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snapshot.py only broadcast front frame when necessary (#20612)

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* snapshot.py only broadcast front frame when necessary

* whitespace
This commit is contained in:
Willem Melching
2021-04-07 14:58:38 +02:00
committed by GitHub
parent 0dca8cb7dd
commit dfedf9d0de
1 changed files with 15 additions and 5 deletions
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selfdrive/camerad/snapshot/snapshot.py
+15 -5
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@@ -33,12 +33,18 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
frame_sizes = [eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size]
frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes}
sm = messaging.SubMaster([frame, front_frame])
sockets = []
if frame is not None:
sockets.append(frame)
if front_frame is not None:
sockets.append(front_frame)
sm = messaging.SubMaster(sockets)
while min(sm.logMonoTime.values()) == 0:
sm.update()
rear = extract_image(sm[frame].image, frame_sizes)
front = extract_image(sm[front_frame].image, frame_sizes)
rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None
front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None
return rear, front
@@ -68,13 +74,17 @@ def snapshot():
env = os.environ.copy()
env["SEND_ROAD"] = "1"
env["SEND_WIDE_ROAD"] = "1"
env["SEND_DRIVER"] = "1"
if front_camera_allowed:
env["SEND_DRIVER"] = "1"
proc = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"),
cwd=os.path.join(BASEDIR, "selfdrive/camerad"), env=env)
time.sleep(3.0)
frame = "wideRoadCameraState" if TICI else "roadCameraState"
rear, front = get_snapshots(frame)
front_frame = "driverCameraState" if front_camera_allowed else None
rear, front = get_snapshots(frame, front_frame)
proc.send_signal(signal.SIGINT)
proc.communicate()