openpilot release

2026-08-06 00:36:32 +08:00 · 2016-11-29 18:34:21 -08:00
commit e94a30bec0
117 changed files with 50549 additions and 0 deletions
@@ -0,0 +1,135 @@
+
+#include <cstdio>
+#include <cstdlib>
+#include <cassert>
+
+#include <ui/DisplayInfo.h>
+
+#include <gui/ISurfaceComposer.h>
+#include <gui/Surface.h>
+#include <gui/SurfaceComposerClient.h>
+
+
+#include <GLES2/gl2.h>
+#include <EGL/eglext.h>
+
+#define BACKLIGHT_CONTROL "/sys/class/leds/lcd-backlight/brightness"
+#define BACKLIGHT_LEVEL "205"
+
+using namespace android;
+
+struct FramebufferState {
+    sp<SurfaceComposerClient> session;
+    sp<IBinder> dtoken;
+    DisplayInfo dinfo;
+    sp<SurfaceControl> control;
+
+    sp<Surface> s;
+    EGLDisplay display;
+
+    EGLint egl_major, egl_minor;
+    EGLConfig config;
+    EGLSurface surface;
+    EGLContext context;
+};
+
+extern "C" FramebufferState* framebuffer_init(
+    const char* name, int32_t layer,
+    EGLDisplay *out_display, EGLSurface *out_surface,
+    int *out_w, int *out_h) {
+  status_t status;
+  int success;
+
+  FramebufferState *s = new FramebufferState;
+
+  s->session = new SurfaceComposerClient();
+  assert(s->session != NULL);
+
+  s->dtoken = SurfaceComposerClient::getBuiltInDisplay(
+                ISurfaceComposer::eDisplayIdMain);
+  assert(s->dtoken != NULL);
+
+  status = SurfaceComposerClient::getDisplayInfo(s->dtoken, &s->dinfo);
+  assert(status == 0);
+
+  int orientation = 3; // rotate framebuffer 270 degrees
+  if(orientation == 1 || orientation == 3) {
+      int temp = s->dinfo.h;
+      s->dinfo.h = s->dinfo.w;
+      s->dinfo.w = temp;
+  }
+
+  printf("dinfo %dx%d\n", s->dinfo.w, s->dinfo.h);
+
+  Rect destRect(s->dinfo.w, s->dinfo.h);
+  s->session->setDisplayProjection(s->dtoken, orientation, destRect, destRect);
+
+  s->control = s->session->createSurface(String8(name),
+                  s->dinfo.w, s->dinfo.h, PIXEL_FORMAT_RGBX_8888);
+  assert(s->control != NULL);
+
+  SurfaceComposerClient::openGlobalTransaction();
+  status = s->control->setLayer(layer);
+  SurfaceComposerClient::closeGlobalTransaction();
+  assert(status == 0);
+
+  s->s = s->control->getSurface();
+  assert(s->s != NULL);
+
+  // init opengl and egl
+  const EGLint attribs[] = {
+    EGL_RED_SIZE,     8,
+    EGL_GREEN_SIZE,   8,
+    EGL_BLUE_SIZE,    8,
+    EGL_DEPTH_SIZE,   0,
+    EGL_STENCIL_SIZE, 8,
+    EGL_RENDERABLE_TYPE, EGL_OPENGL_ES3_BIT_KHR,
+    EGL_NONE,
+  };
+
+  s->display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
+  assert(s->display != EGL_NO_DISPLAY);
+
+  success = eglInitialize(s->display, &s->egl_major, &s->egl_minor);
+  assert(success);
+
+  printf("egl version %d.%d\n", s->egl_major, s->egl_minor);
+  
+  EGLint num_configs;
+  success = eglChooseConfig(s->display, attribs, &s->config, 1, &num_configs);
+  assert(success);
+
+  s->surface = eglCreateWindowSurface(s->display, s->config, s->s.get(), NULL);
+  assert(s->surface != EGL_NO_SURFACE);
+
+  const EGLint context_attribs[] = {
+    EGL_CONTEXT_CLIENT_VERSION, 3,
+    EGL_NONE,
+  };
+  s->context = eglCreateContext(s->display, s->config, NULL, context_attribs);
+  assert(s->context != EGL_NO_CONTEXT);
+
+  EGLint w, h;
+  eglQuerySurface(s->display, s->surface, EGL_WIDTH, &w);
+  eglQuerySurface(s->display, s->surface, EGL_HEIGHT, &h);
+  printf("egl w %d h %d\n", w, h);
+
+  success = eglMakeCurrent(s->display, s->surface, s->surface, s->context);
+  assert(success);
+
+  printf("gl version %s\n", glGetString(GL_VERSION));
+
+
+  // set brightness
+  int brightness_fd = open(BACKLIGHT_CONTROL, O_RDWR);
+  const char brightness_level[] = BACKLIGHT_LEVEL;
+  write(brightness_fd, brightness_level, strlen(brightness_level));
+
+
+  if (out_display) *out_display = s->display;
+  if (out_surface) *out_surface = s->surface;
+  if (out_w) *out_w = w;
+  if (out_h) *out_h = h;
+
+  return s;
+}