Capnp memoryview (#36163)

* lock

* bump opendbc

* fix one

* and

* Add a memoryview fallback in webrtcd

* fix

* revert

* rerevert

* bump to master

---------

Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>

opendbc_repo

@@ -1 +1 @@
-Subproject commit c9e7868cb830978c2254ef9f012b843bb4f0ddd7
+Subproject commit 0c8676f74cf386ac914faa80a6b14303693ccde9

pyproject.toml

@@ -23,7 +23,7 @@ dependencies = [
   # core
   "cffi",
   "scons",
-  "pycapnp==2.1.0",
+  "pycapnp",
   "Cython",
   "setuptools",
   "numpy >=2.0",
@@ -119,7 +119,7 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-  "raylib",
+  "raylib==5.5.0.2",  # 5.5.0.3 has regression with gui_set_style
 ]
 
 tools = [

system/loggerd/tests/test_loggerd.py

@@ -178,7 +178,7 @@ class TestLoggerd:
     assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}"
     for param_key, initData_key, v in fake_params:
       assert getattr(initData, initData_key) == v
-      assert logged_params[param_key].decode() == v
+      assert logged_params[param_key].tobytes().decode() == v
 
   @pytest.mark.xdist_group("camera_encoder_tests")  # setting xdist group ensures tests are run in same worker, prevents encoderd from crashing
   def test_rotation(self):

system/webrtc/device/video.py

@@ -30,7 +30,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
     evta = getattr(msg, msg.which())
 
-    packet = av.Packet(evta.header + evta.data)
+    packet = av.Packet(evta.header.tobytes() + evta.data.tobytes())
     packet.time_base = self._time_base
     packet.pts = self._pts
 

system/webrtc/webrtcd.py

@@ -22,6 +22,13 @@ from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
 
+# pycapnp 2.2.0+ is using memoryview instead of bytes for data fields
+def memoryview_fallback(obj):
+  if isinstance(obj, memoryview):
+    return obj.tobytes().decode()
+  return obj
+
+
 class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
     self.sm = sm
@@ -37,6 +44,8 @@ class CerealOutgoingMessageProxy:
       msg_dict = [self.to_json(msg) for msg in msg_content]
     elif isinstance(msg_content, bytes):
       msg_dict = msg_content.decode()
+    elif isinstance(msg_content, memoryview):
+      msg_dict = msg_content.tobytes().decode()
     else:
       msg_dict = msg_content
 
@@ -51,7 +60,7 @@ class CerealOutgoingMessageProxy:
       msg_dict = self.to_json(self.sm[service])
       mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service]
       outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
-      encoded_msg = json.dumps(outgoing_msg).encode()
+      encoded_msg = json.dumps(outgoing_msg, default=memoryview_fallback).encode()
       for channel in self.channels:
         channel.send(encoded_msg)