chore: update CHANGELOG for 2026.002.001

(cherry picked from commit da6313dbe9)

CHANGELOG.md

@@ -1,3 +1,8 @@
+sunnypilot Version 2026.002.001 (2026-06-28)
+========================
+* What's Changed
+  * safety: ignore frequency check for Toyota UNSUPPORTED_DSU cars by @sunnyhaibin in https://github.com/sunnypilot/opendbc/pull/489
+
 sunnypilot Version 2026.002.000 (2026-06-28)
 ========================
 * What's Changed (sunnypilot/sunnypilot)

common/params_keys.h

@@ -80,7 +80,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
-    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 342 Supported Cars
+# 341 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -230,7 +230,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||

sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.002.000"
+#define SUNNYPILOT_VERSION "2026.002.001"

system/athena/athenad.py

@@ -29,7 +29,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
@@ -45,7 +45,6 @@ from openpilot.system.hardware.hw import Paths
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
-WEBRTCD_PORT = 5001
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -568,16 +567,6 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return cast(str, Params().get("GithubUsername") or "")
 
-
-@dispatcher.add_method
-def getNotCar() -> bool:
-  cp_bytes = Params().get("CarParamsPersistent")
-  if cp_bytes is not None:
-    with car.CarParams.from_bytes(cp_bytes) as CP:
-      return CP.notCar
-  return False
-
-
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -599,35 +588,6 @@ def getNetworks():
   return HARDWARE.get_networks()
 
 
-@dispatcher.add_method
-def startStream(sdp: str) -> dict:
-  from openpilot.system.webrtc.webrtcd import StreamRequestBody
-  bridge_services_in = []
-
-  # get live car params to avoid stale notCar edge case
-  cp_bytes = Params().get("CarParams")
-  if cp_bytes is not None:
-    with car.CarParams.from_bytes(cp_bytes) as CP:
-      if CP.notCar:
-        bridge_services_in.append("testJoystick")
-
-  body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
-  try:
-    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
-                       json=asdict(body), timeout=10)
-    if not resp.ok:
-      try:
-        error_body = resp.json()
-        raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
-      except ValueError:
-        resp.raise_for_status()
-    return resp.json()
-  except requests.ConnectTimeout as e:
-    raise Exception("webrtc took too long to respond. is it on?") from e
-  except requests.ConnectionError as e:
-    raise Exception("webrtc is not running. turn on comma body ignition.") from e
-
-
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot

system/hardware/tici/hardware.py

@@ -313,6 +313,9 @@ class Tici(HardwareBase):
         continue
       gov = 'ondemand' if powersave_enabled else 'performance'
       sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
+      if not powersave_enabled:
+        # cap max core freq to 1689 Mhz
+        sudo_write('1689600', f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_max_freq')
 
     # *** IRQ config ***
 

system/loggerd/encoder/encoder.h

@@ -26,7 +26,6 @@ public:
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open() = 0;
   virtual void encoder_close() = 0;
-  virtual void set_bitrate(int bitrate) = 0;
 
   void publisher_publish(int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 

system/loggerd/encoder/ffmpeg_encoder.cc

@@ -72,10 +72,6 @@ void FfmpegEncoder::encoder_close() {
   is_open = false;
 }
 
-void FfmpegEncoder::set_bitrate(int bitrate) {
-  LOGE("adaptive bitrate is not supported for ffmpeg encoder %s", encoder_info.publish_name);
-}
-
 int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
   assert(buf->width == this->in_width);
   assert(buf->height == this->in_height);

system/loggerd/encoder/ffmpeg_encoder.h

@@ -21,7 +21,6 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
-  void set_bitrate(int bitrate);
 
 private:
   int segment_num = -1;

system/loggerd/encoder/v4l_encoder.cc

@@ -155,8 +155,6 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
   assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0);
 
   EncoderSettings encoder_settings = encoder_info.get_settings(in_width);
-  current_bitrate = encoder_settings.bitrate;
-  adaptive_bitrate = encoder_info.adaptive_bitrate;
   bool is_h265 = encoder_settings.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C;
 
   struct v4l2_format fmt_out = {
@@ -306,25 +304,6 @@ void V4LEncoder::encoder_close() {
   this->is_open = false;
 }
 
