mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-09-14 19:43:53 +08:00
Merge branch 'devel' of https://github.com/commaai/openpilot into devel-en
This commit is contained in:
dragonpilot
+13
-3
@@ -1,5 +1,15 @@
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Import('env', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
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Import('env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc', 'cereal')
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env.Program('_ui', ['ui.cc', 'slplay.c', '#phonelibs/nanovg/nanovg.c'],
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src = ['ui.cc', 'paint.cc', '#phonelibs/nanovg/nanovg.c']
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libs = [common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', cereal, 'json', messaging, 'OpenCL', gpucommon, visionipc]
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if arch == "aarch64":
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src += ['sound.cc', 'slplay.c']
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libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware', 'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid']
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else:
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src += ['linux.cc']
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libs += ['EGL', 'pthread', 'X11-xcb', 'xcb', 'X11', 'glfw']
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env.Program('_ui', src,
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LINKFLAGS=['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib'],
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LIBS=[common, 'zmq', 'czmq', 'capnp', 'capnp_c', 'm', 'GLESv3', 'EGL', cereal, 'gnustl_shared', 'log', 'utils', 'gui', 'hardware', 'ui', 'json', messaging, 'CB', 'OpenCL', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', gpucommon, visionipc])
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LIBS=libs)
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@@ -0,0 +1,100 @@
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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <assert.h>
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#include <string.h>
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#include "ui.hpp"
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#define GLFW_INCLUDE_ES2
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#define GLFW_INCLUDE_GLEXT
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#include <GLFW/glfw3.h>
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typedef struct FramebufferState FramebufferState;
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typedef struct TouchState TouchState;
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#define FALSE 0
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#define TRUE 1
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#include <xcb/xcb.h>
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#include <X11/Xlib-xcb.h>
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extern "C" {
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FramebufferState* framebuffer_init(
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const char* name, int32_t layer, int alpha,
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int *out_w, int *out_h) {
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glfwInit();
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glfwWindowHint(GLFW_CLIENT_API, GLFW_OPENGL_ES_API);
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glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
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glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 0);
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glfwWindowHint(GLFW_RESIZABLE, 0);
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GLFWwindow* window;
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window = glfwCreateWindow(1920, 1080, "ui", NULL, NULL);
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if (!window) {
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printf("glfwCreateWindow failed\n");
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}
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glfwMakeContextCurrent(window);
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glfwSwapInterval(0);
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// clear screen
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glClearColor(0.2f, 0.2f, 0.2f, 1.0f );
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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framebuffer_swap((FramebufferState*)window);
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if (out_w) *out_w = 1920;
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if (out_h) *out_h = 1080;
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return (FramebufferState*)window;
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}
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void framebuffer_set_power(FramebufferState *s, int mode) {
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}
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void framebuffer_swap(FramebufferState *s) {
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glfwSwapBuffers((GLFWwindow*)s);
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}
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void touch_init(TouchState *s) {
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printf("touch_init\n");
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}
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int touch_poll(TouchState *s, int* out_x, int* out_y, int timeout) {
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return -1;
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}
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int touch_read(TouchState *s, int* out_x, int* out_y) {
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return -1;
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}
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}
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#include "sound.hpp"
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void ui_sound_init() {}
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void ui_sound_destroy() {}
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void set_volume(int volume) {}
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void play_alert_sound(AudibleAlert alert) {}
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void stop_alert_sound(AudibleAlert alert) {}
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#include "common/visionimg.h"
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#include <sys/mman.h>
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GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph) {
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unsigned int texture;
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glGenTextures(1, &texture);
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glBindTexture(GL_TEXTURE_2D, texture);
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, img->width, img->height, 0, GL_RGB, GL_UNSIGNED_BYTE, *pph);
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glGenerateMipmap(GL_TEXTURE_2D);
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*pkhr = (EGLImageKHR *)1; // not NULL
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return texture;
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}
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void visionimg_destroy_gl(EGLImageKHR khr, void *ph) {
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// empty
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}
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,85 @@
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#include <stdlib.h>
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#include "sound.hpp"
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#include "common/swaglog.h"
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typedef struct {
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AudibleAlert alert;
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const char* uri;
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bool loop;
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} sound_file;
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extern "C"{
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#include "slplay.h"
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}
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void set_volume(int volume) {
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char volume_change_cmd[64];
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sprintf(volume_change_cmd, "service call audio 3 i32 3 i32 %d i32 1 &", volume);
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// 5 second timeout at 60fps
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int volume_changed = system(volume_change_cmd);
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}
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sound_file sound_table[] = {
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{ cereal_CarControl_HUDControl_AudibleAlert_chimeDisengage, "../assets/sounds/disengaged.wav", false },
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{ cereal_CarControl_HUDControl_AudibleAlert_chimeEngage, "../assets/sounds/engaged.wav", false },
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{ cereal_CarControl_HUDControl_AudibleAlert_chimeWarning1, "../assets/sounds/warning_1.wav", false },
