webrtc: remove av (#38369)

openpilot/system/webrtc/device/video.py

@@ -1,8 +1,8 @@
 import asyncio
+from dataclasses import dataclass
 import struct
 import time
 
-import av
 from teleoprtc.tracks import TiciVideoStreamTrack
 
 from openpilot.cereal import messaging
@@ -21,6 +21,15 @@ TIMING_SEI_UUID = bytes([
 _SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
 
 
+@dataclass(frozen=True)
+class EncodedVideoFrame:
+  data: bytes
+  pts: int
+
+  def __bytes__(self) -> bytes:
+    return self.data
+
+
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
     "driver": "livestreamDriverEncodeData",
@@ -86,11 +95,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
         break
       await asyncio.sleep(0.005)
 
-    packet = av.Packet(self._build_frame_data(msg))
-    packet.time_base = self._time_base
-
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
-    packet.pts = self._pts
     self.log_debug("track sending frame %d", self._pts)
 
-    return packet
+    return EncodedVideoFrame(self._build_frame_data(msg), self._pts)

openpilot/system/webrtc/tests/test_stream_session.py

@@ -4,7 +4,7 @@ import time
 
 import capnp
 from openpilot.cereal import messaging, log
-from teleoprtc.tracks import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
+from teleoprtc.tracks import VIDEO_CLOCK_RATE
 
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
@@ -72,9 +72,8 @@ class TestStreamSession:
 
     for i in range(5):
       packet = self.loop.run_until_complete(track.recv())
-      assert packet.time_base == VIDEO_TIME_BASE
       if i == 0:
         start_ns = time.monotonic_ns()
         start_pts = packet.pts
       assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
-      assert packet.size == 0
+      assert bytes(packet) == b""