openpilot v0.9.6 release

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

tools/bodyteleop/web.py

@@ -0,0 +1,127 @@
+import asyncio
+import dataclasses
+import json
+import logging
+import os
+import ssl
+import subprocess
+
+import pyaudio
+import wave
+from aiohttp import web
+from aiohttp import ClientSession
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.webrtc.webrtcd import StreamRequestBody
+from openpilot.common.params import Params
+
+logger = logging.getLogger("bodyteleop")
+logging.basicConfig(level=logging.INFO)
+
+TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
+WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
+
+
+## UTILS
+async def play_sound(sound: str):
+  SOUNDS = {
+    "engage": "selfdrive/assets/sounds/engage.wav",
+    "disengage": "selfdrive/assets/sounds/disengage.wav",
+    "error": "selfdrive/assets/sounds/warning_immediate.wav",
+  }
+  assert sound in SOUNDS
+
+  chunk = 5120
+  with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf:
+    def callback(in_data, frame_count, time_info, status):
+      data = wf.readframes(frame_count)
+      return data, pyaudio.paContinue
+
+    p = pyaudio.PyAudio()
+    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
+                    channels=wf.getnchannels(),
+                    rate=wf.getframerate(),
+                    output=True,
+                    frames_per_buffer=chunk,
+                    stream_callback=callback)
+    stream.start_stream()
+    while stream.is_active():
+      await asyncio.sleep(0)
+    stream.stop_stream()
+    stream.close()
+    p.terminate()
+
+## SSL
+def create_ssl_cert(cert_path: str, key_path: str):
+  try:
+    proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
+                          -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
+                          stdout=subprocess.PIPE, stderr=subprocess.PIPE, shell=True)
+    proc.check_returncode()
+  except subprocess.CalledProcessError as ex:
+    raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex
+
+
+def create_ssl_context():
+  cert_path = os.path.join(TELEOPDIR, "cert.pem")
+  key_path = os.path.join(TELEOPDIR, "key.pem")
+  if not os.path.exists(cert_path) or not os.path.exists(key_path):
+    logger.info("Creating certificate...")
+    create_ssl_cert(cert_path, key_path)
+  else:
+    logger.info("Certificate exists!")
+  ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
+  ssl_context.load_cert_chain(cert_path, key_path)
+
+  return ssl_context
+
+## ENDPOINTS
+async def index(request: 'web.Request'):
+  with open(os.path.join(TELEOPDIR, "static", "index.html"), "r") as f:
+    content = f.read()
+    return web.Response(content_type="text/html", text=content)
+
+
+async def ping(request: 'web.Request'):
+  return web.Response(text="pong")
+
+
+async def sound(request: 'web.Request'):
+  params = await request.json()
+  sound_to_play = params["sound"]
+
+  await play_sound(sound_to_play)
+  return web.json_response({"status": "ok"})
+
+
+async def offer(request: 'web.Request'):
+  params = await request.json()
+  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
+  body_json = json.dumps(dataclasses.asdict(body))
+
+  logger.info("Sending offer to webrtcd...")
+  webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
+  async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
+    assert resp.status == 200
+    answer = await resp.json()
+    return web.json_response(answer)
+
+
+def main():
+  # Enable joystick debug mode
+  Params().put_bool("JoystickDebugMode", True)
+
+  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
+  ssl_context = create_ssl_context()
+
+  app = web.Application()
+  app.router.add_get("/", index)
+  app.router.add_get("/ping", ping, allow_head=True)
+  app.router.add_post("/offer", offer)
+  app.router.add_post("/sound", sound)
+  app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
+  web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
+
+
+if __name__ == "__main__":
+  main()