mici fallback too

selfdrive/ui/mici/onroad/cameraview.py

@@ -128,6 +128,8 @@ class CameraView(Widget):
     self._enhance_driver_val = rl.ffi.new("int[1]", [1 if stream_type == VisionStreamType.VISION_STREAM_DRIVER else 0])
 
     self.frame: VisionBuf | None = None
+    self._last_frame_id = -1
+    self._regressive_frame_count = 0
     self.texture_y: rl.Texture | None = None
     self.texture_uv: rl.Texture | None = None
 
@@ -160,6 +162,7 @@ class CameraView(Widget):
     # camerad allocation until this view happens to render again.
     self._clear_textures()
     self.frame = None
+    self._last_frame_id = -1
     self.available_streams.clear()
     self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
     self._target_client = None
@@ -209,6 +212,7 @@ class CameraView(Widget):
       self.shader.id = 0
 
     self.frame = None
+    self._last_frame_id = -1
     self.available_streams.clear()
     self.client = None
     self._target_client = None
@@ -242,11 +246,13 @@ class CameraView(Widget):
       self._draw_placeholder(rect)
       return
 
+    if self._use_egl:
+      self._observe_displayed_frame()
+
     # Try to get a new buffer without blocking
     buffer = self.client.recv(timeout_ms=0)
     if buffer:
-      self._texture_needs_update = True
-      self.frame = buffer
+      self._accept_frame(buffer, self.client.frame_id)
     elif not self.client.is_connected():
       # ensure we clear the displayed frame when the connection is lost
       self.frame = None
@@ -284,6 +290,25 @@ class CameraView(Widget):
     if self._placeholder_color:
       rl.draw_rectangle_rec(rect, self._placeholder_color)
 
+  def _observe_displayed_frame(self) -> None:
+    if self.frame is not None:
+      self._last_frame_id = max(self._last_frame_id, int(self.frame.frame_id))
+
+  def _accept_frame(self, frame: VisionBuf, packet_frame_id: int) -> bool:
+    content_frame_id = int(frame.frame_id)
+    if 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}, "
+        message += f"displayed={self._last_frame_id}, idx={frame.idx}, count={self._regressive_frame_count}"
+        cloudlog.warning(message)
+      return False
+
+    self.frame = frame
+    self._last_frame_id = content_frame_id
+    self._texture_needs_update = True
+    return True
+
   def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
     """Render using EGL for direct buffer access"""
     if self.frame is None or self.egl_texture is None:
@@ -344,6 +369,7 @@ class CameraView(Widget):
   def _ensure_connection(self) -> bool:
     if not self.client.is_connected():
       self.frame = None
+      self._last_frame_id = -1
       self.available_streams.clear()
 
       # Throttle connection attempts
@@ -392,6 +418,7 @@ class CameraView(Widget):
     # Switch to target
     self.client = self._target_client
     self._stream_type = self._target_stream_type
+    self._last_frame_id = int(self.frame.frame_id) if self.frame is not None else -1
     self._texture_needs_update = True
 
     # Reset state

selfdrive/ui/tests/test_camera_frame_order.py

@@ -1,4 +1,7 @@
-from openpilot.selfdrive.ui.onroad import cameraview
+import pytest
+
+from openpilot.selfdrive.ui.mici.onroad import cameraview as mici_cameraview
+from openpilot.selfdrive.ui.onroad import cameraview as big_cameraview
 
 
 class FakeFrame:
@@ -7,7 +10,7 @@ class FakeFrame:
     self.idx = idx
 
 
-def _camera_view():
+def _camera_view(cameraview):
   view = cameraview.CameraView.__new__(cameraview.CameraView)
   view._name = "camerad"
   view.frame = None
@@ -18,9 +21,10 @@ def _camera_view():
   return view
 
 
-def test_reused_egl_slot_cannot_move_camera_backwards(monkeypatch):
+@pytest.mark.parametrize("cameraview", [big_cameraview, mici_cameraview])
+def test_reused_egl_slot_cannot_move_camera_backwards(monkeypatch, cameraview):
   monkeypatch.setattr(cameraview.cloudlog, "warning", lambda *_args, **_kwargs: None)
-  view = _camera_view()
+  view = _camera_view(cameraview)
 
   displayed = FakeFrame(frame_id=10, idx=0)
   assert view._accept_frame(displayed, packet_frame_id=10)
@@ -36,8 +40,9 @@ def test_reused_egl_slot_cannot_move_camera_backwards(monkeypatch):
   assert view._regressive_frame_count == 1
 
 
-def test_newer_camera_frame_is_accepted():
-  view = _camera_view()
+@pytest.mark.parametrize("cameraview", [big_cameraview, mici_cameraview])
+def test_newer_camera_frame_is_accepted(cameraview):
+  view = _camera_view(cameraview)
   view._last_frame_id = 30
   newer = FakeFrame(frame_id=31, idx=2)