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{ cereal_CarControl_HUDControl_AudibleAlert_chimeWarning2, "../assets/sounds/warning_2.wav", false },
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{ cereal_CarControl_HUDControl_AudibleAlert_chimeWarningRepeat, "../assets/sounds/warning_repeat.wav", true },
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{ cereal_CarControl_HUDControl_AudibleAlert_chimeError, "../assets/sounds/error.wav", false },
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{ cereal_CarControl_HUDControl_AudibleAlert_chimePrompt, "../assets/sounds/error.wav", false },
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{ cereal_CarControl_HUDControl_AudibleAlert_none, NULL, false },
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};
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sound_file* get_sound_file(AudibleAlert alert) {
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for (sound_file *s = sound_table; s->alert != cereal_CarControl_HUDControl_AudibleAlert_none; s++) {
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if (s->alert == alert) {
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return s;
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}
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}
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return NULL;
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}
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void play_alert_sound(AudibleAlert alert) {
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sound_file* sound = get_sound_file(alert);
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char* error = NULL;
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slplay_play(sound->uri, sound->loop, &error);
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if(error) {
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LOGW("error playing sound: %s", error);
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}
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}
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void stop_alert_sound(AudibleAlert alert) {
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sound_file* sound = get_sound_file(alert);
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char* error = NULL;
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slplay_stop_uri(sound->uri, &error);
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if(error) {
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LOGW("error stopping sound: %s", error);
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}
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}
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void ui_sound_init() {
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char *error = NULL;
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slplay_setup(&error);
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if (error) goto fail;
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for (sound_file *s = sound_table; s->alert != cereal_CarControl_HUDControl_AudibleAlert_none; s++) {
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slplay_create_player_for_uri(s->uri, &error);
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if (error) goto fail;
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}
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return;
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fail:
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LOGW(error);
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exit(1);
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}
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void ui_sound_destroy() {
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slplay_destroy();
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}
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@@ -0,0 +1,17 @@
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#ifndef __SOUND_HPP
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#define __SOUND_HPP
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#include "cereal/gen/c/log.capnp.h"
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typedef enum cereal_CarControl_HUDControl_AudibleAlert AudibleAlert;
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void ui_sound_init();
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void ui_sound_destroy();
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void set_volume(int volume);
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void play_alert_sound(AudibleAlert alert);
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void stop_alert_sound(AudibleAlert alert);
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#endif
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+50
-1760
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,253 @@
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#ifndef _UI_H
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#define _UI_H
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#include <GLES3/gl3.h>
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#include <EGL/egl.h>
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#include "nanovg.h"
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#include "common/mat.h"
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#include "common/visionipc.h"
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#include "common/framebuffer.h"
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#include "common/modeldata.h"
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#include "messaging.hpp"
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#include "cereal/gen/c/log.capnp.h"
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#include "sound.hpp"
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#define STATUS_STOPPED 0
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#define STATUS_DISENGAGED 1
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#define STATUS_ENGAGED 2
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#define STATUS_WARNING 3
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#define STATUS_ALERT 4
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#define ALERTSIZE_NONE 0
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#define ALERTSIZE_SMALL 1
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#define ALERTSIZE_MID 2
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#define ALERTSIZE_FULL 3
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#ifndef QCOM
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#define UI_60FPS
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#endif
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#define UI_BUF_COUNT 4
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//#define SHOW_SPEEDLIMIT 1
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//#define DEBUG_TURN
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const int vwp_w = 1920;
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const int vwp_h = 1080;
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const int nav_w = 640;
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const int nav_ww= 760;
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const int sbr_w = 300;
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const int bdr_s = 30;
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const int box_x = sbr_w+bdr_s;
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const int box_y = bdr_s;
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const int box_w = vwp_w-sbr_w-(bdr_s*2);
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const int box_h = vwp_h-(bdr_s*2);
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const int viz_w = vwp_w-(bdr_s*2);
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const int header_h = 420;
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const int footer_h = 280;
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const int footer_y = vwp_h-bdr_s-footer_h;
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const int UI_FREQ = 30; // Hz
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const int MODEL_PATH_MAX_VERTICES_CNT = 98;
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const int MODEL_LANE_PATH_CNT = 3;
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const int TRACK_POINTS_MAX_CNT = 50 * 2;
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const int SET_SPEED_NA = 255;
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const uint8_t bg_colors[][4] = {
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[STATUS_STOPPED] = {0x07, 0x23, 0x39, 0xff},
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[STATUS_DISENGAGED] = {0x17, 0x33, 0x49, 0xff},
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[STATUS_ENGAGED] = {0x17, 0x86, 0x44, 0xff},
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[STATUS_WARNING] = {0xDA, 0x6F, 0x25, 0xff},
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[STATUS_ALERT] = {0xC9, 0x22, 0x31, 0xff},
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};
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typedef struct UIScene {
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int frontview;
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int fullview;
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int transformed_width, transformed_height;
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ModelData model;
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float mpc_x[50];
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float mpc_y[50];
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bool world_objects_visible;
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mat4 extrinsic_matrix; // Last row is 0 so we can use mat4.
