From 00107b5968c0400c2b3a38b556176df003eb6d07 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 14:09:25 -0700
Subject: [PATCH 01/32] athenad and webrtcd updates

---
 system/athena/athenad.py |  33 +++++++-
 system/webrtc/webrtcd.py | 164 ++++++++++++++++++++++++++++++---------
 2 files changed, 160 insertions(+), 37 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index b52ef21ba63702..7dc7e8c24967cc 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -28,7 +28,7 @@
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import log
+from cereal import car, log
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
@@ -44,6 +44,7 @@
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {22, }  # SSH
+WEBRTCD_PORT = 5001
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -536,6 +537,16 @@ def getSshAuthorizedKeys() -> str:
 def getGithubUsername() -> str:
   return cast(str, Params().get("GithubUsername") or "")
 
+
+@dispatcher.add_method
+def getNotCar() -> bool:
+  cp_bytes = Params().get("CarParamsPersistent")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      return CP.notCar
+  return False
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -557,6 +568,26 @@ def getNetworks():
   return HARDWARE.get_networks()
 
 
+@dispatcher.add_method
+def startJoystickStream(sdp: str) -> dict:
+  from openpilot.system.webrtc.webrtcd import StreamRequestBody
+  body = StreamRequestBody(sdp, ["driver"], ["testJoystick", "soundRequest", "livestreamCameraSwitch"], ["carState"])
+  try:
+    resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
+                       json=asdict(body), timeout=10)
+    if not resp.ok:
+      try:
+        error_body = resp.json()
+        raise Exception(error_body.get("message", f"webrtcd returned {resp.status_code}"))
+      except ValueError:
+        resp.raise_for_status()
+    return resp.json()
+  except requests.ConnectTimeout:
+    raise Exception("webrtc took too long to respond. is it on?") from None
+  except requests.ConnectionError:
+    raise Exception("webrtc is not running. turn on comma body ignition.") from None
+
+
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
   from openpilot.system.camerad.snapshot import jpeg_write, snapshot
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d2c90cafb5b2e6..3152f27edc1f0b 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
-
 import argparse
 import asyncio
+import contextlib
 import json
-import uuid
 import logging
+import uuid
 from dataclasses import dataclass, field
 from typing import Any, TYPE_CHECKING
 
@@ -21,6 +21,8 @@
 from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
+INITIAL_CAMERA = "driver"
+REQUIRED_VIDEO_CODEC = "H264"
 
 class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
@@ -83,11 +85,16 @@ def start(self):
     assert self.task is None
     self.task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.task is None or self.task.done():
+  async def stop(self):
+    if self.task is None:
       return
-    self.task.cancel()
+    task = self.task
     self.task = None
+    if task.done():
+      return
+    task.cancel()
+    with contextlib.suppress(asyncio.CancelledError):
+      await task
 
   async def run(self):
     from aiortc.exceptions import InvalidStateError
@@ -122,14 +129,11 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
-    from teleoprtc.info import parse_info_from_offer
 
-    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
-    for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+    self.video_track = LiveStreamVideoStreamTrack(INITIAL_CAMERA) if not debug_mode else VideoStreamTrack()
+    builder.add_video_stream(INITIAL_CAMERA, self.video_track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -145,27 +149,38 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
 
     self.run_task: asyncio.Task | None = None
+    self._cleanup_lock = asyncio.Lock()
+    self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info("New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-                      self.identifier, cameras, incoming_services, outgoing_services)
+    self.logger.info(
+      "New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
+      self.identifier, cameras, incoming_services, outgoing_services,
+    )
 
   def start(self):
     self.run_task = asyncio.create_task(self.run())
 
-  def stop(self):
-    if self.run_task.done():
-      return
-    self.run_task.cancel()
+  async def stop(self):
+    if self.run_task is not None and not self.run_task.done() and self.run_task is not asyncio.current_task():
+      self.run_task.cancel()
+      with contextlib.suppress(asyncio.CancelledError):
+        await self.run_task
     self.run_task = None
-    asyncio.run(self.post_run_cleanup())
+    await self.post_run_cleanup()
 
   async def get_answer(self):
     return await self.stream.start()
 
-  async def message_handler(self, message: bytes):
-    assert self.incoming_bridge is not None
+  def message_handler(self, message: bytes):
     try:
-      self.incoming_bridge.send(message)
+      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
+      if not isinstance(payload, dict):
+        raise ValueError
+
+      if self.incoming_bridge is not None:
+        self.incoming_bridge.send(message)
+    except ValueError:
+      self.logger.warning("Ignoring malformed request: %s", payload)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -175,24 +190,32 @@ async def run(self):
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-          self.stream.set_message_handler(self.message_handler)
+          # set camera to default
+          self.incoming_bridge.send(json.dumps({"type": "livestreamCameraSwitch", "data": {"camera": INITIAL_CAMERA}}).encode())
+        self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)
           self.outgoing_bridge_runner.start()
+
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
-      await self.post_run_cleanup()
 
       self.logger.info("Stream session (%s) ended", self.identifier)
     except Exception:
       self.logger.exception("Stream session failure")
+    finally:
+      await self.post_run_cleanup()
 
   async def post_run_cleanup(self):
-    await self.stream.stop()
-    if self.outgoing_bridge is not None:
-      self.outgoing_bridge_runner.stop()
+    async with self._cleanup_lock:
+      if self._cleanup_done:
+        return
+      self._cleanup_done = True
+      if self.outgoing_bridge_runner is not None:
+        await self.outgoing_bridge_runner.stop()
+      await self.stream.stop()
 
 
 @dataclass
@@ -202,19 +225,84 @@ class StreamRequestBody:
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
+def _add_cors_headers(_, response: 'web.Response'):
+  response.headers["Access-Control-Allow-Origin"] = "*"
+  response.headers["Access-Control-Allow-Headers"] = "Content-Type"
+  response.headers["Access-Control-Allow-Methods"] = "POST, OPTIONS"
+  response.headers["Access-Control-Allow-Private-Network"] = "true"
 
-async def get_stream(request: 'web.Request'):
-  stream_dict, debug_mode = request.app['streams'], request.app['debug']
-  raw_body = await request.json()
-  body = StreamRequestBody(**raw_body)
 
-  session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
-  answer = await session.get_answer()
-  session.start()
+@web.middleware
+async def cors_middleware(request: 'web.Request', handler):
+  try:
+    response = await handler(request)
+  except web.HTTPException as ex:
+    _add_cors_headers(request, ex)
+    raise
+  _add_cors_headers(request, response)
+  return response
+
+
+async def stream_options(request: 'web.Request'):
+  response = web.Response()
+  _add_cors_headers(request, response)
+  return response
+
+
+def _validate_sdp_video_codecs(sdp: str):
+  import aiortc.sdp
+  desc = aiortc.sdp.SessionDescription.parse(sdp)
+  required_mime = f"video/{REQUIRED_VIDEO_CODEC}"
+  for m in desc.media:
+    if m.kind != "video":
+      continue
+    offered_mimes = {c.mimeType for c in m.rtp.codecs}
+    if required_mime not in offered_mimes:
+      raise web.HTTPBadRequest(
+        text=json.dumps({"error": "unsupported_codec", "message": f"Frontend must offer {REQUIRED_VIDEO_CODEC} via setCodecPreferences()"}),
+        content_type="application/json",
+      )
 
