#include #include #include #include #include #include #include #include #include #include #include #include "nanovg.h" #define NANOVG_GLES3_IMPLEMENTATION #include "nanovg_gl.h" #include "nanovg_gl_utils.h" #include "common/timing.h" #include "common/util.h" #include "common/mat.h" #include "common/glutil.h" #include "common/touch.h" #include "common/framebuffer.h" #include "common/visionipc.h" #include "common/modeldata.h" #include "common/params.h" #include "cereal/gen/c/log.capnp.h" #define UI_BUF_COUNT 4 typedef struct UIScene { int frontview; uint8_t *bgr_ptr; int big_box_x, big_box_y, big_box_width, big_box_height; int transformed_width, transformed_height; uint64_t model_ts; ModelData model; bool world_objects_visible; // TODO(mgraczyk): Remove and use full frame for everything. mat3 warp_matrix; // transformed box -> big_box. mat4 extrinsic_matrix; // Last row is 0 so we can use mat4. float v_cruise; float v_ego; float angle_steers; int engaged; int lead_status; float lead_d_rel, lead_y_rel, lead_v_rel; uint8_t *bgr_front_ptr; int front_box_x, front_box_y, front_box_width, front_box_height; char alert_text1[1024]; char alert_text2[1024]; float awareness_status; } UIScene; typedef struct UIState { pthread_mutex_t lock; TouchState touch; FramebufferState *fb; int fb_w, fb_h; EGLDisplay display; EGLSurface surface; NVGcontext *vg; int font; zsock_t *model_sock; void *model_sock_raw; zsock_t *live100_sock; void *live100_sock_raw; zsock_t *livecalibration_sock; void *livecalibration_sock_raw; zsock_t *live20_sock; void *live20_sock_raw; // vision state bool vision_connected; bool vision_connect_firstrun; int ipc_fd; VisionBuf bufs[UI_BUF_COUNT]; VisionBuf front_bufs[UI_BUF_COUNT]; int cur_vision_idx; int cur_vision_front_idx; GLuint frame_program; GLuint frame_tex; GLint frame_pos_loc, frame_texcoord_loc; GLint frame_texture_loc, frame_transform_loc; GLuint line_program; GLint line_pos_loc, line_color_loc; GLint line_transform_loc; unsigned int rgb_width, rgb_height; mat4 rgb_transform; unsigned int rgb_front_width, rgb_front_height; GLuint frame_front_tex; bool intrinsic_matrix_loaded; mat3 intrinsic_matrix; UIScene scene; bool awake; int awake_timeout; bool is_metric; } UIState; static void set_awake(UIState *s, bool awake) { if (awake) { // 15 second timeout at 30 fps s->awake_timeout = 15*30; } if (s->awake != awake) { s->awake = awake; if (awake) { printf("awake normal\n"); framebuffer_set_power(s->fb, HWC_POWER_MODE_NORMAL); // can't hurt FILE *f = fopen("/sys/class/leds/lcd-backlight/brightness", "wb"); if (f != NULL) { fprintf(f, "205"); fclose(f); } } else { printf("awake off\n"); framebuffer_set_power(s->fb, HWC_POWER_MODE_OFF); } } } static const char frame_vertex_shader[] = "attribute vec4 aPosition;\n" "attribute vec4 aTexCoord;\n" "uniform mat4 uTransform;\n" "varying vec4 vTexCoord;\n" "void main() {\n" " gl_Position = uTransform * aPosition;\n" " vTexCoord = aTexCoord;\n" "}\n"; static const char frame_fragment_shader[] = "precision mediump float;\n" "uniform sampler2D uTexture;\n" "varying vec4 vTexCoord;\n" "void main() {\n" " gl_FragColor = texture2D(uTexture, vTexCoord.xy);\n" "}\n"; static const char line_vertex_shader[] = "attribute vec4 aPosition;\n" "attribute vec4 aColor;\n" "uniform mat4 uTransform;\n" "varying vec4 vColor;\n" "void main() {\n" " gl_Position = uTransform * aPosition;\n" " vColor = aColor;\n" "}\n"; static const char line_fragment_shader[] = "precision mediump float;\n" "uniform sampler2D uTexture;\n" "varying vec4 vColor;\n" "void main() {\n" " gl_FragColor = vColor;\n" "}\n"; static const mat4 device_transform = {{ 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; // frame from 4/3 to 16/9 with a 2x zoon static const mat4 frame_transform = {{ 2*(4./3.)