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float v_cruise;
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uint64_t v_cruise_update_ts;
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float v_ego;
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bool decel_for_model;
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float speedlimit;
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bool speedlimit_valid;
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bool map_valid;
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float curvature;
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int engaged;
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bool engageable;
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bool monitoring_active;
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bool uilayout_sidebarcollapsed;
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bool uilayout_mapenabled;
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// responsive layout
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int ui_viz_rx;
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int ui_viz_rw;
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int ui_viz_ro;
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int lead_status;
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float lead_d_rel, lead_y_rel, lead_v_rel;
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int front_box_x, front_box_y, front_box_width, front_box_height;
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uint64_t alert_ts;
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char alert_text1[1024];
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char alert_text2[1024];
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uint8_t alert_size;
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float alert_blinkingrate;
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float awareness_status;
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// Used to show gps planner status
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bool gps_planner_active;
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} UIScene;
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typedef struct {
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float x, y;
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}vertex_data;
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typedef struct {
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vertex_data v[MODEL_PATH_MAX_VERTICES_CNT];
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int cnt;
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} model_path_vertices_data;
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typedef struct {
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vertex_data v[TRACK_POINTS_MAX_CNT];
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int cnt;
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} track_vertices_data;
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typedef struct UIState {
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pthread_mutex_t lock;
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pthread_cond_t bg_cond;
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// framebuffer
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FramebufferState *fb;
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int fb_w, fb_h;
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EGLDisplay display;
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EGLSurface surface;
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// NVG
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NVGcontext *vg;
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// fonts and images
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int font_courbd;
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int font_sans_regular;
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int font_sans_semibold;
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int font_sans_bold;
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int img_wheel;
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int img_turn;
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int img_face;
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int img_map;
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// sockets
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Context *ctx;
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SubSocket *model_sock;
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SubSocket *controlsstate_sock;
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SubSocket *livecalibration_sock;
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SubSocket *radarstate_sock;
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SubSocket *map_data_sock;
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SubSocket *uilayout_sock;
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Poller * poller;
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int active_app;
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// vision state
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bool vision_connected;
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bool vision_connect_firstrun;
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int ipc_fd;
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VIPCBuf bufs[UI_BUF_COUNT];
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VIPCBuf front_bufs[UI_BUF_COUNT];
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int cur_vision_idx;
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int cur_vision_front_idx;
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GLuint frame_program;
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GLuint frame_texs[UI_BUF_COUNT];
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EGLImageKHR khr[UI_BUF_COUNT];
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void *priv_hnds[UI_BUF_COUNT];
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GLuint frame_front_texs[UI_BUF_COUNT];
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EGLImageKHR khr_front[UI_BUF_COUNT];
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void *priv_hnds_front[UI_BUF_COUNT];
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GLint frame_pos_loc, frame_texcoord_loc;
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GLint frame_texture_loc, frame_transform_loc;
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GLuint line_program;
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GLint line_pos_loc, line_color_loc;
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GLint line_transform_loc;
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int rgb_width, rgb_height, rgb_stride;
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size_t rgb_buf_len;
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mat4 rgb_transform;
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int rgb_front_width, rgb_front_height, rgb_front_stride;
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size_t rgb_front_buf_len;
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UIScene scene;
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bool awake;
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// timeouts
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int awake_timeout;
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int volume_timeout;
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int controls_timeout;
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int alert_sound_timeout;
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int speed_lim_off_timeout;
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int is_metric_timeout;
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int longitudinal_control_timeout;
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int limit_set_speed_timeout;
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bool controls_seen;
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int status;
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bool is_metric;
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bool longitudinal_control;
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bool limit_set_speed;
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float speed_lim_off;
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bool is_ego_over_limit;
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char alert_type[64];
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AudibleAlert alert_sound;
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int alert_size;
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||||
float alert_blinking_alpha;
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bool alert_blinked;
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float light_sensor;
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int touch_fd;
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||||
// Hints for re-calculations and redrawing
|
||||
bool model_changed;
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bool livempc_or_radarstate_changed;
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||||
|
||||
GLuint frame_vao[2], frame_vbo[2], frame_ibo[2];
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mat4 rear_frame_mat, front_frame_mat;
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model_path_vertices_data model_path_vertices[MODEL_LANE_PATH_CNT * 2];
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||||
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track_vertices_data track_vertices[2];
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} UIState;
|
||||
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// API
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||||
void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
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const char* va_text1, const char* va_text2);
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||||
void ui_draw(UIState *s);
|
||||
void ui_nvg_init(UIState *s);
|
||||
|
||||
#endif
|
||||
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Block a user