Merge remote-tracking branch 'upstream/master' into no-capnp-cars-simple

docs/CONTRIBUTING.md

@@ -1,6 +1,8 @@
 # How to contribute
 
-Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/). Development activity is coordinated through our GitHub Issues, [GitHub Discussions](https://github.com/commaai/openpilot/discussions), and [Discord](https://discord.comma.ai).
+Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use. Check out our [post about externalization](https://blog.comma.ai/a-2020-theme-externalization/).
+
+Development is coordinated through [Discord](https://discord.comma.ai) and GitHub.
 
 ### Getting Started
 
@@ -11,7 +13,8 @@ Our software is open source so you can solve your own problems without needing h
 
 ## What contributions are we looking for?
 
-**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.** openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and **all** development is towards that goal. 
+**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal. 
 
 ### What gets merged?
 
@@ -27,24 +30,21 @@ All of these are examples of good PRs:
 
 ### What doesn't get merged?
 
-* **arbitrary style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful 
 * **500+ line PRs**: clean it up, break it up into smaller PRs, or both
 * **PRs without a clear goal**: every PR must have a singular and clear goal
-* **UI design changes**: we do not have a good review process for this yet
+* **UI design**: we do not have a good review process for this yet
 * **New features**: We believe openpilot is mostly feature-complete, and the rest is a matter of refinement and fixing bugs. As a result of this, most feature PRs will be immediately closed, however the beauty of open source is that forks can and do offer features that upstream openpilot doesn't.
+* **Negative expected value**: This a class of PRs that makes an improvement, but the risk or validation costs more than the improvement. The risk can be mitigated by first getting a failing test merged.
 
 ### First contribution
 
-Check out any [good first issue](https://github.com/commaai/openpilot/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) to get started.
+[Bounties](https://comma.ai/bounties) are the best place to get started.
-
+There's lot of bounties that don't require a comma 3/3X or a car.
-### What do I need to contribute?
-
-A lot of openpilot work requires only a PC, and some requires a comma device.
-Most car-related contributions require access to that car, plus a comma device installed in the car.
 
 ## Pull Requests
 
-Pull requests should be against the master branch. If you're unsure about a contribution, feel free to open a discussion, issue, or draft PR to discuss the problem you're trying to solve.
+Pull requests should be against the master branch.
 
 A good pull request has all of the following:
 * a clearly stated purpose

selfdrive/car/honda/interface.py

@@ -209,7 +209,7 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
     ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.HONDA_CIVIC})
-    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
+    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.51 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8

selfdrive/controls/lib/longitudinal_mpc_lib/SConscript

@@ -73,6 +73,8 @@ lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
 if arch != "Darwin":
   lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+else:
+  lenv["LINKFLAGS"].append("-Wl,-install_name,@loader_path/libacados_ocp_solver_long.dylib")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])

selfdrive/pandad/panda.cc

@@ -10,6 +10,8 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 
+const bool PANDAD_MAXOUT = getenv("PANDAD_MAXOUT") != nullptr;
+
 Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
   // try USB first, then SPI
   try {
@@ -219,7 +221,7 @@ bool Panda::can_receive(std::vector<can_frame>& out_vec) {
     return false;
   }
 
-  if (getenv("PANDAD_MAXOUT") != NULL) {
+  if (PANDAD_MAXOUT) {
     static uint8_t junk[RECV_SIZE];
     handle->bulk_read(0xab, junk, RECV_SIZE - recv);
   }

system/hardware/tici/updater

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f74ea28934c6b9477a98dc6a38e6bfcd53e94e6af31dba5b6d11bc5310f7d995
+oid sha256:8db3f973663e59921fcc9e5d5600a346c1e229a2e8481a874ef996d97303dc4e
-size 8135168
+size 16631712