-void V4LEncoder::set_bitrate(int bitrate) {
-  if (!adaptive_bitrate || bitrate == current_bitrate) return;
-  if (bitrate <= 0) {
-    LOGE("invalid livestream encoder bitrate %d", bitrate);
-    return;
-  }
-
-  struct v4l2_control ctrl = {
-    .id = V4L2_CID_MPEG_VIDEO_BITRATE,
-    .value = bitrate,
-  };
-
-  if (util::safe_ioctl(fd, VIDIOC_S_CTRL, &ctrl) == -1) {
-    LOGE("failed to update %s bitrate to %d", encoder_info.publish_name, bitrate);
-    return;
-  }
-  current_bitrate = bitrate;
-}
-
 V4LEncoder::~V4LEncoder() {
   encoder_close();
   v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE;

system/loggerd/encoder/v4l_encoder.h

@@ -13,7 +13,6 @@ public:
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open();
   void encoder_close();
-  void set_bitrate(int bitrate);
 
 private:
   int fd;
@@ -21,8 +20,6 @@ private:
   bool is_open = false;
   int segment_num = -1;
   int counter = 0;
-  int current_bitrate = -1;
-  bool adaptive_bitrate;
 
   SafeQueue<VisionIpcBufExtra> extras;
 

system/loggerd/encoderd.cc

@@ -44,24 +44,11 @@ bool sync_encoders(EncoderdState *s, VisionStreamType cam_type, uint32_t frame_i
   }
 }
 
-void apply_bitrate(std::vector<std::unique_ptr<Encoder>> &encoders) {
-  static Params params;
-  std::string val = params.get("LivestreamEncoderBitrate");
-  if (val.empty()) return;
-  int bitrate = std::stoi(val);
-  for (auto &e : encoders) {
-    e->set_bitrate(bitrate);
-  }
-}
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
   util::set_thread_name(cam_info.thread_name);
 
   std::vector<std::unique_ptr<Encoder>> encoders;
-
-  bool has_adaptive = std::any_of(cam_info.encoder_infos.begin(), cam_info.encoder_infos.end(),
-                                  [](const auto &ei) { return ei.adaptive_bitrate; });
-
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   std::unique_ptr<JpegEncoder> jpeg_encoder;
@@ -121,8 +108,6 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
         ++cur_seg;
       }
 
-      if (has_adaptive) apply_bitrate(encoders);
-
       // encode a frame
       for (int i = 0; i < encoders.size(); ++i) {
         int out_id = encoders[i]->encode_frame(buf, &extra);

system/loggerd/loggerd.h

@@ -47,8 +47,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 5'000'000;
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
   }
 };
 
@@ -59,7 +59,6 @@ public:
   const char *filename = NULL;
   bool record = true;
   bool include_audio = false;
-  bool adaptive_bitrate = false;
   int frame_width = -1;
   int frame_height = -1;
   int fps = MAIN_FPS;
@@ -105,7 +104,6 @@ const EncoderInfo stream_road_encoder_info = {
   .publish_name = "livestreamRoadEncodeData",
   //.thumbnail_name = "thumbnail",
   .record = false,
-  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
 };
@@ -113,7 +111,6 @@ const EncoderInfo stream_road_encoder_info = {
 const EncoderInfo stream_wide_road_encoder_info = {
   .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
-  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
@@ -121,7 +118,6 @@ const EncoderInfo stream_wide_road_encoder_info = {
 const EncoderInfo stream_driver_encoder_info = {
   .publish_name = "livestreamDriverEncodeData",
   .record = false,
-  .adaptive_bitrate = true,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
 };
@@ -157,19 +153,19 @@ const LogCameraInfo driver_camera_info{
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
   .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_road_encoder_info},
+  .encoder_infos = {stream_road_encoder_info}
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_wide_road_encoder_info},
+  .encoder_infos = {stream_wide_road_encoder_info}
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
   .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info},
+  .encoder_infos = {stream_driver_encoder_info}
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};

