Move camera stream types out of msgq (#38591)

openpilot/cereal/visionipc.py

@@ -0,0 +1,8 @@
+from enum import IntEnum
+
+
+class VisionStreamType(IntEnum):
+  VISION_STREAM_ROAD = 0
+  VISION_STREAM_DRIVER = 1
+  VISION_STREAM_WIDE_ROAD = 2
+  VISION_STREAM_MAP = 3

openpilot/cereal/visionstream.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#include "msgq/visionipc/visionbuf.h"
+
+enum VisionStreamValues : VisionStreamType {
+  VISION_STREAM_ROAD = 0,
+  VISION_STREAM_DRIVER = 1,
+  VISION_STREAM_WIDE_ROAD = 2,
+  VISION_STREAM_MAP = 3,
+};

openpilot/selfdrive/modeld/dmonitoringmodeld.py

@@ -8,7 +8,8 @@ import numpy as np
 
 from openpilot.cereal import messaging
 from openpilot.cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.model import dmonitoringmodel_intrinsics

openpilot/selfdrive/modeld/modeld.py

@@ -13,7 +13,8 @@ from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.cereal.messaging import PubMaster, SubMaster
 from openpilot.cereal.services import SERVICE_LIST
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params

openpilot/selfdrive/selfdrived/selfdrived.py

@@ -7,7 +7,8 @@ import openpilot.cereal.messaging as messaging
 
 from openpilot.cereal import log
 from opendbc.car.structs import car
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient
 
 
 from openpilot.common.params import Params

openpilot/selfdrive/test/process_replay/vision_meta.py

@@ -1,5 +1,5 @@
 from collections import namedtuple
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.common.realtime import DT_MDL, DT_DMON
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 

openpilot/selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -2,7 +2,7 @@ import numpy as np
 import pyray as rl
 from openpilot.cereal import log
 from opendbc.car.structs import car
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
 from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer

openpilot/selfdrive/ui/mici/onroad/cameraview.py

@@ -2,7 +2,8 @@ import platform
 import numpy as np
 import pyray as rl
 
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
@@ -110,7 +111,7 @@ class CameraView(Widget):
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
-    self._stream_type = stream_type
+    self._stream_type: VisionStreamType = stream_type
     self.available_streams: list[VisionStreamType] = []
 
     # Target stream for switching
@@ -370,6 +371,7 @@ class CameraView(Widget):
       del self.client
 
     # Switch to target
+    assert self._target_client is not None and self._target_stream_type is not None
     self.client = self._target_client
     self._stream_type = self._target_stream_type
     self._texture_needs_update = True

openpilot/selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -1,6 +1,6 @@
 import pyray as rl
 from openpilot.cereal import log, messaging
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device

openpilot/selfdrive/ui/onroad/augmented_road_view.py

@@ -1,7 +1,7 @@
 import numpy as np
 import pyray as rl
 from openpilot.cereal import log
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui import UI_BORDER_SIZE
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer

openpilot/selfdrive/ui/onroad/cameraview.py

@@ -2,7 +2,8 @@ import platform
 import numpy as np
 import pyray as rl
 
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import COMMA_HARDWARE
 from openpilot.system.ui.lib.application import gui_app
@@ -71,7 +72,7 @@ class CameraView(Widget):
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
-    self._stream_type = stream_type
+    self._stream_type: VisionStreamType = stream_type
     self.available_streams: list[VisionStreamType] = []
 
     # Target stream for switching
@@ -323,6 +324,7 @@ class CameraView(Widget):
       del self.client
 
     # Switch to target
+    assert self._target_client is not None and self._target_stream_type is not None
     self.client = self._target_client
     self._stream_type = self._target_stream_type
     self._texture_needs_update = True

openpilot/selfdrive/ui/onroad/driver_camera_dialog.py

@@ -1,6 +1,6 @@
 import numpy as np
 import pyray as rl
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, device

openpilot/selfdrive/ui/tests/profile_onroad.py

@@ -5,7 +5,8 @@ import cProfile
 import pyray as rl
 import numpy as np
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
 from openpilot.system.ui.lib.application import gui_app

openpilot/selfdrive/ui/watch3.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import pyray as rl
 
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.onroad.cameraview import CameraView
 

openpilot/system/camerad/cameras/hw.h

@@ -2,6 +2,7 @@
 
 #include "common/util.h"
 #include "openpilot/cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_server.h"
 
 #include "media/cam_isp_ife.h"

openpilot/system/camerad/snapshot.py

@@ -3,7 +3,8 @@
 import numpy as np
 
 import openpilot.cereal.messaging as messaging
-from msgq.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcClient
 from openpilot.common.realtime import DT_MDL
 
 

openpilot/system/camerad/webcam/camerad.py

@@ -4,7 +4,8 @@ import os
 import platform
 from collections import namedtuple
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.cereal import messaging
 
 from openpilot.system.camerad.webcam.camera import Camera

openpilot/system/loggerd/loggerd.h

@@ -5,6 +5,7 @@
 
 #include "openpilot/cereal/messaging/messaging.h"
 #include "openpilot/cereal/services.h"
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_client.h"
 #include "common/hardware/hw.h"
 #include "common/params.h"

openpilot/system/loggerd/tests/test_loggerd.py

@@ -25,7 +25,8 @@ from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 
 SentinelType = log.Sentinel.SentinelType
 

openpilot/tools/cabana/cameraview.h

@@ -10,6 +10,7 @@
 #include <QImage>
 #include <QWidget>
 
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_client.h"
 
 class CameraWidget : public QWidget {

openpilot/tools/camerastream/compressed_vipc.py

@@ -8,7 +8,8 @@ from collections import deque
 
 
 import openpilot.cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.tools.camerastream.ffmpeg_decoder import Decoder, FFmpegError
 
 V4L2_BUF_FLAG_KEYFRAME = 8

openpilot/tools/clip/run.py

@@ -22,7 +22,8 @@ from openpilot.tools.lib.framereader import FrameReader, ffprobe
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.utils import Timer
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 
 FRAMERATE = 20
 DEMO_ROUTE, DEMO_START, DEMO_END = '5beb9b58bd12b691/0000010a--a51155e496', 90, 105

openpilot/tools/replay/camera.h

@@ -5,6 +5,7 @@
 #include <tuple>
 #include <utility>
 
+#include "openpilot/cereal/visionstream.h"
 #include "msgq/visionipc/visionipc_server.h"
 #include "common/queue.h"
 #include "tools/replay/framereader.h"

openpilot/tools/replay/ui.py

@@ -21,7 +21,7 @@ from openpilot.tools.replay.lib.ui_helpers import (
   plot_lead,
   plot_model,
 )
-from msgq.visionipc import VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 
 os.environ['BASEDIR'] = BASEDIR

openpilot/tools/sim/lib/camerad.py

@@ -1,6 +1,7 @@
 import numpy as np
 
-from msgq.visionipc import VisionIpcServer, VisionStreamType
+from openpilot.cereal.visionipc import VisionStreamType
+from msgq.visionipc import VisionIpcServer
 from openpilot.cereal import messaging
 
 from openpilot.tools.sim.lib.common import W, H