move VIPC stream receiving to background thread

Author: deanlee

msgq_repo

@@ -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()

selfdrive/ui/mici/layouts/onboarding.py

@@ -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']