Merge branch 'commaai:master' into master

.pre-commit-config.yaml

@@ -7,11 +7,11 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.7.1
+    rev: v1.8.0
     hooks:
     -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.7
+    rev: v0.1.9
     hooks:
     -   id: ruff
 -   repo: local

log.capnp

@@ -130,8 +130,9 @@ struct InitData {
 
 struct FrameData {
   frameId @0 :UInt32;
-  encodeId @1 :UInt32; # DEPRECATED
   frameIdSensor @25 :UInt32;
+  requestId @28 :UInt32;
+  encodeId @1 :UInt32;
 
   frameType @7 :FrameType;
 

visionipc/visionipc_client.cc

@@ -3,24 +3,19 @@
 #include <iostream>
 #include <thread>
 
+#include <unistd.h>
 #include "cereal/visionipc/ipc.h"
 #include "cereal/visionipc/visionipc_client.h"
 #include "cereal/visionipc/visionipc_server.h"
 #include "cereal/logger/logger.h"
 
 static int connect_to_vipc_server(const std::string &name, bool blocking) {
-  char* prefix = std::getenv("OPENPILOT_PREFIX");
-  std::string path = "/tmp/";
-  if (prefix) {
-    path = path + std::string(prefix) + "_";
-  }
-  path = path + "visionipc_" + name;
-
-  int socket_fd = ipc_connect(path.c_str());
+  const std::string ipc_path = get_ipc_path(name);
+  int socket_fd = ipc_connect(ipc_path.c_str());
   while (socket_fd < 0 && blocking) {
     std::cout << "VisionIpcClient connecting" << std::endl;
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
-    socket_fd = ipc_connect(path.c_str());
+    socket_fd = ipc_connect(ipc_path.c_str());
   }
   return socket_fd;
 }

visionipc/visionipc_client.h

@@ -2,11 +2,8 @@
 
 #include <set>
 #include <string>
-#include <vector>
-#include <unistd.h>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionbuf.h"
 
 class VisionIpcClient {

visionipc/visionipc_server.cc

@@ -22,6 +22,14 @@ std::string get_endpoint_name(std::string name, VisionStreamType type){
   }
 }
 
+std::string get_ipc_path(const std::string& name) {
+  std::string path = "/tmp/";
+  if (char* prefix = std::getenv("OPENPILOT_PREFIX")) {
+    path += std::string(prefix) + "_";
+  }
+  return path + "visionipc_" + name;
+}
+
 VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) {
   msg_ctx = Context::create();
 
@@ -83,14 +91,8 @@ void VisionIpcServer::start_listener(){
 void VisionIpcServer::listener(){
   std::cout << "Starting listener for: " << name << std::endl;
 
-  char* prefix = std::getenv("OPENPILOT_PREFIX");
-  std::string path = "/tmp/";
-  if (prefix) {
-    path = path + std::string(prefix) + "_";
-  }
-  path = path + "visionipc_" + name;
-
-  int sock = ipc_bind(path.c_str());
+  const std::string ipc_path = get_ipc_path(name);
+  int sock = ipc_bind(ipc_path.c_str());
   assert(sock >= 0);
 
   while (!should_exit){
@@ -160,7 +162,7 @@ void VisionIpcServer::listener(){
 
   std::cout << "Stopping listener for: " << name << std::endl;
   close(sock);
-  unlink(path.c_str());
+  unlink(ipc_path.c_str());
 }
 
 

visionipc/visionipc_server.h

@@ -6,10 +6,10 @@
 #include <map>
 
 #include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionbuf.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type);
+std::string get_ipc_path(const std::string &name);
 
 class VisionIpcServer {
  private: