tici: fix ui rotation (#2222)

* fix rotation using wayland

* put back intrinsic matrix fix
old-commit-hash: 53e71f44ce

SConstruct

@@ -201,6 +201,7 @@ if arch in ["x86_64", "Darwin", "larch64"]:
       f"/usr/include/{real_arch}-linux-gnu/qt5/QtCore",
       f"/usr/include/{real_arch}-linux-gnu/qt5/QtDBus",
       f"/usr/include/{real_arch}-linux-gnu/qt5/QtMultimedia",
+      f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.5.1/QtGui",
     ]
 
   qt_env.Tool('qt')

selfdrive/ui/SConscript

@@ -22,7 +22,7 @@ else:
     qt_libs += ["Qt5Widgets", "Qt5Gui", "Qt5Core", "Qt5DBus", "Qt5Multimedia"]
 
   if arch == "larch64":
-    qt_libs += ["GLESv2"]
+    qt_libs += ["GLESv2", "wayland-client"]
   else:
     qt_libs += ["GL"]
 

selfdrive/ui/paint.cc

@@ -17,11 +17,20 @@ extern "C"{
 #include "sidebar.hpp"
 
 // TODO: this is also hardcoded in common/transformations/camera.py
+// TODO: choose based on frame input size
+#ifdef QCOM2	
+const mat3 intrinsic_matrix = (mat3){{	
+  2648.0, 0.0, 1928.0/2,	
+  0.0, 2648.0, 1208.0/2,	
+  0.0,   0.0,   1.0	
+}};	
+#else
 const mat3 intrinsic_matrix = (mat3){{
   910., 0., 582.,
   0., 910., 437.,
   0.,   0.,   1.
 }};
+#endif
 
 const uint8_t alert_colors[][4] = {
   [STATUS_OFFROAD] = {0x07, 0x23, 0x39, 0xf1},

selfdrive/ui/qt/ui.cc

@@ -1,5 +1,11 @@
 #include <QApplication>
 
+#ifdef QCOM2
+#include <qpa/qplatformnativeinterface.h>
+#include <QPlatformSurfaceEvent>
+#include <wayland-client-protocol.h>
+#endif
+
 #include "window.hpp"
 
 int main(int argc, char *argv[]) {
@@ -16,11 +22,15 @@ int main(int argc, char *argv[]) {
   QApplication a(argc, argv);
 
   MainWindow w;
-#ifdef QCOM2
-  w.showFullScreen();
-#else
   w.setFixedSize(vwp_w, vwp_h);
   w.show();
+
+#ifdef QCOM2
+  QPlatformNativeInterface *native = QGuiApplication::platformNativeInterface();
+  wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w.windowHandle()));
+  wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
+  wl_surface_commit(s);
+  w.showFullScreen();
 #endif
 
   return a.exec();