添加强制上下线和视频流

system/manager/process_config.py

@@ -78,6 +78,9 @@ def enable_connect(started, params, CP: car.CarParams) -> bool:
 def enable_xiaoge_data(started, params, CP: car.CarParams) -> bool:
   return params.get_bool("ShareData")
 
+def enable_webrtc(started, params, CP: car.CarParams) -> bool:
+  return params.get_int("DisableDM") == 2
+
 def c3x_lite(started: bool, params: Params, CP: car.CarParams) -> bool:
   return started and params.get_bool("HardwareC3xLite")
 
@@ -86,7 +89,7 @@ procs = [
 
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], or_(notcar, and_(only_onroad, enable_webrtc))),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
@@ -132,17 +135,16 @@ procs = [
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
-  PythonProcess("webrtcd", "system.webrtc.webrtcd", notcar),
+  PythonProcess("webrtcd", "system.webrtc.webrtcd", or_(notcar, and_(only_onroad, enable_webrtc))),
   PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
   PythonProcess("joystick", "tools.joystick.joystick_control", and_(joystick, iscar)),
 
   #PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet, enabled=not PC),
   PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", check_fleet),
   PythonProcess("carrot_man", "selfdrive.carrot.carrot_man", always_run),#, enabled=not PC),
-
+  PythonProcess("carrot_server", "selfdrive.carrot.carrot_server", always_run),
   #Xiaoge data broadcaster (conditional on ShareData param)
   PythonProcess("xiaoge_data", "selfdrive.carrot.xiaoge_data", enable_xiaoge_data),
-
   # c3x lite
   PythonProcess("beep", "selfdrive.controls.beep", c3x_lite, enabled=TICI),
 ]

system/webrtc/webrtcd.py

@@ -42,7 +42,7 @@ class CerealOutgoingMessageProxy:
 
     return msg_dict
 
-  def update(self):
+  async def update(self):
     # this is blocking in async context...
     self.sm.update(0)
     for service, updated in self.sm.updated.items():
@@ -53,7 +53,11 @@ class CerealOutgoingMessageProxy:
       outgoing_msg = {"type": service, "logMonoTime": mono_time, "valid": valid, "data": msg_dict}
       encoded_msg = json.dumps(outgoing_msg).encode()
       for channel in self.channels:
-        channel.send(encoded_msg)
+        # 支持 WebSocketResponse（用于浏览器端调试）
+        if isinstance(channel, web.WebSocketResponse):
+          await channel.send_bytes(encoded_msg)
+        else:
+          channel.send(encoded_msg)
 
 
 class CerealIncomingMessageProxy:
@@ -94,7 +98,7 @@ class CerealProxyRunner:
 
     while True:
       try:
-        self.proxy.update()
+        await self.proxy.update()
       except InvalidStateError:
         self.logger.warning("Cereal outgoing proxy invalid state (connection closed)")
         break
@@ -229,7 +233,11 @@ async def get_stream(request: 'web.Request'):
 
   stream_dict[session.identifier] = session
 
-  return web.json_response({"sdp": answer.sdp, "type": answer.type})
+  # 基本 CORS 支持，方便外部网页直接访问
+  return web.json_response(
+    {"sdp": answer.sdp, "type": answer.type},
+    headers={"Access-Control-Allow-Origin": "*"},
+  )
 
 
 async def get_schema(request: 'web.Request'):
@@ -246,19 +254,43 @@ async def on_shutdown(app: 'web.Application'):
   del app['streams']
 
 
+@web.middleware
+async def cors_middleware(request, handler):
+  response = await handler(request)
+  response.headers['Access-Control-Allow-Origin'] = '*'
+  response.headers['Access-Control-Allow-Methods'] = 'GET, POST, PUT, DELETE, OPTIONS'
+  response.headers['Access-Control-Allow-Headers'] = 'Content-Type, Authorization'
+  return response
+
+
+async def handle_cors_preflight(request):
+  if request.method == 'OPTIONS':
+    headers = {
+      'Access-Control-Allow-Origin': '*',
+      'Access-Control-Allow-Methods': 'GET, POST, PUT, DELETE, OPTIONS',
+      'Access-Control-Allow-Headers': 'Content-Type, Authorization',
+      'Access-Control-Max-Age': '86400',
+    }
+    return web.Response(status=200, headers=headers)
+  return await request.app['handler'](request)
+
+
 def webrtcd_thread(host: str, port: int, debug: bool):
   logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()])
   logging_level = logging.DEBUG if debug else logging.INFO
   logging.getLogger("WebRTCStream").setLevel(logging_level)
   logging.getLogger("webrtcd").setLevel(logging_level)
 
-  app = web.Application()
+  # 加上 CORS 中间件，允许外部网页（如 carrot web）直接访问
+  app = web.Application(middlewares=[cors_middleware])
 
   app['streams'] = dict()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
   app.router.add_post("/stream", get_stream)
   app.router.add_get("/schema", get_schema)
+  # 处理任意路径的 CORS 预检请求
+  app.router.add_route('OPTIONS', '/{tail:.*}', handle_cors_preflight)
 
   web.run_app(app, host=host, port=port)