close

openpilot/tools/camerastream/compressed_vipc.py

@@ -109,17 +109,25 @@ class CompressedVipc:
     while min(sm.recv_frame.values()) == 0:
       sm.update(100)
 
+    stream_dimensions = {
+      vst: (sm[ENCODE_SOCKETS[vst]].width, sm[ENCODE_SOCKETS[vst]].height)
+      for vst in vision_streams
+    }
+    # The metadata subscribers are setup-only. Leaving them connected creates a
+    # second unread camera subscription whose TCP queues grow for the entire run.
+    sm.close()
+
     self.vipc_server = VisionIpcServer(server_name)
     for vst in vision_streams:
-      ed = sm[ENCODE_SOCKETS[vst]]
-      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
+      width, height = stream_dimensions[vst]
+      self.vipc_server.create_buffers(vst, 4, width, height)
     self.vipc_server.start_listener()
 
     self.procs = []
     process_context = multiprocessing.get_context("fork")
     for vst in vision_streams:
-      ed = sm[ENCODE_SOCKETS[vst]]
-      p = process_context.Process(target=decoder, args=(addr, self.vipc_server, vst, ed.width, ed.height, debug))
+      width, height = stream_dimensions[vst]
+      p = process_context.Process(target=decoder, args=(addr, self.vipc_server, vst, width, height, debug))
       p.start()
       self.procs.append(p)
 

openpilot/tools/wgpu/zmq.py

@@ -43,6 +43,10 @@ class ZmqSubSocket:
       messages.append(message)
     return messages
 
+  def close(self) -> None:
+    self.socket.close(linger=0)
+    self.context.term()
+
 
 class ZmqSubMaster:
   def __init__(self, services: list[str], address: str):
@@ -77,6 +81,11 @@ class ZmqSubMaster:
       self.updated[service] = True
       self.recv_frame[service] = self.frame
 
+  def close(self) -> None:
+    for sub in self.sockets.values():
+      self.poller.unregister(sub.socket)
+      sub.close()
+
 
 class ZmqPubMaster:
   def __init__(self, services: list[str]):