tools/install_ubuntu_dependencies.sh

@@ -148,6 +148,23 @@ if [ -f "/etc/os-release" ]; then
   if [[ "$INSTALL_EXTRA_PACKAGES" == "yes" ]]; then
     install_extra_packages
   fi
+
+  if [[ -d "/etc/udev/rules.d/" ]]; then
+    # Setup panda udev rules
+    $SUDO tee /etc/udev/rules.d/12-panda_jungle.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcf", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddef", MODE="0666"
+EOF
+
+    # Setup jungle udev rules
+    $SUDO tee /etc/udev/rules.d/11-panda.rules > /dev/null <<EOF
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddcc", MODE="0666"
+SUBSYSTEM=="usb", ATTRS{idVendor}=="bbaa", ATTRS{idProduct}=="ddee", MODE="0666"
+EOF
+
+  $SUDO udevadm control --reload-rules && $SUDO udevadm trigger || true
+  fi
+
 else
   echo "No /etc/os-release in the system. Make sure you're running on Ubuntu, or similar."
   exit 1

tools/lib/logreader.py

@@ -293,11 +293,11 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout
   def _run_on_segment(self, func, i):
     return func(self._get_lr(i))
 
-  def run_across_segments(self, num_processes, func):
+  def run_across_segments(self, num_processes, func, desc=None):
     with multiprocessing.Pool(num_processes) as pool:
       ret = []
       num_segs = len(self.logreader_identifiers)
-      for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs):
+      for p in tqdm.tqdm(pool.imap(partial(self._run_on_segment, func), range(num_segs)), total=num_segs, desc=desc):
         ret.extend(p)
       return ret
 

tools/op.sh

@@ -14,6 +14,7 @@ UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
+SHELL_NAME="$(basename ${SHELL})"
 RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
   RC_FILE="$HOME/.bash_profile"
@@ -145,7 +146,7 @@ function op_check_python() {
 
 function op_check_venv() {
   echo "Checking for venv..."
-  if source $OPENPILOT_ROOT/.venv/bin/activate; then
+  if [[ -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] venv detected."
   else
     echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
@@ -223,12 +224,28 @@ function op_setup() {
 }
 
 function op_activate_venv() {
+  # bash 3.2 can't handle this without the 'set +e'
+  set +e
   source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+  set -e
 }
 
 function op_venv() {
   op_before_cmd
-  bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate")
+
+  if [[ ! -f $OPENPILOT_ROOT/.venv/bin/activate ]]; then
+    echo -e "No venv found in $OPENPILOT_ROOT"
+    return 1
+  fi
+
+  case $SHELL_NAME in
+    "zsh")
+      ZSHRC_DIR=$(mktemp -d 2>/dev/null || mktemp -d -t 'tmp_zsh')
+      echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate" >> $ZSHRC_DIR/.zshrc
+      ZDOTDIR=$ZSHRC_DIR zsh ;;
+    *)
+      bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") ;;
+  esac
 }
 
 function op_check() {

tools/rerun/README.md

@@ -5,53 +5,33 @@ Rerun is a tool to quickly visualize time series data. It supports all openpilot
 
 ## Usage
 ```
-usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
+usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [route_or_segment_name]
 
 A helper to run rerun on openpilot routes
 
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to plot (default: None)
+
 options:
-  -h, --help                  show this help message and exit
+  -h, --help            show this help message and exit
-  --demo                      Use the demo route instead of providing one (default: False)
+  --demo                Use the demo route instead of providing one (default: False)
-  --qcam                      Log decimated driving camera (default: False)
+  --qcam                Show low-res road camera (default: False)
-  --fcam                      Log driving camera (default: False)
+  --fcam                Show driving camera (default: False)
-  --ecam                      Log wide camera (default: False)
+  --ecam                Show wide camera (default: False)
-  --dcam                      Log driver monitoring camera (default: False)
+  --dcam                Show driver monitoring camera (default: False)
-  --print_services            List out openpilot services (default: False)
-  --services [SERVICES ...]   Specify openpilot services that will be logged. No service will be logged if not specified.
-                              To log all services include 'all' as one of your services (default: [])
-  --route [ROUTE]             The route or segment name to plot (default: None)
 ```
 