-  stream_dict[session.identifier] = session
 
-  return web.json_response({"sdp": answer.sdp, "type": answer.type})
+async def get_stream(request: 'web.Request'):
+  logger = logging.getLogger("webrtcd")
+  try:
+    stream_dict, debug_mode = request.app['streams'], request.app['debug']
+
+    raw_body = await request.json()
+    body = StreamRequestBody(**raw_body)
+    _validate_sdp_video_codecs(body.sdp)
+
+    async with request.app['stream_lock']:
+      # Fully disconnect any other active stream before starting the replacement.
+      for sid, s in list(stream_dict.items()):
+        if s.run_task and not s.run_task.done():
+          try:
+            ch = s.stream.get_messaging_channel()
+            ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
+          except Exception:
+            pass
+        await s.stop()
+        del stream_dict[sid]
+
+      session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+      try:
+        answer = await session.get_answer()
+      except Exception:
+        await session.stop()
+        raise
+      session.start()
+
+      stream_dict[session.identifier] = session
+
+    response = web.json_response({"sdp": answer.sdp, "type": answer.type})
+    _add_cors_headers(request, response)
+    return response
+  except web.HTTPException:
+    raise
+  except Exception:
+    logger.exception("Error in /stream handler")
+    raise
 
 
 async def get_schema(request: 'web.Request'):
@@ -224,6 +312,7 @@ async def get_schema(request: 'web.Request'):
   schema_dict = {s: generate_field(log.Event.schema.fields[s]) for s in services}
   return web.json_response(schema_dict)
 
+
 async def post_notify(request: 'web.Request'):
   try:
     payload = await request.json()
@@ -239,9 +328,10 @@ async def post_notify(request: 'web.Request'):
 
   return web.Response(status=200, text="OK")
 
+
 async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
-    session.stop()
+    await session.stop()
   del app['streams']
 
 
@@ -251,11 +341,13 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   logging.getLogger("WebRTCStream").setLevel(logging_level)
   logging.getLogger("webrtcd").setLevel(logging_level)
 
-  app = web.Application()
+  app = web.Application(middlewares=[cors_middleware])
 
   app['streams'] = dict()
+  app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
+  app.router.add_route("OPTIONS", "/stream", stream_options)
   app.router.add_post("/stream", get_stream)
   app.router.add_post("/notify", post_notify)
   app.router.add_get("/schema", get_schema)

From fe36daf49e070a070cce91c89b91f7b8308cf7e4 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 15:53:58 -0700
Subject: [PATCH 02/32] remove feature stream services from webrtcd split

---
 system/athena/athenad.py |  2 +-
 system/webrtc/webrtcd.py | 22 ++++++++--------------
 2 files changed, 9 insertions(+), 15 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 7dc7e8c24967cc..6b925fc2d24df3 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -571,7 +571,7 @@ def getNetworks():
 @dispatcher.add_method
 def startJoystickStream(sdp: str) -> dict:
   from openpilot.system.webrtc.webrtcd import StreamRequestBody
-  body = StreamRequestBody(sdp, ["driver"], ["testJoystick", "soundRequest", "livestreamCameraSwitch"], ["carState"])
+  body = StreamRequestBody(sdp, ["driver"], ["testJoystick"], ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 3152f27edc1f0b..5f66e62bb85fde 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -21,7 +21,6 @@
 from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
-INITIAL_CAMERA = "driver"
 REQUIRED_VIDEO_CODEC = "H264"
 
 class CerealOutgoingMessageProxy:
@@ -129,11 +128,14 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
+    from teleoprtc.info import parse_info_from_offer
 
+    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    self.video_track = LiveStreamVideoStreamTrack(INITIAL_CAMERA) if not debug_mode else VideoStreamTrack()
-    builder.add_video_stream(INITIAL_CAMERA, self.video_track)
+    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
+    for cam in cameras:
+      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -172,15 +174,9 @@ async def get_answer(self):
     return await self.stream.start()
 
   def message_handler(self, message: bytes):
+    assert self.incoming_bridge is not None
     try:
-      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
-      if not isinstance(payload, dict):
-        raise ValueError
-
-      if self.incoming_bridge is not None:
-        self.incoming_bridge.send(message)
-    except ValueError:
-      self.logger.warning("Ignoring malformed request: %s", payload)
+      self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -190,9 +186,7 @@ async def run(self):
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-          # set camera to default
-          self.incoming_bridge.send(json.dumps({"type": "livestreamCameraSwitch", "data": {"camera": INITIAL_CAMERA}}).encode())
-        self.stream.set_message_handler(self.message_handler)
+          self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)

From 8fddb97e10bd42bf2abbfd2fcb3fd9d498e001ee Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 14:09:24 -0700
Subject: [PATCH 03/32] stream encoder thread

---
 cereal/log.capnp                           | 12 +++++
 cereal/services.py                         |  2 +
 system/loggerd/encoderd.cc                 | 57 +++++++++++++++++++++-
 system/loggerd/loggerd.h                   | 31 +++---------
 system/webrtc/device/video.py              | 20 +++-----
 system/webrtc/tests/test_stream_session.py |  2 +-
 6 files changed, 85 insertions(+), 39 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 73a34a2ea8c6f1..45a6b4431b61dd 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2427,6 +2427,15 @@ struct AudioFeedback {
   blockNum @1 :UInt16;
 }
 
+struct LiveStreamCamera {
+  camera @0 :CameraType;
+
+  enum CameraType {
+    driver @0;
+    wideRoad @1;
+  }
+}
+
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2536,6 +2545,9 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
+    livestreamCameraEncodeData @152 :EncodeData;
+    livestreamCameraSwitch @153 :LiveStreamCamera;
+
     # *********** Custom: reserved for forks ***********
 
     # DO change the name of the field
diff --git a/cereal/services.py b/cereal/services.py
index c2d38d852db133..d3dc8d4fa7e1a5 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -77,6 +77,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
+  "livestreamCameraSwitch": (False, 0.),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
@@ -92,6 +93,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamCameraEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 9d4b81a3f90230..b00b7b66aed33a 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -151,6 +151,61 @@ void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
   }
 }
 
+template <size_t N>
+void stream_encoderd_thread(const LogCameraInfo (&cameras)[N]) {
+  while (!do_exit) {
+    if (!VisionIpcClient::getAvailableStreams("camerad", false).empty()) break;
+    util::sleep_for(100);
+  }
+
+  SubMaster sm({"livestreamCameraSwitch"});
+  const LogCameraInfo *active_cam = &cameras[0];
+
+  while (!do_exit) {
+    VisionIpcClient vipc_client("camerad", active_cam->stream_type, false);
+    if (!vipc_client.connect(false)) {
+      util::sleep_for(5);
+      continue;
+    }
+
+    // init encoder
+    const VisionBuf &buf_info = vipc_client.buffers[0];
+    LOGW("stream encoder init %zux%zu", buf_info.width, buf_info.height);
+    assert(buf_info.width > 0 && buf_info.height > 0);
+    auto encoder = std::make_unique<Encoder>(active_cam->encoder_infos[0], buf_info.width, buf_info.height);
+    encoder->encoder_open();
+
+    while (!do_exit) {
+      sm.update(0);
+
+      // Switch camera if the request differs from the current one
+      if (sm.updated("livestreamCameraSwitch")) {
+        auto requested = sm["livestreamCameraSwitch"].getLivestreamCameraSwitch().getCamera();
+        VisionStreamType requested_stream = requested == cereal::LiveStreamCamera::CameraType::DRIVER
+                                                ? VISION_STREAM_DRIVER : VISION_STREAM_WIDE_ROAD;
+        if (requested_stream != active_cam->stream_type) {
+          LOGW("stream encoder switching camera");
+          auto it = std::find_if(std::begin(cameras), std::end(cameras),
+                                 [requested_stream](const auto &cam) { return cam.stream_type == requested_stream; });
+          if (it != std::end(cameras)) active_cam = &(*it);
+          break;  // reinit encoder with new camera selection
+        }
+      }
+
+      // encode frame
+      VisionIpcBufExtra extra;
+      VisionBuf *buf = vipc_client.recv(&extra);
+      if (buf == nullptr) continue;
+      if (buf->get_frame_id() != extra.frame_id) continue;
+      if (encoder->encode_frame(buf, &extra) == -1) {
+        LOGE("stream encoder: failed to encode frame. frame_id: %d", extra.frame_id);
+      }
+    }
+
+    encoder->encoder_close();
+  }
+}
+
 int main(int argc, char* argv[]) {
   if (!Hardware::PC()) {
     int ret;
@@ -162,7 +217,7 @@ int main(int argc, char* argv[]) {
   if (argc > 1) {
     std::string arg1(argv[1]);
     if (arg1 == "--stream") {
-      encoderd_thread(stream_cameras_logged);
+      stream_encoderd_thread(stream_cameras_logged);
     } else {
       LOGE("Argument '%s' is not supported", arg1.c_str());
     }
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 6aa0c8be40b96f..804550d80c772c 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -47,8 +47,8 @@ struct EncoderSettings {
   }
 
