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Fix live CAN feedback with CH0-only asynchronous risk transmission

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Send 0x1F6 risk updates through a bounded latest-result worker on CH0 and disable CH1 initialization, reception, transmission and live display. Preserve the four actual-position bytes from 0x391 and recorded-session compatibility.

Include regression coverage, Orin camera/TensorRT/CAN validation, and the verified standalone binary with refreshed checksums.
This commit is contained in:
zmv
2026-09-28 13:59:26 +08:00
parent 515a9f32d8
commit f87e5aad40
16 changed files with 346 additions and 37 deletions
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src/camera_pipeline.cpp
+4 -1
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@@ -173,7 +173,10 @@ struct CameraPipeline::Impl {
if(recorded.contains("can"))result->can=deserializeCan(recorded.at("can"));
else result->can.status="NOT_RECORDED";
result->can.source="replay";
}else result->can=can->snapshot();
}else {
if(!sessionReader&&config.can.enabled)can->queueRisk(result->risk.risk_level);
result->can=can->snapshot();
}
attachPoses(*result,fused);
result->image=std::move(detected->frame.image);result->door_mask_pixels=doorPixels;
result->door_mask_calibration_verified=config.door_mask_calibration_verified;