openpilot_comma/tools/bodyteleop/web.py

import asyncio
import dataclasses
import json
import logging
import os
import ssl
import subprocess

import pyaudio
import wave
from aiohttp import web
from aiohttp import ClientSession

from openpilot.common.basedir import BASEDIR
from openpilot.system.webrtc.webrtcd import StreamRequestBody
from openpilot.common.params import Params

logger = logging.getLogger("bodyteleop")
logging.basicConfig(level=logging.INFO)

TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001


## UTILS
async def play_sound(sound: str):
  SOUNDS = {
    "engage": "selfdrive/assets/sounds/engage.wav",
    "disengage": "selfdrive/assets/sounds/disengage.wav",
    "error": "selfdrive/assets/sounds/warning_immediate.wav",
  }
  assert sound in SOUNDS

  chunk = 5120
  with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf:
    def callback(in_data, frame_count, time_info, status):
      data = wf.readframes(frame_count)
      return data, pyaudio.paContinue

    p = pyaudio.PyAudio()
    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
                    channels=wf.getnchannels(),
                    rate=wf.getframerate(),
                    output=True,
                    frames_per_buffer=chunk,
                    stream_callback=callback)
    stream.start_stream()
    while stream.is_active():
      await asyncio.sleep(0)
    stream.stop_stream()
    stream.close()
    p.terminate()

## SSL
def create_ssl_cert(cert_path: str, key_path: str):
  try:
    proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
                          -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
                          capture_output=True, shell=True)
    proc.check_returncode()
  except subprocess.CalledProcessError as ex:
    raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex


def create_ssl_context():
  cert_path = os.path.join(TELEOPDIR, "cert.pem")
  key_path = os.path.join(TELEOPDIR, "key.pem")
  if not os.path.exists(cert_path) or not os.path.exists(key_path):
    logger.info("Creating certificate...")
    create_ssl_cert(cert_path, key_path)
  else:
    logger.info("Certificate exists!")
  ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
  ssl_context.load_cert_chain(cert_path, key_path)

  return ssl_context

## ENDPOINTS
async def index(request: 'web.Request'):
  with open(os.path.join(TELEOPDIR, "static", "index.html")) as f:
    content = f.read()
    return web.Response(content_type="text/html", text=content)


async def ping(request: 'web.Request'):
  return web.Response(text="pong")


async def sound(request: 'web.Request'):
  params = await request.json()
  sound_to_play = params["sound"]

  await play_sound(sound_to_play)
  return web.json_response({"status": "ok"})


async def offer(request: 'web.Request'):
  params = await request.json()
  body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
  body_json = json.dumps(dataclasses.asdict(body))

  logger.info("Sending offer to webrtcd...")
  webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
  async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
    assert resp.status == 200
    answer = await resp.json()
    return web.json_response(answer)


def main():
  # Enable joystick debug mode
  Params().put_bool("JoystickDebugMode", True)

  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
  ssl_context = create_ssl_context()

  app = web.Application()
  app.router.add_get("/", index)
  app.router.add_get("/ping", ping, allow_head=True)
  app.router.add_post("/offer", offer)
  app.router.add_post("/sound", sound)
  app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
  web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)


if __name__ == "__main__":
  main()