From 853febe21d7b629d4211f7f7adf4d2e5b97f030e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 7 Oct 2024 13:24:57 -0700 Subject: [PATCH] visionipc: remove RGB support (#33739) * visionipc: remove RGB support * bump * msgq master * fix sim --- msgq_repo | 2 +- selfdrive/modeld/tests/test_modeld.py | 6 +++--- selfdrive/test/process_replay/process_replay.py | 2 +- selfdrive/ui/tests/test_ui/run.py | 2 +- system/camerad/cameras/camera_common.cc | 2 +- system/loggerd/tests/test_loggerd.py | 3 +-- tools/replay/camera.cc | 2 +- tools/sim/lib/camerad.py | 4 ++-- 8 files changed, 11 insertions(+), 12 deletions(-) diff --git a/msgq_repo b/msgq_repo index cdcf84f44a..b4f0692c1a 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit cdcf84f44a4edd40f7aa4d06eb95550ac64b3b37 +Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 145ba31ade..6927c9e473 100644 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/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()) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index a5008931c8..ef17325642 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/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 diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index a918a57364..0b98cb0b38 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/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 diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 769557d70b..9fa9bb6a73 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/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); diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index cfd1247702..34abe553a1 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/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 - diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc index 914c18e15f..73243ed20d 100644 --- a/tools/replay/camera.cc +++ b/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)); diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py index b58cbeaaf2..be4e1a610c 100644 --- a/tools/sim/lib/camerad.py +++ b/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()