From 5ada7c007bae0fa6d57ae56589ded68498b0721b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 14 Dec 2023 12:18:45 +0800
Subject: [PATCH] ui: destroy egl_images in main thread (#30253)

* call eglDestroyImageKHR in ui thread

* assert
old-commit-hash: dbda641cee9c8b5218518ffd6589599c8f641faf
---
 selfdrive/ui/qt/widgets/cameraview.cc | 22 +++++++++++++---------
 selfdrive/ui/qt/widgets/cameraview.h  |  1 -
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index edf7b5990b..7b1f2f1d24 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -187,12 +187,23 @@ void CameraWidget::showEvent(QShowEvent *event) {
 }
 
 void CameraWidget::stopVipcThread() {
+  makeCurrent();
   if (vipc_thread) {
     vipc_thread->requestInterruption();
     vipc_thread->quit();
     vipc_thread->wait();
     vipc_thread = nullptr;
   }
+
+#ifdef QCOM2
+  EGLDisplay egl_display = eglGetCurrentDisplay();
+  assert(egl_display != EGL_NO_DISPLAY);
+  for (auto &pair : egl_images) {
+    eglDestroyImageKHR(egl_display, pair.second);
+    assert(eglGetError() == EGL_SUCCESS);
+  }
+  egl_images.clear();
+#endif
 }
 
 void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
@@ -323,8 +334,8 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
   stream_stride = vipc_client->buffers[0].stride;
 
 #ifdef QCOM2
-  egl_display = eglGetCurrentDisplay();
-
+  EGLDisplay egl_display = eglGetCurrentDisplay();
+  assert(egl_display != EGL_NO_DISPLAY);
   for (auto &pair : egl_images) {
     eglDestroyImageKHR(egl_display, pair.second);
   }
@@ -415,13 +426,6 @@ void CameraWidget::vipcThread() {
       }
     }
   }
-
-#ifdef QCOM2
-  for (auto &pair : egl_images) {
-    eglDestroyImageKHR(egl_display, pair.second);
-  }
-  egl_images.clear();
-#endif
 }
 
 void CameraWidget::clearFrames() {
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index fcd5b1b18f..c97038cf43 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -70,7 +70,6 @@ protected:
   QColor bg = QColor("#000000");
 
 #ifdef QCOM2
-  EGLDisplay egl_display;
   std::map<int, EGLImageKHR> egl_images;
 #endif