convert glutil.c to gltuil.cc & add class GLShader (#19720)

* c++ glutil

* function getUniformLocation

* rebase master
old-commit-hash: cef469cbed

release/files_common

@@ -186,7 +186,8 @@ selfdrive/common/version.h
 
 selfdrive/common/framebuffer.h
 selfdrive/common/framebuffer.cc
-selfdrive/common/glutil.[c,h]
+selfdrive/common/glutil.cc
+selfdrive/common/glutil.h
 selfdrive/common/touch.[c,h]
 selfdrive/common/swaglog.h
 selfdrive/common/swaglog.cc

selfdrive/common/SConscript

@@ -11,7 +11,7 @@ _common = fxn('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
-  'glutil.c',
+  'glutil.cc',
   'visionimg.cc',
 ]
 

selfdrive/common/glutil.c

@@ -1,69 +0,0 @@
-#include <stdlib.h>
-#include <stdio.h>
-
-#include "glutil.h"
-
-GLuint load_shader(GLenum shaderType, const char *src) {
-  GLint status = 0, len = 0;
-  GLuint shader;
-
-  if (!(shader = glCreateShader(shaderType)))
-    return 0;
-
-  glShaderSource(shader, 1, &src, NULL);
-  glCompileShader(shader);
-  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
-
-  if (status)
-    return shader;
-
-  glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *msg = (char*)malloc(len);
-    if (msg) {
-      glGetShaderInfoLog(shader, len, NULL, msg);
-      msg[len-1] = 0;
-      fprintf(stderr, "error compiling shader:\n%s\n", msg);
-      free(msg);
-    }
-  }
-  glDeleteShader(shader);
-  return 0;
-}
-
-GLuint load_program(const char *vert_src, const char *frag_src) {
-  GLuint vert, frag, prog;
-  GLint status = 0, len = 0;
-
-  if (!(vert = load_shader(GL_VERTEX_SHADER, vert_src)))
-    return 0;
-  if (!(frag = load_shader(GL_FRAGMENT_SHADER, frag_src)))
-    goto fail_frag;
-  if (!(prog = glCreateProgram()))
-    goto fail_prog;
-
-  glAttachShader(prog, vert);
-  glAttachShader(prog, frag);
-  glLinkProgram(prog);
-
-  glGetProgramiv(prog, GL_LINK_STATUS, &status);
-  if (status)
-    return prog;
-
-  glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
-  if (len) {
-    char *buf = (char*) malloc(len);
-    if (buf) {
-      glGetProgramInfoLog(prog, len, NULL, buf);
-      buf[len-1] = 0;
-      fprintf(stderr, "error linking program:\n%s\n", buf);
-      free(buf);
-    }
-  }
-  glDeleteProgram(prog);
-fail_prog:
-  glDeleteShader(frag);
-fail_frag:
-  glDeleteShader(vert);
-  return 0;
-}

selfdrive/common/glutil.cc

@@ -0,0 +1,63 @@
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <string>
+
+#include "glutil.h"
+
+static GLuint load_shader(GLenum shaderType, const char *src) {
+  GLint status = 0, len = 0;
+  GLuint shader = glCreateShader(shaderType);
+  assert(shader != 0);
+
+  glShaderSource(shader, 1, &src, NULL);
+  glCompileShader(shader);
+  glGetShaderiv(shader, GL_COMPILE_STATUS, &status);
+  if (!status) {
+    glGetShaderiv(shader, GL_INFO_LOG_LENGTH, &len);
+    if (len) {
+      std::string msg(len, '\0');
+      glGetShaderInfoLog(shader, len, NULL, msg.data());
+      fprintf(stderr, "error compiling shader:\n%s\n", msg.c_str());
+    }
+    assert(0);
+  }
+  return shader;
+}
+
+GLShader::GLShader(const char *vert_src, const char *frag_src) {
+  GLint status = 0, len = 0;
+  prog = glCreateProgram();
+  assert(prog != 0);
+
+  vert = load_shader(GL_VERTEX_SHADER, vert_src);
+  frag = load_shader(GL_FRAGMENT_SHADER, frag_src);
+  glAttachShader(prog, vert);
+  glAttachShader(prog, frag);
+  glLinkProgram(prog);
+
+  glGetProgramiv(prog, GL_LINK_STATUS, &status);
+  if (!status) {
+    glGetProgramiv(prog, GL_INFO_LOG_LENGTH, &len);
+    if (len) {
+      std::string msg(len, '\0');
+      glGetProgramInfoLog(prog, len, NULL, msg.data());
+      fprintf(stderr, "error linking program:\n%s\n", msg.c_str());
+    }
+    assert(0);
+  }
+}
+
+GLShader::~GLShader() {
+  glDeleteProgram(prog);
+  glDeleteShader(frag);
+  glDeleteShader(vert);
+}
+
+GLuint GLShader::getUniformLocation(const char *name) {
+  auto it = uniform_loc_map.find(name);
+  if (it == uniform_loc_map.end()) {
+    it = uniform_loc_map.insert(it, {name, glGetUniformLocation(prog, name)});
+  }
+  return it->second;
+}

selfdrive/common/glutil.h

@@ -1,21 +1,20 @@
-#ifndef COMMON_GLUTIL_H
-#define COMMON_GLUTIL_H
+#pragma once
 
