Refactor image texture stuff into class (#19719)

* Refactor image texture stuff into class

* cleanup

* Update selfdrive/common/visionimg.cc

Co-authored-by: Willem Melching <willem.melching@gmail.com>

selfdrive/common/visionimg.cc

@@ -1,99 +1,62 @@
 #include <cassert>
+#include "common/visionimg.h"
 
 #ifdef QCOM
-
 #include <system/graphics.h>
 #include <ui/GraphicBuffer.h>
 #include <ui/PixelFormat.h>
 #include <gralloc_priv.h>
-
-#include <GLES3/gl3.h>
 #define GL_GLEXT_PROTOTYPES
 #include <GLES2/gl2ext.h>
-
-#include <EGL/egl.h>
-#define EGL_EGLEXT_PROTOTYPES
-#include <EGL/eglext.h>
-
-#else // ifdef QCOM
-
-#ifdef __APPLE__
-#include <OpenGL/gl3.h>
-#else
-#include <GLES3/gl3.h>
-#endif
-
-#endif // ifdef QCOM
-
-#include "common/visionimg.h"
-
-#ifdef QCOM
 using namespace android;
 
-static EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph) {
+EGLImageTexture::EGLImageTexture(const VisionBuf *buf) {
-  assert((img->size % img->stride) == 0);
+  const int bpp = 3;
-  assert((img->stride % img->bpp) == 0);
+  assert((buf->len % buf->stride) == 0);
+  assert((buf->stride % bpp) == 0);
 
-  int format = 0;
+  const int format = HAL_PIXEL_FORMAT_RGB_888;
-  if (img->format == VISIONIMG_FORMAT_RGB24) {
+  private_handle = new private_handle_t(buf->fd, buf->len,
-    format = HAL_PIXEL_FORMAT_RGB_888;
-  } else {
-    assert(false);
-  }
-
-  private_handle_t* hnd = new private_handle_t(img->fd, img->size,
                              private_handle_t::PRIV_FLAGS_USES_ION|private_handle_t::PRIV_FLAGS_FRAMEBUFFER,
                              0, format,
-                             img->stride/img->bpp, img->size/img->stride,
+                             buf->stride/bpp, buf->len/buf->stride,
-                             img->width, img->height);
+                             buf->width, buf->height);
 
-  GraphicBuffer* gb = new GraphicBuffer(img->width, img->height, (PixelFormat)format,
-                                        GraphicBuffer::USAGE_HW_TEXTURE, img->stride/img->bpp, hnd, false);
   // GraphicBuffer is ref counted by EGLClientBuffer(ANativeWindowBuffer), no need and not possible to release.	
-  *pph = hnd;
+  GraphicBuffer* gb = new GraphicBuffer(buf->width, buf->height, (PixelFormat)format,
-  return (EGLClientBuffer) gb->getNativeBuffer();
+                                        GraphicBuffer::USAGE_HW_TEXTURE, buf->stride/bpp, (private_handle_t*)private_handle, false);
-}
-
-GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
-
-  EGLClientBuffer buf = visionimg_to_egl(img, pph);
 
   EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
   assert(display != EGL_NO_DISPLAY);
 
   EGLint img_attrs[] = {EGL_IMAGE_PRESERVED_KHR, EGL_TRUE, EGL_NONE};
-  EGLImageKHR image = eglCreateImageKHR(display, EGL_NO_CONTEXT,
+  img_khr = eglCreateImageKHR(display, EGL_NO_CONTEXT,
-                                        EGL_NATIVE_BUFFER_ANDROID, buf, img_attrs);
+                              EGL_NATIVE_BUFFER_ANDROID, gb->getNativeBuffer(), img_attrs);
-  assert(image != EGL_NO_IMAGE_KHR);
+  assert(img_khr != EGL_NO_IMAGE_KHR);
 
-  GLuint tex = 0;
+  glGenTextures(1, &frame_tex);
-  glGenTextures(1, &tex);
+  glBindTexture(GL_TEXTURE_2D, frame_tex);
-  glBindTexture(GL_TEXTURE_2D, tex);
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, img_khr);
-  glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, image);
-  *pkhr = image;
-  return tex;
 }
 
-void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
+EGLImageTexture::~EGLImageTexture() {
+  glDeleteTextures(1, &frame_tex);
   EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
   assert(display != EGL_NO_DISPLAY);
-  eglDestroyImageKHR(display, khr);
+  eglDestroyImageKHR(display, img_khr);
-  delete (private_handle_t*)ph;
+  delete (private_handle_t*)private_handle;
 }
 