/(16./9.), 0.0, 0.0, 0.0, 0.0, 2.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; static void ui_init(UIState *s) { memset(s, 0, sizeof(UIState)); pthread_mutex_init(&s->lock, NULL); // init connections s->model_sock = zsock_new_sub(">tcp://127.0.0.1:8009", ""); assert(s->model_sock); s->model_sock_raw = zsock_resolve(s->model_sock); s->live100_sock = zsock_new_sub(">tcp://127.0.0.1:8007", ""); assert(s->live100_sock); s->live100_sock_raw = zsock_resolve(s->live100_sock); s->livecalibration_sock = zsock_new_sub(">tcp://127.0.0.1:8019", ""); assert(s->livecalibration_sock); s->livecalibration_sock_raw = zsock_resolve(s->livecalibration_sock); s->live20_sock = zsock_new_sub(">tcp://127.0.0.1:8012", ""); assert(s->live20_sock); s->live20_sock_raw = zsock_resolve(s->live20_sock); s->ipc_fd = -1; touch_init(&s->touch); // init display s->fb = framebuffer_init("ui", 0x00001000, &s->display, &s->surface, &s->fb_w, &s->fb_h); assert(s->fb); set_awake(s, true); // init drawing s->vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG); assert(s->vg); s->font = nvgCreateFont(s->vg, "Bold", "../assets/courbd.ttf"); assert(s->font >= 0); // 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->line_program = load_program(line_vertex_shader, line_fragment_shader); assert(s->line_program); s->line_pos_loc = glGetAttribLocation(s->line_program, "aPosition"); s->line_color_loc = glGetAttribLocation(s->line_program, "aColor"); s->line_transform_loc = glGetUniformLocation(s->line_program, "uTransform"); glViewport(0, 0, s->fb_w, s->fb_h); glDisable(GL_DEPTH_TEST); assert(glGetError() == GL_NO_ERROR); } // If the intrinsics are in the params entry, this copies them to // intrinsic_matrix and returns true. Otherwise returns false. static bool try_load_intrinsics(mat3 *intrinsic_matrix) { char *value; const int result = read_db_value("/data/params", "CloudCalibration", &value, NULL); if (result == 0) { JsonNode* calibration_json = json_decode(value); free(value); JsonNode *intrinsic_json = json_find_member(calibration_json, "intrinsic_matrix"); if (intrinsic_json == NULL || intrinsic_json->tag != JSON_ARRAY) { json_delete(calibration_json); return false; } int i = 0; JsonNode* json_num; json_foreach(json_num, intrinsic_json) { intrinsic_matrix->v[i++] = json_num->number_; } json_delete(calibration_json); return true; } else { return false; } } static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs, int num_back_fds, const int *back_fds, const VisionStreamBufs front_bufs, int num_front_fds, const int *front_fds) { const VisionUIInfo ui_info = back_bufs.buf_info.ui_info; assert(num_back_fds == UI_BUF_COUNT); assert(num_front_fds == UI_BUF_COUNT); visionbufs_load(s->bufs, &back_bufs, num_back_fds, back_fds); visionbufs_load(s->front_bufs, &front_bufs, num_front_fds, front_fds); s->cur_vision_idx = -1; s->cur_vision_front_idx = -1; s->scene = (UIScene){ .frontview = 0, .big_box_x = ui_info.big_box_x, .big_box_y = ui_info.big_box_y, .big_box_width = ui_info.big_box_width, .big_box_height = ui_info.big_box_height, .transformed_width = ui_info.transformed_width, .transformed_height = ui_info.transformed_height, .front_box_x = ui_info.front_box_x, .front_box_y = ui_info.front_box_y, .front_box_width = ui_info.front_box_width, .front_box_height = ui_info.front_box_height, .world_objects_visible = false, // Invisible until we receive a calibration message. }; s->rgb_width = back_bufs.width; s->rgb_height = back_bufs.height; s->rgb_front_width = front_bufs.width; s->rgb_front_height = front_bufs.height; s->rgb_transform = (mat4){{ 2.0/s->rgb_width, 0.0, 0.0, -1.0, 0.0, 2.0/s->rgb_height, 0.0, -1.