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modeld: use any available stream as main, if there's only one (#28514) 

* Use whatever stream is available as main, if there's only one

* Move logw somewhere else

* Add wideRoadCameraState to ignore_alive if its not available
old-commit-hash: 4eb3d54149
This commit is contained in:
Kacper Rączy 2023-06-13 05:13:56 +02:00 committed by GitHub
parent 7855571bf4
commit 8aa845a1c8
2 changed files with 5 additions and 1 deletions
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2
selfdrive/controls/controlsd.py
View File

@ -440,6 +440,8 @@ class Controls:
available_streams = VisionIpcClient.available_streams("camerad", block=False)
if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
self.sm.ignore_alive.append('roadCameraState')
if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
self.sm.ignore_alive.append('wideRoadCameraState')
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])

4
selfdrive/modeld/modeld.cc
View File

@ -189,9 +189,11 @@ int main(int argc, char **argv) {
LOGW("models loaded, modeld starting");
bool main_wide_camera = false;
bool use_extra_client = true; // set to false to use single camera
while (!do_exit) {
auto streams = VisionIpcClient::getAvailableStreams("camerad", false);
if (!streams.empty()) {
use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0;
main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0;
break;
}
@ -199,9 +201,9 @@ int main(int argc, char **argv) {
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);
LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client);
while (!do_exit && !vipc_client_main.connect(false)) {
util::sleep_for(100);