   static EncoderSettings StreamEncoderSettings() {
-    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 1'000'000;
-    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 15};
+    int _stream_bitrate = getenv("STREAM_BITRATE") ? atoi(getenv("STREAM_BITRATE")) : 4'000'000;
+    return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _stream_bitrate , .gop_size = 5};
   }
 };
 
@@ -100,28 +100,13 @@ const EncoderInfo main_driver_encoder_info = {
   INIT_ENCODE_FUNCTIONS(DriverEncode),
 };
 
-const EncoderInfo stream_road_encoder_info = {
-  .publish_name = "livestreamRoadEncodeData",
-  //.thumbnail_name = "thumbnail",
-  .record = false,
-  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
-};
-
-const EncoderInfo stream_wide_road_encoder_info = {
-  .publish_name = "livestreamWideRoadEncodeData",
+const EncoderInfo stream_encoder_info = {
+  .publish_name = "livestreamCameraEncodeData",
   .record = false,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
 
-const EncoderInfo stream_driver_encoder_info = {
-  .publish_name = "livestreamDriverEncodeData",
-  .record = false,
-  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
-  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
-};
-
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
@@ -153,20 +138,20 @@ const LogCameraInfo driver_camera_info{
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
   .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_road_encoder_info}
+  .encoder_infos = {stream_encoder_info}
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_wide_road_encoder_info}
+  .encoder_infos = {stream_encoder_info}
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
   .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_driver_encoder_info}
+  .encoder_infos = {stream_encoder_info}
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
-const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_driver_camera_info, stream_wide_road_camera_info};
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 50feab4f4a910d..3ca55a140f6f03 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -9,18 +9,11 @@
 
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
-  camera_to_sock_mapping = {
-    "driver": "livestreamDriverEncodeData",
-    "wideRoad": "livestreamWideRoadEncodeData",
-    "road": "livestreamRoadEncodeData",
-  }
-
   def __init__(self, camera_type: str):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
-    self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
-    self._pts = 0
+    self._sock = messaging.sub_sock("livestreamCameraEncodeData", conflate=True)
     self._t0_ns = time.monotonic_ns()
 
   async def recv(self):
@@ -30,15 +23,14 @@ async def recv(self):
         break
       await asyncio.sleep(0.005)
 
-    evta = getattr(msg, msg.which())
+    encode_data = getattr(msg, msg.which())
 
-    packet = av.Packet(evta.header + evta.data)
+    packet = av.Packet(encode_data.header + encode_data.data)
     packet.time_base = self._time_base
 
-    self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
-    packet.pts = self._pts
-    self.log_debug("track sending frame %d", self._pts)
-
+    pts = ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
+    packet.pts = pts
+    self.log_debug("track sending frame %d", pts)
     return packet
 
   def codec_preference(self) -> str | None:
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index f44d217d58ced6..9730f9e16e3d07 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -67,7 +67,7 @@ def test_incoming_proxy(self, mocker):
       mocked_pubmaster.reset_mock()
 
   def test_livestream_track(self, mocker):
-    fake_msg = messaging.new_message("livestreamDriverEncodeData")
+    fake_msg = messaging.new_message("livestreamCameraEncodeData")
 
     config = {"receive.return_value": fake_msg.to_bytes()}
     mocker.patch("msgq.SubSocket", spec=True, **config)

From 429679654f1ebaf71c92f111f32aa68c79d512eb Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 15:15:26 -0700
Subject: [PATCH 04/32] reduce diff

---
 system/webrtc/device/video.py | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 3ca55a140f6f03..691f3f618736c2 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -14,6 +14,7 @@ def __init__(self, camera_type: str):
     super().__init__(camera_type, dt)
 
     self._sock = messaging.sub_sock("livestreamCameraEncodeData", conflate=True)
+    self._pts = 0
     self._t0_ns = time.monotonic_ns()
 
   async def recv(self):
@@ -23,14 +24,15 @@ async def recv(self):
         break
       await asyncio.sleep(0.005)
 
-    encode_data = getattr(msg, msg.which())
+    evta = getattr(msg, msg.which())
 
-    packet = av.Packet(encode_data.header + encode_data.data)
+    packet = av.Packet(evta.header + evta.data)
     packet.time_base = self._time_base
 
-    pts = ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
-    packet.pts = pts
-    self.log_debug("track sending frame %d", pts)
+    self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
+    packet.pts = self._pts
+    self.log_debug("track sending frame %d", self._pts)
+
     return packet
 
   def codec_preference(self) -> str | None:

From 65f2332d1e97521d6195d75e45152bc3030dcceb Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 16:04:58 -0700
Subject: [PATCH 05/32] wire webrtc to livestream camera encoder

---
 system/webrtc/webrtcd.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 5f66e62bb85fde..822c55fa567a13 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -21,6 +21,7 @@
 from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
+INITIAL_CAMERA = "driver"
 REQUIRED_VIDEO_CODEC = "H264"
 
 class CerealOutgoingMessageProxy:
@@ -128,14 +129,10 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
-    from teleoprtc.info import parse_info_from_offer
 
-    config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
-    assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
-    for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+    builder.add_video_stream(INITIAL_CAMERA, LiveStreamVideoStreamTrack(INITIAL_CAMERA) if not debug_mode else VideoStreamTrack())
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -186,6 +183,8 @@ async def run(self):
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
+          if "livestreamCameraSwitch" in self.incoming_bridge_services:
+            self.incoming_bridge.send(json.dumps({"type": "livestreamCameraSwitch", "data": {"camera": INITIAL_CAMERA}}).encode())
           self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()

From 8c59f83f10070e984585a6b104a2a93145b0e5a3 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 16:17:07 -0700
Subject: [PATCH 06/32] request livestream camera switch service

---
 system/athena/athenad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 6b925fc2d24df3..34c2a766a338a0 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -571,7 +571,7 @@ def getNetworks():
 @dispatcher.add_method
 def startJoystickStream(sdp: str) -> dict:
   from openpilot.system.webrtc.webrtcd import StreamRequestBody
-  body = StreamRequestBody(sdp, ["driver"], ["testJoystick"], ["carState"])
+  body = StreamRequestBody(sdp, ["driver"], ["testJoystick", "livestreamCameraSwitch"], ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)

From 3499ac6fb65a9e5bd112b4b2d11a8bded826a536 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 14:09:25 -0700
Subject: [PATCH 07/32] add frame timing headers