 Examples using route name to observe accelerometer and qcamera:
 
-`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19"`
 
 Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
 
-`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+`./run.sh --qcam "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
 
 ## Cautions:
-- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
+- Showing hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
-
-- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
-
-This example draws 13GB of memory:
-
-`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
-
-
-## Openpilot services
-To list all openpilot services:
-
-`./run.py --print_services`
-
-Examples including openpilot services:
-
-`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
-
-Examples including all services:
-
-`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
 
 ## Demo
-`./run.py --services accelerometer carcontrol caroutput --qcam --demo`
+`./run.sh --qcam --demo`

tools/rerun/camera_reader.py

@@ -37,6 +37,7 @@ class _FrameReader:
     frame_sz = self.w * self.h * 3 // 2
     proc = subprocess.Popen(
              ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+             stdin=subprocess.PIPE,
              stdout=subprocess.PIPE,
              stderr=subprocess.DEVNULL
            )
@@ -84,9 +85,9 @@ class CameraReader:
   def _run_on_segment(self, func, i):
     return func(self._get_fr(i))
 
-  def run_across_segments(self, num_processes, func):
+  def run_across_segments(self, num_processes, func, desc=None):
     with multiprocessing.Pool(num_processes) as pool:
       num_segs = len(self.seg_idxs)
-      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs):
+      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs, desc=desc):
         continue
 

tools/rerun/run.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
+
 import sys
 import argparse
 import multiprocessing
 import rerun as rr
 import rerun.blueprint as rrb
 from functools import partial
+from collections import defaultdict
 
 from cereal.services import SERVICE_LIST
 from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
@@ -20,19 +22,16 @@ RR_WIN = "openpilot logs"
 
 """
 Relevant upstream Rerun issues:
-- large time series: https://github.com/rerun-io/rerun/issues/5967
 - loading videos directly: https://github.com/rerun-io/rerun/issues/6532
 """
 
 class Rerunner:
-  def __init__(self, route, segment_range, camera_config, enabled_services):
+  def __init__(self, route, segment_range, camera_config):
-    self.enabled_services = [s.lower() for s in enabled_services]
-    self.log_all = "all" in self.enabled_services
     self.lr = LogReader(route_or_segment_name)
 
     # hevc files don't have start_time. We get it from qcamera.ts
     start_time = 0
-    dat = probe_packet_info(r.qcamera_paths()[0])
+    dat = probe_packet_info(route.qcamera_paths()[0])
     for d in dat:
       if d.startswith("pts_time="):
         start_time = float(d.split('=')[1])
@@ -49,34 +48,30 @@ class Rerunner:
     if dcam:
       self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
 
-  def _start_rerun(self):
-    self.blueprint = self._create_blueprint()
-    rr.init(RR_WIN, spawn=True)
-
   def _create_blueprint(self):
     blueprint = None
     service_views = []
 
-    log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
     for topic in sorted(SERVICE_LIST.keys()):
-      if not self.log_all and topic.lower() not in self.enabled_services:
-        continue
       View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
-      service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=False))
       rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
 
+    center_view = [rrb.Vertical(*service_views, name="streams")]
+    if len(self.camera_readers):
+      center_view.append(rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()], name="cameras"))
+
     blueprint = rrb.Blueprint(
       rrb.Horizontal(
-        rrb.Vertical(*service_views),
+        *center_view
-        rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
       ),
       rrb.SelectionPanel(expanded=False),
-      rrb.TimePanel(expanded=False)
+      rrb.TimePanel(expanded=False),
     )
     return blueprint
 
