mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 05:23:41 +08:00
Prabhaav Pillai
c532223fa0
Bundle the verified VASM model, enable it at startup, and split VASM and vision speed-sign inference across little cores when both are active. Restore VASM warnings in PiP activation, red outlines, and onroad blind-spot borders, including expanded Android Auto views. Improve cabin snapshots with longer warm-up, adjusted capture timeouts, a fresh preview frame, and clearer capture buttons and save prompts. Polish Galaxy settings with dimmed gated controls and icons, clearer vehicle fingerprinting and steering availability descriptions, rounded speed-offset ranges, and immediate refresh after saving. Improve updater startup messages and preserve update/reconnect screens across service interruptions and restarts. Add regression tests for the updated behavior.
72 lines
2.4 KiB
Python
72 lines
2.4 KiB
Python
"""One bounded parked snapshot from an already-running camera owner."""
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import subprocess
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import sys
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import threading
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import time
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CAMERAS = frozenset(("cabin", "wide", "narrow"))
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MAX_JPEG_BYTES = 1_000_000
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_CAPTURE_LOCK = threading.Lock()
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class SnapshotUnavailable(Exception):
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pass
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class SnapshotDenied(SnapshotUnavailable):
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pass
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class CameraSnapshot:
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def __init__(self, *, spawn=subprocess.Popen, clock=time.monotonic):
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self.spawn, self.clock = spawn, clock
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self.last_request = {}
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def capture(self, camera: str, *, permitted) -> bytes:
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if camera not in CAMERAS:
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raise ValueError("Unknown camera")
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if not permitted():
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raise SnapshotDenied
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if not _CAPTURE_LOCK.acquire(blocking=False):
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raise SnapshotUnavailable("Another snapshot is in progress")
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process = None
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try:
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if self.clock() - self.last_request.get(camera, float('-inf')) < 1:
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raise SnapshotUnavailable("Wait before another snapshot")
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self.last_request[camera] = self.clock()
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from openpilot.starpilot.galaxy.camera_request import request, boot_ns
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request()
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frame_after = boot_ns()
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deadline = self.clock() + (24 if camera == "cabin" else 12)
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process = self.spawn([sys.executable, '-m', 'openpilot.starpilot.galaxy.camera_snapshot_worker', camera],
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stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, close_fds=True)
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while self.clock() < deadline:
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if not permitted():
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raise SnapshotDenied
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try:
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body, _ = process.communicate(timeout=min(.1, max(.001, deadline - self.clock())))
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except subprocess.TimeoutExpired:
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continue
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if not permitted():
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raise SnapshotDenied
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if (process.returncode != 0 or not 4 <= len(body) <= MAX_JPEG_BYTES or
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not body.startswith(b'\xff\xd8') or not body.endswith(b'\xff\xd9')):
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raise SnapshotUnavailable("No fresh camera frame")
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if camera == "cabin":
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from openpilot.starpilot.galaxy.camera_request import mark_frame
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mark_frame(clock=lambda: frame_after)
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return body
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raise SnapshotUnavailable("Camera timed out")
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except OSError as error:
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raise SnapshotUnavailable("Camera unavailable") from error
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finally:
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if process is not None:
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if process.poll() is None:
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process.kill()
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process.wait()
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if process.stdout is not None:
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process.stdout.close()
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_CAPTURE_LOCK.release()
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