CI: Test all supported Python versions

.github/workflows/release.yaml

@@ -9,10 +9,10 @@ jobs:
     runs-on: ubuntu-latest
     if: github.ref == 'refs/heads/master' && github.repository == 'commaai/teleoprtc'
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         fetch-tags: true
-    - uses: actions/setup-python@v2
+    - uses: actions/setup-python@v5
       with:
         python-version: '3.11'
     - name: Bump version and tag

.github/workflows/tests.yaml

@@ -5,11 +5,15 @@ on: [push, pull_request]
 jobs:
   test:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
-        python-version: '3.11'
+        python-version: ${{ matrix.python-version }}
     - name: Install aiortc dependencies
       run: |
         sudo apt update
@@ -22,8 +26,8 @@ jobs:
   static_analysis:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
       with:
         python-version: '3.11'
     - name: Install pre-commit

pyproject.toml

@@ -9,7 +9,7 @@ authors = [{ name="Vehicle Researcher", email="user@comma.ai" }]
 description = "Comma webRTC abstractions"
 readme = "README.md"
 license = { file="LICENSE" }
-requires-python = ">=3.11"
+requires-python = ">=3.8"
 classifiers = [
   "Programming Language :: Python :: 3",
   "License :: OSI Approved :: MIT License",
@@ -18,7 +18,7 @@ classifiers = [
 dependencies = [
   "aiortc>=1.6.0",
   "aiohttp>=3.7.0",
-  "av>=9.0.0,<11.0.0",
+  "av>=11.0.0,<13.0.0",
   "numpy>=1.19.0",
 ]
 
@@ -35,7 +35,7 @@ dev = [
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 line-length = 160
-target-version="py311"
+target-version="py38"
 
 [tool.ruff.lint]
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]

teleoprtc/builder.py

@@ -1,4 +1,5 @@
 import abc
+from typing import Dict, List
 
 import aiortc
 
@@ -15,9 +16,9 @@ def stream(self) -> WebRTCBaseStream:
 class WebRTCOfferBuilder(WebRTCStreamBuilder):
   def __init__(self, connection_provider: ConnectionProvider):
     self.connection_provider = connection_provider
-    self.requested_camera_types: list[str] = []
+    self.requested_camera_types: List[str] = []
     self.requested_audio = False
-    self.audio_tracks: list[aiortc.MediaStreamTrack] = []
+    self.audio_tracks: List[aiortc.MediaStreamTrack] = []
     self.messaging_enabled = False
 
   def offer_to_receive_video_stream(self, camera_type: str):
@@ -48,9 +49,9 @@ def stream(self) -> WebRTCBaseStream:
 class WebRTCAnswerBuilder(WebRTCStreamBuilder):
   def __init__(self, offer_sdp: str):
     self.offer_sdp = offer_sdp
-    self.video_tracks: dict[str, aiortc.MediaStreamTrack] = dict()
+    self.video_tracks: Dict[str, aiortc.MediaStreamTrack] = dict()
     self.requested_audio = False
-    self.audio_tracks: list[aiortc.MediaStreamTrack] = []
+    self.audio_tracks: List[aiortc.MediaStreamTrack] = []
 
   def offer_to_receive_audio_stream(self):
     self.requested_audio = True

teleoprtc/stream.py

@@ -2,8 +2,7 @@
 import asyncio
 import dataclasses
 import logging
-from typing import Any
-from collections.abc import Callable, Awaitable
+from typing import Any, Awaitable, Callable, Dict, List, Optional
 
 import aiortc
 from aiortc.contrib.media import MediaRelay
@@ -14,7 +13,7 @@
 @dataclasses.dataclass
 class StreamingOffer:
   sdp: str
-  video: list[str]
+  video: List[str]
 
