improve webrtc stack for use in camera focusing (#36268)

* made LiveStreamVideoStreamTrack use system time to calculate pts

* fixes as requested

* Align panda submodule with master (panda@615009c)

* made loggerd accept a run time env variable to pick stream bitrate

* added /notify endpoint to send json to all session's data channel

* fixed static analysis error

* adapted webrtc stream test to new pts calculation method

* fixed static erro

* fixed wrong indent

* fixed import order

* delete accidental newline

* remove excess spaces

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>

* remove excess spaces

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>

* changed exeption handling based on review

* fixed typo on exception handling

---------

Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>

system/loggerd/loggerd.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <cstdlib>
 #include <vector>
 
 #include "cereal/messaging/messaging.h"
@@ -46,7 +47,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = 1'000'000, .gop_size = 15};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
   }
 };
 

system/webrtc/device/video.py

@@ -1,4 +1,5 @@
 import asyncio
+import time
 
 import av
 from teleoprtc.tracks import TiciVideoStreamTrack
@@ -20,6 +21,7 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
     self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
     self._pts = 0
+    self._t0_ns = time.monotonic_ns()
 
   async def recv(self):
     while True:
@@ -32,10 +34,10 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
     packet = av.Packet(evta.header + evta.data)
     packet.time_base = self._time_base
-    packet.pts = self._pts
 
-    self.log_debug("track sending frame %s", self._pts)
-    self._pts += self._dt * self._clock_rate
+    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
 

system/webrtc/tests/test_stream_session.py

@@ -1,5 +1,6 @@
 import asyncio
 import json
+import time
 # for aiortc and its dependencies
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
@@ -14,7 +15,6 @@ from cereal import messaging, log
 from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy
 from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
 from openpilot.system.webrtc.device.audio import AudioInputStreamTrack
-from openpilot.common.realtime import DT_DMON
 
 
 class TestStreamSession:
@@ -81,7 +81,10 @@ class TestStreamSession:
     for i in range(5):
       packet = self.loop.run_until_complete(track.recv())
       assert packet.time_base == VIDEO_TIME_BASE
-      assert packet.pts == int(i * DT_DMON * VIDEO_CLOCK_RATE)
+      if i == 0:
+        start_ns = time.monotonic_ns()
+        start_pts = packet.pts
+      assert abs(i + packet.pts - (start_pts + (((time.monotonic_ns() - start_ns) * VIDEO_CLOCK_RATE) // 1_000_000_000))) < 450 #5ms
       assert packet.size == 0
 
   def test_input_audio_track(self, mocker):

system/webrtc/webrtcd.py

@@ -239,6 +239,20 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
+async def post_notify(request: 'web.Request'):
+  try:
+    payload = await request.json()
+  except Exception as e:
+    raise web.HTTPBadRequest(text="Invalid JSON") from e
+
+  for session in list(request.app.get('streams', {}).values()):
+    try:
+      ch = session.stream.get_messaging_channel()
+      ch.send(json.dumps(payload))
+    except Exception:
+      continue
+
+  return web.Response(status=200, text="OK")
 
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
@@ -258,6 +272,7 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
+  app.router.add_post("/notify", post_notify)
   app.router.add_get("/schema", get_schema)
 
   web.run_app(app, host=host, port=port)