---
 system/webrtc/device/video.py | 27 ++++++++++++++++++++++++---
 system/webrtc/webrtcd.py      | 31 +++++++++++++++++++++++++++----
 2 files changed, 51 insertions(+), 7 deletions(-)

diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 50feab4f4a910d..35036d7b505973 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -1,4 +1,5 @@
 import asyncio
+import struct
 import time
 
 import av
@@ -7,6 +8,13 @@
 from cereal import messaging
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
+# arbitrary 16-byte UUID identifying openpilot frame-timing SEI messages
+TIMING_SEI_UUID = bytes([
+  0xa5, 0xe0, 0xc4, 0xa4, 0x5b, 0x6e, 0x4e, 0x1e,
+  0x9c, 0x7e, 0x12, 0x34, 0x56, 0x78, 0x9a, 0xbc,
+])
+_SEI_PREFIX = b'\x00\x00\x00\x01\x06\x05\x30' + TIMING_SEI_UUID
+
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
   camera_to_sock_mapping = {
@@ -22,6 +30,21 @@ def __init__(self, camera_type: str):
     self._sock = messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
+    self.timing_sei_enabled = False
+
+  def _build_frame_data(self, msg) -> bytes:
+    encode_data = getattr(msg, msg.which())
+    if not self.timing_sei_enabled:
+      return encode_data.header + encode_data.data
+
+    idx = encode_data.idx
+    sei_nal = _SEI_PREFIX + struct.pack('>4d',
+      (idx.timestampEof - idx.timestampSof) / 1e6,
+      (msg.logMonoTime - idx.timestampEof) / 1e6,
+      (time.monotonic_ns() - msg.logMonoTime) / 1e6,
+      time.time() * 1000,  # noqa: TID251
+    ) + b'\x80'
+    return encode_data.header + sei_nal + encode_data.data
 
   async def recv(self):
     while True:
@@ -30,9 +53,7 @@ async def recv(self):
         break
       await asyncio.sleep(0.005)
 
-    evta = getattr(msg, msg.which())
-
-    packet = av.Packet(evta.header + evta.data)
+    packet = av.Packet(self._build_frame_data(msg))
     packet.time_base = self._time_base
 
     self._pts =  ((time.monotonic_ns() - self._t0_ns) * self._clock_rate) // 1_000_000_000
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 5f66e62bb85fde..176fb6e3dc2948 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import time
 import argparse
 import asyncio
 import contextlib
@@ -132,10 +133,13 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
 
     config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
+    self.video_tracks = []
 
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+      track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()
+      self.video_tracks.append(track)
+      builder.add_video_stream(cam, track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -174,9 +178,28 @@ async def get_answer(self):
     return await self.stream.start()
 
   def message_handler(self, message: bytes):
-    assert self.incoming_bridge is not None
     try:
-      self.incoming_bridge.send(message)
+      payload = json.loads(message) if isinstance(message, (bytes, str)) else None
+      if isinstance(payload, dict):
+        msg_type = payload.get("type")
+
+        if msg_type == "clockSync":
+          data = payload.get("data", {})
+          pong = json.dumps({"type": "clockSync", "data": {
+            "action": "pong", "browserSendTime": data.get("browserSendTime"), "deviceTime": time.time() * 1000, # noqa: TID251
+          }})
+          self.stream.get_messaging_channel().send(pong)
+          return
+
+        if msg_type == "enableTimingSei":
+          enabled = bool(payload.get("data", {}).get("enabled"))
+          for track in self.video_tracks:
+            if hasattr(track, 'timing_sei_enabled'):
+              track.timing_sei_enabled = enabled
+          return
+
+      if self.incoming_bridge is not None:
+        self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -186,7 +209,7 @@ async def run(self):
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-          self.stream.set_message_handler(self.message_handler)
+        self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)

From 9ae526b5e4e9f45409a1fd8fe3a0356b63b4de7d Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 16:48:46 -0700
Subject: [PATCH 08/32] rfctr

---
 system/webrtc/webrtcd.py | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 176fb6e3dc2948..7e44ba6851e4d2 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -198,8 +198,7 @@ def message_handler(self, message: bytes):
               track.timing_sei_enabled = enabled
           return
 
-      if self.incoming_bridge is not None:
-        self.incoming_bridge.send(message)
+      self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
 
@@ -209,7 +208,7 @@ async def run(self):
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-        self.stream.set_message_handler(self.message_handler)
+          self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)

From 753a6a17f591d48553f9e9d276e36893d354f65f Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 16:49:33 -0700
Subject: [PATCH 09/32] diff

---
 system/webrtc/webrtcd.py | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 7e44ba6851e4d2..e684771c571a7f 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -137,9 +137,7 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
 
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:
-      track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()
-      self.video_tracks.append(track)
-      builder.add_video_stream(cam, track)
+      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()))
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())

From 48c56fa7f7577c5aace4187da0436c808ddbf5e4 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 16:49:51 -0700
Subject: [PATCH 10/32] clean

---
 system/webrtc/webrtcd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index e684771c571a7f..25dcadfc0c91df 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -137,7 +137,7 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
 
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()))
+      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())

From 6deb216f33600f1ce67acd89bcb88961bd98fe4e Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 16:57:03 -0700
Subject: [PATCH 11/32] remove camera list in favour of init camera field

---
 system/athena/athenad.py |  2 +-
 system/webrtc/webrtcd.py | 16 ++++++++--------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 34c2a766a338a0..b414bff40dfe09 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -571,7 +571,7 @@ def getNetworks():
 @dispatcher.add_method
 def startJoystickStream(sdp: str) -> dict:
   from openpilot.system.webrtc.webrtcd import StreamRequestBody
-  body = StreamRequestBody(sdp, ["driver"], ["testJoystick", "livestreamCameraSwitch"], ["carState"])
+  body = StreamRequestBody(sdp, "driver", ["testJoystick", "livestreamCameraSwitch"], ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 822c55fa567a13..f83ec0f0072fd1 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -21,7 +21,6 @@
 from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
-INITIAL_CAMERA = "driver"
 REQUIRED_VIDEO_CODEC = "H264"
 
 class CerealOutgoingMessageProxy:
@@ -125,17 +124,18 @@ async def add_services_if_needed(self, services):
 class StreamSession:
   shared_pub_master = DynamicPubMaster([])
 
-  def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
+  def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False):
     from aiortc.mediastreams import VideoStreamTrack
     from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
     from teleoprtc import WebRTCAnswerBuilder
 
     builder = WebRTCAnswerBuilder(sdp)
 
-    builder.add_video_stream(INITIAL_CAMERA, LiveStreamVideoStreamTrack(INITIAL_CAMERA) if not debug_mode else VideoStreamTrack())
+    builder.add_video_stream(init_camera, LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack())
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
+    self.init_camera = init_camera
 
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services
@@ -152,8 +152,8 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
     self.logger.info(
-      "New stream session (%s), cameras %s, incoming services %s, outgoing services %s",
-      self.identifier, cameras, incoming_services, outgoing_services,
+      "New stream session (%s), init camera %s, incoming services %s, outgoing services %s",
+      self.identifier, init_camera, incoming_services, outgoing_services,
     )
 
   def start(self):
@@ -184,7 +184,7 @@ async def run(self):
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
           if "livestreamCameraSwitch" in self.incoming_bridge_services:
-            self.incoming_bridge.send(json.dumps({"type": "livestreamCameraSwitch", "data": {"camera": INITIAL_CAMERA}}).encode())
+            self.incoming_bridge.send(json.dumps({"type": "livestreamCameraSwitch", "data": {"camera": self.init_camera}}).encode())
           self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()
@@ -214,7 +214,7 @@ async def post_run_cleanup(self):
 @dataclass
 class StreamRequestBody:
   sdp: str
-  cameras: list[str]
+  initCamera: str
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
@@ -278,7 +278,7 @@ async def get_stream(request: 'web.Request'):
         await s.stop()
         del stream_dict[sid]
 
