openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

system/webrtc/device/video.py

@@ -0,0 +1,44 @@
+import asyncio
+from typing import Optional
+
+import av
+from teleoprtc.tracks import TiciVideoStreamTrack
+
+from cereal import messaging
+from openpilot.common.realtime import DT_MDL, DT_DMON
+
+
+class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
+  camera_to_sock_mapping = {
+    "driver": "livestreamDriverEncodeData",
+    "wideRoad": "livestreamWideRoadEncodeData",
+    "road": "livestreamRoadEncodeData",
+  }
+
+  def __init__(self, camera_type: str):
+    dt = DT_DMON if camera_type == "driver" else DT_MDL
+    super().__init__(camera_type, dt)
+
+    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+    self._pts = 0
+
+  async def recv(self):
+    while True:
+      msg = messaging.recv_one_or_none(self._sock)
+      if msg is not None:
+        break
+      await asyncio.sleep(0.005)
+
+    evta = getattr(msg, msg.which())
+
+    packet = av.Packet(evta.header + evta.data)
+    packet.time_base = self._time_base
+    packet.pts = self._pts
+
+    self.log_debug("track sending frame %s", self._pts)
+    self._pts += self._dt * self._clock_rate
+
+    return packet
+
+  def codec_preference(self) -> Optional[str]:
+    return "H264"