  push(chunk: Buffer): void {\n    if (!chunk || chunk.length === 0) return;\n    this.stats.bytesIn += chunk.length;\n\n    const packets = this.codec.decode(chunk);\n    this.stats.packets += packets.length;\n\n    for (const media of packets) {\n      this.handleMedia(media);\n    }\n  }\n\n  private handleMedia(media: BcMedia): void {\n    if (media.type === \"InfoV1\" || media.type === \"InfoV2\") {\n      const info = media as BcMediaInfoV1 | BcMediaInfoV2;\n      this.stats.infos.push({\n      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detectedType;\n    }\n\n    if (this.stats.videoType == null) this.stats.videoType = videoType;\n\n    let annexB =\n      videoType === \"H265\"\n        ? convertH265ToAnnexB(raw)\n        : convertH264ToAnnexB(raw);\n\n    const isKeyframe =\n      media.type === \"Iframe\" ||\n      (videoType === \"H265\"\n        ? isH265KeyframeAnnexB(annexB)\n        : isH264KeyframeAnnexB(annexB));\n\n    // Update caches from the current access unit.\n    if (videoType === \"H264\") {\n      const nals = splitH264AnnexBToNalPayloads(annexB);\n      for (const nal of nals) {\n        const t = (nal[0] ?? 0) & 0x1f;\n        if (t === 7) this.lastH264Sps = nal;\n        if (t === 8) this.lastH264Pps = nal;\n      }\n\n      // If this looks like a keyframe but is missing SPS/PPS, prepend cached ones.\n      if (isKeyframe) {\n        const hasSps = nals.some((nal) => ((nal[0] ?? 0) & 0x1f) === 7);\n        const hasPps = nals.some((nal) => ((nal[0] ?? 0) & 0x1f) === 8);\n        const toPrepend: Buffer[] = [];\n        if (!hasSps && this.lastH264Sps)\n          toPrepend.push(ANNEXB_START_CODE_4B, this.lastH264Sps);\n        if (!hasPps && this.lastH264Pps)\n          toPrepend.push(ANNEXB_START_CODE_4B, this.lastH264Pps);\n        if (toPrepend.length > 0)\n          annexB = Buffer.concat([...toPrepend, annexB]);\n      }\n    } else {\n      const vps = extractVpsFromAnnexB(annexB);\n      const sps = extractSpsFromAnnexB(annexB);\n      const pps = extractPpsFromAnnexB(annexB);\n      if (vps) this.lastH265Vps = vps;\n      if (sps) this.lastH265Sps = sps;\n      if (pps) this.lastH265Pps = pps;\n\n      if (isKeyframe) {\n        const hasVps = vps != null;\n        const hasSps = sps != null;\n        const hasPps = pps != null;\n        const toPrepend: Buffer[] = [];\n        if (!hasVps && this.lastH265Vps)\n          toPrepend.push(ANNEXB_START_CODE_4B, this.lastH265Vps);\n        if (!hasSps && this.lastH265Sps)\n          toPrepend.push(ANNEXB_START_CODE_4B, this.lastH265Sps);\n        if (!hasPps && this.lastH265Pps)\n          toPrepend.push(ANNEXB_START_CODE_4B, this.lastH265Pps);\n        if (toPrepend.length > 0)\n          annexB = Buffer.concat([...toPrepend, annexB]);\n      }\n    }\n\n    if (isKeyframe) this.stats.keyframes++;\n\n    this.stats.bytesOut += annexB.length;\n    this.onVideoAccessUnit?.({ videoType, annexB, microseconds, isKeyframe });\n  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