   @staticmethod
-  def _log_msg(msg, parent_key=''):
+  def _parse_msg(msg, parent_key=''):
     stack = [(msg, parent_key)]
     while stack:
       current_msg, current_parent_key = stack.pop()
@@ -84,40 +79,47 @@ class Rerunner:
         for index, item in enumerate(current_msg):
           new_key = f"{current_parent_key}/{index}"
           if isinstance(item, (int, float)):
-            rr.log(new_key, rr.Scalar(item))
+            yield new_key, item
           elif isinstance(item, dict):
             stack.append((item, new_key))
       elif isinstance(current_msg, dict):
         for key, value in current_msg.items():
           new_key = f"{current_parent_key}/{key}"
           if isinstance(value, (int, float)):
-            rr.log(new_key, rr.Scalar(value))
+            yield new_key, value
           elif isinstance(value, dict):
             stack.append((value, new_key))
           elif isinstance(value, list):
             for index, item in enumerate(value):
               if isinstance(item, (int, float)):
-                rr.log(f"{new_key}/{index}", rr.Scalar(item))
+                yield f"{new_key}/{index}", item
       else:
         pass  # Not a plottable value
 
   @staticmethod
   @rr.shutdown_at_exit
-  def _process_log_msgs(blueprint, enabled_services, log_all, lr):
+  def _process_log_msgs(blueprint, lr):
     rr.init(RR_WIN)
-    rr.connect(default_blueprint=blueprint)
+    rr.connect()
+    rr.send_blueprint(blueprint)
 
+    log_msgs = defaultdict(lambda: defaultdict(list))
     for msg in lr:
-      rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
       msg_type = msg.which()
 
-      if not log_all and msg_type.lower() not in enabled_services:
+      if msg_type == "thumbnail":
         continue
 
-      if msg_type != "thumbnail":
+      for entity_path, dat in Rerunner._parse_msg(msg.to_dict()[msg_type], msg_type):
-        Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
+        log_msgs[entity_path]["times"].append(msg.logMonoTime / 1e9)
-      else:
+        log_msgs[entity_path]["data"].append(dat)
-        rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
+
+    for entity_path, log_msg in log_msgs.items():
+      rr.log_temporal_batch(
+        entity_path,
+        times=[rr.TimeSecondsBatch(RR_TIMELINE_NAME, log_msg["times"])],
+        components=[rr.components.ScalarBatch(log_msg["data"])]
+      )
 
     return []
 
@@ -125,18 +127,22 @@ class Rerunner:
   @rr.shutdown_at_exit
   def _process_cam_readers(blueprint, cam_type, h, w, fr):
     rr.init(RR_WIN)
-    rr.connect(default_blueprint=blueprint)
+    rr.connect()
+    rr.send_blueprint(blueprint)
 
     for ts, frame in fr:
       rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
       rr.log(cam_type, rr.Image(bytes=frame, width=w, height=h, pixel_format=rr.PixelFormat.NV12))
 
   def load_data(self):
-    self._start_rerun()
+    rr.init(RR_WIN, spawn=True)
-    if len(self.enabled_services) > 0:
+
-      self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
+    startup_blueprint = self._create_blueprint()
+    self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, startup_blueprint), desc="Log messages")
     for cam_type, cr in self.camera_readers.items():
-      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, startup_blueprint, cam_type, cr.h, cr.w), desc=cam_type)
+
+    rr.send_blueprint(self._create_blueprint())
 
 
 if __name__ == '__main__':
@@ -147,34 +153,28 @@ if __name__ == '__main__':
   parser.add_argument("--fcam", action="store_true", help="Show driving camera")
   parser.add_argument("--ecam", action="store_true", help="Show wide camera")
   parser.add_argument("--dcam", action="store_true", help="Show driver monitoring camera")
-  parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
-  parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
-                                                                No service will be logged if not specified.\
-                                                                To log all services include 'all' as one of your services")
-  parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
   args = parser.parse_args()
 
-  if not args.demo and not args.route:
+  if not args.demo and not args.route_or_segment_name:
     parser.print_help()
     sys.exit()
 
