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45 lines
1.2 KiB
45 lines
1.2 KiB
import asyncio
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import time
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import av
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from teleoprtc.tracks import TiciVideoStreamTrack
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from cereal import messaging
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from openpilot.common.realtime import DT_MDL, DT_DMON
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class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
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camera_to_sock_mapping = {
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"driver": "livestreamDriverEncodeData",
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"wideRoad": "livestreamWideRoadEncodeData",
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"road": "livestreamRoadEncodeData",
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}
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def __init__(self, camera_type: str):
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dt = DT_DMON if camera_type == "driver" else DT_MDL
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super().__init__(camera_type, dt)
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self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
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self._pts = 0
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self._t0_ns = time.monotonic_ns()
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async def recv(self):
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while True:
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msg = messaging.recv_one_or_none(self._sock)
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if msg is not None:
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break
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await asyncio.sleep(0.005)
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evta = getattr(msg, msg.which())
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packet = av.Packet(evta.header + evta.data)
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packet.time_base = self._time_base
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self._pts = ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
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packet.pts = self._pts
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self.log_debug("track sending frame %d", self._pts)
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return packet
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def codec_preference(self) -> str | None:
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return "H264"
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