regen: send vipc_client_extra frames (#24331)

* send extra frames to fix regen

* for sanity

* not used

* minimal changes

selfdrive/test/process_replay/process_replay.py

@@ -347,6 +347,7 @@ def setup_env(simulation=False):
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
   params.put_bool("DisengageOnAccelerator", True)
+  params.put_bool("EnableWideCamera", False)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"

selfdrive/test/process_replay/regen.py

@@ -114,19 +114,19 @@ def replay_service(s, msgs):
 
 def replay_cameras(lr, frs):
   eon_cameras = [
-    ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD),
+    ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
-    ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
+    ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
   ]
   tici_cameras = [
-    ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD),
+    ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
-    ("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER),
+    ("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
   ]
 
-  def replay_camera(s, stream, dt, vipc_server, frames, size):
+  def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
     pm = messaging.PubMaster([s, ])
     rk = Ratekeeper(1 / dt, print_delay_threshold=None)
 
-    img = b"\x00" * int(size[0]*size[1]*3/2)
+    img = b"\x00" * int(size[0] * size[1] * 3 / 2)
     while True:
       if frames is not None:
         img = frames[rk.frame % len(frames)]
@@ -141,6 +141,8 @@ def replay_cameras(lr, frs):
       pm.send(s, m)
 
       vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
+      if use_extra_client:
+        vipc_server.send(VisionStreamType.VISION_STREAM_WIDE_ROAD, img, msg.frameId, msg.timestampSof, msg.timestampEof)
 
   init_data = [m for m in lr if m.which() == 'initData'][0]
   cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
@@ -148,7 +150,7 @@ def replay_cameras(lr, frs):
   # init vipc server and cameras
   p = []
   vs = VisionIpcServer("camerad")
-  for (s, dt, size, stream) in cameras:
+  for (s, dt, size, stream, use_extra_client) in cameras:
     fr = frs.get(s, None)
 
     frames = None
@@ -160,8 +162,10 @@ def replay_cameras(lr, frs):
         frames.append(img.flatten().tobytes())
 
     vs.create_buffers(stream, 40, False, size[0], size[1])
+    if use_extra_client:
+      vs.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, size[0], size[1])
     p.append(multiprocessing.Process(target=replay_camera,
-                                     args=(s, stream, dt, vs, frames, size)))
+                                     args=(s, stream, dt, vs, frames, size, use_extra_client)))
 
   # hack to make UI work
   vs.create_buffers(VisionStreamType.VISION_STREAM_RGB_ROAD, 4, True, eon_f_frame_size[0], eon_f_frame_size[1])