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108 lines
3.0 KiB
108 lines
3.0 KiB
#!/usr/bin/env python3
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import os
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import signal
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import subprocess
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import time
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import numpy as np
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from PIL import Image
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import cereal.messaging as messaging
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from common.basedir import BASEDIR
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from common.params import Params
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from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size
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from selfdrive.hardware import TICI
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from selfdrive.controls.lib.alertmanager import set_offroad_alert
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def jpeg_write(fn, dat):
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img = Image.fromarray(dat)
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img.save(fn, "JPEG")
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def extract_image(dat, frame_sizes):
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img = np.frombuffer(dat, dtype=np.uint8)
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w, h = frame_sizes[len(img) // 3]
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b = img[::3].reshape(h, w)
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g = img[1::3].reshape(h, w)
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r = img[2::3].reshape(h, w)
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return np.dstack([r, g, b])
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def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
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frame_sizes = [eon_f_frame_size, eon_d_frame_size, leon_d_frame_size, tici_f_frame_size]
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frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes}
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sockets = []
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if frame is not None:
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sockets.append(frame)
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if front_frame is not None:
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sockets.append(front_frame)
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sm = messaging.SubMaster(sockets)
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while min(sm.logMonoTime.values()) == 0:
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sm.update()
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rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None
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front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None
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return rear, front
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def snapshot():
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params = Params()
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front_camera_allowed = params.get_bool("RecordFront")
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if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
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print("Already taking snapshot")
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return None, None
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params.put_bool("IsTakingSnapshot", True)
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set_offroad_alert("Offroad_IsTakingSnapshot", True)
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time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start
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# Check if camerad is already started
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try:
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subprocess.check_call(["pgrep", "camerad"])
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print("Camerad already running")
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params.put_bool("IsTakingSnapshot", False)
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params.delete("Offroad_IsTakingSnapshot")
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return None, None
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except subprocess.CalledProcessError:
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pass
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env = os.environ.copy()
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env["SEND_ROAD"] = "1"
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env["SEND_WIDE_ROAD"] = "1"
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if front_camera_allowed:
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env["SEND_DRIVER"] = "1"
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proc = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"),
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cwd=os.path.join(BASEDIR, "selfdrive/camerad"), env=env)
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time.sleep(3.0)
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frame = "wideRoadCameraState" if TICI else "roadCameraState"
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front_frame = "driverCameraState" if front_camera_allowed else None
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rear, front = get_snapshots(frame, front_frame)
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proc.send_signal(signal.SIGINT)
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proc.communicate()
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params.put_bool("IsTakingSnapshot", False)
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set_offroad_alert("Offroad_IsTakingSnapshot", False)
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if not front_camera_allowed:
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front = None
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return rear, front
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if __name__ == "__main__":
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pic, fpic = snapshot()
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if pic is not None:
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print(pic.shape)
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jpeg_write("/tmp/back.jpg", pic)
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jpeg_write("/tmp/front.jpg", fpic)
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else:
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print("Error taking snapshot")
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