system/webrtc/device/video.py

@@ -1,5 +1,4 @@
 import asyncio
-import struct
 import time
 
 import av
@@ -8,13 +7,6 @@ from teleoprtc.tracks import TiciVideoStreamTrack
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
-# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
-TIMING_SEI_UUID = bytes([
-  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
-  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
-])
-_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
-
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
@@ -27,30 +19,9 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
-    self._sock = self._make_sock(camera_type)
+    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
-    self.timing_sei_enabled = False
-
-  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
-    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
-
-  def switch_camera(self, camera_type: str) -> None:
-    self._sock = self._make_sock(camera_type)
-
-  def _build_frame_data(self, msg) -> bytes:
-    encode_data = getattr(msg, msg.which())
-    if not self.timing_sei_enabled:
-      return encode_data.header + encode_data.data
-
-    idx = encode_data.idx
-    sei_nal = _SEI_PREFIX + struct.pack('>4d',
-      (idx.timestampEof - idx.timestampSof) / 1e6,
-      (msg.logMonoTime - idx.timestampEof) / 1e6,
-      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
-      time.time() * 1000,  # noqa: TID251
-    ) + b'\x80'
-    return encode_data.header + sei_nal + encode_data.data
 
   async def recv(self):
     while True:
@@ -59,7 +30,9 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
         break
       await asyncio.sleep(0.005)
 
-    packet = av.Packet(self._build_frame_data(msg))
+    evta = getattr(msg, msg.which())
+
+    packet = av.Packet(evta.header + evta.data)
     packet.time_base = self._time_base
 
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000

system/webrtc/webrtcd.py

@@ -1,11 +1,7 @@
 #!/usr/bin/env python3
 
-from abc import abstractmethod
-import os
-import time
 import argparse
 import asyncio
-import contextlib
 import json
 import uuid
 import logging
@@ -23,39 +19,11 @@ if TYPE_CHECKING:
   from aiortc.rtcdatachannel import RTCDataChannel
 
 from openpilot.system.webrtc.schema import generate_field
-from openpilot.common.params import Params
 from cereal import messaging, log
 
 
-class AsyncTaskRunner:
-  def __init__(self):
-    self.is_running = False
-    self.task = None
-    self.logger = logging.getLogger("webrtcd")
-
-  def start(self):
-    assert self.task is None
-    self.task = asyncio.create_task(self.run())
-
-  async def stop(self):
-    if self.task is None:
-      return
-    task = self.task
-    self.task = None
-    if task.done():
-      return
-    task.cancel()
-    with contextlib.suppress(asyncio.CancelledError):
-      await task
-
-  @abstractmethod
-  async def run(self):
-    pass
-
-
-class CerealOutgoingMessageProxy(AsyncTaskRunner):
+class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
-    super().__init__()
     self.sm = sm
     self.channels: list[RTCDataChannel] = []
 
@@ -87,19 +55,6 @@ class CerealOutgoingMessageProxy(AsyncTaskRunner):
       for channel in self.channels:
         channel.send(encoded_msg)
 
-  async def run(self):
-    from aiortc.exceptions import InvalidStateError
-
-    while True:
-      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)
-
 
 class CerealIncomingMessageProxy:
   def __init__(self, pm: messaging.PubMaster):
@@ -117,6 +72,37 @@ class CerealIncomingMessageProxy:
     self.pm.send(msg_type, msg)
 
 
+class CerealProxyRunner:
+  def __init__(self, proxy: CerealOutgoingMessageProxy):
+    self.proxy = proxy
+    self.is_running = False
+    self.task = None
+    self.logger = logging.getLogger("webrtcd")
+
+  def start(self):
+    assert self.task is None
+    self.task = asyncio.create_task(self.run())
+
+  def stop(self):
+    if self.task is None or self.task.done():
+      return
+    self.task.cancel()
+    self.task = None
+
+  async def run(self):
+    from aiortc.exceptions import InvalidStateError
+
+    while True:
+      try:
+        self.proxy.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)
+
+
 class DynamicPubMaster(messaging.PubMaster):
   def __init__(self, *args, **kwargs):
     super().__init__(*args, **kwargs)
@@ -129,90 +115,21 @@ class DynamicPubMaster(messaging.PubMaster):
           self.sock[service] = messaging.pub_sock(service)
 
