mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-25 00:53:58 +08:00
Code Issues Packages Projects Releases Wiki Activity

CameraView: sync pbo with glFence instead of calling glFinish (#23293)

Browse Source 
* Sync pbo with fence

* use std::unique_ptr
old-commit-hash: 5dbdad3276
This commit is contained in:
Dean Lee
2022-01-04 21:14:38 +08:00
committed by GitHub
parent 336d37e95c
commit 1c61ba82b6
2 changed files with 31 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

33
selfdrive/ui/qt/widgets/cameraview.cc
View File

@@ -202,9 +202,15 @@ void CameraViewWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
std::lock_guard lk(lock);
if (latest_texture_id == -1) return;
glViewport(0, 0, width(), height());
// sync with the PBO
if (wait_fence) {
wait_fence->wait();
}
glBindVertexArray(frame_vao);
glActiveTexture(GL_TEXTURE0);
@@ -289,20 +295,23 @@ void CameraViewWidget::vipcThread() {
}
if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) {
if (!Hardware::EON()) {
void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
memcpy(texture_buffer, buf->addr, buf->len);
gl_buffer->unmap();
{
std::lock_guard lk(lock);
if (!Hardware::EON()) {
void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
memcpy(texture_buffer, buf->addr, buf->len);
gl_buffer->unmap();
// copy pixels from PBO to texture object
glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
glBindTexture(GL_TEXTURE_2D, 0);
assert(glGetError() == GL_NO_ERROR);
// use glFinish to ensure that the texture has been uploaded.
glFinish();
// copy pixels from PBO to texture object
glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
glBindTexture(GL_TEXTURE_2D, 0);
assert(glGetError() == GL_NO_ERROR);
wait_fence.reset(new WaitFence());
}
latest_texture_id = buf->idx;
}
latest_texture_id = buf->idx;
// Schedule update. update() will be invoked on the gui thread.
QMetaObject::invokeMethod(this, "update");

12
selfdrive/ui/qt/widgets/cameraview.h
View File

@@ -36,11 +36,20 @@ protected:
virtual void updateFrameMat(int w, int h);
void vipcThread();
struct WaitFence {
WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); }
~WaitFence() { glDeleteSync(sync); }
void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); }
GLsync sync = 0;
};
bool zoomed_view;
std::atomic<int> latest_texture_id = -1;
std::mutex lock;
int latest_texture_id = -1;
GLuint frame_vao, frame_vbo, frame_ibo;
mat4 frame_mat;
std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
std::unique_ptr<WaitFence> wait_fence;
std::unique_ptr<QOpenGLShaderProgram> program;
QColor bg = QColor("#000000");
@@ -50,7 +59,6 @@ protected:
std::atomic<VisionStreamType> stream_type;
QThread *vipc_thread = nullptr;
protected slots:
void vipcConnected(VisionIpcClient *vipc_client);
};