openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

teleoprtc/tracks.py

@@ -0,0 +1,76 @@
+import asyncio
+import logging
+import time
+import fractions
+from typing import Optional, Tuple, Any
+
+import aiortc
+from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
+
+
+def video_track_id(camera_type: str, track_id: str) -> str:
+  return f"{camera_type}:{track_id}"
+
+
+def parse_video_track_id(track_id: str) -> Tuple[str, str]:
+  parts = track_id.split(":")
+  if len(parts) != 2:
+    raise ValueError(f"Invalid video track id: {track_id}")
+
+  camera_type, track_id = parts
+  return camera_type, track_id
+
+
+class TiciVideoStreamTrack(aiortc.MediaStreamTrack):
+  """
+  Abstract video track which associates video track with camera_type
+  """
+  kind = "video"
+
+  def __init__(self, camera_type: str, dt: float, time_base: fractions.Fraction = VIDEO_TIME_BASE, clock_rate: int = VIDEO_CLOCK_RATE):
+    assert camera_type in ["driver", "wideRoad", "road"]
+    super().__init__()
+    # override track id to include camera type - client needs that for identification
+    self._id: str = video_track_id(camera_type, self._id)
+    self._dt: float = dt
+    self._time_base: fractions.Fraction = time_base
+    self._clock_rate: int = clock_rate
+    self._start: Optional[float] = None
+    self._logger = logging.getLogger("WebRTCStream")
+
+  def log_debug(self, msg: Any, *args):
+    self._logger.debug(f"{type(self)}() {msg}", *args)
+
+  async def next_pts(self, current_pts) -> float:
+    pts: float = current_pts + self._dt * self._clock_rate
+
+    data_time = pts * self._time_base
+    if self._start is None:
+      self._start = time.time() - data_time
+    else:
+      wait_time = self._start + data_time - time.time()
+      await asyncio.sleep(wait_time)
+
+    return pts
+
+  def codec_preference(self) -> Optional[str]:
+    return None
+
+
+class TiciTrackWrapper(aiortc.MediaStreamTrack):
+  """
+  Associates video track with camera_type
+  """
+  def __init__(self, camera_type: str, track: aiortc.MediaStreamTrack):
+    assert track.kind == "video"
+    assert not isinstance(track, TiciVideoStreamTrack)
+    super().__init__()
+    self._id = video_track_id(camera_type, track.id)
+    self._track = track
+
+  @property
+  def kind(self) -> str:
+    return self._track.kind
+
+  async def recv(self):
+    return await self._track.recv()