openpilot v0.5.11 release

selfdrive/common/touch.c

@@ -90,3 +90,31 @@ int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
   return up;
 }
 
+int touch_read(TouchState *s, int* out_x, int* out_y) {
+  assert(out_x && out_y);
+  struct input_event event;
+  int err = read(s->fd, &event, sizeof(event));
+  if (err < sizeof(event)) {
+    return -1;
+  }
+  bool up = false;
+  switch (event.type) { 
+  case EV_ABS:
+    if (event.code == ABS_MT_POSITION_X) {
+      s->last_x = event.value;
+    } else if (event.code == ABS_MT_POSITION_Y) {
+      s->last_y = event.value;
+    }
+    up = true;
+    break;
+  default:
+    break;
+  }
+  if (up) {
+    // adjust for flippening
+    *out_x = s->last_y;
+    *out_y = 1080 - s->last_x;
+  }
+  return up;
+}
+

selfdrive/common/touch.h

@@ -12,6 +12,7 @@ typedef struct TouchState {
 
 void touch_init(TouchState *s);
 int touch_poll(TouchState *s, int *out_x, int *out_y, int timeout);
+int touch_read(TouchState *s, int* out_x, int* out_y);
 
 #ifdef __cplusplus
 }

selfdrive/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.5.10-release"
+#define COMMA_VERSION "0.5.11-release"

selfdrive/common/visionimg.cc

@@ -68,7 +68,7 @@ VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf) {
 
 #ifdef QCOM
 
-EGLClientBuffer visionimg_to_egl(const VisionImg *img) {
+EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph) {
   assert((img->size % img->stride) == 0);
   assert((img->stride % img->bpp) == 0);
 
@@ -87,13 +87,14 @@ EGLClientBuffer visionimg_to_egl(const VisionImg *img) {
 
   GraphicBuffer* gb = new GraphicBuffer(img->width, img->height, (PixelFormat)format,
                                         GraphicBuffer::USAGE_HW_TEXTURE, img->stride/img->bpp, hnd, false);
-
+  // GraphicBuffer is ref counted by EGLClientBuffer(ANativeWindowBuffer), no need and not possible to release.
+  *pph = hnd;
   return (EGLClientBuffer) gb->getNativeBuffer();
 }
 
-GLuint visionimg_to_gl(const VisionImg *img) {
+GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
 
-  EGLClientBuffer buf = visionimg_to_egl(img);
+  EGLClientBuffer buf = visionimg_to_egl(img, pph);
 
   EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
   assert(display != EGL_NO_DISPLAY);
@@ -107,8 +108,15 @@ GLuint visionimg_to_gl(const VisionImg *img) {
   glGenTextures(1, &tex);
   glBindTexture(GL_TEXTURE_2D, tex);
   glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, image);
-
+  *pkhr = image;
   return tex;
 }
 
+void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
+  EGLDisplay display = eglGetDisplay(EGL_DEFAULT_DISPLAY);
+  assert(display != EGL_NO_DISPLAY);
+  eglDestroyImageKHR(display, khr);
+  delete (private_handle_t*)ph;
+}
+
 #endif

selfdrive/common/visionimg.h

@@ -27,8 +27,9 @@ void visionimg_compute_aligned_width_and_height(int width, int height, int *alig
 VisionImg visionimg_alloc_rgb24(int width, int height, VisionBuf *out_buf);
 
 #ifdef QCOM
-EGLClientBuffer visionimg_to_egl(const VisionImg *img);
-GLuint visionimg_to_gl(const VisionImg *img);
+EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph);
+GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph);
+void visionimg_destroy_gl(EGLImageKHR khr, void *ph);
 #endif
 
 #ifdef __cplusplus