Offroad/onroad guarding

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -835,6 +835,9 @@ class AugmentedRoadView(CameraView):
       self._reverse_driver_camera_active = False
       return
 
+    if getattr(self, "_onroad_reentry_pending", False):
+      self._refresh_available_streams()
+
     if self._update_reverse_driver_camera_state():
       self.switch_stream(DRIVER_CAM)
       return
@@ -857,7 +860,8 @@ class AugmentedRoadView(CameraView):
     else:
       target = ROAD_CAM
 
-    if self.stream_type != target or (self._switching and self._target_stream_type != target):
+    if (getattr(self, "_onroad_reentry_pending", False) or
+        self.stream_type != target or (self._switching and self._target_stream_type != target)):
       self.switch_stream(target)
 
   def _update_calibration(self):

selfdrive/ui/mici/tests/test_camera_cleanup.py

@@ -164,3 +164,34 @@ def test_reverse_activation_cancels_mismatched_pending_switch():
   assert view._target_client is None
   assert view._target_stream_type is None
   assert not view._switching
+
+
+def test_onroad_transition_marks_camera_reentry(monkeypatch):
+  module = big_cameraview
+
+  class FakeClient:
+    pass
+
+  view = module.CameraView.__new__(module.CameraView)
+  view._name = "camerad"
+  view._stream_type = object()
+  view.client = FakeClient()
+  view.frame = None
+  view.available_streams = []
+  view._target_client = None
+  view._target_stream_type = None
+  view._switching = False
+  view._texture_needs_update = False
+  view._regressive_frame_count = 1
+  view._closed = True
+  view._onroad_reentry_pending = False
+  view._reentry_stream_selected = False
+  view._clear_textures = lambda: None
+
+  monkeypatch.setattr(module, "VisionIpcClient", lambda *_args, **_kwargs: FakeClient())
+  monkeypatch.setattr(module.ui_state, "is_onroad", lambda: True)
+
+  view._offroad_transition()
+
+  assert view._onroad_reentry_pending
+  assert not view._reentry_stream_selected

selfdrive/ui/onroad/augmented_road_view.py

@@ -205,6 +205,9 @@ class AugmentedRoadView(CameraView):
       self._reverse_driver_camera_active = False
       return
 
+    if getattr(self, "_onroad_reentry_pending", False):
+      self._refresh_available_streams()
+
     if self._update_reverse_driver_camera_state():
       target = DRIVER_CAM
     elif camera_view == CAMERA_VIEW_DRIVER:
@@ -225,7 +228,8 @@ class AugmentedRoadView(CameraView):
     else:
       target = ROAD_CAM
 
-    if self.stream_type != target or (self._switching and self._target_stream_type != target):
+    if (getattr(self, "_onroad_reentry_pending", False) or
+        self.stream_type != target or (self._switching and self._target_stream_type != target)):
       self.switch_stream(target)
 
   def _update_calibration(self):

selfdrive/ui/onroad/cameraview.py

@@ -130,6 +130,8 @@ class CameraView(Widget):
 
     self._placeholder_color: rl.Color | None = None
     self._closed = False
+    self._onroad_reentry_pending = False
+    self._reentry_stream_selected = False
 
     if self._use_egl and not self._create_egl_texture():
       cloudlog.error("CameraView EGL texture creation failed, falling back to texture rendering")
@@ -164,12 +166,23 @@ class CameraView(Widget):
     self._switching = False
     self._texture_needs_update = True
     self.last_connection_attempt = 0.0
+    self._onroad_reentry_pending = ui_state.is_onroad()
+    self._reentry_stream_selected = False
 
   def _set_placeholder_color(self, color: rl.Color):
     """Set a placeholder color to be drawn when no frame is available."""
     self._placeholder_color = color
 
+  def _refresh_available_streams(self) -> None:
+    streams = VisionIpcClient.available_streams(self._name, block=False)
+    if streams:
+      self.available_streams = list(streams)
+
   def switch_stream(self, stream_type: VisionStreamType) -> None:
+    if getattr(self, "_onroad_reentry_pending", False):
+      self._select_reentry_stream(stream_type)
+      return
+
     if self._switching:
       if self._target_stream_type == stream_type:
         return
@@ -194,6 +207,23 @@ class CameraView(Widget):
     self._target_stream_type = None
     self._switching = False
 
