heavy debugging

SConstruct

@@ -165,7 +165,6 @@ env = Environment(
     "-g",
     "-fPIC",
     "-O2",
-    "-Wunused",
     "-Werror",
     "-Wshadow",
     "-Wno-unknown-warning-option",

selfdrive/ui/qt/widgets/cameraview.cc

@@ -103,6 +103,7 @@ CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType typ
   setAttribute(Qt::WA_OpaquePaintEvent);
   connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection);
   connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &CameraViewWidget::updateCameraFrame);
 }
 
 CameraViewWidget::~CameraViewWidget() {
@@ -164,12 +165,28 @@ void CameraViewWidget::initializeGL() {
 
 void CameraViewWidget::showEvent(QShowEvent *event) {
   latest_frame = nullptr;
-  if (!vipc_thread) {
-    vipc_thread = new QThread();
-    connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
-    connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
-    vipc_thread->start();
+
+  if (!vipc_client) {
+    vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false));
+  }
+
+  while (!vipc_client->connected) {
+    if (!vipc_client->connect(false)) {
+      QThread::msleep(100);
+      continue;
+    }
+//    emit vipcThreadConnected(vipc_client.get());
+//    emit vipcThreadConnected();
+    vipcConnected(vipc_client.get());
+//    break;
   }
+
+//  if (!vipc_client) {
+//    vipc_thread = new QThread();
+//    connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
+//    connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
+//    vipc_thread->start();
+//  }
 }
 
 void CameraViewWidget::hideEvent(QHideEvent *event) {
@@ -247,11 +264,13 @@ void CameraViewWidget::paintGL() {
   glActiveTexture(GL_TEXTURE0);
 }
 
-void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
+void CameraViewWidget::vipcConnected(VisionIpcClient *_vipc_client) {
   makeCurrent();
   latest_frame = nullptr;
-  stream_width = vipc_client->buffers[0].width;
-  stream_height = vipc_client->buffers[0].height;
+  stream_width = _vipc_client->buffers[0].width;
+  stream_height = _vipc_client->buffers[0].height;
+  qDebug() << "vipcConnected";
+//  vipc_client.reset(_vipc_client);
 
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
   for (int i = 0; i < 3; ++i) {
@@ -269,17 +288,74 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   updateFrameMat(width(), height());
 }
 
-void CameraViewWidget::vipcFrameReceived(VisionBuf *buf) {
+void CameraViewWidget::vipcFrameReceived() {
   latest_frame = buf;
   update();
 }
 
+void CameraViewWidget::updateCameraFrame() {
+  if (!vipc_client) {
+    qDebug() << "vipc_client not initialized";
+    return;
+  }
+
+  UIState *s = uiState();
+
+//  if (!vipc_client) {
+//    vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false));
+//  }
+//
+//  if (!vipc_client->connected) {
+//    if (vipc_client->connect(false)) {
+//      qDebug() << "CONNECTED";
+//      vipcConnected();
+////      emit vipcThreadConnected();
+//      qDebug() << "CONNECTED2";
+//    }
+//  }
+
+  qDebug() << "Frame ready!";
+
+
+  bool recv_one = (meta_main.frame_id - (*s->sm)["modelV2"].getModelV2().getFrameId()) > 5;
+  while (meta_main.frame_id < (*s->sm)["modelV2"].getModelV2().getFrameId() || recv_one) {
+    recv_one = false;
+    qDebug() << "Getting buf";
+    buf = vipc_client->recv(&meta_main, 1000);
+    qDebug() << "After buf";
+    if (buf == nullptr) {
+      qDebug() << "nullptr!";
+      break;
+    }
+  }
+
+  if (buf != nullptr) {
+//    emit vipcThreadFrameReceived(buf);
+    latest_frame = buf;
+    update();
+    qDebug() << "update()";
+  }
+  qDebug() << "camerad:" << meta_main.frame_id << "modeld:" << (*s->sm)["modelV2"].getModelV2().getFrameId();
+
+//  // Wait until camera frame id is behind modelV2, then update once
+//  while (meta_main.frame_id >= (*s->sm)["modelV2"].getModelV2().getFrameId()) {
+//    qDebug() << "Sleeping";
+//    QThread::msleep(5);
+//    if ((meta_main.frame_id - (*s->sm)["modelV2"].getModelV2().getFrameId()) > 40) {
+//      break;
+//    }
+//  };
+//
+//  if ((buf = vipc_client->recv(&meta_main, 1000))) {
+//    qDebug() << "emitting";
+//    emit vipcThreadFrameReceived(buf);
+//  }
+//  qDebug() << "camerad:" << meta_main.frame_id << "modeld:" << (*s->sm)["modelV2"].getModelV2().getFrameId();
+}
+
 void CameraViewWidget::vipcThread() {
   VisionStreamType cur_stream_type = stream_type;
-  std::unique_ptr<VisionIpcClient> vipc_client;
-  VisionIpcBufExtra meta_main = {0};
-  VisionBuf *buf;
-  UIState *s = uiState();
+//  std::unique_ptr<VisionIpcClient> _vipc_client;
 
