76 lines
2.0 KiB
Python
Executable File
76 lines
2.0 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import json
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import signal
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import subprocess
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import time
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from PIL import Image
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from common.basedir import BASEDIR
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from common.params import Params
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from selfdrive.camerad.snapshot.visionipc import VisionIPC
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with open(BASEDIR + "/selfdrive/controls/lib/alerts_offroad.json") as json_file:
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OFFROAD_ALERTS = json.load(json_file)
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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 snapshot():
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params = Params()
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front_camera_allowed = int(params.get("RecordFront"))
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if params.get("IsTakingSnapshot") == b"1":
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return None
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params.put("IsTakingSnapshot", "1")
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params.put("Offroad_IsTakingSnapshot", json.dumps(OFFROAD_ALERTS["Offroad_IsTakingSnapshot"]))
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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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ps = subprocess.Popen("ps | grep camerad", shell=True, stdout=subprocess.PIPE)
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ret = list(filter(lambda x: 'grep ' not in x, ps.communicate()[0].decode('utf-8').strip().split("\n")))
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if len(ret) > 0:
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params.put("IsTakingSnapshot", "0")
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params.delete("Offroad_IsTakingSnapshot")
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return None
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proc = subprocess.Popen(os.path.join(BASEDIR, "selfdrive/camerad/camerad"), cwd=os.path.join(BASEDIR, "selfdrive/camerad"))
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time.sleep(3.0)
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ret = None
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start_time = time.time()
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while time.time() - start_time < 5.0:
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try:
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ipc = VisionIPC()
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pic = ipc.get()
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del ipc
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if front_camera_allowed:
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ipc_front = VisionIPC(front=True)
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fpic = ipc_front.get()
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del ipc_front
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else:
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fpic = None
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ret = pic, fpic
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break
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except Exception:
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time.sleep(1)
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proc.send_signal(signal.SIGINT)
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proc.communicate()
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params.put("IsTakingSnapshot", "0")
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params.delete("Offroad_IsTakingSnapshot")
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return ret
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if __name__ == "__main__":
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pic, fpic = snapshot()
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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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