Merge branch 'master' into spatial-feat

launch_chffrplus.sh

@@ -24,7 +24,9 @@ function agnos_init {
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+    while true; do
+      $DIR/openpilot/common/hardware/comma/updater $AGNOS_PY $MANIFEST
+    done
   fi
 }
 

openpilot/common/params_keys.h

@@ -59,7 +59,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
     {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
     {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},

openpilot/selfdrive/ui/mici/widgets/button.py

@@ -149,11 +149,15 @@ class BigButton(Widget):
   def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
     super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
 
-  def _width_hint(self) -> int:
-    # A value moves the title to the top, where it shares space with the icon.
+  def _title_width_hint(self) -> int:
+    # A value moves the title to the top, where it shares space with the icon
     icon_size = self._txt_icon.width if self._txt_icon and self.value else 0
     return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - icon_size)
 
+  def _subtitle_width_hint(self) -> int:
+    # Bottom aligned, so it sits below the icon
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
   def _get_label_font_size(self):
     if len(self.text) <= 18:
       return 48
@@ -228,14 +232,14 @@ class BigButton(Widget):
 
     label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
     self._label.set_color(label_color)
-    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._width_hint(),
+    label_rect = rl.Rectangle(label_x, btn_y + self.LABEL_VERTICAL_PADDING, self._title_width_hint(),
                               self._rect.height - self.LABEL_VERTICAL_PADDING * 2)
     self._label.render(label_rect)
 
     if self.value:
-      label_y = btn_y + self.LABEL_VERTICAL_PADDING + self._label.get_content_height(self._width_hint())
+      label_y = label_rect.y + self._label.get_content_height(int(label_rect.width))
       sub_label_height = btn_y + self._rect.height - self.LABEL_VERTICAL_PADDING - label_y
-      sub_label_rect = rl.Rectangle(label_x, label_y, self._width_hint(), sub_label_height)
+      sub_label_rect = rl.Rectangle(label_x, label_y, self._subtitle_width_hint(), sub_label_height)
       self._sub_label.render(sub_label_rect)
 
     # ICON -------------------------------------------------------------------
@@ -312,9 +316,6 @@ class BigMultiToggle(BigToggle):
 
     self.set_value(self._options[0])
 
-  def _width_hint(self) -> int:
-    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)
-
   def _handle_mouse_release(self, mouse_pos: MousePos):
     super()._handle_mouse_release(mouse_pos)
     cur_idx = self._options.index(self.value)
@@ -363,9 +364,6 @@ class GreyBigButton(BigButton):
   def LABEL_VERTICAL_PADDING(self):
     return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
 
-  def _width_hint(self) -> int:
-    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
-
   def _get_label_font_size(self):
     return 36
 

openpilot/system/athena/athenad.py

@@ -828,20 +828,22 @@ def startStream(sdp: str, enabled: bool) -> dict:
   bridge_services_in = []
 
   # stale car params case taken care of by webrtcd being shut off on ignition
-  cp_bytes = Params().get("CarParamsPersistent")
+  cp_bytes = params.get("CarParamsPersistent")
   if cp_bytes is not None:
     with car.CarParams.from_bytes(cp_bytes) as CP:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
-  else:
-    raise Exception("failed to get CarParamsPersistent")
 
   if params.get_bool("IsOffroad"):
     # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.
     # webrtcd clears IsLiveStreaming when the session ends
     params.put_bool("IsLiveStreaming", True)
     # wait for webrtcd end points to wake up
-    wait_for_webrtcd()
+    try:
+      wait_for_webrtcd()
+    except TimeoutError:
+      cloudlog.event("athena.startStream.webrtcd_offroad_start_timeout", error=True)
+      raise
 
   return post_stream_request(StreamRequestBody(sdp, ["wideRoad"], enabled, bridge_services_in, ["carState", "deviceState"]))
 

openpilot/system/manager/process_config.py

@@ -106,15 +106,12 @@ def or_(*fns):
 def and_(*fns):
   return lambda *args: operator.and_(*(fn(*args) for fn in fns))
 
-def not_(*fns):
-  return lambda *args: operator.not_(*(fn(*args) for fn in fns))
-
 procs = [
   DaemonProcess("manage_athenad", "openpilot.system.athena.manage_athenad", "AthenadPid"),
 
   NativeProcess("loggerd", "openpilot/system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "openpilot/system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "openpilot/system/loggerd", ["./encoderd", "--stream"], or_(and_(livestream, not_(iscar)), notcar)),
+  NativeProcess("stream_encoderd", "openpilot/system/loggerd", ["./encoderd", "--stream"], or_(livestream, notcar)),
   PythonProcess("logmessaged", "openpilot.system.logmessaged", always_run),
 