 #ifdef __APPLE__
   #include <OpenGL/gl3.h>
 #else
   #include <GLES3/gl3.h>
 #endif
+#include <map>
 
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-GLuint load_shader(GLenum shaderType, const char *src);
-GLuint load_program(const char *vert_src, const char *frag_src);
+class GLShader {
+public:
+  GLShader(const char *vert_src, const char *frag_src);
+  ~GLShader();
+  GLuint getUniformLocation(const char * name);
+  GLuint prog = 0;
 
-#ifdef __cplusplus
-}
-#endif
-
-#endif
+private:
+  GLuint vert = 0, frag = 0;
+  std::map<const char*, GLint> uniform_loc_map;
+};

selfdrive/ui/paint.cc

@@ -11,11 +11,6 @@
 #define NANOVG_GLES3_IMPLEMENTATION
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"
-
-extern "C"{
-#include "common/glutil.h"
-}
-
 #include "paint.hpp"
 #include "sidebar.hpp"
 
@@ -166,9 +161,9 @@ static void draw_frame(UIState *s) {
 #endif
   }
 
-  glUseProgram(s->frame_program);
-  glUniform1i(s->frame_texture_loc, 0);
-  glUniformMatrix4fv(s->frame_transform_loc, 1, GL_TRUE, out_mat->v);
+  glUseProgram(s->gl_shader->prog);
+  glUniform1i(s->gl_shader->getUniformLocation("uTexture"), 0);
+  glUniformMatrix4fv(s->gl_shader->getUniformLocation("uTransform"), 1, GL_TRUE, out_mat->v);
 
   assert(glGetError() == GL_NO_ERROR);
   glEnableVertexAttribArray(0);
@@ -575,14 +570,9 @@ void ui_nvg_init(UIState *s) {
   }
 
   // init gl
-  s->frame_program = load_program(frame_vertex_shader, frame_fragment_shader);
-  assert(s->frame_program);
-
-  s->frame_pos_loc = glGetAttribLocation(s->frame_program, "aPosition");
-  s->frame_texcoord_loc = glGetAttribLocation(s->frame_program, "aTexCoord");
-
-  s->frame_texture_loc = glGetUniformLocation(s->frame_program, "uTexture");
-  s->frame_transform_loc = glGetUniformLocation(s->frame_program, "uTransform");
+  s->gl_shader = std::make_unique<GLShader>(frame_vertex_shader, frame_fragment_shader);
+  GLint frame_pos_loc = glGetAttribLocation(s->gl_shader->prog, "aPosition");
+  GLint frame_texcoord_loc = glGetAttribLocation(s->gl_shader->prog, "aTexCoord");
 
   glViewport(0, 0, s->fb_w, s->fb_h);
 
@@ -617,11 +607,11 @@ void ui_nvg_init(UIState *s) {
     glGenBuffers(1, &s->frame_vbo[i]);
     glBindBuffer(GL_ARRAY_BUFFER, s->frame_vbo[i]);
     glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW);
-    glEnableVertexAttribArray(s->frame_pos_loc);
-    glVertexAttribPointer(s->frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
+    glEnableVertexAttribArray(frame_pos_loc);
+    glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE,
                           sizeof(frame_coords[0]), (const void *)0);
-    glEnableVertexAttribArray(s->frame_texcoord_loc);
-    glVertexAttribPointer(s->frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
+    glEnableVertexAttribArray(frame_texcoord_loc);
+    glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE,
                           sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2));
     glGenBuffers(1, &s->frame_ibo[i]);
     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, s->frame_ibo[i]);

selfdrive/ui/ui.hpp

@@ -24,6 +24,7 @@
 #include "common/framebuffer.h"
 #include "common/modeldata.h"
 #include "common/params.h"
+#include "common/glutil.h"
 #include "sound.hpp"
 #include "visionipc.h"
 #include "visionipc_client.h"
@@ -171,11 +172,9 @@ typedef struct UIState {
   cereal::UiLayoutState::App active_app;
 
   // graphics
-  GLuint frame_program;
+  std::unique_ptr<GLShader> gl_shader;
   std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
 
-  GLint frame_pos_loc, frame_texcoord_loc;
-  GLint frame_texture_loc, frame_transform_loc;
   GLuint frame_vao[2], frame_vbo[2], frame_ibo[2];
   mat4 rear_frame_mat, front_frame_mat;