 
 ConnectionProvider = Callable[[StreamingOffer], Awaitable[aiortc.RTCSessionDescription]]
@@ -23,25 +22,25 @@ class StreamingOffer:
 
 class WebRTCBaseStream(abc.ABC):
   def __init__(self,
-               consumed_camera_types: list[str],
+               consumed_camera_types: List[str],
                consume_audio: bool,
-               video_producer_tracks: list[aiortc.MediaStreamTrack],
-               audio_producer_tracks: list[aiortc.MediaStreamTrack],
+               video_producer_tracks: List[aiortc.MediaStreamTrack],
+               audio_producer_tracks: List[aiortc.MediaStreamTrack],
                should_add_data_channel: bool):
     self.peer_connection = aiortc.RTCPeerConnection()
     self.media_relay = MediaRelay()
     self.expected_incoming_camera_types = consumed_camera_types
     self.expected_incoming_audio = consume_audio
-    self.expected_number_of_incoming_media: int | None = None
+    self.expected_number_of_incoming_media: Optional[int] = None
 
-    self.incoming_camera_tracks: dict[str, aiortc.MediaStreamTrack] = dict()
-    self.incoming_audio_tracks: list[aiortc.MediaStreamTrack] = []
-    self.outgoing_video_tracks: list[aiortc.MediaStreamTrack] = video_producer_tracks
-    self.outgoing_audio_tracks: list[aiortc.MediaStreamTrack] = audio_producer_tracks
+    self.incoming_camera_tracks: Dict[str, aiortc.MediaStreamTrack] = dict()
+    self.incoming_audio_tracks: List[aiortc.MediaStreamTrack] = []
+    self.outgoing_video_tracks: List[aiortc.MediaStreamTrack] = video_producer_tracks
+    self.outgoing_audio_tracks: List[aiortc.MediaStreamTrack] = audio_producer_tracks
 
     self.should_add_data_channel = should_add_data_channel
-    self.messaging_channel: aiortc.RTCDataChannel | None = None
-    self.incoming_message_handlers: list[MessageHandler] = []
+    self.messaging_channel: Optional[aiortc.RTCDataChannel] = None
+    self.incoming_message_handlers: List[MessageHandler] = []
 
     self.incoming_media_ready_event = asyncio.Event()
     self.messaging_channel_ready_event = asyncio.Event()
@@ -70,7 +69,7 @@ def _add_consumer_transceivers(self):
     if self.expected_incoming_audio:
       self.peer_connection.addTransceiver("audio", direction="recvonly")
 
-  def _find_trackless_transceiver(self, kind: str) -> aiortc.RTCRtpTransceiver | None:
+  def _find_trackless_transceiver(self, kind: str) -> Optional[aiortc.RTCRtpTransceiver]:
     transceivers = self.peer_connection.getTransceivers()
     target_transceiver = None
     for t in transceivers:
@@ -97,7 +96,7 @@ def _add_producer_tracks(self):
 
       self.peer_connection.addTrack(track)
 
-  def _add_messaging_channel(self, channel: aiortc.RTCDataChannel | None = None):
+  def _add_messaging_channel(self, channel: Optional[aiortc.RTCDataChannel] = None):
     if not channel:
       channel = self.peer_connection.createDataChannel("data", ordered=True)
 
@@ -256,22 +255,22 @@ def __init__(self, session: aiortc.RTCSessionDescription, *args, **kwargs):
     super().__init__(*args, **kwargs)
     self.session = session
 
-  def _probe_video_codecs(self) -> list[str]:
+  def _probe_video_codecs(self) -> List[str]:
     codecs = []
     for track in self.outgoing_video_tracks:
       if hasattr(track, "codec_preference") and track.codec_preference() is not None:
         codecs.append(track.codec_preference())
 
     return codecs
 
-  def _override_incoming_video_codecs(self, remote_sdp: str, codecs: list[str]) -> str:
+  def _override_incoming_video_codecs(self, remote_sdp: str, codecs: List[str]) -> str:
     desc = aiortc.sdp.SessionDescription.parse(remote_sdp)
     codec_mimes = [f"video/{c}" for c in codecs]
     for m in desc.media:
       if m.kind != "video":
         continue
 