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; char *value; const int result = read_db_value("/data/params", "IsMetric", &value, NULL); if (result == 0) { s->is_metric = value[0] == '1'; free(value); } } static void ui_update_frame(UIState *s) { assert(glGetError() == GL_NO_ERROR); UIScene *scene = &s->scene; if (scene->frontview && scene->bgr_front_ptr) { // load front frame texture glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, s->frame_front_tex); glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, s->rgb_front_width, s->rgb_front_height, GL_RGB, GL_UNSIGNED_BYTE, scene->bgr_front_ptr); } else if (!scene->frontview && scene->bgr_ptr) { // load frame texture glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, s->frame_tex); glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, s->rgb_width, s->rgb_height, GL_RGB, GL_UNSIGNED_BYTE, scene->bgr_ptr); } assert(glGetError() == GL_NO_ERROR); } static void ui_draw_transformed_box(UIState *s, uint32_t color) { const UIScene *scene = &s->scene; const mat3 bbt = scene->warp_matrix; struct { vec3 pos; uint32_t color; } verts[] = { {matvecmul3(bbt, (vec3){{0.0, 0.0, 1.0,}}), color}, {matvecmul3(bbt, (vec3){{scene->transformed_width, 0.0, 1.0,}}), color}, {matvecmul3(bbt, (vec3){{scene->transformed_width, scene->transformed_height, 1.0,}}), color}, {matvecmul3(bbt, (vec3){{0.0, scene->transformed_height, 1.0,}}), color}, {matvecmul3(bbt, (vec3){{0.0, 0.0, 1.0,}}), color}, }; for (int i=0; ibig_box_x + verts[i].pos.v[0] / verts[i].pos.v[2]; verts[i].pos.v[1] = s->rgb_height - (scene->big_box_y + verts[i].pos.v[1] / verts[i].pos.v[2]); } glUseProgram(s->line_program); mat4 out_mat = matmul(device_transform, matmul(frame_transform, s->rgb_transform)); glUniformMatrix4fv(s->line_transform_loc, 1, GL_TRUE, out_mat.v); glEnableVertexAttribArray(s->line_pos_loc); glVertexAttribPointer(s->line_pos_loc, 2, GL_FLOAT, GL_FALSE, sizeof(verts[0]), &verts[0].pos.v[0]); glEnableVertexAttribArray(s->line_color_loc); glVertexAttribPointer(s->line_color_loc, 4, GL_UNSIGNED_BYTE, GL_TRUE, sizeof(verts[0]), &verts[0].color); assert(glGetError() == GL_NO_ERROR); glDrawArrays(GL_LINE_STRIP, 0, ARRAYSIZE(verts)); } // Projects a point in car to space to the corresponding point in full frame // image space. vec3 car_space_to_full_frame(const UIState *s, vec4 car_space_projective) { const UIScene *scene = &s->scene; // We'll call the car space point p. // First project into normalized image coordinates with the extrinsics matrix. const vec4 Ep4 = matvecmul(scene->extrinsic_matrix, car_space_projective); // The last entry is zero because of how we store E (to use matvecmul). const vec3 Ep = {{Ep4.v[0], Ep4.v[1], Ep4.v[2]}}; const vec3 KEp = matvecmul3(s->intrinsic_matrix, Ep); // Project. const vec3 p_image = {{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2], 1.}}; return p_image; } // TODO: refactor with draw_path static void draw_cross(UIState *s, float x_in, float y_in, float sz, NVGcolor color) { const UIScene *scene = &s->scene; nvgSave(s->vg); // path coords are worked out in rgb-box space nvgTranslate(s->vg, 240.0f, 0.0); // zooom in 2x nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); nvgScale(s->vg, 2.0, 2.0); nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height); nvgBeginPath(s->vg); nvgStrokeColor(s->vg, color); nvgStrokeWidth(s->vg, 5); const vec4 p_car_space = (vec4){{x_in, y_in, 0., 1.