IQ.Pilot Release Commit @ f2a861c

iqpilot/konn3kt/canlive/__init__.py

@@ -0,0 +1,3 @@
+"""
+Copyright ©️ IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""

iqpilot/konn3kt/canlive/canlived.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+"""
+Copyright ©️ IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import os
+import threading
+
+from websocket import ABNF, create_connection
+
+import iqpilot.cereal.messaging as messaging
+from iqpilot.common.api import Api
+from iqpilot.common.params import Params
+from iqpilot.common.swaglog import cloudlog
+CAN_SERVICES = ["can"]
+RECONNECT_MIN = 1.0
+RECONNECT_MAX = 10.0
+
+def _api_host() -> str:
+  host = "wss://api-iqlabs.konn3kt.com"
+  host = host.rstrip("/")
+  if host.startswith("https://"):
+    host = "wss://" + host[len("https://"):]
+  elif host.startswith("http://"):
+    host = "ws://" + host[len("http://"):]
+  return host
+
+
+def _stream_once(dongle_id: str, ws_uri: str, token: str, exit_event: threading.Event) -> None:
+  ws = create_connection(ws_uri, cookie="jwt=" + token, enable_multithread=True, timeout=30.0)
+  cloudlog.info("canlived: connected to %s", ws_uri)
+  try:
+    socks = [messaging.sub_sock(s, conflate=False, timeout=100) for s in CAN_SERVICES]
+    while not exit_event.is_set():
+      got_any = False
+      for sock in socks:
+        while True:
+          raw = sock.receive(non_blocking=True)
+          if raw is None:
+            break
+          got_any = True
+          ws.send_frame(ABNF.create_frame(raw, ABNF.OPCODE_BINARY, 1))
+      if not got_any:
+        exit_event.wait(0.005)
+  finally:
+    try:
+      ws.close()
+    except Exception:
+      pass
+
+
+def main(exit_event: threading.Event | None = None) -> None:
+  if exit_event is None:
+    exit_event = threading.Event()
+
+  params = Params()
+  dongle_id = params.get("DongleId", encoding="utf-8")
+  if not dongle_id:
+    cloudlog.error("canlived: no DongleId, cannot stream")
+    return
+
+  api = Api(dongle_id)
+  host = _api_host()
+  ws_uri = f"{host}/ws/can/{dongle_id}"
+
+  backoff = RECONNECT_MIN
+  while not exit_event.is_set():
+    try:
+      token = api.get_token(expiry_hours=1)
+      _stream_once(dongle_id, ws_uri, token, exit_event)
+      backoff = RECONNECT_MIN
+    except Exception as e:
+      cloudlog.exception("canlived: stream error: %s", e)
+      exit_event.wait(backoff)
+      backoff = min(backoff * 2, RECONNECT_MAX)
+
+
+if __name__ == "__main__":
+  main()