mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-06 20:43:46 +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.
88 lines
2.4 KiB
Python
88 lines
2.4 KiB
Python
"""Short, namespaced camera leases. Manager alone owns camera processes."""
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import fcntl
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import hashlib
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import os
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from pathlib import Path
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import stat
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import tempfile
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import time
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TTL_NS = 27_000_000_000
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FRAME_TTL_NS = 5_000_000_000
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def boot_ns():
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return time.clock_gettime_ns(getattr(time, 'CLOCK_BOOTTIME', time.CLOCK_MONOTONIC))
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def _path(name):
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prefix = os.environ.get('OPENPILOT_PREFIX', 'd')
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namespace = hashlib.sha256(prefix.encode()).hexdigest()[:16]
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return Path('/dev/shm') / f'starpilot-camera-{os.getuid()}-{namespace}' / name
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def _read(path):
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fd = os.open(path, os.O_RDONLY | os.O_NOFOLLOW | os.O_NONBLOCK)
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try:
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info = os.fstat(fd)
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if not stat.S_ISREG(info.st_mode) or info.st_uid != os.getuid() or info.st_size > 32:
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raise ValueError('Invalid camera lease')
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return int(os.read(fd, 32))
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finally:
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os.close(fd)
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def _write(path, value):
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path = Path(path)
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path.parent.mkdir(mode=0o700, parents=True, exist_ok=True)
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info = path.parent.lstat()
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if not stat.S_ISDIR(info.st_mode) or info.st_uid != os.getuid() or info.st_mode & 0o077:
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raise OSError('Camera lease directory is not private')
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lock = os.open(path.with_name(path.name + '.lock'), os.O_WRONLY | os.O_CREAT | os.O_NOFOLLOW | os.O_NONBLOCK, 0o600)
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temporary = None
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try:
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info = os.fstat(lock)
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if not stat.S_ISREG(info.st_mode) or info.st_uid != os.getuid():
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raise OSError('Invalid camera lease lock')
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fcntl.flock(lock, fcntl.LOCK_EX)
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try:
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previous = _read(path)
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if abs(previous - value) <= TTL_NS:
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value = max(value, previous)
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except (OSError, ValueError):
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pass
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fd, temporary = tempfile.mkstemp(prefix=path.name + '.', dir=path.parent)
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try:
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os.write(fd, str(value).encode())
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finally:
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os.close(fd)
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os.replace(temporary, path)
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temporary = None
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finally:
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if temporary is not None:
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os.unlink(temporary)
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os.close(lock)
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def request(clock=boot_ns, path=None):
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_write(path or _path('lease'), clock() + TTL_NS)
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def requested(clock=boot_ns, path=None):
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try:
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remaining = _read(path or _path('lease')) - clock()
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return 0 < remaining <= TTL_NS
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except (OSError, ValueError):
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return False
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def mark_frame(clock=boot_ns, path=None):
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_write(path or _path('cabin-frame'), clock())
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def frame_available(clock=boot_ns, path=None):
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try:
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return 0 <= clock() - _read(path or _path('cabin-frame')) <= FRAME_TTL_NS
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except (OSError, ValueError):
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return False
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