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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.
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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/main.cpp
+1 -1
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@@ -23,7 +23,7 @@ int main(int argc,char** argv)try {
{"--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] [--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);}}
{"--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 and per-result 0x1F6 binary risk transmission on CH0 only are enabled by default.\nRisk: clear=0, all other levels=1; --no-can disables both reception and transmission.\nReplay uses recorded CAN only and never transmits.\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);}