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webrtcd: move to libdatachannel (#38228)

Browse Source 
* try libdatachannel

* fix uv lock

* fix uv lock

* remove datachannel abstraction and just use libdatachannel

* clean

* fix livestream bitrate controller

* fix sample

* fix import breaking ci

* clean up and add catches

* bump tele

* move to teleop master

* fix linter

* .

* remove libdatachannel explicit reference from pyproject.toml

* add PyJWT crypto and catch in registration

* spelling

* add crypto back to lock

---------

Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>
This commit is contained in:
Adeeb Shihadeh
2026-07-17 15:28:39 -07:00
committed by GitHub
parent c8786d930d
commit b9f25f8a43
7 changed files with 75 additions and 379 deletions
Download Patch File Download Diff File Expand all files Collapse all files
openpilot/system/athena/registration.py
+3
View File
@@ -82,6 +82,9 @@ def register(show_spinner=False) -> str | None:
dongleauth = json.loads(resp.text)
dongle_id = dongleauth["dongle_id"]
break
except NotImplementedError:
# dependency issues with PyJWT will hang the registration test in backoff loop otherwise
raise
except Exception:
cloudlog.exception("failed to authenticate")
backoff = min(backoff + 1, 15)
openpilot/system/webrtc/device/video.py
+3 -7
View File
@@ -4,7 +4,6 @@ import time
import av
from teleoprtc.tracks import TiciVideoStreamTrack
from aiortc import MediaStreamError
from openpilot.cereal import messaging
from openpilot.common.realtime import DT_MDL
@@ -55,6 +54,9 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
if not enabled:
self._seen_keyframe = False
def request_keyframe(self) -> None:
self.params.put("LivestreamRequestKeyframe", True, block=False)
def _build_frame_data(self, msg) -> bytes:
encode_data = getattr(msg, msg.which())
if not self.timing_sei_enabled:
@@ -71,9 +73,6 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
async def recv(self):
while True:
if self.readyState != "live":
raise MediaStreamError
# while video is disabled, pause here without returning
if not self.video_enabled:
await asyncio.sleep(0.005)
@@ -95,6 +94,3 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
self.log_debug("track sending frame %d", self._pts)
return packet
def codec_preference(self) -> str | None:
return "H264"
openpilot/system/webrtc/tests/test_stream_session.py
+3 -9
View File
@@ -1,15 +1,10 @@
import asyncio
import json
import time
# for aiortc and its dependencies
import warnings
warnings.filterwarnings("ignore", category=DeprecationWarning)
warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
from aiortc import RTCDataChannel
from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
import capnp
from openpilot.cereal import messaging, log
from teleoprtc.tracks import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
@@ -31,7 +26,8 @@ class TestStreamSession:
expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"}
expected_json = json.dumps(expected_dict).encode()
channel = mocker.Mock(spec=RTCDataChannel)
channel = mocker.Mock()
channel.is_open.return_value = True
proxy = CerealOutgoingMessageProxy(["customReservedRawData0"])
def mocked_update(t):
proxy.sm.update_msgs(0, [test_msg])
@@ -73,7 +69,6 @@ class TestStreamSession:
track = LiveStreamVideoStreamTrack("driver")
assert track.id.startswith("driver")
assert track.codec_preference() == "H264"
for i in range(5):
packet = self.loop.run_until_complete(track.recv())
@@ -83,4 +78,3 @@ class TestStreamSession:
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
openpilot/system/webrtc/webrtcd.py
+44 -65
View File
@@ -1,9 +1,11 @@
#!/usr/bin/env python3
from abc import abstractmethod
from collections.abc import Callable
import os
import socket
import time
import capnp
import argparse
import asyncio
import contextlib
@@ -14,17 +16,7 @@ import signal
import threading
from http.server import BaseHTTPRequestHandler, ThreadingHTTPServer
from urllib.parse import urlparse, parse_qs
from typing import Any, TYPE_CHECKING
# aiortc and its dependencies have lots of internal warnings :(
import warnings
warnings.filterwarnings("ignore", category=DeprecationWarning)
warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
import capnp
if TYPE_CHECKING:
from aiortc.rtcdatachannel import RTCDataChannel
import aioice.ice
from typing import Any
from openpilot.system.webrtc.helpers import StreamRequestBody
from openpilot.system.webrtc.schema import generate_field
@@ -44,20 +36,8 @@ def _default_route_ip() -> str | None:
finally:
s.close()
# aioice patch: gather ICE candidates only on the default-route interface
_get_host_addresses = aioice.ice.get_host_addresses
def _primary_host_addresses(use_ipv4: bool, use_ipv6: bool) -> list[str]:
addresses = _get_host_addresses(use_ipv4, use_ipv6)
primary = _default_route_ip()
if primary not in addresses:
return addresses
return [primary, ]
aioice.ice.get_host_addresses = _primary_host_addresses
class AsyncTaskRunner:
def __init__(self):
self.is_running = False
self.task = None
self.logger = logging.getLogger("webrtcd")
@@ -86,10 +66,10 @@ class CerealOutgoingMessageProxy(AsyncTaskRunner):
super().__init__()
self.services = list(services)
self.sm = messaging.SubMaster(self.services)
self.channels: list[RTCDataChannel] = []
self.channels = []
self._enabled = enabled
def add_channel(self, channel: 'RTCDataChannel'):
def add_channel(self, channel):
self.channels.append(channel)
def enable(self, enable: bool):
@@ -118,20 +98,17 @@ class CerealOutgoingMessageProxy(AsyncTaskRunner):
outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
encoded_msg = json.dumps(outgoing_msg).encode()
for channel in self.channels:
if not channel.is_open():
continue
channel.send(encoded_msg)
async def run(self):
from aiortc.exceptions import InvalidStateError
while True:
if not self._enabled:
await asyncio.sleep(0.01)
continue
try:
self.update()
except InvalidStateError:
self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
break
except Exception:
self.logger.exception("Cereal outgoing proxy failure")
await asyncio.sleep(0.01)
@@ -172,17 +149,17 @@ class LivestreamBitrateController(AsyncTaskRunner):
high_level = 0.1 # drop immediately
med_level = 0.05 # drop after # of samples
low_level = 0 # raise after # of samples
down_samples = 5 # 1s
down_samples = 5
param_name = "LivestreamEncoderBitrate"
def __init__(self, peer_connection: Any, params: Params, enabled: bool = True):
def __init__(self, get_stats: Callable[[], dict[str, Any]], params: Params, enabled: bool = True):
super().__init__()
self.pc = peer_connection
self.get_stats = get_stats
self.params = params
self.level = 2
self._publish(self.bitrates[self.level])
self.prev_lost, self.prev_sent = None, None
self.prev_stats: tuple[Any, ...] | None = None
self.counter = 0
self.up_samples = 5 # 1s
self._auto = True
@@ -199,7 +176,7 @@ class LivestreamBitrateController(AsyncTaskRunner):
if not self._auto:
continue
loss_rate = await self._sample()
loss_rate = self._sample()
if loss_rate is None:
continue
if loss_rate >= self.med_level and self.level > 0:
@@ -216,22 +193,18 @@ class LivestreamBitrateController(AsyncTaskRunner):
self.counter = 0
self._publish(self.bitrates[self.level])
async def _sample(self) -> float | None:
report = await self.pc.getStats()
packets_lost = packets_sent = 0
for s in report.values():
if s.type == "remote-inbound-rtp":
packets_lost += s.packetsLost
elif s.type == "outbound-rtp":
packets_sent += s.packetsSent
if self.prev_lost is None:
self.prev_lost, self.prev_sent = packets_lost, packets_sent
def _sample(self) -> float | None:
report = next(iter(self.get_stats().values()), None)
if report is None:
return None
lost_delta = max(0, packets_lost - self.prev_lost)
sent_delta = max(0, packets_sent - self.prev_sent)
self.prev_lost, self.prev_sent = packets_lost, packets_sent
return lost_delta / sent_delta if sent_delta else 0.0
current = (report.ssrc, report.fraction_lost, report.packets_lost, report.highest_seq_no, report.jitter, report.lsr, report.dlsr)
if self.prev_stats == current:
return None
self.prev_stats = current
loss_rate = report.fraction_lost / 256
return loss_rate
def _publish(self, bitrate: float):
self.params.put(self.param_name, bitrate)
@@ -248,17 +221,15 @@ class StreamSession:
shared_pub_master = DynamicPubMaster([])
def __init__(self, body: StreamRequestBody, debug_mode: bool = False):
if debug_mode:
from aiortc.mediastreams import VideoStreamTrack
from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
from teleoprtc.builder import WebRTCAnswerBuilder
