280 lines
9.5 KiB
Python
Executable File
280 lines
9.5 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import asyncio
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import json
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import uuid
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import logging
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from dataclasses import dataclass, field
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from typing import Any, TYPE_CHECKING
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# aiortc and its dependencies have lots of internal warnings :(
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import warnings
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warnings.filterwarnings("ignore", category=DeprecationWarning)
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warnings.filterwarnings("ignore", category=RuntimeWarning) # TODO: remove this when google-crc32c publish a python3.12 wheel
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import capnp
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from aiohttp import web
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if TYPE_CHECKING:
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from aiortc.rtcdatachannel import RTCDataChannel
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from openpilot.system.webrtc.schema import generate_field
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from cereal import messaging, log
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class CerealOutgoingMessageProxy:
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def __init__(self, sm: messaging.SubMaster):
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self.sm = sm
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self.channels: list[RTCDataChannel] = []
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def add_channel(self, channel: 'RTCDataChannel'):
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self.channels.append(channel)
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def to_json(self, msg_content: Any):
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if isinstance(msg_content, capnp._DynamicStructReader):
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msg_dict = msg_content.to_dict()
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elif isinstance(msg_content, capnp._DynamicListReader):
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msg_dict = [self.to_json(msg) for msg in msg_content]
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elif isinstance(msg_content, bytes):
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msg_dict = msg_content.decode()
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else:
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msg_dict = msg_content
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return msg_dict
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def update(self):
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# this is blocking in async context...
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self.sm.update(0)
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for service, updated in self.sm.updated.items():
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if not updated:
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continue
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msg_dict = self.to_json(self.sm[service])
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mono_time, valid = self.sm.logMonoTime[service], self.sm.valid[service]
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outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
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encoded_msg = json.dumps(outgoing_msg).encode()
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for channel in self.channels:
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channel.send(encoded_msg)
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class CerealIncomingMessageProxy:
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def __init__(self, pm: messaging.PubMaster):
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self.pm = pm
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def send(self, message: bytes):
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msg_json = json.loads(message)
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msg_type, msg_data = msg_json["type"], msg_json["data"]
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size = None
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if not isinstance(msg_data, dict):
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size = len(msg_data)
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msg = messaging.new_message(msg_type, size=size)
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setattr(msg, msg_type, msg_data)
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self.pm.send(msg_type, msg)
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class CerealProxyRunner:
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def __init__(self, proxy: CerealOutgoingMessageProxy):
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self.proxy = proxy
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self.is_running = False
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self.task = None
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self.logger = logging.getLogger("webrtcd")
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def start(self):
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assert self.task is None
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self.task = asyncio.create_task(self.run())
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def stop(self):
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if self.task is None or self.task.done():
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return
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self.task.cancel()
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self.task = None
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async def run(self):
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from aiortc.exceptions import InvalidStateError
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while True:
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try:
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self.proxy.update()
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except InvalidStateError:
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self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
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break
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except Exception:
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self.logger.exception("Cereal outgoing proxy failure")
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await asyncio.sleep(0.01)
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class DynamicPubMaster(messaging.PubMaster):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.lock = asyncio.Lock()
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async def add_services_if_needed(self, services):
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async with self.lock:
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for service in services:
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if service not in self.sock:
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self.sock[service] = messaging.pub_sock(service)
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class StreamSession:
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shared_pub_master = DynamicPubMaster([])
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def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
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from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
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from aiortc.contrib.media import MediaBlackhole
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from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
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from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
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from teleoprtc import WebRTCAnswerBuilder
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from teleoprtc.info import parse_info_from_offer
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config = parse_info_from_offer(sdp)
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builder = WebRTCAnswerBuilder(sdp)
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assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
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for cam in cameras:
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track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()
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builder.add_video_stream(cam, track)
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if config.expected_audio_track:
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track = AudioInputStreamTrack() if not debug_mode else AudioStreamTrack()
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builder.add_audio_stream(track)
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if config.incoming_audio_track:
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self.audio_output_cls = AudioOutputSpeaker if not debug_mode else MediaBlackhole
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builder.offer_to_receive_audio_stream()
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self.stream = builder.stream()
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self.identifier = str(uuid.uuid4())
