tici: fix ui rotation (#2184)

* rotate ui 90 degree

* put rotation behind ifdef

* Also ifdef that

* ui intrinsic_matrix

* that doesnt do anything

* Keep parent on non qcom

selfdrive/ui/paint.cc

@@ -17,11 +17,21 @@ extern "C"{
 #include "sidebar.hpp"
 
 // TODO: this is also hardcoded in common/transformations/camera.py
+// TODO: choose based on frame input size
+#ifdef QCOM2
+const mat3 intrinsic_matrix = (mat3){{
+  2648.0, 0.0, 1928.0/2,
+  0.0, 2648.0, 1208.0/2,
+  0.0,   0.0,   1.0
+}};
+#else
 const mat3 intrinsic_matrix = (mat3){{
   910., 0., 582.,
   0., 910., 437.,
   0.,   0.,   1.
 }};
+#endif
+
 
 const uint8_t alert_colors[][4] = {
   [STATUS_OFFROAD] = {0x07, 0x23, 0x39, 0xf1},

selfdrive/ui/qt/window.cc

@@ -19,13 +19,21 @@ volatile sig_atomic_t do_exit = 0;
 MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout;
 
+#ifdef QCOM2
+  QLabel * label = new QLabel(this);
+  main_layout->addWidget(label);
+
+  GLWindow * glWindow = new GLWindow;
+  glWindow->setLabel(label);
+  glWindow->show();
+#else
   GLWindow * glWindow = new GLWindow(this);
   main_layout->addWidget(glWindow);
+#endif
 
   SettingsWindow * settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
 
-
   main_layout->setMargin(0);
   setLayout(main_layout);
   QObject::connect(glWindow, SIGNAL(openSettings()), this, SLOT(openSettings()));
@@ -52,6 +60,10 @@ GLWindow::GLWindow(QWidget *parent) : QOpenGLWidget(parent) {
   timer = new QTimer(this);
   QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate()));
 
+#ifdef QCOM2
+  setFixedWidth(vwp_w);
+  setFixedHeight(vwp_h);
+#endif
 }
 
 GLWindow::~GLWindow() {
@@ -59,6 +71,10 @@ GLWindow::~GLWindow() {
   doneCurrent();
 }
 
+void GLWindow::setLabel(QLabel * l){
+  label = l;
+}
+
 void GLWindow::initializeGL() {
   initializeOpenGLFunctions();
   std::cout << "OpenGL version: " << glGetString(GL_VERSION) << std::endl;
@@ -78,6 +94,13 @@ void GLWindow::initializeGL() {
 void GLWindow::timerUpdate(){
   ui_update(ui_state);
   update();
+
+  if (label != NULL){
+    QImage img = grabFramebuffer();
+    QTransform transform;
+    transform.rotate(90);
+    label->setPixmap(QPixmap::fromImage(img).transformed(transform));
+  }
 }
 
 void GLWindow::resizeGL(int w, int h) {

selfdrive/ui/qt/window.hpp

@@ -2,6 +2,7 @@
 
 #include <QWidget>
 #include <QTimer>
+#include <QLabel>
 #include <QGuiApplication>
 #include <QOpenGLWidget>
 #include <QOpenGLFunctions>
@@ -39,6 +40,7 @@ class GLWindow : public QOpenGLWidget, protected QOpenGLFunctions
 public:
   using QOpenGLWidget::QOpenGLWidget;
   explicit GLWindow(QWidget *parent = 0);
+  void setLabel(QLabel *l);
   ~GLWindow();
 
 protected:
@@ -52,6 +54,7 @@ private:
   QTimer * timer;
   UIState * ui_state;
   QtSound sound;
+  QLabel * label = NULL;
 
 public slots:
   void timerUpdate();