+  def _select_reentry_stream(self, stream_type: VisionStreamType) -> None:
+    """Select the desired stream before displaying any post-transition frame."""
+    self._cancel_pending_switch()
+
+    if self._stream_type != stream_type:
+      old_client = self.client
+      self.client = None
+      del old_client
+      self.client = VisionIpcClient(self._name, stream_type, conflate=True)
+      self._stream_type = stream_type
+
+    self.frame = None
+    self._last_frame_id = -1
+    self._regressive_frame_count = 0
+    self._texture_needs_update = True
+    self._reentry_stream_selected = True
+
   @property
   def stream_type(self) -> VisionStreamType:
     return self._stream_type
@@ -219,6 +249,8 @@ class CameraView(Widget):
     self.available_streams.clear()
     self.client = None
     self._target_client = None
+    self._onroad_reentry_pending = False
+    self._reentry_stream_selected = False
 
   def __del__(self):
     self.close()
@@ -245,6 +277,10 @@ class CameraView(Widget):
     if self._switching:
       self._handle_switch()
 
+    if self._onroad_reentry_pending and not self._reentry_stream_selected:
+      # Standalone CameraView users have no higher-level stream selector.
+      self._select_reentry_stream(self._stream_type)
+
     if not self._ensure_connection():
       self._draw_placeholder(rect)
       return
@@ -333,6 +369,8 @@ class CameraView(Widget):
     self._last_frame_id = content_frame_id
     self._regressive_frame_count = 0
     self._texture_needs_update = True
+    self._onroad_reentry_pending = False
+    self._reentry_stream_selected = False
     return True
 
   def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> bool:
@@ -475,6 +513,9 @@ class CameraView(Widget):
 
     # Initialize textures for new stream
     self._initialize_textures()
+    available_streams = getattr(self.client, "available_streams", None)
+    if available_streams is not None:
+      self.available_streams = available_streams(self._name, block=False)
 
   def _initialize_textures(self):
     self._clear_textures()

selfdrive/ui/tests/test_camera_frame_order.py

@@ -15,6 +15,7 @@ class FakeFrame:
 def _camera_view():
   view = big_cameraview.CameraView.__new__(big_cameraview.CameraView)
   view._name = "camerad"
+  view._stream_type = big_cameraview.VisionStreamType.VISION_STREAM_ROAD
   view.frame = None
   view._last_frame_id = -1
   view._regressive_frame_count = 0
@@ -41,6 +42,67 @@ def test_pending_switch_is_cancelled_when_requested_stream_is_current():
   assert not view._switching
 
 
+def test_onroad_reentry_selects_requested_stream_before_rendering(monkeypatch):
+  view = _camera_view()
+  view._name = "camerad"
+  view._stream_type = big_cameraview.VisionStreamType.VISION_STREAM_WIDE_ROAD
+  view.client = object()
+  view._target_client = object()
+  view._target_stream_type = big_cameraview.VisionStreamType.VISION_STREAM_ROAD
+  view._switching = True
+  view._onroad_reentry_pending = True
+  view._reentry_stream_selected = False
+  clients = []
+
+  class FakeClient:
+    def __init__(self, name, stream_type, conflate):
+      self.name = name
+      self.stream_type = stream_type
+      self.conflate = conflate
+      clients.append(self)
+
+  monkeypatch.setattr(big_cameraview, "VisionIpcClient", FakeClient)
+  view.switch_stream(big_cameraview.VisionStreamType.VISION_STREAM_ROAD)
+
+  assert len(clients) == 1
+  assert view.client is clients[0]
+  assert view.client.stream_type == big_cameraview.VisionStreamType.VISION_STREAM_ROAD
+  assert view.stream_type == big_cameraview.VisionStreamType.VISION_STREAM_ROAD
+  assert view._target_client is None
+  assert view._target_stream_type is None
+  assert not view._switching
+  assert view._reentry_stream_selected
+
+
+def test_onroad_reentry_guard_clears_on_first_fresh_frame():
+  view = _camera_view()
+  view._onroad_reentry_pending = True
+  view._reentry_stream_selected = True
+
+  assert view._accept_frame(FakeFrame(frame_id=1, idx=0), packet_frame_id=1)
+  assert not view._onroad_reentry_pending
+  assert not view._reentry_stream_selected
+
+
+def test_standalone_camera_reentry_selects_configured_stream():
+  view = _camera_view()
+  view._switching = False
+  view._onroad_reentry_pending = True
+  view._reentry_stream_selected = False
+  selected = []
+  placeholders = []
+  view._select_reentry_stream = lambda stream_type: (
+    selected.append(stream_type), setattr(view, "_reentry_stream_selected", True)
+  )
+  view._draw_placeholder = lambda rect: placeholders.append(rect)
+  view._ensure_connection = lambda: False
+
+  view._render(object())
+
+  assert selected == [view._stream_type]
+  assert len(placeholders) == 1
+
+
 def test_reused_egl_slot_cannot_move_camera_backwards(monkeypatch):
   monkeypatch.setattr(big_cameraview.cloudlog, "warning", lambda *_args, **_kwargs: None)
   view = _camera_view()