From 4756106694a620e2cf951a0c0d9a338eb1c8f58f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 16 Nov 2022 11:07:50 +0800
Subject: [PATCH] UI: fix CameraView crash on deleting. (#26390)

* fix crash on delete

* TODO?

* after makeCurrent
old-commit-hash: 97a205c94df412d40db1a94bbc4bb735b5afea27
---
 selfdrive/ui/qt/offroad/driverview.cc |  1 +
 selfdrive/ui/qt/widgets/cameraview.cc | 10 ++++++++++
 selfdrive/ui/qt/widgets/cameraview.h  |  1 +
 3 files changed, 12 insertions(+)

diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 0ff786fb91..1377bb3b23 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -35,6 +35,7 @@ void DriverViewScene::showEvent(QShowEvent* event) {
 }
 
 void DriverViewScene::hideEvent(QHideEvent* event) {
+  // TODO: stop vipc thread ?
   params.putBool("IsDriverViewEnabled", false);
 }
 
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index a606d6893e..347cdb1dca 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -102,6 +102,7 @@ CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool
 
 CameraWidget::~CameraWidget() {
   makeCurrent();
+  stopVipcThread();
   if (isValid()) {
     glDeleteVertexArrays(1, &frame_vao);
     glDeleteBuffers(1, &frame_vbo);
@@ -171,6 +172,15 @@ void CameraWidget::showEvent(QShowEvent *event) {
   }
 }
 
+void CameraWidget::stopVipcThread() {
+  if (vipc_thread) {
+    vipc_thread->requestInterruption();
+    vipc_thread->quit();
+    vipc_thread->wait();
+    vipc_thread = nullptr;
+  }
+}
+
 void CameraWidget::updateFrameMat() {
   int w = width(), h = height();
 
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 0698d1fb9a..7cc3847f99 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -51,6 +51,7 @@ protected:
   void updateCalibration(const mat3 &calib);
   void vipcThread();
   void clearFrames();
+  void stopVipcThread();
 
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;