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visionipc: remove RGB support (#33739)

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* visionipc: remove RGB support

* bump

* msgq master

* fix sim
This commit is contained in:
Adeeb Shihadeh
2024-10-07 13:24:57 -07:00
committed by GitHub
parent 2040f04c45
commit 853febe21d
8 changed files with 11 additions and 12 deletions
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2
msgq_repo

Submodule msgq_repo updated: cdcf84f44a...b4f0692c1a

6
selfdrive/modeld/tests/test_modeld.py
View File

@@ -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())

2
selfdrive/test/process_replay/process_replay.py
View File

@@ -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

2
selfdrive/ui/tests/test_ui/run.py
View File

@@ -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

2
system/camerad/cameras/camera_common.cc
View File

@@ -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);

3
system/loggerd/tests/test_loggerd.py
View File

@@ -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

2
tools/replay/camera.cc
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@@ -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));

4
tools/sim/lib/camerad.py
View File

@@ -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()