mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-13 09:12:08 +08:00
Merge branch 'upstream/master' into sync-20241205
This commit is contained in:
Jason Wen
@@ -28,7 +28,7 @@ jobs:
|
||||
git add .
|
||||
- name: update car docs
|
||||
run: |
|
||||
scons -j$(nproc) --minimal opendbc
|
||||
scons -j$(nproc) --minimal opendbc_repo
|
||||
PYTHONPATH=. python selfdrive/car/docs.py
|
||||
git add docs/CARS.md
|
||||
- name: Create Pull Request
|
||||
|
||||
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
|
||||
apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot pocl-opencl-icd && \
|
||||
rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
@@ -18,43 +18,6 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
|
||||
cd /usr/lib/gcc/arm-none-eabi/* && \
|
||||
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
|
||||
|
||||
# Add OpenCL
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
apt-utils \
|
||||
alien \
|
||||
unzip \
|
||||
tar \
|
||||
curl \
|
||||
xz-utils \
|
||||
dbus \
|
||||
gcc-arm-none-eabi \
|
||||
tmux \
|
||||
vim \
|
||||
libx11-6 \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN mkdir -p /tmp/opencl-driver-intel && \
|
||||
cd /tmp/opencl-driver-intel && \
|
||||
wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
|
||||
mkdir -p /etc/OpenCL/vendors && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
|
||||
cd /opt/intel && \
|
||||
tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
|
||||
mkdir -p /etc/ld.so.conf.d && \
|
||||
echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
|
||||
cd / && \
|
||||
rm -rf /tmp/opencl-driver-intel
|
||||
|
||||
ENV NVIDIA_VISIBLE_DEVICES all
|
||||
ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
|
||||
ENV QTWEBENGINE_DISABLE_SANDBOX 1
|
||||
@@ -68,17 +31,14 @@ RUN usermod -aG sudo $USER
|
||||
RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
|
||||
USER $USER
|
||||
|
||||
COPY --chown=$USER pyproject.toml uv.lock /tmp/
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
|
||||
COPY --chown=$USER pyproject.toml uv.lock /home/$USER
|
||||
COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
|
||||
|
||||
ENV VIRTUAL_ENV=/home/$USER/.venv
|
||||
ENV PATH="$VIRTUAL_ENV/bin:$PATH"
|
||||
RUN cd /tmp && \
|
||||
RUN cd /home/$USER && \
|
||||
tools/install_python_dependencies.sh && \
|
||||
mkdir -p $VIRTUAL_ENV && \
|
||||
cp -r /tmp/.venv/* $VIRTUAL_ENV && \
|
||||
rm -rf /tmp/* && \
|
||||
rm -rf /home/$USER/.cache
|
||||
rm -rf tools/ pyproject.toml uv.lock .cache
|
||||
|
||||
USER root
|
||||
RUN sudo git config --global --add safe.directory /tmp/openpilot
|
||||
|
||||
Vendored
+2
-2
@@ -207,8 +207,8 @@ node {
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||||
step("build", "cd system/manager && ./build.py"),
|
||||
step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
|
||||
step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"),
|
||||
step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
|
||||
step("test pigeond", "pytest system/ubloxd/tests/test_pigeond.py", [diffPaths: ["system/ubloxd/"]]),
|
||||
step("test manager", "pytest system/manager/test/test_manager.py"),
|
||||
])
|
||||
},
|
||||
|
||||
@@ -366,6 +366,7 @@ SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build system services
|
||||
SConscript([
|
||||
'system/ui/SConscript',
|
||||
'system/proclogd/SConscript',
|
||||
'system/ubloxd/SConscript',
|
||||
'system/loggerd/SConscript',
|
||||
|
||||
@@ -486,6 +486,8 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
||||
nvmeTempC @35 :List(Float32);
|
||||
modemTempC @36 :List(Float32);
|
||||
pmicTempC @39 :List(Float32);
