webrtc: fix livestream request compatibility

Fix StreamRequestBody initialization for legacy and multi-camera clients, ignore unknown request fields, and use the supported nonblocking Params API for keyframe requests. Add regression coverage for request normalization.

Based on PR #101 by inauner: https://github.com/firestar5683/StarPilot/pull/101

system/webrtc/device/video.py

@@ -64,7 +64,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
       self._seen_keyframe = False
 
   def request_keyframe(self) -> None:
-    self.params.put("LivestreamRequestKeyframe", True, block=False)
+    self.params.put_nonblocking("LivestreamRequestKeyframe", True)
 
   def _build_frame_data(self, msg) -> bytes:
     encode_data = getattr(msg, msg.which())
@@ -91,7 +91,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
       if msg is not None:
         if not self._seen_keyframe and (getattr(msg, msg.which()).idx.flags & V4L2_BUF_FLAG_KEYFRAME):
           self._seen_keyframe = True
-          self.params.put("LivestreamRequestKeyframe", False, block=False)
+          self.params.put_nonblocking("LivestreamRequestKeyframe", False)
         break
       await asyncio.sleep(0.005)
 

system/webrtc/helpers.py

@@ -9,11 +9,21 @@ WEBRTCD_PORT = 5001
 @dataclass
 class StreamRequestBody:
   sdp: str
-  init_camera: str
-  enabled: bool
+  init_camera: str = ""
+  enabled: bool = True
+  cameras: list[str] = field(default_factory=list)
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
+  def __post_init__(self):
+    if not self.cameras:
+      if self.init_camera:
+        self.cameras = [self.init_camera]
+      else:
+        self.cameras = ["road"]
+    if not self.init_camera and self.cameras:
+      self.init_camera = self.cameras[0]
+
 
 def post_stream_request(body: StreamRequestBody) -> dict:
   t_start = time.monotonic()

system/webrtc/tests/test_helpers.py

@@ -0,0 +1,29 @@
+from dataclasses import asdict
+
+from openpilot.system.webrtc.helpers import StreamRequestBody
+
+
+def test_stream_request_body_defaults_legacy_clients_to_road():
+  body = StreamRequestBody(sdp="offer")
+
+  assert body.init_camera == "road"
+  assert body.enabled is True
+  assert body.cameras == ["road"]
+  assert body.bridge_services_in == []
+  assert body.bridge_services_out == []
+
+
+def test_stream_request_body_maps_legacy_camera_to_new_camera_list():
+  body = StreamRequestBody(sdp="offer", init_camera="driver", enabled=False)
+
+  assert body.init_camera == "driver"
+  assert body.cameras == ["driver"]
+  assert body.enabled is False
+
+
+def test_stream_request_body_preserves_explicit_multi_camera_request():
+  body = StreamRequestBody(sdp="offer", cameras=["road", "driver"])
+
+  assert body.init_camera == "road"
+  assert body.cameras == ["road", "driver"]
+  assert asdict(body)["cameras"] == ["road", "driver"]

system/webrtc/webrtcd.py

@@ -397,7 +397,10 @@ def _text_response(text: str, status: int = 200) -> tuple[int, bytes, str]:
 
 async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, bytes, str]:
   stream_dict = state.streams
-  body = StreamRequestBody(**json.loads(raw_body))
+  parsed_dict = json.loads(raw_body)
+  valid_fields = {f.name for f in StreamRequestBody.__dataclass_fields__.values()}
+  filtered_dict = {k: v for k, v in parsed_dict.items() if k in valid_fields}
+  body = StreamRequestBody(**filtered_dict)
 
   async with state.stream_lock:
     # don't remove existing connection on prewarm request