openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <math.h>
#include <unistd.h>
#include <assert.h>
#include <GLES3/gl3.h>
#include <EGL/eglext.h>
#include "nanovg.h"
#define NANOVG_GLES3_IMPLEMENTATION
#include "nanovg_gl.h"
#include "nanovg_gl_utils.h"
#include "common/framebuffer.h"
int main(int argc, char** argv) {
int err;
const char* spintext = NULL;
if (argc >= 2) {
spintext = argv[1];
}
// spinner
int fb_w, fb_h;
EGLDisplay display;
EGLSurface surface;
FramebufferState *fb = framebuffer_init("spinner", 0x00001000, false,
&display, &surface, &fb_w, &fb_h);
assert(fb);
NVGcontext *vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES);
assert(vg);
int font = nvgCreateFont(vg, "Bold", "../../assets/courbd.ttf");
assert(font >= 0);
for (int cnt = 0; ; cnt++) {
glClearColor(0.1, 0.1, 0.1, 1.0);
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
nvgBeginFrame(vg, fb_w, fb_h, 1.0f);
for (int k=0; k<3; k++) {
float ang = (2*M_PI * (float)cnt / 120.0) + (k / 3.0) * 2*M_PI;
nvgBeginPath(vg);
nvgStrokeColor(vg, nvgRGBA(255, 255, 255, 255));
nvgStrokeWidth(vg, 5);
nvgMoveTo(vg, fb_w/2 + 50 * cosf(ang), fb_h/2 + 50 * sinf(ang));
nvgLineTo(vg, fb_w/2 + 15 * cosf(ang), fb_h/2 + 15 * sinf(ang));
nvgMoveTo(vg, fb_w/2 - 15 * cosf(ang), fb_h/2 - 15 * sinf(ang));
nvgLineTo(vg, fb_w/2 - 50 * cosf(ang), fb_h/2 - 50 * sinf(ang));
nvgStroke(vg);
}
if (spintext) {
nvgTextAlign(vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP);
nvgFontSize(vg, 96.0f);
nvgText(vg, fb_w / 2, fb_h*2/3, spintext, NULL);
}
nvgEndFrame(vg);
eglSwapBuffers(display, surface);
assert(glGetError() == GL_NO_ERROR);
}
return 0;
}