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https://github.com/firestar5683/StarPilot.git
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firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
82 lines
2.8 KiB
Python
82 lines
2.8 KiB
Python
import abc
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from typing import Dict, List, Optional
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from teleoprtc.stream import RTCSessionDescription, WebRTCBaseStream, WebRTCOfferStream, WebRTCAnswerStream, ConnectionProvider
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from teleoprtc.tracks import TiciVideoStreamTrack, TiciTrackWrapper
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class WebRTCStreamBuilder(abc.ABC):
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@abc.abstractmethod
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def stream(self) -> WebRTCBaseStream:
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raise NotImplementedError
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class WebRTCOfferBuilder(WebRTCStreamBuilder):
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def __init__(self, connection_provider: ConnectionProvider, bind_address: Optional[str] = None):
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self.connection_provider = connection_provider
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self.bind_address = bind_address
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self.requested_camera_types: List[str] = []
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self.requested_audio = False
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self.audio_tracks: List[object] = []
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self.messaging_enabled = False
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def offer_to_receive_video_stream(self, camera_type: str):
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assert camera_type in ["driver", "wideRoad", "road"]
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self.requested_camera_types.append(camera_type)
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def offer_to_receive_audio_stream(self):
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self.requested_audio = True
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def add_audio_stream(self, track: object):
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assert len(self.audio_tracks) == 0
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self.audio_tracks = [track]
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def add_messaging(self):
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self.messaging_enabled = True
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def stream(self) -> WebRTCBaseStream:
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return WebRTCOfferStream(
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self.connection_provider,
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consumed_camera_types=self.requested_camera_types,
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consume_audio=self.requested_audio,
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video_producer_tracks=[],
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audio_producer_tracks=self.audio_tracks,
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should_add_data_channel=self.messaging_enabled,
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bind_address=self.bind_address,
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)
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class WebRTCAnswerBuilder(WebRTCStreamBuilder):
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def __init__(self, offer_sdp: str, bind_address: Optional[str] = None):
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self.offer_sdp = offer_sdp
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self.bind_address = bind_address
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self.video_tracks: Dict[str, TiciVideoStreamTrack] = {}
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self.requested_audio = False
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self.audio_tracks: List[object] = []
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def offer_to_receive_audio_stream(self):
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self.requested_audio = True
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def add_video_stream(self, camera_type: str, track: object):
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assert camera_type not in self.video_tracks
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assert camera_type in ["driver", "wideRoad", "road"]
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if not isinstance(track, TiciVideoStreamTrack):
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track = TiciTrackWrapper(camera_type, track)
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self.video_tracks[camera_type] = track
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def add_audio_stream(self, track: object):
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assert len(self.audio_tracks) == 0
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self.audio_tracks = [track]
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def stream(self) -> WebRTCBaseStream:
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description = RTCSessionDescription(sdp=self.offer_sdp, type="offer")
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return WebRTCAnswerStream(
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description,
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consumed_camera_types=[],
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consume_audio=self.requested_audio,
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video_producer_tracks=list(self.video_tracks.values()),
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audio_producer_tracks=self.audio_tracks,
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should_add_data_channel=False,
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bind_address=self.bind_address,
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)
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