dragonpilot beta3

date: 2023-08-22T14:21:17
commit: 6148ce3d77530281f890970718e9c42b2acc5ff1

tools/bodyteleop/web.py

@@ -6,11 +6,16 @@ import ssl
 import uuid
 import time
 
-from common.basedir import BASEDIR
+# aiortc and its dependencies have lots of internal warnings :(
+import warnings
+warnings.resetwarnings()
+warnings.simplefilter("always")
+
 from aiohttp import web
 from aiortc import RTCPeerConnection, RTCSessionDescription
 
 import cereal.messaging as messaging
+from common.basedir import BASEDIR
 from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
 
 logger = logging.getLogger("pc")

tools/lib/auth.py

@@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, format, *args):  # pylint: disable=redefined-builtin
+  def log_message(self, *args):  # pylint: disable=redefined-builtin
     pass  # this prevent http server from dumping messages to stdout
 
 

tools/lib/filereader.py

@@ -6,6 +6,6 @@ DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 def FileReader(fn, debug=False):
   if fn.startswith("cd:/"):
     fn = fn.replace("cd:/", DATA_ENDPOINT)
-  if fn.startswith("http://") or fn.startswith("https://"):
+  if fn.startswith(("http://", "https://")):
     return URLFile(fn, debug=debug)
   return open(fn, "rb")

tools/lib/framereader.py

@@ -70,8 +70,8 @@ def ffprobe(fn, fmt=None):
 
   try:
     ffprobe_output = subprocess.check_output(cmd)
-  except subprocess.CalledProcessError:
-    raise DataUnreadableError(fn)
+  except subprocess.CalledProcessError as e:
+    raise DataUnreadableError(fn) from e
 
   return json.loads(ffprobe_output)
 
@@ -80,14 +80,14 @@ def vidindex(fn, typ):
   vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex")
   vidindex = os.path.join(vidindex_dir, "vidindex")
 
-  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=open("/dev/null", "w"))
+  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=subprocess.DEVNULL)
 
   with tempfile.NamedTemporaryFile() as prefix_f, \
        tempfile.NamedTemporaryFile() as index_f:
     try:
       subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name])
-    except subprocess.CalledProcessError:
-      raise DataUnreadableError(f"vidindex failed on file {fn}")
+    except subprocess.CalledProcessError as e:
+      raise DataUnreadableError(f"vidindex failed on file {fn}") from e
     with open(index_f.name, "rb") as f:
       index = f.read()
     with open(prefix_f.name, "rb") as f:
@@ -237,25 +237,23 @@ def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt):
 
     threads = os.getenv("FFMPEG_THREADS", "0")
     cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
-    proc = subprocess.Popen(
-      ["ffmpeg",
-       "-threads", threads,
-       "-hwaccel", "none" if not cuda else "cuda",
-       "-c:v", "hevc",
-       "-vsync", "0",
-       "-f", vid_fmt,
-       "-flags2", "showall",
-       "-i", "pipe:0",
-       "-threads", threads,
-       "-f", "rawvideo",
-       "-pix_fmt", pix_fmt,
-       "pipe:1"],
-      stdin=tmpf, stdout=subprocess.PIPE, stderr=open("/dev/null"))
-
-    # dat = proc.communicate()[0]
-    dat = proc.stdout.read()
-    if proc.wait() != 0:
-      raise DataUnreadableError("ffmpeg failed")
+    args = ["ffmpeg",
+            "-threads", threads,
+            "-hwaccel", "none" if not cuda else "cuda",
+            "-c:v", "hevc",
+            "-vsync", "0",
+            "-f", vid_fmt,
+            "-flags2", "showall",
+            "-i", "pipe:0",
+            "-threads", threads,
+            "-f", "rawvideo",
+            "-pix_fmt", pix_fmt,
+            "pipe:1"]
+    with subprocess.Popen(args, stdin=tmpf, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) as proc:
+      # dat = proc.communicate()[0]
+      dat = proc.stdout.read()
+      if proc.wait() != 0:
+        raise DataUnreadableError("ffmpeg failed")
 
   if pix_fmt == "rgb24":
     ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
@@ -418,7 +416,7 @@ class VideoStreamDecompressor:
         elif self.pix_fmt == "yuv444p":
           ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w))
         else:
-          assert False
+          raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}")
         yield ret
 
       result_code = self.proc.wait()

tools/lib/logreader.py

@@ -98,7 +98,7 @@ class LogReader:
       for e in ents:
         _ents.append(e)
     except capnp.KjException:
-      warnings.warn("Corrupted events detected", RuntimeWarning)
+      warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
     self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
     self._ts = [x.logMonoTime for x in self._ents]