webrtcd: allow empty bridge_services_out (#31694)

* Test case

* Add messaging only if services non empty

* Fix webrtcd

* Use parametrized_class

* Bump to master teleoprtc

system/webrtc/tests/test_webrtcd.py

@@ -11,8 +11,15 @@ from openpilot.system.webrtc.webrtcd import get_stream
 
 import aiortc
 from teleoprtc import WebRTCOfferBuilder
+from parameterized import parameterized_class
 
 
+@parameterized_class(("in_services", "out_services"), [
+  (["testJoystick"], ["carState"]),
+  ([], ["carState"]),
+  (["testJoystick"], []),
+  ([], []),
+])
 class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def assertCompletesWithTimeout(self, awaitable, timeout=1):
     try:
@@ -24,7 +31,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def test_webrtcd(self):
     mock_request = MagicMock()
     async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']}
+      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services}
       mock_request.json.side_effect = AsyncMock(return_value=body)
       response = await get_stream(mock_request)
       response_json = json.loads(response.text)
@@ -33,6 +40,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
     builder = WebRTCOfferBuilder(connect)
     builder.offer_to_receive_video_stream("road")
     builder.offer_to_receive_audio_stream()
+    if len(self.in_services) > 0 or len(self.out_services) > 0:
       builder.add_messaging()
 
     stream = builder.stream()
@@ -42,7 +50,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
 
     self.assertTrue(stream.has_incoming_video_track("road"))
     self.assertTrue(stream.has_incoming_audio_track())
-    self.assertTrue(stream.has_messaging_channel())
+    self.assertEqual(stream.has_messaging_channel(), len(self.in_services) > 0 or len(self.out_services) > 0)
 
     video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track()
     await self.assertCompletesWithTimeout(video_track.recv())

system/webrtc/webrtcd.py

@@ -128,8 +128,13 @@ class StreamSession:
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
 
-    self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
+    self.incoming_bridge: CerealIncomingMessageProxy | None = None
+    self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
+    self.outgoing_bridge_runner: CerealProxyRunner | None = None
+    if len(incoming_services) > 0:
       self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services))
+    if len(outgoing_services) > 0:
+      self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None
@@ -152,6 +157,7 @@ class StreamSession:
     return await self.stream.start()
 
   async def message_handler(self, message: bytes):
+    assert self.incoming_bridge is not None
     try:
       self.incoming_bridge.send(message)
     except Exception as ex:
@@ -161,7 +167,9 @@ class StreamSession:
     try:
       await self.stream.wait_for_connection()
       if self.stream.has_messaging_channel():
+        if self.incoming_bridge is not None:
           self.stream.set_message_handler(self.message_handler)
+        if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)
           self.outgoing_bridge_runner.start()
@@ -181,6 +189,7 @@ class StreamSession:
 
   async def post_run_cleanup(self):
     await self.stream.stop()
+    if self.outgoing_bridge is not None:
       self.outgoing_bridge_runner.stop()
     if self.audio_output:
       self.audio_output.stop()

teleoprtc_repo

@@ -1 +1 @@
-Subproject commit 8489ac3c5aa0b0e2fec397694f9005e2b5a613e4
+Subproject commit ab2f09706e8f64390e196f079ac69e67131b07f5