From 4e005ead0ae4c95e450e98358a2f37a25c82638f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Fri, 22 Oct 2021 14:16:14 -0700
Subject: [PATCH] UI: don't block UI on vipc recv (#22644)

* UI: don't block UI on vipc recv

* use a timer

* move that
old-commit-hash: c4de1fef4f925e9ba5292f501c2acd70dd0f1505
---
 selfdrive/ui/SConscript               |  2 +-
 selfdrive/ui/qt/onroad.cc             | 14 +-------------
 selfdrive/ui/qt/onroad.h              |  1 -
 selfdrive/ui/qt/widgets/cameraview.cc | 25 ++++++++++++++-----------
 selfdrive/ui/qt/widgets/cameraview.h  |  2 ++
 5 files changed, 18 insertions(+), 26 deletions(-)

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index bfbf2c06d5..be7d95372c 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -114,7 +114,7 @@ if arch in ['x86_64', 'Darwin'] and os.path.exists(Dir("#tools/").get_abspath())
   replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
   qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
 
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs)
+  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11'])
 
   if GetOption('test'):
     qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 66eec42b15..30bc7fe4f3 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -18,7 +18,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(stacked_layout);
 
   nvg = new NvgWindow(VISION_STREAM_RGB_BACK, this);
-  QObject::connect(this, &OnroadWindow::updateStateSignal, nvg, &NvgWindow::updateState);
 
   QWidget * split_wrapper = new QWidget;
   split = new QHBoxLayout(split_wrapper);
@@ -179,18 +178,7 @@ void NvgWindow::initializeGL() {
 
   ui_nvg_init(&QUIState::ui_state);
   prev_draw_t = millis_since_boot();
-}
-
-void NvgWindow::updateState(const UIState &s) {
-  // TODO: make camerad startup faster then remove this
-  if (s.scene.started) {
-    if (isVisible() != vipc_client->connected) {
-      setVisible(vipc_client->connected);
-    }
-    if (!isVisible()) {
-      updateFrame();
-    }
-  }
+  setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
 void NvgWindow::paintGL() {
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 4066b3d8eb..9be04e04ae 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -30,7 +30,6 @@ class NvgWindow : public CameraViewWidget {
 
 public:
   explicit NvgWindow(VisionStreamType type, QWidget* parent = 0) : CameraViewWidget(type, true, parent) {}
-  void updateState(const UIState &s);
 
 protected:
   void paintGL() override;
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index cc46f5f3dc..39d1330959 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -1,7 +1,5 @@
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
-#include "selfdrive/common/swaglog.h"
-
 namespace {
 
 const char frame_vertex_shader[] =
@@ -96,7 +94,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 CameraViewWidget::CameraViewWidget(VisionStreamType stream_type, bool zoom, QWidget* parent) :
                                    stream_type(stream_type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
-  connect(this, &QOpenGLWidget::frameSwapped, this, &CameraViewWidget::updateFrame);
+
+  QTimer *t = new QTimer(this);
+  connect(t, &QTimer::timeout, this, &CameraViewWidget::updateFrame);
+  t->start(1000 / UI_FREQ);
 }
 
 CameraViewWidget::~CameraViewWidget() {
@@ -173,6 +174,10 @@ void CameraViewWidget::setStreamType(VisionStreamType type) {
   }
 }
 
+void CameraViewWidget::setBackgroundColor(QColor color) {
+  bg = color;
+}
+
 void CameraViewWidget::updateFrameMat(int w, int h) {
   if (zoomed_view) {
     if (stream_type == VISION_STREAM_RGB_FRONT) {
@@ -204,7 +209,7 @@ void CameraViewWidget::updateFrameMat(int w, int h) {
 
 void CameraViewWidget::paintGL() {
   if (!latest_frame) {
-    glClearColor(0, 0, 0, 1.0);
+    glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
     glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
     return;
   }
@@ -233,6 +238,10 @@ void CameraViewWidget::paintGL() {
 }
 
 void CameraViewWidget::updateFrame() {
+  if (!isVisible()) {
+    return;
+  }
+
   if (!vipc_client->connected) {
     makeCurrent();
     if (vipc_client->connect(false)) {
@@ -257,17 +266,11 @@ void CameraViewWidget::updateFrame() {
 
   VisionBuf *buf = nullptr;
   if (vipc_client->connected) {
-    buf = vipc_client->recv();
+    buf = vipc_client->recv(nullptr, 0);
     if (buf != nullptr) {
       latest_frame = buf;
       update();
       emit frameUpdated();
-    } else {
-      LOGE("visionIPC receive timeout");
     }
   }
-  if (buf == nullptr && isVisible()) {
-    // try to connect or recv again
-    QTimer::singleShot(1000. / UI_FREQ, this, &CameraViewWidget::updateFrame);
-  }
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index e4e1346458..3bf34ac58e 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -19,6 +19,7 @@ public:
   explicit CameraViewWidget(VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
   ~CameraViewWidget();
   void setStreamType(VisionStreamType type);
+  void setBackgroundColor(QColor color);
 
 signals:
   void clicked();
@@ -45,4 +46,5 @@ private:
   QOpenGLShaderProgram *program;
 
   VisionStreamType stream_type;
+  QColor bg = QColor("#000000");
 };