Openpilot webcam support improved (#34215)

* control webcam with ENV vars

* WIP: actual instructions

* wording

* file no longer exists

* this is expected behavior, just untested

* more readable

* tested on fresh install

* wording tweaks

* explicit USE_WEBCAM toggle required

Co-authored-by: Adeeb Shihadeh <[email protected]>

* debug-ability improved

Co-authored-by: Adeeb Shihadeh <[email protected]>

Co-authored-by: Adeeb Shihadeh <[email protected]>

* newline removed

---------

Co-authored-by: Adeeb Shihadeh <[email protected]>

system/manager/process_config.py

@@ -63,15 +63,16 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
+  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
@@ -89,7 +90,7 @@ def and_(*fns):
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),

tools/webcam/README.md

@@ -1,37 +1,35 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
 - [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer
 That's it!
 
 ## Setup openpilot
+- Follow [this readme](../README.md) to install and build the requirements
+- Install OpenCL Driver
 ```
-cd ~
-git clone https://github.com/commaai/openpilot.git
-```
-- Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements
-- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
-
-## Build openpilot for webcam
-```
-cd ~/openpilot
-USE_WEBCAM=1 scons -j$(nproc)
+sudo apt install pocl-opencl-icd
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO
 ```
-cd ~/openpilot/system/manager
-NOSENSOR=1 USE_WEBCAM=1 ./manager.py
+USE_WEBCAM=1 system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams (you can run tools/webcam/front_mount_helper.py to help mount the driver camera)
+- Adjust and secure the webcams.
 - Finish calibration and engage!
+
+## Specify Cameras
+
+Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
+```
+USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
+```

tools/webcam/camerad.py

@@ -9,14 +9,14 @@
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
-DUAL_CAM = os.getenv("DUAL_CAMERA")
+WIDE_CAM = os.getenv("WIDE_CAM")
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "/dev/video0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "/dev/video1")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
+  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
 ]
-if DUAL_CAM:
-  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM))
+if WIDE_CAM:
+  CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
 
 class Camerad:
   def __init__(self):
@@ -25,8 +25,9 @@ def __init__(self):
 
     self.cameras = []
     for c in CAMERAS:
-      print(f"opening {c.msg_name} at {c.cam_id}")
-      cam = Camera(c.msg_name, c.stream_type, c.cam_id)
+      cam_device = f"/dev/video{c.cam_id}"
+      print(f"opening {c.msg_name} at {cam_device}")
+      cam = Camera(c.msg_name, c.stream_type, cam_device)
       self.cameras.append(cam)
       self.vipc_server.create_buffers(c.stream_type, 20, cam.W, cam.H)