Fix desktop raylib replay synchronization

selfdrive/ui/onroad/cameraview.py

@@ -6,7 +6,7 @@ import pyray as rl
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.system.hardware import PC, TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import (
   init_egl, is_egl_initialized, finish_gl, create_egl_image, destroy_egl_image,
@@ -364,7 +364,9 @@ class CameraView(Widget):
         f"Dropping inconsistent {self._name} frame: content={content_frame_id}, packet={packet_frame_id}"
       )
       return False
-    if content_frame_id < self._last_frame_id:
+    # Device camera frame IDs are monotonic; reject older reusable ring-buffer
+    # slots there. Desktop replay intentionally lowers IDs when seeking backward.
+    if not PC and content_frame_id < self._last_frame_id:
       self._regressive_frame_count += 1
       if self._regressive_frame_count == 1 or self._regressive_frame_count % 100 == 0:
         message = f"Dropping regressive {self._name} frame: content={content_frame_id}, packet={packet_frame_id}, "

selfdrive/ui/tests/test_camera_frame_order.py

@@ -106,6 +106,7 @@ def test_standalone_camera_reentry_selects_configured_stream():
 
 def test_reused_egl_slot_cannot_move_camera_backwards(monkeypatch):
   monkeypatch.setattr(big_cameraview.cloudlog, "warning", lambda *_args, **_kwargs: None)
+  monkeypatch.setattr(big_cameraview, "PC", False)
   view = _camera_view()
 
   displayed = FakeFrame(frame_id=10, idx=0)
@@ -122,6 +123,19 @@ def test_reused_egl_slot_cannot_move_camera_backwards(monkeypatch):
   assert view._regressive_frame_count == 1
 
 
+def test_texture_camera_accepts_regressive_replay_frame(monkeypatch):
+  monkeypatch.setattr(big_cameraview, "PC", True)
+  view = _camera_view()
+
+  assert view._accept_frame(FakeFrame(frame_id=1140, idx=0), packet_frame_id=1140)
+  rewind = FakeFrame(frame_id=660, idx=1)
+
+  assert view._accept_frame(rewind, packet_frame_id=660)
+  assert view.frame is rewind
+  assert view._last_frame_id == 660
+  assert view._regressive_frame_count == 0
+
+
 def test_newer_camera_frame_is_accepted():
   view = _camera_view()
   view._last_frame_id = 30
@@ -150,6 +164,7 @@ def test_shared_camera_has_upstream_shaders_and_driver_enhancement():
 
 def test_shared_camera_falls_back_after_repeated_regressive_frames(monkeypatch):
   monkeypatch.setattr(big_cameraview.cloudlog, "warning", lambda *_args, **_kwargs: None)
+  monkeypatch.setattr(big_cameraview, "PC", False)
   view = _camera_view()
   view._use_egl = True
   view.frame = FakeFrame(frame_id=30, idx=0)