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127 lines
3.9 KiB
127 lines
3.9 KiB
import asyncio
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import dataclasses
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import json
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import logging
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import os
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import ssl
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import subprocess
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import pyaudio
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import wave
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from aiohttp import web
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from aiohttp import ClientSession
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from openpilot.common.basedir import BASEDIR
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from openpilot.system.webrtc.webrtcd import StreamRequestBody
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from openpilot.common.params import Params
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logger = logging.getLogger("bodyteleop")
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logging.basicConfig(level=logging.INFO)
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TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
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WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
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## UTILS
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async def play_sound(sound: str):
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SOUNDS = {
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"engage": "selfdrive/assets/sounds/engage.wav",
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"disengage": "selfdrive/assets/sounds/disengage.wav",
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"error": "selfdrive/assets/sounds/warning_immediate.wav",
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}
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assert sound in SOUNDS
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chunk = 5120
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with wave.open(os.path.join(BASEDIR, SOUNDS[sound]), "rb") as wf:
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def callback(in_data, frame_count, time_info, status):
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data = wf.readframes(frame_count)
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return data, pyaudio.paContinue
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p = pyaudio.PyAudio()
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stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
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channels=wf.getnchannels(),
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rate=wf.getframerate(),
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output=True,
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frames_per_buffer=chunk,
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stream_callback=callback)
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stream.start_stream()
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while stream.is_active():
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await asyncio.sleep(0)
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stream.stop_stream()
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stream.close()
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p.terminate()
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## SSL
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def create_ssl_cert(cert_path: str, key_path: str):
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try:
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proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
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-days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
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capture_output=True, shell=True)
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proc.check_returncode()
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except subprocess.CalledProcessError as ex:
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raise ValueError(f"Error creating SSL certificate:\n[stdout]\n{proc.stdout.decode()}\n[stderr]\n{proc.stderr.decode()}") from ex
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def create_ssl_context():
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cert_path = os.path.join(TELEOPDIR, "cert.pem")
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key_path = os.path.join(TELEOPDIR, "key.pem")
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if not os.path.exists(cert_path) or not os.path.exists(key_path):
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logger.info("Creating certificate...")
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create_ssl_cert(cert_path, key_path)
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else:
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logger.info("Certificate exists!")
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ssl_context = ssl.SSLContext(protocol=ssl.PROTOCOL_TLS_SERVER)
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ssl_context.load_cert_chain(cert_path, key_path)
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return ssl_context
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## ENDPOINTS
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async def index(request: 'web.Request'):
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with open(os.path.join(TELEOPDIR, "static", "index.html")) as f:
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content = f.read()
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return web.Response(content_type="text/html", text=content)
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async def ping(request: 'web.Request'):
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return web.Response(text="pong")
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async def sound(request: 'web.Request'):
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params = await request.json()
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sound_to_play = params["sound"]
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await play_sound(sound_to_play)
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return web.json_response({"status": "ok"})
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async def offer(request: 'web.Request'):
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params = await request.json()
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body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
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body_json = json.dumps(dataclasses.asdict(body))
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logger.info("Sending offer to webrtcd...")
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webrtcd_url = f"http://{WEBRTCD_HOST}:{WEBRTCD_PORT}/stream"
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async with ClientSession() as session, session.post(webrtcd_url, data=body_json) as resp:
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assert resp.status == 200
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answer = await resp.json()
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return web.json_response(answer)
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def main():
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# Enable joystick debug mode
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Params().put_bool("JoystickDebugMode", True)
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# App needs to be HTTPS for microphone and audio autoplay to work on the browser
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ssl_context = create_ssl_context()
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app = web.Application()
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app.router.add_get("/", index)
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app.router.add_get("/ping", ping, allow_head=True)
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app.router.add_post("/offer", offer)
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app.router.add_post("/sound", sound)
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app.router.add_static('/static', os.path.join(TELEOPDIR, 'static'))
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web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
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if __name__ == "__main__":
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main()
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