Enhance VASM annotations: clarify button labels and add retry snapshot functionality

starpilot/system/the_galaxy/assets/components/sidebar.js

@@ -23,7 +23,7 @@ const MENU_ITEMS = {
     { name: "Plots", link: "/plots", icon: "bi-graph-up-arrow" },
     { name: "Testing Ground", link: "/testing_ground", icon: "bi-bezier2" },
     { name: "Troubleshoot", link: "/troubleshoot", icon: "bi-tools" },
-    { name: "V-ASM Annotations", link: "/manage_v_asm", icon: "bi-eye" },
+    { name: "V-Adj Spot Monitor", link: "/manage_v_asm", icon: "bi-eye" },
     { name: "Theme Maker", link: "/theme_maker", icon: "bi-palette-fill" },
     { name: "Tmux Log", link: "/manage_tmux", icon: "bi-terminal" },
     { name: "Backup and Restore", link: "/manage_toggles", icon: "bi-arrow-repeat" },

starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json

@@ -323,7 +323,7 @@
         "ui_type": "toggle",
         "is_parent_toggle": true,
         "requires_nonempty_key": "VASMAnnotationConfig",
-        "disabled_reason": "Configure window annotations first in Galaxy > V-ASM Annotations",
+        "disabled_reason": "Configure window annotations first in Galaxy > V-Adj Spot Monitor",
         "settings_tier": "advanced"
       },
       {

starpilot/system/the_galaxy/assets/components/tools/v_asm.js

@@ -67,8 +67,8 @@ function redraw() {
   }
 
   const sides = [
-    { key: "left", points: state.leftPoints, fillColor: "rgba(13, 110, 253, 0.25)", borderColor: "#0d6efd", label: "LEFT" },
-    { key: "right", points: state.rightPoints, fillColor: "rgba(253, 126, 20, 0.25)", borderColor: "#fd7e14", label: "RIGHT" },
+    { key: "left", points: state.leftPoints, fillColor: "rgba(13, 110, 253, 0.25)", borderColor: "#0d6efd", label: "LEFT OF IMAGE" },
+    { key: "right", points: state.rightPoints, fillColor: "rgba(253, 126, 20, 0.25)", borderColor: "#fd7e14", label: "RIGHT OF IMAGE" },
   ];
 
   for (const side of sides) {
@@ -429,7 +429,7 @@ export function VASMAnnotations() {
             <ul class="v-asm-card-list">
               <li>Trace the visible glass (front and rear side windows on each side, as seen by the driver camera). Mask as much of the window area as possible.</li>
               <li>Exclude A-pillars, door frames, and interior. Include the side mirror if visible through the glass.</li>
-              <li>The B-pillar is fine to include if needed for a continuous mask. Your head or body being in frame is fine (that is part of the training data). Be consistent left vs right.</li>
+              <li>The B-pillar is fine to include as needed for a continuous mask. Your head or body being in frame is fine (that is part of the training data). Be consistent left vs right.</li>
             </ul>
           </div>
 
@@ -451,11 +451,11 @@ export function VASMAnnotations() {
           <div class="v-asm-btn-group">
             <button class="${state.annotating === "left" ? "v-asm-btn v-asm-btn-left-active" : "v-asm-btn v-asm-btn-outline-left"}"
                     @click="${startAnnotate}" value="left">
-              ${state.annotating === "left" ? "Annotating Left..." : "Annotate Left"}
+              ${state.annotating === "left" ? "Annotating Left (perspective of image)..." : "Annotate Left (as seen)"}
             </button>
             <button class="${state.annotating === "right" ? "v-asm-btn v-asm-btn-right-active" : "v-asm-btn v-asm-btn-outline-right"}"
                     @click="${startAnnotate}" value="right">
-              ${state.annotating === "right" ? "Annotating Right..." : "Annotate Right"}
+              ${state.annotating === "right" ? "Annotating Right (perspective of image)..." : "Annotate Right (as seen)"}
             </button>
             ${state.annotating ? html`<button class="v-asm-btn v-asm-btn-primary" @click="${finishSide}">Finish ${state.annotating === "left" ? "Left" : "Right"}</button>` : ""}
 
@@ -464,6 +464,9 @@ export function VASMAnnotations() {
             </button>
             ${state.configExists ? html`<button class="v-asm-btn v-asm-btn-danger" @click="${deleteConfig}" .disabled="${state.loading}">Delete Config</button>` : ""}
             <button class="v-asm-btn v-asm-btn-secondary" @click="${clearAll}">Clear All</button>
+            <button class="v-asm-btn v-asm-btn-secondary" @click="${retrySnapshot}" .disabled="${state.loading}">
+              ${state.loading ? "Loading..." : "Get a new Snapshot"}
+            </button>
           </div>
 