-      session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+      session = StreamSession(body.sdp, body.initCamera, body.bridge_services_in, body.bridge_services_out, debug_mode)
       try:
         answer = await session.get_answer()
       except Exception:

From 49af84c8b57219b29fd4ed41f132e08f37445e3f Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 17:07:48 -0700
Subject: [PATCH 12/32] remove cors

---
 system/webrtc/webrtcd.py | 22 +---------------------
 1 file changed, 1 insertion(+), 21 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 5f66e62bb85fde..76bd86bc3ad6f5 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -219,27 +219,9 @@ class StreamRequestBody:
   bridge_services_in: list[str] = field(default_factory=list)
   bridge_services_out: list[str] = field(default_factory=list)
 
-def _add_cors_headers(_, response: 'web.Response'):
-  response.headers["Access-Control-Allow-Origin"] = "*"
-  response.headers["Access-Control-Allow-Headers"] = "Content-Type"
-  response.headers["Access-Control-Allow-Methods"] = "POST, OPTIONS"
-  response.headers["Access-Control-Allow-Private-Network"] = "true"
-
-
-@web.middleware
-async def cors_middleware(request: 'web.Request', handler):
-  try:
-    response = await handler(request)
-  except web.HTTPException as ex:
-    _add_cors_headers(request, ex)
-    raise
-  _add_cors_headers(request, response)
-  return response
-
 
 async def stream_options(request: 'web.Request'):
   response = web.Response()
-  _add_cors_headers(request, response)
   return response
 
 
@@ -290,7 +272,6 @@ async def get_stream(request: 'web.Request'):
       stream_dict[session.identifier] = session
 
     response = web.json_response({"sdp": answer.sdp, "type": answer.type})
-    _add_cors_headers(request, response)
     return response
   except web.HTTPException:
     raise
@@ -335,13 +316,12 @@ def webrtcd_thread(host: str, port: int, debug: bool):
   logging.getLogger("WebRTCStream").setLevel(logging_level)
   logging.getLogger("webrtcd").setLevel(logging_level)
 
-  app = web.Application(middlewares=[cors_middleware])
+  app = web.Application()
 
   app['streams'] = dict()
   app['stream_lock'] = asyncio.Lock()
   app['debug'] = debug
   app.on_shutdown.append(on_shutdown)
-  app.router.add_route("OPTIONS", "/stream", stream_options)
   app.router.add_post("/stream", get_stream)
   app.router.add_post("/notify", post_notify)
   app.router.add_get("/schema", get_schema)

From ab7795ee0f3d50f78f1262b8703fd79184d00e0b Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 17:15:17 -0700
Subject: [PATCH 13/32] clean

---
 system/webrtc/webrtcd.py | 23 ++++++-----------------
 1 file changed, 6 insertions(+), 17 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 76bd86bc3ad6f5..d0fe7b349f0680 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -21,7 +21,6 @@
 from openpilot.system.webrtc.schema import generate_field
 from cereal import messaging, log
 
-REQUIRED_VIDEO_CODEC = "H264"
 
 class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
@@ -225,21 +224,6 @@ async def stream_options(request: 'web.Request'):
   return response
 
 
-def _validate_sdp_video_codecs(sdp: str):
-  import aiortc.sdp
-  desc = aiortc.sdp.SessionDescription.parse(sdp)
-  required_mime = f"video/{REQUIRED_VIDEO_CODEC}"
-  for m in desc.media:
-    if m.kind != "video":
-      continue
-    offered_mimes = {c.mimeType for c in m.rtp.codecs}
-    if required_mime not in offered_mimes:
-      raise web.HTTPBadRequest(
-        text=json.dumps({"error": "unsupported_codec", "message": f"Frontend must offer {REQUIRED_VIDEO_CODEC} via setCodecPreferences()"}),
-        content_type="application/json",
-      )
-
-
 async def get_stream(request: 'web.Request'):
   logger = logging.getLogger("webrtcd")
   try:
@@ -247,7 +231,6 @@ async def get_stream(request: 'web.Request'):
 
     raw_body = await request.json()
     body = StreamRequestBody(**raw_body)
-    _validate_sdp_video_codecs(body.sdp)
 
     async with request.app['stream_lock']:
       # Fully disconnect any other active stream before starting the replacement.
@@ -264,6 +247,12 @@ async def get_stream(request: 'web.Request'):
       session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
       try:
         answer = await session.get_answer()
+      except ValueError as e:
+        await session.stop()
+        raise web.HTTPBadRequest(
+          text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
+          content_type="application/json",
+        ) from e
       except Exception:
         await session.stop()
         raise

From d3ff632c7410fa1e51755e1d26af5b99c40e64cc Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 17:16:17 -0700
Subject: [PATCH 14/32] remove unused

---
 system/webrtc/webrtcd.py | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d0fe7b349f0680..dd1fa18194fadb 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -219,11 +219,6 @@ class StreamRequestBody:
   bridge_services_out: list[str] = field(default_factory=list)
 
 
-async def stream_options(request: 'web.Request'):
-  response = web.Response()
-  return response
-
-
 async def get_stream(request: 'web.Request'):
   logger = logging.getLogger("webrtcd")
   try:

From 503b085a3da3bb85bec2cfd96ee4b9832e9563fb Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 19:10:05 -0700
Subject: [PATCH 15/32] remove extra try except

---
 system/webrtc/webrtcd.py | 78 ++++++++++++++++++----------------------
 1 file changed, 35 insertions(+), 43 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index dd1fa18194fadb..d90c9e65b3cc54 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -190,7 +190,6 @@ async def run(self):
           channel = self.stream.get_messaging_channel()
           self.outgoing_bridge_runner.proxy.add_channel(channel)
           self.outgoing_bridge_runner.start()
-
       self.logger.info("Stream session (%s) connected", self.identifier)
 
       await self.stream.wait_for_disconnection()
@@ -220,48 +219,41 @@ class StreamRequestBody:
 
 
 async def get_stream(request: 'web.Request'):
-  logger = logging.getLogger("webrtcd")
-  try:
-    stream_dict, debug_mode = request.app['streams'], request.app['debug']
-
-    raw_body = await request.json()
-    body = StreamRequestBody(**raw_body)
-
-    async with request.app['stream_lock']:
-      # Fully disconnect any other active stream before starting the replacement.
-      for sid, s in list(stream_dict.items()):
-        if s.run_task and not s.run_task.done():
-          try:
-            ch = s.stream.get_messaging_channel()
-            ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
-          except Exception:
-            pass
-        await s.stop()
-        del stream_dict[sid]
-
-      session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
-      try:
-        answer = await session.get_answer()
-      except ValueError as e:
-        await session.stop()
-        raise web.HTTPBadRequest(
-          text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
-          content_type="application/json",
-        ) from e
-      except Exception:
-        await session.stop()
-        raise
-      session.start()
-
-      stream_dict[session.identifier] = session
-
-    response = web.json_response({"sdp": answer.sdp, "type": answer.type})
-    return response
-  except web.HTTPException:
-    raise
-  except Exception:
-    logger.exception("Error in /stream handler")
-    raise
+  stream_dict, debug_mode = request.app['streams'], request.app['debug']
+
+  raw_body = await request.json()
+  body = StreamRequestBody(**raw_body)
+
+  async with request.app['stream_lock']:
+    # Fully disconnect any other active stream before starting the replacement.
+    for sid, s in list(stream_dict.items()):
+      if s.run_task and not s.run_task.done():
+        try:
+          ch = s.stream.get_messaging_channel()
+          ch.send(json.dumps({"type": "connectionReplaced", "data": "Another device has connected, closing this session."}))
+        except Exception:
+          pass
+      await s.stop()
+      del stream_dict[sid]
+
+    session = StreamSession(body.sdp, body.cameras, body.bridge_services_in, body.bridge_services_out, debug_mode)
+    try:
+      answer = await session.get_answer()
+    except ValueError as e:
+      await session.stop()
+      raise web.HTTPBadRequest(
+        text=json.dumps({"error": "invalid_sdp", "message": str(e)}),
+        content_type="application/json",
+      ) from e
+    except Exception:
+      await session.stop()
+      raise
+    session.start()
+
+    stream_dict[session.identifier] = session
+
+  response = web.json_response({"sdp": answer.sdp, "type": answer.type})
+  return response
 