   NativeProcess("camerad", "openpilot/system/camerad", ["./camerad"], or_(driverview, livestream), enabled=not WEBCAM),
@@ -159,7 +156,7 @@ procs = [
 
   # debug procs
   NativeProcess("bridge", "openpilot/cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(and_(livestream, not_(iscar)), notcar)),
+  PythonProcess("webrtcd", "openpilot.system.webrtc.webrtcd", or_(livestream, notcar)),
   PythonProcess("joystick", "openpilot.tools.joystick.joystick_control", and_(joystick, iscar)),
 
   # sunnylink <3

openpilot/system/webrtc/helpers.py

@@ -23,9 +23,9 @@ def post_stream_request(body: StreamRequestBody) -> dict:
     ret["time"] = (t_end - t_start) * 1000
     return ret
   except requests.ConnectTimeout as e:
-    raise Exception("webrtc took too long to respond.") from e
+    raise Exception("device took too long to respond.") from e
   except requests.ConnectionError as e:
-    raise Exception("webrtc server on device is not running.") from e
+    raise Exception("turn car ignition off to use livestreaming.") from e
 
 
 def wait_for_webrtcd(max_retries: float = 10) -> None:
@@ -37,4 +37,4 @@ def wait_for_webrtcd(max_retries: float = 10) -> None:
     except requests.ConnectionError:
       attempts += 1
       time.sleep(0.5)
-  raise TimeoutError("webrtcd did not initialize in time.")
+  raise TimeoutError("livestreaming service did not initialize in time.")

openpilot/system/webrtc/webrtcd.py

@@ -21,10 +21,16 @@ from typing import Any
 from openpilot.system.webrtc.helpers import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.cereal import messaging, log
 
 SESSION_TIMEOUT_SECONDS = 300
 
+
+# ice candidate parser for logging
+def _ice_candidates(sdp: str) -> list[str]:
+  return [line.removeprefix("a=") for line in sdp.splitlines() if line.startswith("a=candidate:")]
+
 # socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
 # return the source interfaces IP which is the default interface of the device
 def _default_route_ip() -> str | None:
@@ -253,7 +259,7 @@ class StreamSession:
     self._cleanup_lock = asyncio.Lock()
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info(
+    cloudlog.warning(
       "New stream session (%s), video cameras %s, video enabled %s, incoming services %s, outgoing services %s",
       self.identifier, [t.id for t in self.video_tracks], body.enabled, body.bridge_services_in, body.bridge_services_out,
     )
@@ -329,9 +335,12 @@ class StreamSession:
   async def run(self):
     try:
       self.params.put("LivestreamRequestKeyframe", True)
+
+      # avoid datachannel race by adding messange_handler immediately
+      self.stream.set_message_handler(self.message_handler)
+
       await asyncio.wait_for(self.stream.wait_for_connection(), timeout=15)
       if self.stream.has_messaging_channel():
-        self.stream.set_message_handler(self.message_handler)
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
         if self.outgoing_bridge is not None:
@@ -341,14 +350,18 @@ class StreamSession:
       if self.bitrate_controller is not None:
         self.bitrate_controller.start()
 
-      self.logger.info("Stream session (%s) connected", self.identifier)
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.warning("webrtcd.session.connected")
       if self.is_body:
         await self.run_body_session()
       else:
         await self.run_normal_session()
-      self.logger.info("Stream session (%s) ended", self.identifier)
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.warning("webrtcd.session.ended")
     except Exception:
       self.logger.exception("Stream session failure")
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.exception("webrtcd.session.exception")
     finally:
       await self.post_run_cleanup()
 
@@ -422,15 +435,25 @@ async def handle_get_stream(state: ServerState, raw_body: bytes, content_type: s
     stream_dict[session.identifier] = session
     try:
       answer = await asyncio.wait_for(session.get_answer(), timeout=30)
+      cloudlog.event(
+        "webrtcd.session.ice_candidates",
+        session_id=session.identifier,
+        offer_candidates=_ice_candidates(body.sdp),
+        answer_candidates=_ice_candidates(answer.sdp),
+      )
     except TimeoutError:
       await session.stop()
       stream_dict.pop(session.identifier, None)
       logging.getLogger("webrtcd").exception("Timed out creating stream answer")
+      with cloudlog.ctx(session_id=session.identifier):
+        cloudlog.warning("webrtcd.session.answer_timeout")
       raise
     except Exception:
       await session.stop()
       stream_dict.pop(session.identifier, None)
       logging.getLogger("webrtcd").exception("Failed to create stream answer")
+      with cloudlog.ctx(session_id=session.identifier):
+        cloudlog.exception("webrtcd.session.answer_exception")
       raise
     session.start()