forked from IQ.Lvbs/IQ.Pilot
111 lines
4.0 KiB
Python
Executable File
111 lines
4.0 KiB
Python
Executable File
#!/usr/bin/env python3
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"""
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konn3kt_canproxy — view a remote device's live CAN in Cabana, through konn3kt.
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Run this on your laptop. It connects to the konn3kt CAN stream for a device you have
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access to and re-publishes the raw capnp frames onto a LOCAL ZMQ "can" socket. Then you
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just open Cabana → Live → Device, pick ZMQ, and enter 127.0.0.1 — exactly the local
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workflow, but the frames are coming from a device across the internet.
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Flow:
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device canlived ──ws──> konn3kt relay ──ws──> THIS PROXY ──zmq──> Cabana (127.0.0.1)
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The proxy never parses the CAN bytes; it forwards the exact capnp Event frames the device
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produced, so Cabana decodes them identically to a local ZMQ bridge.
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Auth: you authenticate as yourself (a konn3kt user JWT), not as the device. Get your JWT
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from the konn3kt app/web session and pass it via --token or the KONN3KT_JWT env var.
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Access is enforced server-side (owner-only, or a superuser with an explicit owner grant).
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Usage:
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export KONN3KT_JWT="<your konn3kt jwt>"
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./konn3kt_canproxy.py <dongle_id>
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# then in Cabana: Live → Device → ZMQ → 127.0.0.1
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Requires the iqpilot/openpilot Python env (for cereal.messaging) and websocket-client.
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"""
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import argparse
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import os
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import sys
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import time
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from websocket import create_connection, ABNF, WebSocketException
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# Force cereal messaging onto ZMQ so the local "can" publisher binds a TCP port that
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# Cabana's ZMQ Device stream connects to. Must be set before importing messaging.
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os.environ["ZMQ"] = "1"
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import iqpilot.cereal.messaging as messaging # noqa: E402
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DEFAULT_HOST = os.getenv("KONN3KT_HOST", "wss://api-iqlabs.konn3kt.com")
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RECONNECT_MIN = 1.0
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RECONNECT_MAX = 10.0
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def _ws_host(host: str) -> str:
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host = host.rstrip("/")
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if host.startswith("https://"):
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return "wss://" + host[len("https://"):]
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if host.startswith("http://"):
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return "ws://" + host[len("http://"):]
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if host.startswith(("ws://", "wss://")):
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return host
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return "wss://" + host
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def run(dongle_id: str, host: str, token: str) -> None:
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ws_uri = f"{_ws_host(host)}/v1/devices/{dongle_id}/can-stream?sig={token}"
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# Local ZMQ publisher for "can"; Cabana subscribes to this on 127.0.0.1.
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pub = messaging.pub_sock("can")
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backoff = RECONNECT_MIN
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while True:
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try:
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print(f"[canproxy] connecting to konn3kt for {dongle_id} ...", file=sys.stderr)
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ws = create_connection(ws_uri, enable_multithread=True, timeout=30.0)
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print("[canproxy] connected. Open Cabana → Live → Device → ZMQ → 127.0.0.1", file=sys.stderr)
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backoff = RECONNECT_MIN
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n = 0
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while True:
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opcode, data = ws.recv_data(control_frame=True)
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if opcode == ABNF.OPCODE_BINARY:
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# Republish the exact capnp Event bytes locally.
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pub.send(data)
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n += 1
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if n % 1000 == 0:
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print(f"[canproxy] forwarded {n} frames", file=sys.stderr)
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elif opcode == ABNF.OPCODE_CLOSE:
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print("[canproxy] server closed the stream", file=sys.stderr)
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break
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elif opcode == ABNF.OPCODE_PING:
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ws.pong(data)
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except (WebSocketException, OSError) as e:
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print(f"[canproxy] disconnected: {e}; reconnecting in {backoff:.0f}s", file=sys.stderr)
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time.sleep(backoff)
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backoff = min(backoff * 2, RECONNECT_MAX)
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finally:
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try:
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ws.close()
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except Exception:
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pass
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def main() -> None:
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ap = argparse.ArgumentParser(description="Bridge a konn3kt remote CAN stream into local ZMQ for Cabana.")
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ap.add_argument("dongle_id", help="dongle id of the device to stream")
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ap.add_argument("--host", default=DEFAULT_HOST, help=f"konn3kt host (default: {DEFAULT_HOST})")
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ap.add_argument("--token", default=os.getenv("KONN3KT_JWT"),
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help="konn3kt user JWT (or set KONN3KT_JWT)")
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args = ap.parse_args()
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if not args.token:
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ap.error("no token: pass --token or set KONN3KT_JWT")
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try:
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run(args.dongle_id, args.host, args.token)
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except KeyboardInterrupt:
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print("\n[canproxy] bye", file=sys.stderr)
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if __name__ == "__main__":
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main()
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