 
 async def get_schema(request: 'web.Request'):

From dfe118238ab30c629e68d6ac4e07ab7d89f11f08 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 11 May 2026 19:31:06 -0700
Subject: [PATCH 16/32] remove video_tracks unused

---
 system/webrtc/webrtcd.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 25dcadfc0c91df..08b26c47b585f0 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -133,7 +133,6 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
 
     config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
-    self.video_tracks = []
 
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:

From e860431630a7908c2a5c90433728696c86a5a843 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Tue, 12 May 2026 09:39:58 -0700
Subject: [PATCH 17/32] add back exception trace

---
 system/athena/athenad.py | 8 ++++----
 system/webrtc/webrtcd.py | 3 ++-
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 6b925fc2d24df3..5e21550a4e582b 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -582,10 +582,10 @@ def startJoystickStream(sdp: str) -> dict:
       except ValueError:
         resp.raise_for_status()
     return resp.json()
-  except requests.ConnectTimeout:
-    raise Exception("webrtc took too long to respond. is it on?") from None
-  except requests.ConnectionError:
-    raise Exception("webrtc is not running. turn on comma body ignition.") from None
+  except requests.ConnectTimeout as e:
+    raise Exception("webrtc took too long to respond. is it on?") from e
+  except requests.ConnectionError as e:
+    raise Exception("webrtc is not running. turn on comma body ignition.") from e
 
 
 @dispatcher.add_method
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d90c9e65b3cc54..4f8c38fe718936 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
+
 import argparse
 import asyncio
 import contextlib
 import json
-import logging
 import uuid
+import logging
 from dataclasses import dataclass, field
 from typing import Any, TYPE_CHECKING
 

From ea25eac5866cb43ec59beb57458f999f05b5ae8d Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Tue, 12 May 2026 11:38:57 -0700
Subject: [PATCH 18/32] add stream road camera info to stream cameras

---
 system/loggerd/loggerd.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 804550d80c772c..8c32dde89eb98b 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -154,4 +154,4 @@ const LogCameraInfo stream_driver_camera_info{
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
-const LogCameraInfo stream_cameras_logged[] = {stream_driver_camera_info, stream_wide_road_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_driver_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};

From 6427d17d9d9579794f1ce3c316a9dc44fcdfccaf Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Tue, 12 May 2026 11:40:08 -0700
Subject: [PATCH 19/32] fix

---
 system/loggerd/loggerd.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 8c32dde89eb98b..fe09d98d9460da 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -154,4 +154,4 @@ const LogCameraInfo stream_driver_camera_info{
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
-const LogCameraInfo stream_cameras_logged[] = {stream_driver_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_driver_camera_info, stream_wide_road_camera_info, stream_road_camera_info};

From d736aea4c2839e68cb800a7579a3bf0ebf367517 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Tue, 12 May 2026 11:42:59 -0700
Subject: [PATCH 20/32] add back assert

---
 system/webrtc/webrtcd.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 08b26c47b585f0..783ea52473fa98 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+
 import time
 import argparse
 import asyncio
@@ -175,6 +176,7 @@ async def get_answer(self):
     return await self.stream.start()
 
   def message_handler(self, message: bytes):
+    assert self.incoming_bridge is not None
     try:
       payload = json.loads(message) if isinstance(message, (bytes, str)) else None
       if isinstance(payload, dict):

From cc0a8c02069e9993e9a343488e86b00ffa8836d8 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Tue, 12 May 2026 16:26:39 -0700
Subject: [PATCH 21/32] clean diff

---
 system/webrtc/webrtcd.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 4f8c38fe718936..eb39e82bb7553e 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -221,7 +221,6 @@ class StreamRequestBody:
 
 async def get_stream(request: 'web.Request'):
   stream_dict, debug_mode = request.app['streams'], request.app['debug']
-
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
 

From 0f38abee5d9e6f03452631516b625f70d6645781 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Mon, 18 May 2026 19:03:11 -0700
Subject: [PATCH 22/32] clean diff

---
 system/webrtc/webrtcd.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index eb39e82bb7553e..7a51d45034e42b 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -252,8 +252,7 @@ async def get_stream(request: 'web.Request'):
 
     stream_dict[session.identifier] = session
 
-  response = web.json_response({"sdp": answer.sdp, "type": answer.type})
-  return response
+  return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
 
 async def get_schema(request: 'web.Request'):

From 1c32d41b34854a8028107c4af5f9facdb22dee2c Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 11:07:36 -0700
Subject: [PATCH 23/32] add testJoystick only on body

---
 system/athena/athenad.py | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 5e21550a4e582b..fc1edd712a2d21 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -569,9 +569,18 @@ def getNetworks():
 
 
 @dispatcher.add_method
-def startJoystickStream(sdp: str) -> dict:
+def startStream(sdp: str) -> dict:
   from openpilot.system.webrtc.webrtcd import StreamRequestBody
-  body = StreamRequestBody(sdp, ["driver"], ["testJoystick"], ["carState"])
+  bridge_services_in = ["livestreamCameraSwitch"]
+
+  # get live car params to avoid stale notCar edge case
+  cp_bytes = Params().get("CarParams")
+  if cp_bytes is not None:
+    with car.CarParams.from_bytes(cp_bytes) as CP:
+      if CP.notCar:
+        bridge_services_in.append("testJoystick")
+
+  body = StreamRequestBody(sdp, "driver", bridge_services_in, ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)

From be391a1f1cb399acfd5054dbf8e23063728a661d Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 11:15:09 -0700
Subject: [PATCH 24/32] fix camera list

---
 system/athena/athenad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index fc1edd712a2d21..a97429e808ba7e 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -580,7 +580,7 @@ def startStream(sdp: str) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
 
-  body = StreamRequestBody(sdp, "driver", bridge_services_in, ["carState"])
+  body = StreamRequestBody(sdp, ["driver"], bridge_services_in, ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)

From 2170f6be02236d19db5b40472ab16b0349886d0e Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 11:18:45 -0700
Subject: [PATCH 25/32] remove reference to future service

---
 system/athena/athenad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index a97429e808ba7e..2bff7886ddd03e 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -571,7 +571,7 @@ def getNetworks():
 @dispatcher.add_method
 def startStream(sdp: str) -> dict:
   from openpilot.system.webrtc.webrtcd import StreamRequestBody
-  bridge_services_in = ["livestreamCameraSwitch"]
+  bridge_services_in = []
 