}}; const vec3 p_full_frame = car_space_to_full_frame(s, p_car_space); float x = p_full_frame.v[0]; float y = p_full_frame.v[1]; if (x >= 0 && y >= 0.) { nvgMoveTo(s->vg, x-sz, y); nvgLineTo(s->vg, x+sz, y); nvgMoveTo(s->vg, x, y-sz); nvgLineTo(s->vg, x, y+sz); nvgStroke(s->vg); } nvgRestore(s->vg); } static void draw_path(UIState *s, const float *points, float off, NVGcolor color) { const UIScene *scene = &s->scene; nvgSave(s->vg); // path coords are worked out in rgb-box space nvgTranslate(s->vg, 240.0f, 0.0); // zooom in 2x nvgTranslate(s->vg, -1440.0f / 2, -1080.0f / 2); nvgScale(s->vg, 2.0, 2.0); nvgScale(s->vg, 1440.0f / s->rgb_width, 1080.0f / s->rgb_height); nvgBeginPath(s->vg); nvgStrokeColor(s->vg, color); nvgStrokeWidth(s->vg, 5); bool started = false; for (int i=0; i<50; i++) { float px = (float)i; float py = points[i] + off; vec4 p_car_space = (vec4){{px, py, 0., 1.}}; vec3 p_full_frame = car_space_to_full_frame(s, p_car_space); float x = p_full_frame.v[0]; float y = p_full_frame.v[1]; if (x < 0 || y < 0.) { continue; } if (!started) { nvgMoveTo(s->vg, x, y); started = true; } else { nvgLineTo(s->vg, x, y); } } nvgStroke(s->vg); nvgRestore(s->vg); } static void draw_model_path(UIState *s, const PathData path, NVGcolor color) { float var = min(path.std, 0.7); draw_path(s, path.points, 0.0, color); color.a /= 4; draw_path(s, path.points, -var, color); draw_path(s, path.points, var, color); } static double calc_curvature(float v_ego, float angle_steers) { const double deg_to_rad = M_PI / 180.0f; const double slip_fator = 0.0014; const double steer_ratio = 15.3; const double wheel_base = 2.67; const double angle_offset = 0.0; double angle_steers_rad = (angle_steers - angle_offset) * deg_to_rad; double curvature = angle_steers_rad / (steer_ratio * wheel_base * (1. + slip_fator * v_ego * v_ego)); return curvature; } static void draw_steering(UIState *s, float v_ego, float angle_steers) { double curvature = calc_curvature(v_ego, angle_steers); float points[50]; for (int i = 0; i < 50; i++) { float y_actual = i * tan(asin(clamp(i * curvature, -0.999, 0.999)) / 2.); points[i] = y_actual; } draw_path(s, points, 0.0, nvgRGBA(0, 0, 255, 128)); } static void draw_frame(UIState *s) { // draw frame texture const UIScene *scene = &s->scene; mat4 out_mat; float x1, x2, y1, y2; if (s->scene.frontview) { out_mat = device_transform; // full 16/9 // flip horizontally so it looks like a mirror x2 = (float)scene->front_box_x / s->rgb_front_width; x1 = (float)(scene->front_box_x + scene->front_box_width) / s->rgb_front_width; y1 = (float)scene->front_box_y / s->rgb_front_height; y2 = (float)(scene->front_box_y + scene->front_box_height) / s->rgb_front_height; } else { out_mat = matmul(device_transform, frame_transform); x1 = 0.0; x2 = 1.0; y1 = 0.0; y2 = 1.0; } const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; const float frame_coords[4][4] = { {-1.0, -1.0, x2, y1}, //bl {-1.0, 1.0, x2, y2}, //tl { 1.0, 1.0, x1, y2}, //tr { 1.0, -1.0, x1, y1}, //br }; glActiveTexture(GL_TEXTURE0); if (s->scene.frontview) { glBindTexture(GL_TEXTURE_2D, s->frame_front_tex); } else { glBindTexture(GL_TEXTURE_2D, s->frame_tex); } glUseProgram(s->frame_program); glUniform1i(s->frame_texture_loc, 0); glUniformMatrix4fv(s->frame_transform_loc, 1, GL_TRUE, out_mat.v); glEnableVertexAttribArray(s->frame_pos_loc); glVertexAttribPointer(s->frame_pos_loc, 2, GL_FLOAT, GL_FALSE, sizeof(frame_coords[0]), frame_coords); glEnableVertexAttribArray(s->frame_texcoord_loc); glVertexAttribPointer(s->frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE, sizeof(frame_coords[0]), &frame_coords[0][2]); assert(glGetError() == GL_NO_ERROR); glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, &frame_indicies[0]); } /* * Draw