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Add USBCANFD transport and visualize 0x391 door feedback

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zmv
2026-09-24 15:41:49 +08:00
parent 475fe2440b
commit 515a9f32d8
37 changed files with 1074 additions and 13 deletions
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src/main.cpp
+4 -2
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@@ -11,7 +11,7 @@ int main(int argc,char** argv)try {
auto root=std::filesystem::canonical("/proc/self/exe").parent_path().parent_path();
auto configPath=root/"config/camera.json";
cms::OutputOptions output;output.directory=root/"output";
bool visualize=true;
bool visualize=true,disableCan=false;
std::filesystem::path recordSession,replaySession;
std::map<std::string,std::function<void(int&)>> arguments{
{"--record-session",[&](int&i){if(++i>=argc)throw std::invalid_argument("--record-session needs a directory");recordSession=argv[i];}},
@@ -19,14 +19,16 @@ int main(int argc,char** argv)try {
{"--save-original",[&](int&){output.original=true;}},
{"--save-annotated",[&](int&){output.annotated=true;}},
{"--save-results",[&](int&){output.results=true;}},
{"--no-can",[&](int&){disableCan=true;}},
{"--visualize",[&](int&){visualize=true;}},
{"--no-visualize",[&](int&){visualize=false;}},
{"--config",[&](int&i){if(++i>=argc)throw std::invalid_argument("--config needs a file");configPath=argv[i];}},
{"--help",[](int&){std::cout<<"camera_risk [--record-session NEW_DIR] [--replay-session DIR] [--save-original] [--save-annotated] [--save-results] [--config FILE] [--visualize|--no-visualize]\nVisualization is enabled by default for live inference, recording and replay.\nContinuous camera inference; replay runs to EOF without a camera.\nH.264 sessions require a new recording directory. Stop with Ctrl+C or SIGTERM to finalize video.\n";std::exit(0);}}
{"--help",[](int&){std::cout<<"camera_risk [--record-session NEW_DIR] [--replay-session DIR] [--save-original] [--save-annotated] [--save-results] [--config FILE] [--no-can] [--visualize|--no-visualize]\nLive CAN/CANFD reception is enabled by default; replay uses recorded CAN only.\nVisualization is enabled by default for live inference, recording and replay.\nContinuous camera inference; replay runs to EOF without a camera.\nH.264 sessions require a new recording directory. Stop with Ctrl+C or SIGTERM to finalize video.\n";std::exit(0);}}
};
for(int i=1;i<argc;++i){auto handler=arguments.find(argv[i]);if(handler==arguments.end())throw std::invalid_argument("Unknown option: "+std::string(argv[i]));handler->second(i);}
auto config=cms::loadConfig(configPath);config.output=output;config.record_session=recordSession;config.replay_session=replaySession;
if(disableCan)config.can.enabled=false;
cms::CameraPipeline pipeline(config);
cms::StopSignals signals(pipeline);
pipeline.start();