   while (!QThread::currentThread()->isInterruptionRequested()) {
     if (!vipc_client || cur_stream_type != stream_type) {
@@ -293,21 +369,46 @@ void CameraViewWidget::vipcThread() {
         continue;
       }
       emit vipcThreadConnected(vipc_client.get());
+//      emit vipcThreadConnected();
+      break;
     }
-
-    // Wait until camera frame id is behind modelV2, then update once
-    while (meta_main.frame_id >= (*s->sm)["modelV2"].getModelV2().getFrameId()) {
-      qDebug() << "Sleeping";
-      QThread::msleep(5);
-      if ((meta_main.frame_id - (*s->sm)["modelV2"].getModelV2().getFrameId()) > 40) {
-        break;
-      }
-    };
-
-    if ((buf = vipc_client->recv(&meta_main, 1000))) {
-      qDebug() << "emitting";
-      emit vipcThreadFrameReceived(buf);
-    }
-    qDebug() << "camerad:" << meta_main.frame_id << "modeld:" << (*s->sm)["modelV2"].getModelV2().getFrameId();
   }
 }
+
+//void CameraViewWidget::vipcThread() {
+//  VisionStreamType cur_stream_type = stream_type;
+//  std::unique_ptr<VisionIpcClient> vipc_client;
+//  VisionIpcBufExtra meta_main = {0};
+//  VisionBuf *buf;
+//  UIState *s = uiState();
+//
+//  while (!QThread::currentThread()->isInterruptionRequested()) {
+//    if (!vipc_client || cur_stream_type != stream_type) {
+//      cur_stream_type = stream_type;
+//      vipc_client.reset(new VisionIpcClient(stream_name, cur_stream_type, false));
+//    }
+//
+//    if (!vipc_client->connected) {
+//      if (!vipc_client->connect(false)) {
+//        QThread::msleep(100);
+//        continue;
+//      }
+//      emit vipcThreadConnected(vipc_client.get());
+//    }
+//
+//    // Wait until camera frame id is behind modelV2, then update once
+//    while (meta_main.frame_id >= (*s->sm)["modelV2"].getModelV2().getFrameId()) {
+//      qDebug() << "Sleeping";
+//      QThread::msleep(5);
+//      if ((meta_main.frame_id - (*s->sm)["modelV2"].getModelV2().getFrameId()) > 40) {
+//        break;
+//      }
+//    };
+//
+//    if ((buf = vipc_client->recv(&meta_main, 1000))) {
+//      qDebug() << "emitting";
+//      emit vipcThreadFrameReceived(buf);
+//    }
+//    qDebug() << "camerad:" << meta_main.frame_id << "modeld:" << (*s->sm)["modelV2"].getModelV2().getFrameId();
+//  }
+//}

selfdrive/ui/qt/widgets/cameraview.h

@@ -23,7 +23,7 @@ public:
 signals:
   void clicked();
   void vipcThreadConnected(VisionIpcClient *);
-  void vipcThreadFrameReceived(VisionBuf *);
+  void vipcThreadFrameReceived();
 
 protected:
   void paintGL() override;
@@ -34,6 +34,11 @@ protected:
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
   virtual void updateFrameMat(int w, int h);
   void vipcThread();
+  void updateCameraFrame();
+
+  QSharedPointer<VisionIpcClient> vipc_client;
+  VisionIpcBufExtra meta_main = {0};
+  VisionBuf *buf;
 
   struct WaitFence {
     WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); }
@@ -61,5 +66,5 @@ protected:
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
-  void vipcFrameReceived(VisionBuf *vipc_client);
+  void vipcFrameReceived();
 };