visionipc: remove RGB support (#33739)

* visionipc: remove RGB support

* bump

* msgq master

* fix sim

msgq_repo

@@ -1 +1 @@
-Subproject commit cdcf84f44a4edd40f7aa4d06eb95550ac64b3b37
+Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d

selfdrive/modeld/tests/test_modeld.py

@@ -19,9 +19,9 @@ class TestModeld:
 
   def setup_method(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
     self.vipc_server.start_listener()
     Params().put("CarParams", get_demo_car_params().to_bytes())
 

selfdrive/test/process_replay/process_replay.py

@@ -212,7 +212,7 @@ class ProcessContainer:
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
+        vipc_server.create_buffers(meta.stream, 2, *frame_size)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server

selfdrive/ui/tests/test_ui/run.py

@@ -48,7 +48,7 @@ def setup_settings_toggles(click, pm: PubMaster):
 def setup_onroad(click, pm: PubMaster):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
-    vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
+    vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
   vipc_server.start_listener()
 
   uidebug_received_cnt = 0

system/camerad/cameras/camera_common.cc

@@ -89,7 +89,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset);

system/loggerd/tests/test_loggerd.py

@@ -150,7 +150,7 @@ class TestLoggerd:
     pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
-      vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
     vipc_server.start_listener()
 
     num_segs = random.randint(2, 5)
@@ -281,4 +281,3 @@ class TestLoggerd:
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
-

tools/replay/camera.cc

@@ -51,7 +51,7 @@ void CameraServer::startVipcServer() {
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
       auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
-      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height,
+      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height,
                                               nv12_buffer_size, nv12_width, nv12_width * nv12_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));

tools/sim/lib/camerad.py

@@ -18,9 +18,9 @@ class Camerad:
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
     if dual_camera:
-      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H)
 
     self.vipc_server.start_listener()