a rect at specific position with specific dimensions */ static void ui_draw_rounded_rect( NVGcontext* c, int x, int y, int width, int height, int radius, NVGcolor color ) { int bottom_x = x + width; int bottom_y = y + height; nvgBeginPath(c); // Position the rect nvgRoundedRect(c, x, y, bottom_x, bottom_y, radius); // Color the rect nvgFillColor(c, nvgRGBA(10, 10, 10, 150)); // Draw the rect nvgFill(c); } // Draw all world space objects. static void ui_draw_world(UIState *s) { const UIScene *scene = &s->scene; if (!scene->world_objects_visible) { return; } /****************************************** * Add background rect so it's easier to see in * light background scenes ******************************************/ // Draw background around speed text // Left side ui_draw_rounded_rect(s->vg, -15, 0, 570, 180, 20, nvgRGBA(10,10,10,170)); nvgStrokeColor(s->vg, nvgRGBA(255,255,255,200)); nvgStroke(s->vg); // Right side ui_draw_rounded_rect(s->vg, 1920-530, 0, 150, 180, 20, nvgRGBA(10,10,10,170)); nvgStrokeColor(s->vg, nvgRGBA(255,255,255,200)); nvgStroke(s->vg); /******************************************/ draw_steering(s, scene->v_ego, scene->angle_steers); // draw paths if ((nanos_since_boot() - scene->model_ts) < 1000000000ULL) { draw_path(s, scene->model.path.points, 0.0f, nvgRGBA(128, 0, 255, 255)); draw_model_path( s, scene->model.left_lane, nvgRGBA(0, (int)(255 * scene->model.left_lane.prob), 0, 128)); draw_model_path( s, scene->model.right_lane, nvgRGBA(0, (int)(255 * scene->model.right_lane.prob), 0, 128)); } if (scene->lead_status) { char radar_str[16]; /****************************************** * Add background rect so it's easier to see in * light background scenes ******************************************/ // Draw background for radar text ui_draw_rounded_rect(s->vg, 580, 0, 195, 180, 20, nvgRGBA(10,10,10,170)); nvgStrokeColor(s->vg, nvgRGBA(255,255,255,200)); nvgStroke(s->vg); /******************************************/ if (s->is_metric) { int lead_v_rel = (int)(3.6 * scene->lead_v_rel); snprintf(radar_str, sizeof(radar_str), "%3d m %+d kph", (int)(scene->lead_d_rel), lead_v_rel); } else { int lead_v_rel = (int)(2.236 * scene->lead_v_rel); snprintf(radar_str, sizeof(radar_str), "%3d m %+d mph", (int)(scene->lead_d_rel), lead_v_rel); } nvgFontSize(s->vg, 96.0f); nvgFillColor(s->vg, nvgRGBA(128, 128, 0, 192)); nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP); nvgText(s->vg, 1920 / 2 - 20, 40, radar_str, NULL); // 2.7 m fudge factor draw_cross(s, scene->lead_d_rel + 2.7, scene->lead_y_rel, 15, nvgRGBA(255, 0, 0, 128)); } } static void ui_draw_vision(UIState *s) { const UIScene *scene = &s->scene; if (scene->engaged) { glClearColor(1.0, 0.5, 0.0, 1.0); } else { glClearColor(0.1, 0.1, 0.1, 1.0); } glClear(GL_COLOR_BUFFER_BIT); draw_frame(s); // nvg drawings glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); // glEnable(GL_CULL_FACE); glClear(GL_STENCIL_BUFFER_BIT); nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f); if (!scene->frontview) { ui_draw_transformed_box(s, 0xFF00FF00); ui_draw_world(s); // draw speed char speed_str[16]; float defaultfontsize = 128.0f; float labelfontsize = 65.0f; if (scene->engaged) { nvgFillColor(s->vg, nvgRGBA(255, 128, 0, 192)); // Add label nvgFontSize(s->vg, labelfontsize); nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE); nvgText(s->vg, 20, 175-30, "OpenPilot: On", NULL); } else { nvgFillColor(s->vg, nvgRGBA(195, 195, 195, 192)); // Add label nvgFontSize(s->vg, labelfontsize); nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE); nvgText(s->vg, 20, 175-30, "OpenPilot: