added timing

start.sh

@@ -16,6 +16,7 @@ CLEAN_SHM=0
 KAMIL_ADC_MODE=0
 AUTO_START=0
 PRODUCER_ONLY=0
+HEADLESS=0
 
 print_usage() {
     cat <<'EOF'
@@ -25,6 +26,10 @@ Options:
   --kamil-adc      Use the Raspberry Pi Kamil ADC profile
   --profile PATH   Use a specific GUI/run config profile
   --auto-start     Start the GUI pipeline automatically after launch
+  --headless       Run without a display (Qt offscreen platform) and apply
+                   the active radar config, then start the pipeline. Suitable
+                   for unattended Raspberry Pi deployments. Implies
+                   --auto-start.
   --producer-only  Run only the raw producer selected by the profile
   --skip-build     Skip C++ build step
   --build-only     Build C++ binaries and exit
@@ -59,6 +64,10 @@ parse_args() {
             --auto-start)
                 AUTO_START=1
                 ;;
+            --headless)
+                HEADLESS=1
+                AUTO_START=1
+                ;;
             --producer-only)
                 PRODUCER_ONLY=1
                 ;;
@@ -140,12 +149,15 @@ ensure_python_dependencies() {
         exit 1
     fi
 
-    if ! "${VENV_PYTHON}" -c "${dependency_check}" >/dev/null 2>&1; then
-        echo "[start.sh] Installing Python dependencies into virtual environment..."
-        "${VENV_PIP}" install --upgrade pip
-        "${VENV_PIP}" install -r "${REQUIREMENTS_FILE}"
+    if "${VENV_PYTHON}" -c "${dependency_check}" >/dev/null 2>&1; then
+        PYTHON_CMD="${VENV_PYTHON}"
+        return
     fi
 
+    echo "[start.sh] Installing Python dependencies into virtual environment..."
+    "${VENV_PIP}" install --upgrade pip
+    "${VENV_PIP}" install -r "${REQUIREMENTS_FILE}"
+
     if ! "${VENV_PYTHON}" -c "${dependency_check}" >/dev/null 2>&1; then
         echo "Required Python dependencies are still unavailable in virtual environment: ${PROJECT_ROOT}/.venv" >&2
         exit 1
@@ -234,6 +246,10 @@ EOF
 }
 
 build_cpp_binaries() {
+    if make -C "${PROJECT_ROOT}" -q all >/dev/null 2>&1; then
+        echo "[start.sh] C++ binaries are up to date; skipping build."
+        return
+    fi
     local jobs
     jobs="${BUILD_JOBS:-$(nproc)}"
     echo "[start.sh] Building C++ binaries (jobs=${jobs})..."
@@ -265,6 +281,16 @@ run_gui() {
         export RADAR_SYSTEM_AUTO_START=1
         echo "[start.sh] GUI auto-start is enabled."
     fi
+    if ((HEADLESS == 1)); then
+        # Qt offscreen platform lets the GUI controller and its event loop run
+        # on a machine with no display (typical Raspberry Pi deployment). All
+        # backend services — supervisor, Python device drivers, SHM readers,
+        # locator client (vlc) handling — continue to work unchanged.
+        export QT_QPA_PLATFORM=offscreen
+        export RADAR_SYSTEM_HEADLESS=1
+        export RADAR_SYSTEM_AUTO_APPLY_RADAR=1
+        echo "[start.sh] Headless mode: Qt offscreen + auto apply-radar + auto-start."
+    fi
 
     echo "[start.sh] Launching GUI..."
     exec "${PYTHON_CMD}" "${GUI_ENTRY}"