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https://github.com/firestar5683/StarPilot.git
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firestar5683
694b460f80
Provide laptop and device build entry points, cache compatibility checks and developer tooling. Keep distribution assets and model packaging available before runtime consumers. Co-authored-by: Danny <dannyirwin31@yahoo.com> Co-authored-by: Prabhaav Pillai <prabhaav@msu.edu> Co-authored-by: dirwin31 <83434411+dirwin31@users.noreply.github.com> Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Co-authored-by: prabhaavp <prabhaav@msu.edu>
60 lines
2.3 KiB
Python
60 lines
2.3 KiB
Python
"""Synthetic visual alert for a private desktop replay session only."""
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import argparse
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import os
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import signal
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import time
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from openpilot.tools.replay.onroad import PREFIX_RE, _ipc_root
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def main(argv: list[str] | None = None) -> int:
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parser = argparse.ArgumentParser(description="Preview a synthetic critical visual alert during private replay")
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parser.add_argument("--delay", type=float, default=20.0)
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parser.add_argument("--hold", type=float, default=5.0)
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args = parser.parse_args(argv)
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prefix = os.environ.get("OPENPILOT_PREFIX", "")
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ipc = _ipc_root(prefix)
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if (os.environ.get("SP_HOST_RUNTIME") != "1" or PREFIX_RE.fullmatch(prefix) is None or
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ipc.is_symlink() or not ipc.is_dir() or ipc.stat().st_uid != os.getuid()):
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parser.error("alert preview requires an isolated host replay session")
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if not (0 <= args.delay <= 120 and 0 < args.hold <= 30):
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parser.error("invalid alert preview timing")
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from openpilot.cereal import log, messaging
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from openpilot.common.realtime import Ratekeeper
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running = True
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def stop(_signum, _frame) -> None:
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nonlocal running
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running = False
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previous = {sig: signal.signal(sig, stop) for sig in (signal.SIGINT, signal.SIGTERM, signal.SIGHUP)}
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try:
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publisher = messaging.PubMaster(["selfdriveState"])
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rate = Ratekeeper(100, print_delay_threshold=None)
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def send(active: bool) -> None:
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message = messaging.new_message("selfdriveState")
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message.valid = True
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state = message.selfdriveState
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state.alertSize = log.SelfdriveState.AlertSize.full if active else log.SelfdriveState.AlertSize.none
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state.alertStatus = log.SelfdriveState.AlertStatus.critical if active else log.SelfdriveState.AlertStatus.normal
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state.alertText1 = "TAKE CONTROL IMMEDIATELY" if active else ""
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state.alertText2 = "Developer visual alert preview" if active else ""
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state.alertType = "developerVisualPreview" if active else ""
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publisher.send("selfdriveState", message)
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start = time.monotonic()
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while running:
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now = time.monotonic() - start
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send(args.delay <= now < args.delay + args.hold)
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rate.keep_time()
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return 0
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finally:
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for sig, handler in previous.items():
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signal.signal(sig, handler)
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if __name__ == "__main__":
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raise SystemExit(main())
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