Off", NULL); } nvgFontSize(s->vg, defaultfontsize); if (scene->v_cruise != 255 && scene->v_cruise != 0) { if (s->is_metric) { snprintf(speed_str, sizeof(speed_str), "%3d KPH", (int)(scene->v_cruise + 0.5)); } else { // Convert KPH to MPH. snprintf(speed_str, sizeof(speed_str), "%3d MPH", (int)(scene->v_cruise * 0.621371 + 0.5)); } nvgTextAlign(s->vg, NVG_ALIGN_RIGHT | NVG_ALIGN_BASELINE); nvgText(s->vg, 480, 95, speed_str, NULL); } // Add label nvgFontSize(s->vg, labelfontsize); nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192)); nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE); nvgText(s->vg, 1920 - 475, 175-30, "Current Speed", NULL); /******************************************/ nvgFontSize(s->vg, defaultfontsize); nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 192)); if (s->is_metric) { snprintf(speed_str, sizeof(speed_str), "%3d KPH", (int)(scene->v_ego * 3.6 + 0.5)); } else { snprintf(speed_str, sizeof(speed_str), "%3d MPH", (int)(scene->v_ego * 2.237 + 0.5)); } nvgTextAlign(s->vg, NVG_ALIGN_LEFT | NVG_ALIGN_BASELINE); nvgText(s->vg, 1920 - 500, 95, speed_str, NULL); /*nvgFontSize(s->vg, 64.0f); nvgTextAlign(s->vg, NVG_ALIGN_RIGHT | NVG_ALIGN_BASELINE); nvgText(s->vg, 100+450-20, 1080-100, "mph", NULL);*/ if (scene->awareness_status > 0) { nvgBeginPath(s->vg); int bar_height = scene->awareness_status * 700; nvgRect(s->vg, 100, 300 + (700 - bar_height), 50, bar_height); nvgFillColor(s->vg, nvgRGBA(255 * (1 - scene->awareness_status), 255 * scene->awareness_status, 0, 128)); nvgFill(s->vg); } } // draw alert text if (strlen(scene->alert_text1) > 0) { nvgBeginPath(s->vg); nvgRoundedRect(s->vg, 100, 200, 1700, 800, 40); nvgFillColor(s->vg, nvgRGBA(10, 10, 10, 220)); nvgFill(s->vg); nvgFontSize(s->vg, 200.0f); nvgFillColor(s->vg, nvgRGBA(255, 0, 0, 255)); nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_TOP); nvgTextBox(s->vg, 100 + 50, 200 + 50, 1700 - 50, scene->alert_text1, NULL); if (strlen(scene->alert_text2) > 0) { nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 255)); nvgFontSize(s->vg, 100.0f); nvgTextBox(s->vg, 100 + 50, 200 + 550, 1700 - 2*50, scene->alert_text2, NULL); } } nvgEndFrame(s->vg); glDisable(GL_BLEND); glDisable(GL_CULL_FACE); } static void ui_draw_blank(UIState *s) { glClearColor(0.1, 0.1, 0.1, 1.0); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); } static void ui_draw(UIState *s) { if (s->vision_connected) { ui_draw_vision(s); } else { ui_draw_blank(s); } eglSwapBuffers(s->display, s->surface); assert(glGetError() == GL_NO_ERROR); } static PathData read_path(cereal_ModelData_PathData_ptr pathp) { PathData ret = {0}; struct cereal_ModelData_PathData pathd; cereal_read_ModelData_PathData(&pathd, pathp); ret.prob = pathd.prob; ret.std = pathd.std; capn_list32 pointl = pathd.points; capn_resolve(&pointl.p); for (int i = 0; i < 50; i++) { ret.points[i] = capn_to_f32(capn_get32(pointl, i)); } return ret; } static ModelData read_model(cereal_ModelData_ptr modelp) { struct cereal_ModelData modeld; cereal_read_ModelData(&modeld, modelp); ModelData d = {0}; d.path = read_path(modeld.path); d.left_lane = read_path(modeld.leftLane); d.right_lane = read_path(modeld.rightLane); struct cereal_ModelData_LeadData leadd; cereal_read_ModelData_LeadData(&leadd, modeld.lead); d.lead = (LeadData){ .dist = leadd.dist, .prob = leadd.prob, .std = leadd.std, }; return d; } static void ui_update(UIState *s) { int err; if (!s->intrinsic_matrix_loaded) { s->intrinsic_matrix_loaded = try_load_intrinsics(&s->intrinsic_matrix); } if (s->vision_connect_firstrun) { // cant run this in connector thread because opengl. // do this here for now in lieu