ui: auto detect available streams (#27470)

* auto detect available streams

* no switch if wide cam not available

* clear frames before getAvailableStreams

* warning

* clear at same time

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: d5375af2f5c9f74cb88ffa1ab52feb9fef77a43c

selfdrive/ui/qt/onroad.cc

@@ -648,16 +648,18 @@ void AnnotatedCameraWidget::paintGL() {
     }
 
     // Wide or narrow cam dependent on speed
-    float v_ego = sm["carState"].getCarState().getVEgo();
-    if ((v_ego < 10) || s->wide_cam_only) {
-      wide_cam_requested = true;
-    } else if (v_ego > 15) {
-      wide_cam_requested = false;
+    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
+    if (has_wide_cam) {
+      float v_ego = sm["carState"].getCarState().getVEgo();
+      if ((v_ego < 10) || available_streams.size() == 1) {
+        wide_cam_requested = true;
+      } else if (v_ego > 15) {
+        wide_cam_requested = false;
+      }
+      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
+      // for replay of old routes, never go to widecam
+      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
-    wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
-    // TODO: also detect when ecam vision stream isn't available
-    // for replay of old routes, never go to widecam
-    wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
     s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;

selfdrive/ui/qt/widgets/cameraview.cc

@@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                           stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
   QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
 }
 
 CameraWidget::~CameraWidget() {
@@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() {
   }
 }
 
+void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
+  available_streams = streams;
+}
+
 void CameraWidget::updateFrameMat() {
   int w = width(), h = height();
 
@@ -366,6 +372,14 @@ void CameraWidget::vipcThread() {
 
     if (!vipc_client->connected) {
       clearFrames();
+      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+      if (streams.empty()) {
+        qWarning() << "VisionIPC connected, but no streams available";
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcAvailableStreamsUpdated(streams);
+
       if (!vipc_client->connect(false)) {
         QThread::msleep(100);
         continue;
@@ -400,4 +414,5 @@ void CameraWidget::vipcThread() {
 void CameraWidget::clearFrames() {
   std::lock_guard lk(frame_lock);
   frames.clear();
+  available_streams.clear();
 }

selfdrive/ui/qt/widgets/cameraview.h

@@ -41,6 +41,7 @@ signals:
   void clicked();
   void vipcThreadConnected(VisionIpcClient *);
   void vipcThreadFrameReceived();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
   void paintGL() override;
@@ -71,6 +72,7 @@ protected:
   int stream_stride = 0;
   std::atomic<VisionStreamType> active_stream_type;
   std::atomic<VisionStreamType> requested_stream_type;
+  std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
 
   // Calibration
@@ -88,4 +90,7 @@ protected:
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
   void vipcFrameReceived();
+  void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
+
+Q_DECLARE_METATYPE(std::set<VisionStreamType>);

selfdrive/ui/ui.cc

@@ -234,7 +234,6 @@ void UIState::updateStatus() {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
-      wide_cam_only = Params().getBool("WideCameraOnly");
     }
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
@@ -256,7 +255,6 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   });
 
   Params params;
-  wide_cam_only = params.getBool("WideCameraOnly");
   prime_type = std::atoi(params.get("PrimeType").c_str());
   language = QString::fromStdString(params.get("LanguageSetting"));
 

selfdrive/ui/ui.h

@@ -150,7 +150,6 @@ public:
   QString language;
 
   QTransform car_space_transform;
-  bool wide_cam_only;
 
 signals:
   void uiUpdate(const UIState &s);