Vehicle Researcher
6fe5d4054d
date: 2026-03-13T21:04:16 master commit: 41994b1d27423e8a10008019a962417bf0f5f974
87 lines
2.7 KiB
Python
87 lines
2.7 KiB
Python
import dataclasses
|
|
import json
|
|
import logging
|
|
import os
|
|
import ssl
|
|
import subprocess
|
|
|
|
from aiohttp import web
|
|
from aiohttp import ClientSession
|
|
|
|
from openpilot.common.basedir import BASEDIR
|
|
from openpilot.system.webrtc.webrtcd import StreamRequestBody
|
|
from openpilot.common.params import Params
|
|
|
|
logger = logging.getLogger("bodyteleop")
|
|
logging.basicConfig(level=logging.INFO)
|
|
|
|
TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
|
|
WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
|
|
|
|
|
|
## SSL
|
|
def create_ssl_cert(cert_path: str, key_path: str):
|
|
try:
|
|
proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
|
|
-days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
|
|
capture_output=True, shell=True)
|
|
proc.check_returncode()
|
|
except subprocess.CalledProcessError as ex:
|
|
raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex
|
|
|
|
|
|
def create_ssl_context():
|
|
cert_path = os.path.join(TELEOPDIR, "cert.pem")
|
|
key_path = os.path.join(TELEOPDIR, "key.pem")
|
|
if not os.path.exists(cert_path) or not os.path.exists(key_path):
|
|
logger.info("Creating certificate...")
|
|
create_ssl_cert(cert_path, key_path)
|
|
else:
|
|
logger.info("Certificate exists!")
|
|
ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
|
|
ssl_context.load_cert_chain(cert_path, key_path)
|
|
|
|
return ssl_context
|
|
|
|
## ENDPOINTS
|
|
async def index(request: 'web.Request'):
|
|
with open(os.path.join(TELEOPDIR, "static", "index.html")) as f:
|
|
content = f.read()
|
|
return web.Response(content_type="text/html", text=content)
|
|
|
|
|
|
async def ping(request: 'web.Request'):
|
|
return web.Response(text="pong")
|
|
|
|
|
|
async def offer(request: 'web.Request'):
|
|
params = await request.json()
|
|
body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
|
|
body_json = json.dumps(dataclasses.asdict(body))
|
|
|
|
logger.info("Sending offer to webrtcd...")
|
|
webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
|
|
async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
|
|
assert resp.status == 200
|
|
answer = await resp.json()
|
|
return web.json_response(answer)
|
|
|
|
|
|
def main():
|
|
# Enable joystick debug mode
|
|
Params().put_bool("JoystickDebugMode", True)
|
|
|
|
# App needs to be HTTPS for WebRTC to work on the browser
|
|
ssl_context = create_ssl_context()
|
|
|
|
app = web.Application()
|
|
app.router.add_get("/", index)
|
|
app.router.add_get("/ping", ping, allow_head=True)
|
|
app.router.add_post("/offer", offer)
|
|
app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
|
|
web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|