sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/system/webrtc/device/video.py

@@ -0,0 +1,100 @@
+import asyncio
+import struct
+import time
+
+import av
+from teleoprtc.tracks import TiciVideoStreamTrack
+from aiortc import MediaStreamError
+
+from openpilot.cereal import messaging
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+
+# v4l2 buffer flag marking an encoded keyframe (linux/videodev2.h)
+V4L2_BUF_FLAG_KEYFRAME = 0x8
+
+# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
+TIMING_SEI_UUID = bytes([
+  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
+  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
+])
+_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
+
+
+class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
+  camera_to_sock_mapping = {
+    "driver": "livestreamDriverEncodeData",
+    "wideRoad": "livestreamWideRoadEncodeData",
+    "road": "livestreamRoadEncodeData",
+  }
+
+  def __init__(self, camera_type: str, video_enabled: bool = True):
+    super().__init__(camera_type, DT_MDL)
+
+    self._sock = self._make_sock(camera_type)
+    self._pts = 0
+    self._t0_ns = time.monotonic_ns()
+    self.timing_sei_enabled = False
+    self.params = Params()
+    self._seen_keyframe = False
+    self.video_enabled = video_enabled
+
+  def stop(self) -> None:
+    super().stop()
+    self._sock = None
+
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
+  def enable(self, enabled: bool):
+    self.video_enabled = enabled
+    if not enabled:
+      self._seen_keyframe = False
+
+  def _build_frame_data(self, msg) -> bytes:
+    encode_data = getattr(msg, msg.which())
+    if not self.timing_sei_enabled:
+      return encode_data.header + encode_data.data
+
+    idx = encode_data.idx
+    sei_nal = _SEI_PREFIX + struct.pack('>4d',
+      (idx.timestampEof - idx.timestampSof) / 1e6,
+      (msg.logMonoTime - idx.timestampEof) / 1e6,
+      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
+      time.time() * 1000,  # noqa: TID251
+    ) + b'\x80'
+    return encode_data.header + sei_nal + encode_data.data
+
+  async def recv(self):
+    while True:
+      if self.readyState != "live":
+        raise MediaStreamError
+
+      # while video is disabled, pause here without returning
+      if not self.video_enabled:
+        await asyncio.sleep(0.005)
+        continue
+
+      msg = messaging.recv_one_or_none(self._sock)
+      if msg is not None:
+        if not self._seen_keyframe and (getattr(msg, msg.which()).idx.flags & V4L2_BUF_FLAG_KEYFRAME):
+          self._seen_keyframe = True
+          self.params.put("LivestreamRequestKeyframe", False, block=False)
+        break
+      await asyncio.sleep(0.005)
+
+    packet = av.Packet(self._build_frame_data(msg))
+    packet.time_base = self._time_base
+
+    self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
+    packet.pts = self._pts
+    self.log_debug("track sending frame %d", self._pts)
+
+    return packet
+
+  def codec_preference(self) -> str | None:
+    return "H264"