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self.incoming_bridge: CerealIncomingMessageProxy | None = None
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self.incoming_bridge_services = incoming_services
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self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
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self.outgoing_bridge_runner: CerealProxyRunner | None = None
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if len(incoming_services) > 0:
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self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
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if len(outgoing_services) > 0:
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self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
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self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
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self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None
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self.run_task: asyncio.Task | None = None
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self.logger = logging.getLogger("webrtcd")
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self.logger.info("New stream session (%s), cameras %s, audio in %s out %s, incoming services %s, outgoing services %s",
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self.identifier, cameras, config.incoming_audio_track, config.expected_audio_track, incoming_services, outgoing_services)
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def start(self):
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self.run_task = asyncio.create_task(self.run())
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def stop(self):
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if self.run_task.done():
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return
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self.run_task.cancel()
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self.run_task = None
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asyncio.run(self.post_run_cleanup())
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async def get_answer(self):
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return await self.stream.start()
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async def message_handler(self, message: bytes):
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assert self.incoming_bridge is not None
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try:
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self.incoming_bridge.send(message)
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except Exception:
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self.logger.exception("Cereal incoming proxy failure")
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async def run(self):
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try:
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await self.stream.wait_for_connection()
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if self.stream.has_messaging_channel():
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if self.incoming_bridge is not None:
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await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
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self.stream.set_message_handler(self.message_handler)
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if self.outgoing_bridge_runner is not None:
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channel = self.stream.get_messaging_channel()
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self.outgoing_bridge_runner.proxy.add_channel(channel)
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self.outgoing_bridge_runner.start()
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if self.stream.has_incoming_audio_track():
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track = self.stream.get_incoming_audio_track(buffered=False)
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self.audio_output = self.audio_output_cls()
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self.audio_output.addTrack(track)
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self.audio_output.start()
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self.logger.info("Stream session (%s) connected", self.identifier)
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await self.stream.wait_for_disconnection()
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await self.post_run_cleanup()
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self.logger.info("Stream session (%s) ended", self.identifier)
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except Exception:
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self.logger.exception("Stream session failure")
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async def post_run_cleanup(self):
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await self.stream.stop()
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if self.outgoing_bridge is not None:
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self.outgoing_bridge_runner.stop()
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if self.audio_output:
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self.audio_output.stop()
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@dataclass
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class StreamRequestBody:
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sdp: str
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cameras: list[str]
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bridge_services_in: list[str] = field(default_factory=list)
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bridge_services_out: list[str] = field(default_factory=list)
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async def get_stream(request: 'web.Request'):
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stream_dict, debug_mode = request.app['streams'], request.app['debug']
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raw_body = await request.json()
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body = StreamRequestBody(**raw_body)
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session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
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answer = await session.get_answer()
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session.start()
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stream_dict[session.identifier] = session
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return web.json_response({"sdp": answer.sdp, "type": answer.type})
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async def get_schema(request: 'web.Request'):
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services = request.query["services"].split(",")
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services = [s for s in services if s]
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assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
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schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
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return web.json_response(schema_dict)
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async def on_shutdown(app: 'web.Application'):
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for session in app['streams'].values():
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session.stop()
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del app['streams']
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def webrtcd_thread(host: str, port: int, debug: bool):
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logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
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logging_level = logging.DEBUG if debug else logging.INFO
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logging.getLogger("WebRTCStream").setLevel(logging_level)
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logging.getLogger("webrtcd").setLevel(logging_level)
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app = web.Application()
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app['streams'] = dict()
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app['debug'] = debug
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app.on_shutdown.append(on_shutdown)
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app.router.add_post("/stream", get_stream)
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app.router.add_get("/schema", get_schema)
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web.run_app(app, host=host, port=port)
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def main():
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parser = argparse.ArgumentParser(description="WebRTC daemon")
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parser.add_argument("--host", type=str, default="0.0.0.0", help="Host to listen on")
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parser.add_argument("--port", type=int, default=5001, help="Port to listen on")
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parser.add_argument("--debug", action="store_true", help="Enable debug mode")
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args = parser.parse_args()
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webrtcd_thread(args.host, args.port, args.debug)
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if __name__=="__main__":
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main()
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