 #else // ifdef QCOM
 
-GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
+EGLImageTexture::EGLImageTexture(const VisionBuf *buf) {
-  unsigned int texture;
+  glGenTextures(1, &frame_tex);
-  glGenTextures(1, &texture);
+  glBindTexture(GL_TEXTURE_2D, frame_tex);
-  glBindTexture(GL_TEXTURE_2D, texture);
+  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, buf->width, buf->height, 0, GL_RGB, GL_UNSIGNED_BYTE, buf->addr);
-  glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, *pph);
   glGenerateMipmap(GL_TEXTURE_2D);
-  *pkhr = (EGLImageKHR)1; // not NULL
-  return texture;
 }
 
-void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
+EGLImageTexture::~EGLImageTexture() {
-  // empty
+  glDeleteTextures(1, &frame_tex);
 }
 #endif // ifdef QCOM

selfdrive/common/visionimg.h

@@ -1,25 +1,27 @@
 #pragma once
+
 #include "visionbuf.h"
-#include "common/glutil.h"
+
+#ifdef __APPLE__
+  #include <OpenGL/gl3.h>
+#else
+  #include <GLES3/gl3.h>
+#endif
 
 #ifdef QCOM
 #include <EGL/egl.h>
+#define EGL_EGLEXT_PROTOTYPES
 #include <EGL/eglext.h>
 #undef Status
-#else
-typedef int EGLImageKHR;
-typedef void *EGLClientBuffer;
 #endif
 
-#define VISIONIMG_FORMAT_RGB24 1
+class EGLImageTexture {
-
+ public:
-typedef struct VisionImg {
+  EGLImageTexture(const VisionBuf *buf);
-  int fd;
+  ~EGLImageTexture();
-  int format;
+  GLuint frame_tex = 0;
-  int width, height, stride;
+#ifdef QCOM
-  int bpp;
+  void *private_handle = nullptr;
-  size_t size;
+  EGLImageKHR img_khr = 0;
-} VisionImg;
+#endif
-
+};
-GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph);
-void visionimg_destroy_gl(EGLImageKHR khr, void *ph);

selfdrive/ui/paint.cc

@@ -158,11 +158,11 @@ static void draw_frame(UIState *s) {
   glActiveTexture(GL_TEXTURE0);
 
   if (s->last_frame) {
-    glBindTexture(GL_TEXTURE_2D, s->frame_texs[s->last_frame->idx]);
+    glBindTexture(GL_TEXTURE_2D, s->texture[s->last_frame->idx]->frame_tex);
 #ifndef QCOM
     // this is handled in ion on QCOM
     glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, s->last_frame->width, s->last_frame->height,
-                 0, GL_RGB, GL_UNSIGNED_BYTE, s->priv_hnds[s->last_frame->idx]);
+                 0, GL_RGB, GL_UNSIGNED_BYTE, s->last_frame->addr);
 #endif
   }
 
@@ -643,9 +643,4 @@ void ui_nvg_init(UIState *s) {
 
   s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
   s->rear_frame_mat = matmul(device_transform, frame_transform);
-
-  for(int i = 0; i < UI_BUF_COUNT; i++) {
-    s->khr[i] = 0;
-    s->priv_hnds[i] = NULL;
-  }
 }

selfdrive/ui/ui.cc

@@ -24,27 +24,9 @@ static void ui_init_vision(UIState *s) {
   s->scene.world_objects_visible = false;
 
   for (int i = 0; i < s->vipc_client->num_buffers; i++) {
-    if (s->khr[i] != 0) {
+    s->texture[i].reset(new EGLImageTexture(&s->vipc_client->buffers[i]));
-      visionimg_destroy_gl(s->khr[i], s->priv_hnds[i]);
+
-      glDeleteTextures(1, &s->frame_texs[i]);
+    glBindTexture(GL_TEXTURE_2D, s->texture[i]->frame_tex);
-    }
-    VisionBuf * buf = &s->vipc_client->buffers[i];
-
-    VisionImg img = {
-      .fd = buf->fd,
-      .format = VISIONIMG_FORMAT_RGB24,
-      .width = (int)buf->width,
-      .height = (int)buf->height,
-      .stride = (int)buf->stride,
-      .bpp = 3,
-      .size = buf->len,
-    };
-#ifndef QCOM
-    s->priv_hnds[i] = buf->addr;
-#endif
-    s->frame_texs[i] = visionimg_to_gl(&img, &s->khr[i], &s->priv_hnds[i]);
-
-    glBindTexture(GL_TEXTURE_2D, s->frame_texs[i]);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
     glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
 

selfdrive/ui/ui.hpp

@@ -13,6 +13,7 @@
 
 #include <atomic>
 #include <map>
+#include <memory>
 #include <string>
 #include <sstream>
 
@@ -171,9 +172,7 @@ typedef struct UIState {
 
   // graphics
   GLuint frame_program;
-  GLuint frame_texs[UI_BUF_COUNT];
+  std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
-  EGLImageKHR khr[UI_BUF_COUNT];
-  void *priv_hnds[UI_BUF_COUNT];
 
   GLint frame_pos_loc, frame_texcoord_loc;
   GLint frame_texture_loc, frame_transform_loc;