self.identifier = str(uuid.uuid4())
self.params = Params()
builder = WebRTCAnswerBuilder(body.sdp)
builder = WebRTCAnswerBuilder(body.sdp, bind_address=_default_route_ip())
self.enabled = body.enabled
self.video_track = LiveStreamVideoStreamTrack(body.init_camera, self.enabled) if not debug_mode else VideoStreamTrack()
self.video_track = LiveStreamVideoStreamTrack(body.init_camera, self.enabled)
builder.add_video_stream(body.init_camera, self.video_track)
self.stream = builder.stream()
@@ -270,7 +241,7 @@ class StreamSession:
self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
if len(body.bridge_services_out) > 0:
self.outgoing_bridge = CerealOutgoingMessageProxy(body.bridge_services_out, self.enabled)
self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection, self.params, self.enabled)
self.bitrate_controller = LivestreamBitrateController(self.stream.get_receiver_report_stats, self.params, self.enabled)
self.run_task: asyncio.Task | None = None
self._cleanup_lock = asyncio.Lock()
@@ -305,13 +276,16 @@ class StreamSession:
case "livestreamCameraSwitch":
self.video_track.switch_camera(payload["data"]["camera"])
case "livestreamSettings":
self.bitrate_controller.set_quality(payload["data"]["quality"])
if self.bitrate_controller is not None:
self.bitrate_controller.set_quality(payload["data"]["quality"])
case "livestreamVideoEnable":
enabled = payload["data"]["enabled"]
self.enabled = enabled
self.video_track.enable(enabled)
self.outgoing_bridge.enable(enabled)
self.bitrate_controller.enable(enabled)
if self.outgoing_bridge is not None:
self.outgoing_bridge.enable(enabled)
if self.bitrate_controller is not None:
self.bitrate_controller.enable(enabled)
if not enabled:
self.params.put("LivestreamRequestKeyframe", True)
case "clockSync":
@@ -325,7 +299,8 @@ class StreamSession:
case _:
if payload.get("type") not in self.incoming_bridge_services:
return
self.incoming_bridge.send(message)
if self.incoming_bridge is not None:
self.incoming_bridge.send(message)
except Exception:
self.logger.exception("Cereal incoming proxy failure")
@@ -341,7 +316,8 @@ class StreamSession:
channel = self.stream.get_messaging_channel()
self.outgoing_bridge.add_channel(channel)
self.outgoing_bridge.start()
self.bitrate_controller.start()
if self.bitrate_controller is not None:
self.bitrate_controller.start()
self.logger.info("Stream session (%s) connected", self.identifier)
await self.stream.wait_for_disconnection()
@@ -357,7 +333,8 @@ class StreamSession:
return
self._cleanup_done = True
self.params.put("LivestreamRequestKeyframe", False)
await self.bitrate_controller.stop()
if self.bitrate_controller is not None:
await self.bitrate_controller.stop()
if self.outgoing_bridge is not None:
await self.outgoing_bridge.stop()
if self.video_track is not None:
@@ -417,7 +394,12 @@ async def handle_get_stream(state: ServerState, raw_body: bytes) -> tuple[int, b
session = StreamSession(body, debug_mode)
stream_dict[session.identifier] = session
try:
answer = await session.get_answer()
answer = await asyncio.wait_for(session.get_answer(), timeout=30)
except TimeoutError:
await session.stop()
stream_dict.pop(session.identifier, None)
logging.getLogger("webrtcd").exception("Timed out creating stream answer")
raise
except Exception:
await session.stop()
stream_dict.pop(session.identifier, None)
@@ -558,9 +540,6 @@ async def _shutdown(server: WebrtcdHTTPServer, state: ServerState, loop: asyncio
def prewarm_stream_session_imports(debug_mode: bool = False) -> None:
if debug_mode:
from aiortc.mediastreams import VideoStreamTrack
assert VideoStreamTrack
from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
from teleoprtc.builder import WebRTCAnswerBuilder
assert LiveStreamVideoStreamTrack
pyproject.toml
+1 -2
View File
@@ -39,7 +39,6 @@ dependencies = [
# body / webrtcd
"av",
"aiortc",
# logging
"pyzmq",
@@ -47,7 +46,7 @@ dependencies = [
"xattr", # used in place of 'os.getxattr' for macOS compatibility
# athena
"PyJWT",
"PyJWT[crypto]",
"websocket_client",
# joystickd
teleoprtc_repo
+1 -1
Submodule teleoprtc_repo updated: 22df577821...c0f813f1c4
uv.lock
Generated
+20 -295
View File
@@ -8,95 +8,6 @@ overrides = [
{ name = "opendbc", editable = "opendbc_repo" },
]
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