mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-13 07:53:45 +08:00
firestar5683
aaac7a6733
Present saved configuration and live driving state through native Small and Big UI layouts. Support per-field tune resets, movable widgets, camera availability, and a unified speed card while preserving decision-bound actions.
62 lines
2.3 KiB
Python
62 lines
2.3 KiB
Python
"""Display-only V-ASM warning subscription for the native side-camera preview."""
|
|
|
|
from collections.abc import Callable
|
|
from typing import Any
|
|
|
|
import openpilot.cereal.messaging as messaging
|
|
|
|
|
|
def _new_reader() -> Any:
|
|
# Keep the camera inference package out of the normal UI startup path.
|
|
from openpilot.starpilot.spot_monitor.observation import ObservationReader
|
|
return ObservationReader()
|
|
|
|
|
|
class PiPWarningSource:
|
|
"""Keep one nonblocking full-Event subscription while the preview is eligible."""
|
|
|
|
def __init__(self, *, subscribe: Callable[[], Any] | None = None,
|
|
receive: Callable[[Any], Any] | None = None,
|
|
reader: Any = None):
|
|
self._subscribe = subscribe or (lambda: messaging.sub_sock("spotMonitorState", conflate=True))
|
|
self._receive = receive or messaging.recv_one_or_none
|
|
self._reader = reader
|
|
self._socket: Any = None
|
|
self._active = False
|
|
|
|
def close(self) -> None:
|
|
if not self._active:
|
|
return
|
|
self._active = False
|
|
socket, self._socket = self._socket, None
|
|
self._reader = None
|
|
if socket is not None:
|
|
close = getattr(socket, "close", None)
|
|
if callable(close):
|
|
try:
|
|
close()
|
|
except Exception:
|
|
pass # Losing an optional visual feed cannot interrupt the UI.
|
|
|
|
def sample(self, *, enabled: bool, settings_fingerprint: str,
|
|
now_mono_ns: int, now_boot_ns: int) -> tuple[bool, bool]:
|
|
if not enabled or not isinstance(settings_fingerprint, str) or len(settings_fingerprint) != 64:
|
|
self.close()
|
|
return False, False
|
|
try:
|
|
if self._socket is None:
|
|
self._socket = self._subscribe()
|
|
self._active = True
|
|
if self._reader is None:
|
|
self._reader = _new_reader()
|
|
event = self._receive(self._socket)
|
|
warning = (self._reader.read(event, now_mono_ns=now_mono_ns, now_boot_ns=now_boot_ns,
|
|
settings_fingerprint=settings_fingerprint) if event is not None else
|
|
self._reader.current_at(now_mono_ns=now_mono_ns, now_boot_ns=now_boot_ns,
|
|
settings_fingerprint=settings_fingerprint))
|
|
return bool(warning.display_left.warning), bool(warning.display_right.warning)
|
|
except Exception:
|
|
# An optional display feed cannot take down the onroad UI.
|
|
self.close()
|
|
return False, False
|