 
-class LivestreamBitrateController(AsyncTaskRunner):
-  bitrates = [500_000, 1_500_000, int(os.environ.get("STREAM_BITRATE", 5_000_000))]
-  label_to_bitrate = { "high": bitrates[2], "med": bitrates[1], "low": bitrates[0]}
-  sample_interval = 0.2
-  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
-  param_name = "LivestreamEncoderBitrate"
-
-  def __init__(self, peer_connection: Any):
-    super().__init__()
-    self.pc = peer_connection
-    self.params = Params()
-
-    self.level = 0
-    self.prev_lost, self.prev_sent = None, None
-    self.counter = 0
-    self.up_samples = 5 # 1s
-    self._auto = True
-
-  async def run(self):
-    while True:
-      await asyncio.sleep(self.sample_interval)
-      if not self._auto:
-        continue
-
-      loss_rate = await self._sample()
-      if loss_rate is None:
-        continue
-      if loss_rate >= self.med_level and self.level > 0:
-        self.counter += 1
-        if self.counter >= self.down_samples or loss_rate >= self.high_level:
-          self.level -= 1
-          self.up_samples *= 2 # exponential backoff before raising again
-          self.counter = 0
-          self._publish(self.bitrates[self.level])
-      elif loss_rate <= self.low_level and self.level < len(self.bitrates) - 1:
-        self.counter -= 1
-        if -self.counter >= self.up_samples:
-          self.level += 1
-          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
-      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
-
-  def _publish(self, bitrate: float):
-    self.params.put(self.param_name, bitrate)
-
-  def set_quality(self, quality):
-    if quality in self.label_to_bitrate:
-      self._publish(self.label_to_bitrate[quality])
-      self._auto = False
-    elif quality == "auto":
-      self._auto = True
-
-
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+  def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
+    from teleoprtc.info import parse_info_from_offer
 
+    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
-    builder.add_video_stream(init_camera, self.video_track)
+    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
+    for cam in cameras:
+      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -220,60 +137,35 @@ class StreamSession:
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
-    self.bitrate_controller: LivestreamBitrateController | None = None
+    self.outgoing_bridge_runner: CerealProxyRunner | None = None
     if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
-    self.bitrate_controller = LivestreamBitrateController(self.stream.peer_connection)
+      self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.run_task: asyncio.Task | None = None
-    self._cleanup_lock = asyncio.Lock()
-    self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info(
-      "New stream session (%s), init camera %s, incoming services %s, outgoing services %s",
-      self.identifier, init_camera, incoming_services, outgoing_services,
-    )
+    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
+                      self.identifier, cameras, incoming_services, outgoing_services)
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
 
-  async def stop(self):
-    if self.run_task is not None and not self.run_task.done() and self.run_task is not asyncio.current_task():
-      self.run_task.cancel()
-      with contextlib.suppress(asyncio.CancelledError):
-        await self.run_task
+  def stop(self):
+    if self.run_task.done():
+      return
+    self.run_task.cancel()
     self.run_task = None
-    await self.post_run_cleanup()
+    asyncio.run(self.post_run_cleanup())
 
   async def get_answer(self):
     return await self.stream.start()
 
-  def message_handler(self, message: bytes):
+  async def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
-      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
-      if isinstance(payload, dict):
-        msg_type = payload.get("type")
-
-        match msg_type:
-          case "livestreamCameraSwitch":
-            self.video_track.switch_camera(payload["data"]["camera"])
-          case "livestreamSettings":
-            self.bitrate_controller.set_quality(payload["data"]["quality"])
-          case "clockSync":
-            pong = json.dumps({"type": "clockSync", "data": {
-              "action": "pong", "browserSendTime": payload["data"]["browserSendTime"], "deviceTime": time.time() * 1000, # noqa: TID251
-            }})
-            self.stream.get_messaging_channel().send(pong)
-          case "enableTimingSei":
-            if hasattr(self.video_track, 'timing_sei_enabled'):
-              self.video_track.timing_sei_enabled = bool(payload["data"]["enabled"])
-          case _:
-            if payload.get("type") not in self.incoming_bridge_services:
-              return
-            self.incoming_bridge.send(message)
+      self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -284,38 +176,29 @@ class StreamSession:
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
           self.stream.set_message_handler(self.message_handler)
-        if self.outgoing_bridge is not None:
+        if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
-          self.outgoing_bridge.add_channel(channel)
-          self.outgoing_bridge.start()
-      self.bitrate_controller.start()
-
+          self.outgoing_bridge_runner.proxy.add_channel(channel)
+          self.outgoing_bridge_runner.start()
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
+      await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
-    finally:
-      await self.post_run_cleanup()
 
   async def post_run_cleanup(self):
-    async with self._cleanup_lock:
-      if self._cleanup_done:
-        return
-      self._cleanup_done = True
-      if self.bitrate_controller is not None:
-        await self.bitrate_controller.stop()
-      if self.outgoing_bridge is not None:
-        await self.outgoing_bridge.stop()
-      await self.stream.stop()
+    await self.stream.stop()
+    if self.outgoing_bridge is not None:
+      self.outgoing_bridge_runner.stop()
 