of a run_on_main_thread event // setup frame texture glDeleteTextures(1, &s->frame_tex); //silently ignores a 0 texture glGenTextures(1, &s->frame_tex); glBindTexture(GL_TEXTURE_2D, s->frame_tex); glTexStorage2D(GL_TEXTURE_2D, 1, GL_RGB8, s->rgb_width, s->rgb_height); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); // BGR glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED); // front glDeleteTextures(1, &s->frame_front_tex); glGenTextures(1, &s->frame_front_tex); glBindTexture(GL_TEXTURE_2D, s->frame_front_tex); glTexStorage2D(GL_TEXTURE_2D, 1, GL_RGB8, s->rgb_front_width, s->rgb_front_height); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); // BGR glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_R, GL_BLUE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_G, GL_GREEN); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_SWIZZLE_B, GL_RED); assert(glGetError() == GL_NO_ERROR); s->vision_connect_firstrun = false; } // poll for events while (true) { zmq_pollitem_t polls[5] = {{0}}; polls[0].socket = s->live100_sock_raw; polls[0].events = ZMQ_POLLIN; polls[1].socket = s->livecalibration_sock_raw; polls[1].events = ZMQ_POLLIN; polls[2].socket = s->model_sock_raw; polls[2].events = ZMQ_POLLIN; polls[3].socket = s->live20_sock_raw; polls[3].events = ZMQ_POLLIN; int num_polls = 4; if (s->vision_connected) { assert(s->ipc_fd >= 0); polls[4].fd = s->ipc_fd; polls[4].events = ZMQ_POLLIN; num_polls++; } int ret = zmq_poll(polls, num_polls, 0); if (ret < 0) { printf("poll failed (%d)\n", ret); break; } if (ret == 0) { break; } if (s->vision_connected && polls[4].revents) { // vision ipc event VisionPacket rp; err = vipc_recv(s->ipc_fd, &rp); if (err <= 0) { printf("vision disconnected\n"); close(s->ipc_fd); s->ipc_fd = -1; s->vision_connected = false; continue; } if (rp.type == VIPC_STREAM_ACQUIRE) { bool front = rp.d.stream_acq.type == VISION_STREAM_UI_FRONT; int idx = rp.d.stream_acq.idx; int release_idx; if (front) { release_idx = s->cur_vision_front_idx; } else { release_idx = s->cur_vision_idx; } if (release_idx >= 0) { VisionPacket rep = { .type = VIPC_STREAM_RELEASE, .d = { .stream_rel = { .type = rp.d.stream_acq.type, .idx = release_idx, }}, }; vipc_send(s->ipc_fd, &rep); } if (front) { assert(idx < UI_BUF_COUNT); s->cur_vision_front_idx = idx; s->scene.bgr_front_ptr = s->front_bufs[idx].addr; } else { assert(idx < UI_BUF_COUNT); s->cur_vision_idx = idx; s->scene.bgr_ptr = s->bufs[idx].addr; // printf("v %d\n", ((uint8_t*)s->bufs[idx].addr)[0]); } if (front == s->scene.frontview) { ui_update_frame(s); } } else { assert(false); } } else { // zmq messages void* which = NULL; for (int i=0; i<4; i++) { if (polls[i].revents) { which = polls[i].socket; break; } } if (which == NULL) { continue; } zmq_msg_t msg; err = zmq_msg_init(&msg); assert(err == 0); err = zmq_msg_recv(&msg, which, 0); assert(err >= 0); struct capn ctx; capn_init_mem(&ctx, zmq_msg_data(&msg), zmq_msg_size(&msg), 0); cereal_Event_ptr eventp; eventp.p = capn_getp(capn_root(&ctx), 0, 1); struct cereal_Event eventd; cereal_read_Event(&eventd, eventp); if (eventd.which == cereal_Event_live100) { struct cereal_Live100Data datad; cereal_read_Live100Data(&datad, eventd.live100); s->scene.v_cruise = datad.vCruise; s->scene.v_ego = datad.vEgo; s->scene.angle_steers = datad.angleSteers; s->scene.engaged = datad.enabled; // printf("recv %f\n", datad.vEgo); s->scene.frontview = datad.rearViewCam; if (datad.alertText1.str) { snprintf(s->scene.alert_text1, sizeof(s->scene.alert_text1), "%s", datad.alertText1.str); } else { s->scene.alert_text1[0] = '\0'; } if (datad.alertText2.str) { snprintf(s->scene.alert_text2, sizeof(s->scene.alert_text2), "%s", datad.alertText2.str); } else { s->scene.alert_text2[0] = '\0'; } s->scene.awareness_status = datad.awarenessStatus; } else if (eventd.which == cereal_Event_live20) { struct cereal_Live20Data datad; cereal_read_Live20Data(&datad, eventd.live20); struct cereal_Live20Data_LeadData leaddatad; cereal_read_Live20Data_LeadData(&leaddatad, datad.leadOne); s->scene.lead_status = leaddatad.status; s->scene.lead_d_rel = leaddatad.dRel; s->scene.lead_y_rel = leaddatad.yRel; s->scene.lead_v_rel = leaddatad.vRel; } else if (eventd.which == cereal_Event_liveCalibration) { s->scene.world_objects_visible = s->intrinsic_matrix_loaded; struct cereal_LiveCalibrationData datad; cereal_read_LiveCalibrationData(&datad, eventd.liveCalibration); // should we still even have this? capn_list32 warpl = datad.warpMatrix; capn_resolve(&warpl.p); // is this a bug? for (int i = 0; i < 3 * 3; i++) { s->scene.warp_matrix.v[i] = capn_to_f32(capn_get32(warpl, i)); } capn_list32 extrinsicl = datad.extrinsicMatrix; capn_resolve(&extrinsicl.p); // is this a bug? for (int i = 0; i < 3 * 4; i++) { s->scene.extrinsic_matrix.v[i] = capn_to_f32(capn_get32(extrinsicl, i)); } } else if (eventd.which == cereal_Event_model) { s->scene.model_ts = eventd.logMonoTime; s->scene.model = read_model(eventd.model); } capn_free(&ctx); zmq_msg_close(&msg); } } } volatile int do_exit = 0; static void set_do_exit(int sig) { do_exit = 1; } static void* vision_connect_thread(void *args) { int err; UIState *s = args; while (!do_exit) { usleep(100000); pthread_mutex_lock(&s->lock); bool connected = s->vision_connected; pthread_mutex_unlock(&s->lock); if (connected) continue; int fd = vipc_connect(); if (fd < 0) continue; VisionPacket p1 = { .type = VIPC_STREAM_SUBSCRIBE, .d = { .stream_sub = { .type = VISION_STREAM_UI_BACK, .tbuffer = true, }, }, }; err = vipc_send(fd, &p1); if (err < 0) { close(fd); continue; } VisionPacket p2 = { .type = VIPC_STREAM_SUBSCRIBE, .d = { .stream_sub = { .type = VISION_STREAM_UI_FRONT, .tbuffer = true, }, }, }; err = vipc_send(fd, &p2); if (err < 0) { close(fd); continue; } // printf("init recv\n"); VisionPacket back_rp; err = vipc_recv(fd, &back_rp); if (err <= 0) { close(fd); continue; } assert(back_rp.type == VIPC_STREAM_BUFS); VisionPacket front_rp; err = vipc_recv(fd, &front_rp); if (err <= 0) { close(fd); continue; } assert(front_rp.type == VIPC_STREAM_BUFS); pthread_mutex_lock(&s->lock); assert(!s->vision_connected); s->ipc_fd = fd; ui_init_vision(s, back_rp.d.stream_bufs, back_rp.num_fds, back_rp.fds, front_rp.d.stream_bufs, front_rp.num_fds, front_rp.fds); s->vision_connected = true; s->vision_connect_firstrun = true; pthread_mutex_unlock(&s->lock); } return NULL; } int main() { int err; zsys_handler_set(NULL); signal(SIGINT, (sighandler_t)set_do_exit); UIState uistate; UIState *s = &uistate; ui_init(s); pthread_t connect_thread_handle; err = pthread_create(&connect_thread_handle, NULL, vision_connect_thread, s); assert(err == 0); while (!do_exit) { if (s->awake) { pthread_mutex_lock(&s->lock); ui_update(s); ui_draw(s); pthread_mutex_unlock(&s->lock); } // manage wakefulness if (s->awake_timeout > 0) { s->awake_timeout--; } else { set_awake(s, false); } // always awake if vision is connected if (s->vision_connected) { set_awake(s, true); } else { int touch_x = -1, touch_y = -1; err = touch_poll(&s->touch, &touch_x, &touch_y); if (err == 1) { // touch event will still happen :( set_awake(s, true); } } // no simple way to do 30fps vsync with surfaceflinger... usleep(30000); } err = pthread_join(connect_thread_handle, NULL); assert(err == 0); return 0; }