           <div class="v-asm-points-summary">

starpilot/system/the_galaxy/the_galaxy.py

@@ -23,6 +23,9 @@ import selectors
 import shutil
 import signal
 import subprocess
+import numpy as np
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+from PIL import Image
 import threading
 import time
 import traceback
@@ -6381,10 +6384,10 @@ def setup(app):
     pw_hash = hashlib.sha256(password.encode()).hexdigest()
     GALAXY_DIR.mkdir(parents=True, exist_ok=True)
     GALAXY_AUTH_FILE.write_text(pw_hash)
-    
+
     # Generate 256-bit secure session token
     GALAXY_SESSION_FILE.write_text(secrets.token_hex(32))
-    
+
     # Generate 16-character alphanumeric routing slug
     charset = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789"
     slug = ''.join(secrets.choice(charset) for _ in range(16))
@@ -7446,31 +7449,61 @@ def setup(app):
 
   @app.route("/api/v_asm/snapshot", methods=["GET"])
   def v_asm_snapshot():
-    if params.get_bool("IsOnroad"):
-      return jsonify({"error": "Snapshot only available while offroad."}), 409
+    jpeg = _get_live_driver_jpeg()
+    if jpeg is not None:
+      return Response(jpeg, mimetype="image/jpeg")
+    return jsonify({"error": "Unable to capture live frame from driver camera."}), 503
 
-    for footage_path in FOOTAGE_PATHS:
-      if not os.path.isdir(footage_path):
-        continue
+
+  def _get_live_driver_jpeg():
+    from openpilot.system.manager.process_config import managed_processes
+    started = False
+    try:
       try:
-        entries = sorted((e for e in os.listdir(footage_path) if utilities.SEGMENT_RE.fullmatch(e)), reverse=True)
-      except OSError:
-        continue
-      for entry in entries[:3]:
-        camera_file = os.path.join(footage_path, entry, "dcamera.hevc")
-        if not os.path.isfile(camera_file):
-          continue
-        for seek_time in ("5", "2", None):
-          command = ["ffmpeg", "-hide_banner", "-loglevel", "error", "-nostdin", "-i", camera_file]
-          if seek_time is not None:
-            command.extend(["-ss", seek_time])
-          command.extend(["-frames:v", "1", "-q:v", "2", "-f", "image2pipe", "-vcodec", "mjpeg", "-"])
-          try:
-            result = subprocess.run(command, capture_output=True, check=True, timeout=5, stdin=subprocess.DEVNULL)
-            return Response(result.stdout, mimetype="image/jpeg")
-          except (subprocess.CalledProcessError, FileNotFoundError, subprocess.TimeoutExpired):
-            continue
-    return jsonify({"error": "No driver camera footage available."}), 404
+        subprocess.check_call(["pgrep", "camerad"])
+      except subprocess.CalledProcessError:
+        managed_processes['camerad'].start()
+        started = True
+
+      client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+      if not client.connect(True):
+        return None
+
+      if started:
+        settle_deadline = time.monotonic() + 4.0
+        while time.monotonic() < settle_deadline:
+          client.recv(timeout_ms=100)
+
+      buf = client.recv(timeout_ms=5000)
+      if buf is None:
+        return None
+
+      y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
+      u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride // 2))[:buf.height // 2, :buf.width // 2]
+      v = np.array(buf.data[buf.uv_offset + 1::2], dtype=np.uint8).reshape((-1, buf.stride // 2))[:buf.height // 2, :buf.width // 2]
+
+      ul = np.repeat(np.repeat(u, 2).reshape(u.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+      vl = np.repeat(np.repeat(v, 2).reshape(v.shape[0], y.shape[1]), 2, axis=0).reshape(y.shape)
+
+      yuv = np.dstack((y, ul, vl)).astype(np.int16)
+      yuv[:, :, 1:] -= 128
+
+      m = np.array([
+        [1.00000,  1.00000, 1.00000],
+        [0.00000, -0.39465, 2.03211],
+        [1.13983, -0.58060, 0.00000],
+      ])
+      rgb = np.dot(yuv, m).clip(0, 255).astype(np.uint8)
+
+      img = Image.fromarray(rgb)
+      buf_io = BytesIO()
+      img.save(buf_io, format="JPEG", quality=85)
+      return buf_io.getvalue()
+    except Exception:
+      return None
+    finally:
+      if started:
+        managed_processes['camerad'].stop()
 
   @app.route("/api/v_asm/config", methods=["GET"])
   def v_asm_get_config():