automatically detect available camera streams (#27640)

* remove WideCameraOnly

* check in set_initial_state

* no block

* remove try block

* apply reviews
old-commit-hash: 4ae0378f63

common/params.cc

@@ -186,7 +186,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WideCameraOnly", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
     {"ApiCache_DriveStats", PERSISTENT},
     {"ApiCache_NavDestinations", PERSISTENT},

selfdrive/controls/controlsd.py

@@ -9,6 +9,7 @@ from common.realtime import sec_since_boot, config_realtime_process, Priority, R
 from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
+from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
@@ -82,8 +83,6 @@ class Controls:
       ignore = ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
-      if self.params.get_bool('WideCameraOnly'):
-        ignore += ['roadCameraState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
@@ -438,6 +437,10 @@ class Controls:
       all_valid = CS.canValid and self.sm.all_checks()
       timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
       if all_valid or timed_out or SIMULATION:
+        available_streams = VisionIpcClient.available_streams("camerad", block=False)
+        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
+          self.sm.ignore_alive.append('roadCameraState')
+
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 

selfdrive/modeld/modeld.cc

@@ -179,9 +179,6 @@ int main(int argc, char **argv) {
     assert(ret == 0);
   }
 
-  bool main_wide_camera = Params().getBool("WideCameraOnly");
-  bool use_extra_client = !main_wide_camera;  // set for single camera mode
-
   // cl init
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
   cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
@@ -191,6 +188,18 @@ int main(int argc, char **argv) {
   model_init(&model, device_id, context);
   LOGW("models loaded, modeld starting");
 
+  bool main_wide_camera = false;
+  while (!do_exit) {
+    auto streams = VisionIpcClient::getAvailableStreams("camerad", false);
+    if (!streams.empty()) {
+      main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0;
+      break;
+    }
+
+    util::sleep_for(100);
+  }
+
+  bool use_extra_client = !main_wide_camera;  // set for single camera mode
   VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context);
   VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context);
 

selfdrive/test/process_replay/process_replay.py

@@ -459,7 +459,6 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None,
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
   params.put_bool("DisengageOnAccelerator", True)
-  params.put_bool("WideCameraOnly", False)
   params.put_bool("DisableLogging", False)
 
   os.environ["NO_RADAR_SLEEP"] = "1"

tools/sim/bridge.py

@@ -254,7 +254,6 @@ class CarlaBridge:
     msg.liveCalibration.validBlocks = 20
     msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
     self.params.put("CalibrationParams", msg.to_bytes())
-    self.params.put_bool("WideCameraOnly", not arguments.dual_camera)
 
     self._args = arguments
     self._carla_objects = []
@@ -545,23 +544,17 @@ if __name__ == "__main__":
   q: Any = Queue()
   args = parse_args()
 
-  try:
-    carla_bridge = CarlaBridge(args)
-    p = carla_bridge.run(q)
+  carla_bridge = CarlaBridge(args)
+  p = carla_bridge.run(q)
 
-    if args.joystick:
-      # start input poll for joystick
-      from tools.sim.lib.manual_ctrl import wheel_poll_thread
+  if args.joystick:
+    # start input poll for joystick
+    from tools.sim.lib.manual_ctrl import wheel_poll_thread
 
-      wheel_poll_thread(q)
-    else:
-      # start input poll for keyboard
-      from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
-
-      keyboard_poll_thread(q)
-    p.join()
+    wheel_poll_thread(q)
+  else:
+    # start input poll for keyboard
+    from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
 
-  finally:
-    # Try cleaning up the wide camera param
-    # in case users want to use replay after
-    Params().remove("WideCameraOnly")
+    keyboard_poll_thread(q)
+  p.join()