mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-12 23:43:44 +08:00
Adeeb Shihadeh
75 lines
2.8 KiB
Python
Executable File
75 lines
2.8 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import asyncio
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import requests
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from teleoprtc.builder import WebRTCOfferBuilder
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from teleoprtc.stream import RTCSessionDescription, StreamingOffer
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from openpilot.cereal import messaging
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from openpilot.cereal.services import SERVICE_LIST
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from openpilot.system.webrtc.helpers import WEBRTCD_PORT
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async def bridge(ip: str, services_in: list[str], services_out: list[str]) -> None:
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async def connect(offer: StreamingOffer) -> RTCSessionDescription:
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body = {"sdp": offer.sdp, "cameras": [], "enabled": True, "raw": True,
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"bridge_services_in": services_out, "bridge_services_out": services_in}
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resp = await asyncio.to_thread(requests.post, f"http://{ip}:{WEBRTCD_PORT}/stream", json=body, timeout=30)
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answer = resp.json()
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if "sdp" not in answer:
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raise Exception(f"webrtcd error: {answer}")
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return RTCSessionDescription(answer["sdp"], answer["type"])
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pm = messaging.PubMaster(services_in)
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socks = [messaging.sub_sock(s) for s in services_out]
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def on_message(message: bytes | str) -> None:
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if isinstance(message, str):
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print("webrtcd:", message)
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else:
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pm.send(messaging.log_from_bytes(message).which(), message)
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builder = WebRTCOfferBuilder(connect)
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builder.add_messaging()
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stream = builder.stream()
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stream.set_message_handler(on_message)
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try:
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await stream.start()
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await stream.wait_for_connection()
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print(f"connected to {ip}")
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channel = stream.get_messaging_channel()
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while not stream.connection_stopped_event.is_set():
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for sock in socks:
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for dat in messaging.drain_sock_raw(sock):
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channel.send(dat)
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await asyncio.sleep(0.01)
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finally:
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await stream.stop()
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async def main() -> None:
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parser = argparse.ArgumentParser(description="Bridge cereal services between this machine and a device running webrtcd. " +
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"On the device, run: openpilot/system/webrtc/webrtcd.py --host 0.0.0.0")
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parser.add_argument("ip", help="device IP address")
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parser.add_argument("services", nargs="?", default=None,
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help="comma-separated services to receive from the device (default: all except video)")
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parser.add_argument("--send", default="", help="comma-separated services to send to the device")
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args = parser.parse_args()
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services_out = [s for s in args.send.split(",") if s]
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services_in = args.services.split(",") if args.services else [s for s in SERVICE_LIST if not s.endswith("EncodeData") and s not in services_out]
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while True:
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try:
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await bridge(args.ip, services_in, services_out)
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print("disconnected")
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except Exception as e:
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print(f"failed to connect to {args.ip}: {e}")
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await asyncio.sleep(1)
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if __name__ == "__main__":
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asyncio.run(main())
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