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.
66 lines
2.3 KiB
Python
66 lines
2.3 KiB
Python
"""CPU-only frame reader. Does not start or stop camerad or change Params."""
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from io import BytesIO
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import sys
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import time
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from PIL import Image
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from msgq.visionipc import VisionIpcClient
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from openpilot.cereal.visionipc import VisionStreamType
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from openpilot.starpilot.galaxy.camera_snapshot import MAX_JPEG_BYTES
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from openpilot.system.camerad.snapshot import extract_image
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STREAMS = {"cabin": VisionStreamType.VISION_STREAM_CABIN, "wide": VisionStreamType.VISION_STREAM_WIDE_ROAD,
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"narrow": VisionStreamType.VISION_STREAM_NARROW_ROAD}
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CABIN_SETTLE_NS = 10_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 capture(camera, *, client_factory=VisionIpcClient, clock=boot_ns):
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started = clock()
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client = client_factory("camerad", STREAMS[camera], True)
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while not client.connect(False):
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if clock() - started > 9_000_000_000:
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return None
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time.sleep(.1)
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connected = clock()
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while clock() - started < (22_000_000_000 if camera == "cabin" else 10_000_000_000):
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frame = client.recv(timeout_ms=100)
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now = clock()
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if camera == "cabin" and now - connected < CABIN_SETTLE_NS:
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continue
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# Native camerad does not populate VIPC extra.valid; use capture freshness.
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if frame is None or not started < client.timestamp_sof <= client.timestamp_eof <= now:
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continue
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if now - client.timestamp_sof > 500_000_000:
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continue
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width, height, stride, uv_offset = frame.width, frame.height, frame.stride, frame.uv_offset
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uv_height = ((height // 2 + 15) // 16) * 16
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if (not 0 < width <= 4096 or not 0 < height <= 4096 or width % 2 or height % 2 or
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not width <= stride <= 8192 or stride % 2 or not stride * height <= uv_offset <= stride * 4096 or
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uv_offset % stride or len(frame.data) < uv_offset + stride * uv_height):
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return None
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image = Image.fromarray(extract_image(frame))
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image.thumbnail((1280, 720))
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output = BytesIO()
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image.save(output, format="JPEG", quality=85)
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body = output.getvalue()
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return body if len(body) <= MAX_JPEG_BYTES else None
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return None
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if __name__ == '__main__':
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try:
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result = capture(sys.argv[1]) if len(sys.argv) == 2 and sys.argv[1] in STREAMS else None
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if result is not None:
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sys.stdout.buffer.write(result)
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else:
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sys.exit(1)
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except Exception:
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sys.exit(1)
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