   # get live car params to avoid stale notCar edge case
   cp_bytes = Params().get("CarParams")

From 08071fe27a748fdfa519ceaae45627573c26a6d4 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 13:08:40 -0700
Subject: [PATCH 26/32] video_tracks list add back

---
 system/webrtc/webrtcd.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index ed57950710627a..4d976d2043eac4 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -134,9 +134,12 @@ def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], o
     config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
+    self.video_tracks = []
     assert len(cameras) == config.n_expected_camera_tracks, "Incoming stream has misconfigured number of video tracks"
     for cam in cameras:
-      builder.add_video_stream(cam, LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack())
+      video_track = LiveStreamVideoStreamTrack(cam) if not debug_mode else VideoStreamTrack()
+      builder.add_video_stream(cam, video_track)
+      self.video_tracks.append(video_track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())

From 96b76fb054c7006b4c5f97b4126c9391e49366a0 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 18:36:07 -0700
Subject: [PATCH 27/32] encode all cameras and swap in video track in webrtc

---
 cereal/log.capnp                           | 12 -----
 cereal/services.py                         |  2 -
 system/athena/athenad.py                   |  2 +-
 system/loggerd/encoderd.cc                 | 57 +---------------------
 system/loggerd/loggerd.h                   | 25 ++++++++--
 system/webrtc/device/video.py              | 14 +++++-
 system/webrtc/tests/test_stream_session.py |  2 +-
 system/webrtc/webrtcd.py                   |  9 ++--
 8 files changed, 42 insertions(+), 81 deletions(-)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 5b4315b7a05da2..d12cd6cdc831ae 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2428,15 +2428,6 @@ struct AudioFeedback {
   blockNum @1 :UInt16;
 }
 
-struct LiveStreamCamera {
-  camera @0 :CameraType;
-
-  enum CameraType {
-    driver @0;
-    wideRoad @1;
-  }
-}
-
 struct Touch {
   sec @0 :Int64;
   usec @1 :Int64;
@@ -2546,9 +2537,6 @@ struct Event {
     livestreamWideRoadEncodeData @121 :EncodeData;
     livestreamDriverEncodeData @122 :EncodeData;
 
-    livestreamCameraEncodeData @152 :EncodeData;
-    livestreamCameraSwitch @153 :LiveStreamCamera;
-
     # *********** Custom: reserved for forks ***********
 
     # DO change the name of the field
diff --git a/cereal/services.py b/cereal/services.py
index d3dc8d4fa7e1a5..c2d38d852db133 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -77,7 +77,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
-  "livestreamCameraSwitch": (False, 0.),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
@@ -93,7 +92,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
-  "livestreamCameraEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
 }
 SERVICE_LIST = {name: Service(*vals) for
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 8f6407c747988d..6bccaae63eb424 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -580,7 +580,7 @@ def startStream(sdp: str) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
 
-  body = StreamRequestBody(sdp, "driver", bridge_services_in, ["carState"])
+  body = StreamRequestBody(sdp, "wideRoad", bridge_services_in, ["carState"])
   try:
     resp = requests.post(f"http://localhost:{WEBRTCD_PORT}/stream",
                        json=asdict(body), timeout=10)
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index b00b7b66aed33a..9d4b81a3f90230 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -151,61 +151,6 @@ void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
   }
 }
 
-template <size_t N>
-void stream_encoderd_thread(const LogCameraInfo (&cameras)[N]) {
-  while (!do_exit) {
-    if (!VisionIpcClient::getAvailableStreams("camerad", false).empty()) break;
-    util::sleep_for(100);
-  }
-
-  SubMaster sm({"livestreamCameraSwitch"});
-  const LogCameraInfo *active_cam = &cameras[0];
-
-  while (!do_exit) {
-    VisionIpcClient vipc_client("camerad", active_cam->stream_type, false);
-    if (!vipc_client.connect(false)) {
-      util::sleep_for(5);
-      continue;
-    }
-
-    // init encoder
-    const VisionBuf &buf_info = vipc_client.buffers[0];
-    LOGW("stream encoder init %zux%zu", buf_info.width, buf_info.height);
-    assert(buf_info.width > 0 && buf_info.height > 0);
-    auto encoder = std::make_unique<Encoder>(active_cam->encoder_infos[0], buf_info.width, buf_info.height);
-    encoder->encoder_open();
-
-    while (!do_exit) {
-      sm.update(0);
-
-      // Switch camera if the request differs from the current one
-      if (sm.updated("livestreamCameraSwitch")) {
-        auto requested = sm["livestreamCameraSwitch"].getLivestreamCameraSwitch().getCamera();
-        VisionStreamType requested_stream = requested == cereal::LiveStreamCamera::CameraType::DRIVER
-                                                ? VISION_STREAM_DRIVER : VISION_STREAM_WIDE_ROAD;
-        if (requested_stream != active_cam->stream_type) {
-          LOGW("stream encoder switching camera");
-          auto it = std::find_if(std::begin(cameras), std::end(cameras),
-                                 [requested_stream](const auto &cam) { return cam.stream_type == requested_stream; });
-          if (it != std::end(cameras)) active_cam = &(*it);
-          break;  // reinit encoder with new camera selection
-        }
-      }
-
-      // encode frame
-      VisionIpcBufExtra extra;
-      VisionBuf *buf = vipc_client.recv(&extra);
-      if (buf == nullptr) continue;
-      if (buf->get_frame_id() != extra.frame_id) continue;
-      if (encoder->encode_frame(buf, &extra) == -1) {
-        LOGE("stream encoder: failed to encode frame. frame_id: %d", extra.frame_id);
-      }
-    }
-
-    encoder->encoder_close();
-  }
-}
-
 int main(int argc, char* argv[]) {
   if (!Hardware::PC()) {
     int ret;
@@ -217,7 +162,7 @@ int main(int argc, char* argv[]) {
   if (argc > 1) {
     std::string arg1(argv[1]);
     if (arg1 == "--stream") {
-      stream_encoderd_thread(stream_cameras_logged);
+      encoderd_thread(stream_cameras_logged);
     } else {
       LOGE("Argument '%s' is not supported", arg1.c_str());
     }
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index fe09d98d9460da..9d0744d0d7ebf3 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -100,13 +100,28 @@ const EncoderInfo main_driver_encoder_info = {
   INIT_ENCODE_FUNCTIONS(DriverEncode),
 };
 
-const EncoderInfo stream_encoder_info = {
-  .publish_name = "livestreamCameraEncodeData",
+const EncoderInfo stream_road_encoder_info = {
+  .publish_name = "livestreamRoadEncodeData",
+  //.thumbnail_name = "thumbnail",
+  .record = false,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+};
+
+const EncoderInfo stream_wide_road_encoder_info = {
+  .publish_name = "livestreamWideRoadEncodeData",
   .record = false,
   .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
   INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
 };
 