 
 @dataclass
 class StreamRequestBody:
   sdp: str
-  initCamera: str
+  cameras: list[str]
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
@@ -325,33 +208,11 @@ async def get_stream(request: 'web.Request'):
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
 
-  async with request.app['stream_lock']:
-    # Fully disconnect any other active stream before starting the replacement.
-    for sid, s in list(stream_dict.items()):
-      if s.run_task and not s.run_task.done():
-        try:
-          ch = s.stream.get_messaging_channel()
-          ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
-        except Exception:
-          pass
-      await s.stop()
-      del stream_dict[sid]
+  session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+  answer = await session.get_answer()
+  session.start()
 
-    session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
-    try:
-      answer = await session.get_answer()
-    except ValueError as e:
-      await session.stop()
-      raise web.HTTPBadRequest(
-        text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
-        content_type="application/json",
-      ) from e
-    except Exception:
-      await session.stop()
-      raise
-    session.start()
-
-    stream_dict[session.identifier] = session
+  stream_dict[session.identifier] = session
 
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
@@ -363,7 +224,6 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
-
 async def post_notify(request: 'web.Request'):
   try:
     payload = await request.json()
@@ -379,10 +239,9 @@ async def post_notify(request: 'web.Request'):
 
   return web.Response(status=200, text="OK")
 
-
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
-    await session.stop()
+    session.stop()
   del app['streams']
 
 
@@ -395,7 +254,6 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app = web.Application()
 
   app['streams'] = dict()
-  app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)

tools/bodyteleop/web.py

@@ -56,7 +56,7 @@ async def ping(request: 'web.Request'):
 
 async def offer(request: 'web.Request'):
   params = await request.json()
-  body = StreamRequestBody(params["sdp"], "driver", ["testJoystick"], ["carState"])
+  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
   body_json = json.dumps(dataclasses.asdict(body))
 
   logger.info("Sending offer to webrtcd...")

uv.lock

@@ -5,7 +5,7 @@ requires-python = ">=3.12.3, <3.13"
 [[package]]
 name = "acados"
 version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#8ea54be6bf1096b131493dbb38e8bd721a6727de" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#25933c81c7db5573afe38f012f52befc15cdb804" }
 dependencies = [
     { name = "numpy" },
 ]
@@ -126,30 +126,30 @@ wheels = [
 [[package]]
 name = "bootstrap-icons"
 version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#65bc63d354432ad83294c8ecfc3ef01733a46e12" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#d7e41838af9320328dd7102f9288a94f0cf0fa9f" }
 
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#83b0dd263eff2d9633a86096056fe16543a42244" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#12916f9f84848239e5a69a8c5a282f3dcb0d86a3" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#71cb13543c7d9691064fd01854e228f1481efab6" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#a75eb83bd98440e890261f82aa8dcfbda0b0a206" }
 
 [[package]]
 name = "catch2"
 version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#2bce880125320350b54d9d6696713ae847d06485" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7287b4c99d23fdd87e66f9941b0e35ece6b4d91b" }
 
 [[package]]
 name = "certifi"
-version = "2026.6.17"
+version = "2026.5.20"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c9/c7/424b75da314c1045981bd9777432fad05a9e0c69daa4ed7e308bbaffe405/certifi-2026.6.17.tar.gz", hash = "sha256:024c88eeec92ca068db80f02b8b07c9cef7b9fe261d1d535abfd5abd6f6af432", size = 134594, upload-time = "2026-06-17T10:31:07.894Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/f3/ce/ee2ecad540810a79593028e88299baeae54d346cc7a0d94b6199988b89b1/certifi-2026.5.20.tar.gz", hash = "sha256:69dea482ab64caa7b9f6aba1c6bf48bb6a5448d1c0f1b17ab42ad8c763a5344d", size = 135422, upload-time = "2026-05-20T11:46:50.073Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/2f/c5464532e965badff2f4c4c1a3a83f5697f0d7c407ed0cda44aaa99bb451/certifi-2026.6.17-py3-none-any.whl", hash = "sha256:2227dcbaafe0d2f59279d1762ddddc37783ed4354594f194ffc31d20f41fc3db", size = 133289, upload-time = "2026-06-17T10:31:06.348Z" },
+    { url = "https://files.pythonhosted.org/packages/59/8c/57e832b7af6d7c5abe66eb3fbe3a3a32f4d11ea23a1aa7131371035be991/certifi-2026.5.20-py3-none-any.whl", hash = "sha256:3c52e209ba0a4ad7aebe60436a4ab349c39e1e602e8c134221e546902ad25897", size = 134134, upload-time = "2026-05-20T11:46:48.578Z" },
 ]
 