-      preferred_codecs: list[aiortc.RTCRtpCodecParameters] = [c for c in m.rtp.codecs if c.mimeType in codec_mimes]
+      preferred_codecs: List[aiortc.RTCRtpCodecParameters] = [c for c in m.rtp.codecs if c.mimeType in codec_mimes]
       if len(preferred_codecs) == 0:
         raise ValueError(f"None of {preferred_codecs} codecs is supported in remote SDP")
 

teleoprtc/tracks.py

@@ -2,7 +2,7 @@
 import logging
 import time
 import fractions
-from typing import Any
+from typing import Any, Optional, Tuple
 
 import aiortc
 from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
@@ -12,7 +12,7 @@ def video_track_id(camera_type: str, track_id: str) -> str:
   return f"{camera_type}:{track_id}"
 
 
-def parse_video_track_id(track_id: str) -> tuple[str, str]:
+def parse_video_track_id(track_id: str) -> Tuple[str, str]:
   parts = track_id.split(":")
   if len(parts) != 2:
     raise ValueError(f"Invalid video track id: {track_id}")
@@ -35,7 +35,7 @@ def __init__(self, camera_type: str, dt: float, time_base: fractions.Fraction =
     self._dt: float = dt
     self._time_base: fractions.Fraction = time_base
     self._clock_rate: int = clock_rate
-    self._start: float | None = None
+    self._start: Optional[float] = None
     self._logger = logging.getLogger("WebRTCStream")
 
   def log_debug(self, msg: Any, *args):
@@ -53,7 +53,7 @@ async def next_pts(self, current_pts) -> float:
 
     return pts
 
-  def codec_preference(self) -> str | None:
+  def codec_preference(self) -> Optional[str]:
     return None
 
 

tests/test_integration.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 
 import asyncio
+import sys
 import unittest
 
 from aiortc.mediastreams import AudioStreamTrack, VideoStreamTrack
@@ -11,6 +12,36 @@
 from teleoprtc.info import parse_info_from_offer
 
 
+if sys.version_info >= (3, 11):
+  timeout = asyncio.timeout
+else:
+  class Timeout:
+    def __init__(self, delay: float):
+      self._delay = delay
+      self._task = None
+      self._timeout_handle = None
+
+    def _timeout(self):
+      if self._task:
+        self._task.cancel()
+
+    async def __aenter__(self):
+      self._task = asyncio.current_task()
+      loop = asyncio.events.get_running_loop()
+      self._timeout_handle = loop.call_later(self._delay, self._timeout)
+      return self
+
+    async def __aexit__(self, exc_type, exc, tb):
+      if self._timeout_handle:
+        self._timeout_handle.cancel()
+      if exc_type is asyncio.CancelledError and self._task and self._task.cancelled():
+        raise asyncio.TimeoutError from exc
+      return False
+
+  def timeout(delay):
+    return Timeout(delay)
+
+
 class SimpleAnswerProvider:
   def __init__(self):
     self.stream = None
@@ -57,7 +88,7 @@ async def test_multi_camera(self, name, cameras, recv_audio, add_messaging):
     self.assertTrue(stream.is_started)
 
     try:
-      async with asyncio.timeout(2):
+      async with timeout(2):
         await stream.wait_for_connection()
     except TimeoutError:
       self.fail("Timed out waiting for connection")
@@ -77,7 +108,7 @@ async def test_multi_camera(self, name, cameras, recv_audio, add_messaging):
       self.assertEqual(track.kind, "audio")
       # test audio recv
       try:
-        async with asyncio.timeout(1):
+        async with timeout(1):
           await track.recv()
       except TimeoutError:
         self.fail("Timed out waiting for audio frame")
@@ -91,7 +122,7 @@ async def test_multi_camera(self, name, cameras, recv_audio, add_messaging):
         self.assertEqual(track.kind, "video")
         # test video recv
         try:
-          async with asyncio.timeout(1):
+          async with timeout(1):
             await stream.get_incoming_video_track(cam, False).recv()
         except TimeoutError:
           self.fail("Timed out waiting for video frame")