+const EncoderInfo stream_driver_encoder_info = {
+  .publish_name = "livestreamDriverEncodeData",
+  .record = false,
+  .get_settings = [](int){return EncoderSettings::StreamEncoderSettings();},
+  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+};
+
 const EncoderInfo qcam_encoder_info = {
   .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
@@ -138,19 +153,19 @@ const LogCameraInfo driver_camera_info{
 const LogCameraInfo stream_road_camera_info{
   .thread_name = "road_cam_encoder",
   .stream_type = VISION_STREAM_ROAD,
-  .encoder_infos = {stream_encoder_info}
+  .encoder_infos = {stream_road_encoder_info}
 };
 
 const LogCameraInfo stream_wide_road_camera_info{
   .thread_name = "wide_road_cam_encoder",
   .stream_type = VISION_STREAM_WIDE_ROAD,
-  .encoder_infos = {stream_encoder_info}
+  .encoder_infos = {stream_wide_road_encoder_info}
 };
 
 const LogCameraInfo stream_driver_camera_info{
   .thread_name = "driver_cam_encoder",
   .stream_type = VISION_STREAM_DRIVER,
-  .encoder_infos = {stream_encoder_info}
+  .encoder_infos = {stream_driver_encoder_info}
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 691f3f618736c2..b46d0222030794 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -9,14 +9,26 @@
 
 
 class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
+  camera_to_sock_mapping = {
+    "driver": "livestreamDriverEncodeData",
+    "wideRoad": "livestreamWideRoadEncodeData",
+    "road": "livestreamRoadEncodeData",
+  }
+
   def __init__(self, camera_type: str):
     dt = DT_DMON if camera_type == "driver" else DT_MDL
     super().__init__(camera_type, dt)
 
-    self._sock = messaging.sub_sock("livestreamCameraEncodeData", conflate=True)
+    self._sock = self._make_sock(camera_type)
     self._pts = 0
     self._t0_ns = time.monotonic_ns()
 
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)
diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py
index 9730f9e16e3d07..f44d217d58ced6 100644
--- a/system/webrtc/tests/test_stream_session.py
+++ b/system/webrtc/tests/test_stream_session.py
@@ -67,7 +67,7 @@ def test_incoming_proxy(self, mocker):
       mocked_pubmaster.reset_mock()
 
   def test_livestream_track(self, mocker):
-    fake_msg = messaging.new_message("livestreamCameraEncodeData")
+    fake_msg = messaging.new_message("livestreamDriverEncodeData")
 
     config = {"receive.return_value": fake_msg.to_bytes()}
     mocker.patch("msgq.SubSocket", spec=True, **config)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index d4d52aebf07386..59b733420a03c7 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -131,7 +131,8 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
 
     builder = WebRTCAnswerBuilder(sdp)
 
-    builder.add_video_stream(init_camera, LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack())
+    self.video_track = LiveStreamVideoStreamTrack(init_camera) if not debug_mode else VideoStreamTrack()
+    builder.add_video_stream(init_camera, self.video_track)
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
@@ -173,6 +174,10 @@ async def get_answer(self):
   def message_handler(self, message: bytes):
     assert self.incoming_bridge is not None
     try:
+      msg_json = json.loads(message)
+      if msg_json.get("type") == "livestreamCameraSwitch" and hasattr(self.video_track, "switch_camera"):
+        self.video_track.switch_camera(msg_json["data"]["camera"])
+        return
       self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")
@@ -183,8 +188,6 @@ async def run(self):
       if self.stream.has_messaging_channel():
         if self.incoming_bridge is not None:
           await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services)
-          if "livestreamCameraSwitch" in self.incoming_bridge_services:
-            self.incoming_bridge.send(json.dumps({"type": "livestreamCameraSwitch", "data": {"camera": self.init_camera}}).encode())
           self.stream.set_message_handler(self.message_handler)
         if self.outgoing_bridge_runner is not None:
           channel = self.stream.get_messaging_channel()

From fc3bdac47fffb2284824eaae1438a344d2c232b8 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 19:04:52 -0700
Subject: [PATCH 28/32] clean

---
 system/loggerd/loggerd.h | 2 +-
 system/webrtc/webrtcd.py | 1 -
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 9d0744d0d7ebf3..01bce2c9ea7e7b 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -169,4 +169,4 @@ const LogCameraInfo stream_driver_camera_info{
 };
 
 const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
-const LogCameraInfo stream_cameras_logged[] = {stream_driver_camera_info, stream_wide_road_camera_info, stream_road_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 59b733420a03c7..91d35556d7b55c 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -136,7 +136,6 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
 
     self.stream = builder.stream()
     self.identifier = str(uuid.uuid4())
-    self.init_camera = init_camera
 
     self.incoming_bridge: CerealIncomingMessageProxy | None = None
     self.incoming_bridge_services = incoming_services

From 2cdd6f65a7ee331a984d167cd70ee08c90fd5546 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 19:15:59 -0700
Subject: [PATCH 29/32] explicitly gate bridge send

---
 system/webrtc/webrtcd.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 91d35556d7b55c..1caf3ccf5120c3 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -142,7 +142,7 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
     self.outgoing_bridge_runner: CerealProxyRunner | None = None
     if len(incoming_services) > 0:
-      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
+      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master, incoming_services)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)
@@ -177,6 +177,9 @@ def message_handler(self, message: bytes):
       if msg_json.get("type") == "livestreamCameraSwitch" and hasattr(self.video_track, "switch_camera"):
         self.video_track.switch_camera(msg_json["data"]["camera"])
         return
+
+      if msg_json.get("type") not in self.incoming_bridge_services:
+        return
       self.incoming_bridge.send(message)
     except Exception:
       self.logger.exception("Cereal incoming proxy failure")

From 207fefe3c4ce3de0829b1dd8ceceea6bfa087b49 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Thu, 21 May 2026 19:22:13 -0700
Subject: [PATCH 30/32] clean leftover

---
 system/webrtc/webrtcd.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 1caf3ccf5120c3..1239a1759cdea2 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -142,7 +142,7 @@ def __init__(self, sdp: str, init_camera: str, incoming_services: list[str], out
     self.outgoing_bridge: CerealOutgoingMessageProxy | None = None
     self.outgoing_bridge_runner: CerealProxyRunner | None = None
     if len(incoming_services) > 0:
-      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master, incoming_services)
+      self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master)
     if len(outgoing_services) > 0:
       self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services))
       self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge)

From 1d2c44f74a6d21ce070a47f97331853492f39bcf Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Fri, 22 May 2026 10:46:44 -0700
Subject: [PATCH 31/32] rearrange video.py

---
 system/webrtc/device/video.py | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 3ba4a93e9c2256..8a07c5b9be9c92 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -32,6 +32,12 @@ def __init__(self, camera_type: str):
     self._t0_ns = time.monotonic_ns()
     self.timing_sei_enabled = False
 
+  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
+    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
+
+  def switch_camera(self, camera_type: str) -> None:
+    self._sock = self._make_sock(camera_type)
+
   def _build_frame_data(self, msg) -> bytes:
     encode_data = getattr(msg, msg.which())
     if not self.timing_sei_enabled:
@@ -46,12 +52,6 @@ def _build_frame_data(self, msg) -> bytes:
     ) + b'\x80'
     return encode_data.header + sei_nal + encode_data.data
 
-  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
-    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
-
-  def switch_camera(self, camera_type: str) -> None:
-    self._sock = self._make_sock(camera_type)
-
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)

From 33c83cdf520d2fbdb144a6af45d4995172dee4c9 Mon Sep 17 00:00:00 2001
From: stefpi <19478336+stefpi@users.noreply.github.com>
Date: Fri, 22 May 2026 19:23:43 -0700
Subject: [PATCH 32/32] fix lint

---
 system/webrtc/device/video.py | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index e790a58f994ba1..8a07c5b9be9c92 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -52,12 +52,6 @@ def _build_frame_data(self, msg) -> bytes:
     ) + b'\x80'
     return encode_data.header + sei_nal + encode_data.data
 
-  def _make_sock(self, camera_type: str) -> messaging.SubSocket:
-    return messaging.sub_sock(self.camera_to_sock_mapping[camera_type], conflate=True)
-
-  def switch_camera(self, camera_type: str) -> None:
-    self._sock = self._make_sock(camera_type)
-
   async def recv(self):
     while True:
       msg = messaging.recv_one_or_none(self._sock)