 [[package]]
@@ -202,14 +202,14 @@ wheels = [
 
 [[package]]
 name = "click"
-version = "8.4.2"
+version = "8.4.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/76/d4/81420972a676e8ffea40450d8c8c92943e7218a78fe9b64359836cc9876b/click-8.4.2.tar.gz", hash = "sha256:9a6cea6e60b17ebe0a44c5cc636d94f09bd66142c1cd7d8b4cd731c4917a15f6", size = 338000, upload-time = "2026-06-24T17:45:15.148Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/9b/98/518d8e5081007684232226f475082b30087d0f585e8457db087298259f49/click-8.4.1.tar.gz", hash = "sha256:918b5633eddf6b41c32d4f454bf0de810065c74e3f7dbf8ee5452f8be88d3e96", size = 353007, upload-time = "2026-05-22T04:08:37.769Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/fb/e2/79c688af8b210d232694e31e59da9f6ec747bae31c3f5946e4e9b98860d5/click-8.4.2-py3-none-any.whl", hash = "sha256:e6f9f66136c816745b9d65817da91d61d957fb16e02e4dcd0552553c5a197b76", size = 119243, upload-time = "2026-06-24T17:45:13.73Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/0d/67e5b4109ea4a837e80daa87c2c696711955e40449a97e8926672534def2/click-8.4.1-py3-none-any.whl", hash = "sha256:482be17c6991b8c19c5429a1e995d9b0efdbb63172824c41f99965dc0ade8ec2", size = 116639, upload-time = "2026-05-22T04:08:35.26Z" },
 ]
 
 [[package]]
@@ -254,26 +254,26 @@ wheels = [
 
 [[package]]
 name = "coverage"
-version = "7.14.3"
+version = "7.14.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/b4/91/0a7c28934e50d8ac9a7b117712d176f2953c3170bccced5eaacfa3e96175/coverage-7.14.3.tar.gz", hash = "sha256:1a7563a443f3d53fdeb040ec8c9f7466aed7ca3dc5891aa09d3ca3625fa4387f", size = 924398, upload-time = "2026-06-22T23:10:25.584Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/54/fd/0ab2772530e946e1be1abd0bc09e647ec9b02e88f0867857601fefca8953/coverage-7.14.1.tar.gz", hash = "sha256:30c08f7d90415aa98b3c990385dea2939b0da55f38515e5b369b83655f8523be", size = 920132, upload-time = "2026-05-26T20:41:36.783Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/bd/b0/8a911f6ffe6974dac4df95b468ab9a2899d0e59f0f99a489afeec39f00bc/coverage-7.14.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:3d74ff26299c4879ce3a4d826f9d3d4d556fd285fde7bbce3c0ef5a8ab1cec24", size = 220672, upload-time = "2026-06-22T23:08:26.621Z" },
-    { url = "https://files.pythonhosted.org/packages/36/16/0fc0cb52538783dbbae0934b834f5a58fd5354380ee6cad4a07b15dc845d/coverage-7.14.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:96150a9cf3468ea20f0bc5d0e21b3df8972c31480ef90fa7614b773cc6429665", size = 221035, upload-time = "2026-06-22T23:08:28.372Z" },
-    { url = "https://files.pythonhosted.org/packages/77/e2/421ccfbb48335ac49e93301478cf5d623b0c2bf1c0cadd8e2b2fc6c0c710/coverage-7.14.3-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:27d07a46500ba23515b838dbcf52512026af04090755cf6cc64166d88c9b9a1a", size = 252540, upload-time = "2026-06-22T23:08:30.226Z" },
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 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#dbdee00796b9714d318a883029bf05e844646c3b" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#40b29e8e88a69802e8afc4f71f5c955bc2d5c74c" }
 
 [[package]]
 name = "zstandard"
@@ -1656,4 +1658,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#66b1dbae3110f047af4262c1b561641d8c764e85" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#13015596466eb68825f109ad0d5aefa6330cc495" }