Update visionIPC stream and intrinsic matrix when going onroad (#20947)

* Choose correct vipc stream when going onroad

* whitespace

selfdrive/ui/ui.cc

@@ -245,7 +245,19 @@ static void update_status(UIState *s) {
 
       s->scene.is_rhd = Params().getBool("IsRHD");
       s->scene.end_to_end = Params().getBool("EndToEndToggle");
-      s->vipc_client = s->scene.driver_view ? s->vipc_client_front : s->vipc_client_rear;
+      s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
+
+      // Update intrinsics matrix after possible wide camera toggle change
+      ui_resize(s, s->fb_w, s->fb_h);
+
+      // Choose vision ipc client
+      if (s->scene.driver_view) {
+        s->vipc_client = s->vipc_client_front;
+      } else if (s->wide_camera){
+        s->vipc_client = s->vipc_client_wide;
+      } else {
+        s->vipc_client = s->vipc_client_rear;
+      }
     } else {
       s->vipc_client->connected = false;
     }
@@ -269,8 +281,10 @@ QUIState::QUIState(QObject *parent) : QObject(parent) {
   ui_state.last_frame = nullptr;
   ui_state.wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
 
-  ui_state.vipc_client_rear = new VisionIpcClient("camerad", ui_state.wide_camera ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK, true);
+  ui_state.vipc_client_rear = new VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, true);
   ui_state.vipc_client_front = new VisionIpcClient("camerad", VISION_STREAM_RGB_FRONT, true);
+  ui_state.vipc_client_wide = new VisionIpcClient("camerad", VISION_STREAM_RGB_WIDE, true);
+
   ui_state.vipc_client = ui_state.vipc_client_rear;
 
   // update timer

selfdrive/ui/ui.h

@@ -102,6 +102,7 @@ typedef struct UIState {
   VisionIpcClient * vipc_client;
   VisionIpcClient * vipc_client_front;
   VisionIpcClient * vipc_client_rear;
+  VisionIpcClient * vipc_client_wide;
   VisionBuf * last_frame;
 
   // framebuffer