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64 lines
1.9 KiB
64 lines
1.9 KiB
#pragma once
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#include <memory>
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#include <QOpenGLFunctions>
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#include <QOpenGLShaderProgram>
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#include <QOpenGLWidget>
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#include <QThread>
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#include "cereal/visionipc/visionipc_client.h"
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#include "selfdrive/camerad/cameras/camera_common.h"
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#include "selfdrive/common/visionimg.h"
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#include "selfdrive/ui/ui.h"
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class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
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Q_OBJECT
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public:
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using QOpenGLWidget::QOpenGLWidget;
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explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
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~CameraViewWidget();
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void setStreamType(VisionStreamType type) { stream_type = type; }
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void setBackgroundColor(const QColor &color) { bg = color; }
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signals:
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void clicked();
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void vipcThreadConnected(VisionIpcClient *);
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void vipcThreadFrameReceived(VisionBuf *);
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protected:
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void paintGL() override;
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void initializeGL() override;
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void resizeGL(int w, int h) override { updateFrameMat(w, h); }
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void showEvent(QShowEvent *event) override;
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void hideEvent(QHideEvent *event) override;
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void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
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virtual void updateFrameMat(int w, int h);
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void vipcThread();
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struct WaitFence {
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WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); }
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~WaitFence() { glDeleteSync(sync); }
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void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); }
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GLsync sync = 0;
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};
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bool zoomed_view;
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std::mutex lock;
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int latest_texture_id = -1;
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GLuint frame_vao, frame_vbo, frame_ibo;
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mat4 frame_mat;
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std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
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std::unique_ptr<WaitFence> wait_fence;
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std::unique_ptr<QOpenGLShaderProgram> program;
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QColor bg = QColor("#000000");
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std::string stream_name;
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int stream_width = 0;
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int stream_height = 0;
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std::atomic<VisionStreamType> stream_type;
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QThread *vipc_thread = nullptr;
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protected slots:
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void vipcConnected(VisionIpcClient *vipc_client);
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};
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