-  if args.print_services:
-    print("\n".join(SERVICE_LIST.keys()))
-    sys.exit()
-
   camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
 
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip()
   sr = SegmentRange(route_or_segment_name)
   r = Route(sr.route_name)
 
-  if len(sr.seg_idxs) > 10:
+  hevc_requested = any(camera_config[1:])
-    print("You're requesting more than 10 segments of the route, " + \
+  if len(sr.seg_idxs) > 1 and hevc_requested:
-          "please be aware that might take a lot of memory")
+    print("You're requesting more than 1 segment with hevc videos, " + \
+          "please be aware that might take a lot of memory " + \
+          "since rerun isn't yet well supported for high resolution video logging")
     response = input("Do you wish to continue? (Y/n): ")
     if response.strip().lower() != "y":
       sys.exit()
 
-  rerunner = Rerunner(r, sr, camera_config, args.services)
+  rerunner = Rerunner(r, sr, camera_config)
   rerunner.load_data()
 

tools/rerun/run.sh

@@ -0,0 +1,9 @@
+#! /bin/bash
+
+# TODO: remove this file once Rerun has interface to set log message level
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+RUST_LOG=warn $DIR/run.py $@
+

tools/setup.sh

@@ -44,6 +44,7 @@ function sentry_send_event() {
 
   PLATFORM=$(uname -s)
   ARCH=$(uname -m)
+  SYSTEM=$(uname -a)
   if [[ $PLATFORM == "Darwin" ]]; then
     OS="macos"
   elif [[ $PLATFORM == "Linux" ]]; then
@@ -60,7 +61,7 @@ function sentry_send_event() {
   BRANCH=$(echo $(git -C $OPENPILOT_ROOT rev-parse --abbrev-ref HEAD 2> /dev/null || echo "NA"))
   COMMIT=$(echo $(git -C $OPENPILOT_ROOT rev-parse HEAD 2> /dev/null || echo "NA"))
 
-  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\" }  }" \
+  curl -s -o /dev/null -X POST -g --data "{ \"exception\": { \"values\": [{ \"type\": \"$EVENT\" }] }, \"tags\" : { \"event_type\" : \"$EVENT_TYPE\", \"event_log\" : \"$EVENT_LOG\", \"os\" : \"$OS\", \"arch\" : \"$ARCH\", \"python_version\" : \"$PYTHON_VERSION\" , \"git_branch\" : \"$BRANCH\", \"git_commit\" : \"$COMMIT\", \"system\" : \"$SYSTEM\" }  }" \
     -H 'Content-Type: application/json' \
     -H "X-Sentry-Auth: Sentry sentry_version=7, sentry_key=$SENTRY_KEY, sentry_client=op_setup/0.1" \
     $SENTRY_URL 2> /dev/null

tools/webcam/camera.py

@@ -11,6 +11,7 @@ class Camera:
     self.cur_frame_id = 0
 
     self.container = av.open(camera_id)
+    assert self.container.streams.video, f"Can't open video stream for camera {camera_id}"
     self.video_stream = self.container.streams.video[0]
     self.W = self.video_stream.codec_context.width
     self.H = self.video_stream.codec_context.height

tools/webcam/camerad.py

@@ -26,7 +26,6 @@ class Camerad:
     self.cameras = []
     for c in CAMERAS:
       cam = Camera(c.msg_name, c.stream_type, c.cam_id)
-      assert cam.cap.isOpened(), f"Can't find camera {c}"
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H)
 
@@ -47,11 +46,10 @@ class Camerad:
 
   def camera_runner(self, cam):
     rk = Ratekeeper(20, None)
-    while cam.cap.isOpened():
+    for yuv in cam.read_frames():
-      for yuv in cam.read_frames():
+      self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
-        self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type)
+      cam.cur_frame_id += 1
-        cam.cur_frame_id += 1
+      rk.keep_time()
-        rk.keep_time()
 
   def run(self):
     threads = []