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ui: move VIPC stream receiving to background thread #36825

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deanlee wants to merge 1 commit into from
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ui: move VIPC stream receiving to background thread #36825

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2 changes: 1 addition & 1 deletion msgq_repo
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Submodule msgq_repo updated 2 files
+2 −2 msgq/visionipc/visionipc.pxd
+7 −2 msgq/visionipc/visionipc_pyx.pyx
2 changes: 1 addition & 1 deletion selfdrive/ui/mici/layouts/onboarding.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def _render(self, rect):
rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
self._camera_view._render(rect)

if not self._camera_view.frame:
if not self._camera_view.connected:
gui_label(rect, tr("camera starting"), font_size=64, font_weight=FontWeight.BOLD,
alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
rl.end_scissor_mode()
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2 changes: 1 addition & 1 deletion selfdrive/ui/mici/onroad/augmented_road_view.py
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Expand Up @@ -293,7 +293,7 @@ def _update_calibration(self):
wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib

def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
def _calc_frame_matrix(self, frame_width: int, frame_height: int, rect: rl.Rectangle) -> np.ndarray:
# Get camera configuration
# TODO: cache with vEgo?
calib_time = ui_state.sm.recv_frame['liveCalibration']
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