|
||||
intakeTempC @46 :Float32;
|
||||
exhaustTempC @47 :Float32;
|
||||
maxTempC @44 :Float32; # max of other temps, used to control fan
|
||||
thermalZones @38 :List(ThermalZone);
|
||||
thermalStatus @14 :ThermalStatus;
|
||||
|
||||
@@ -17,5 +17,5 @@ class TestServices:
|
||||
|
||||
def test_generated_header(self):
|
||||
with tempfile.NamedTemporaryFile(suffix=".h") as f:
|
||||
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
|
||||
ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name} -std=c++11")
|
||||
assert ret == 0, "generated services header is not valid C"
|
||||
|
||||
@@ -112,7 +112,6 @@ std::unordered_map<std::string, uint32_t> keys = {
|
||||
{"DisablePowerDown", PERSISTENT},
|
||||
{"DisableUpdates", PERSISTENT},
|
||||
{"DisengageOnAccelerator", PERSISTENT},
|
||||
{"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
|
||||
{"DongleId", PERSISTENT},
|
||||
{"DoReboot", CLEAR_ON_MANAGER_START},
|
||||
{"DoShutdown", CLEAR_ON_MANAGER_START},
|
||||
|
||||
+1
-1
@@ -13,7 +13,7 @@ public:
|
||||
if (prefix.empty()) {
|
||||
prefix = util::random_string(15);
|
||||
}
|
||||
msgq_path = "/dev/shm/" + prefix;
|
||||
msgq_path = Path::shm_path() + "/" + prefix;
|
||||
bool ret = util::create_directories(msgq_path, 0777);
|
||||
assert(ret);
|
||||
setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
|
||||
|
||||
+1
-1
@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
|
||||
class OpenpilotPrefix:
|
||||
def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
|
||||
self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
|
||||
self.msgq_path = os.path.join('/dev/shm', self.prefix)
|
||||
self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
|
||||
self.clean_dirs_on_exit = clean_dirs_on_exit
|
||||
self.shared_download_cache = shared_download_cache
|
||||
|
||||
|
||||
+2
-1
@@ -2,8 +2,9 @@
|
||||
|
||||
#include "common/watchdog.h"
|
||||
#include "common/util.h"
|
||||
#include "system/hardware/hw.h"
|
||||
|
||||
const std::string watchdog_fn_prefix = "/dev/shm/wd_"; // + <pid>
|
||||
const std::string watchdog_fn_prefix = Path::shm_path() + "/wd_"; // + <pid>
|
||||
|
||||
bool watchdog_kick(uint64_t ts) {
|
||||
static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
|
||||
|
||||
+2
-2
@@ -167,7 +167,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
|
||||
|Lexus|ES Hybrid 2019-24|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=GS F 2016">Buy Here</a></sub></details>||
|
||||
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
|
||||
|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
|
||||
@@ -188,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
|
||||
|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
|
||||
|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
|
||||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
|
||||
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|
||||
|
||||
+1
-1
Submodule msgq_repo updated: e621ce0763...434ed2312c
+1
-1
Submodule opendbc_repo updated: f9d7203779...c67bfd6a97
+1
-1
Submodule panda updated: dc94921af8...67b4fa2430
@@ -31,6 +31,9 @@ dependencies = [
|
||||
# body / webrtcd
|
||||
"aiohttp",
|
||||
"aiortc",
|
||||
# aiortc does not put an upper bound on pyopenssl and is now incompatible
|
||||
# with the latest release
|
||||
"pyopenssl < 24.3.0",
|
||||
"pyaudio",
|
||||
|
||||
# panda
|
||||
@@ -239,6 +242,7 @@ exclude = [
|
||||
"cereal",
|
||||
"panda",
|
||||
"opendbc",
|
||||
"opendbc_repo",
|
||||
"rednose_repo",
|
||||
"tinygrad_repo",
|
||||
"teleoprtc",
|
||||
|
||||
@@ -37,7 +37,7 @@ for f in sorted(pyf):
|
||||
lns = len(src.split("\n"))
|
||||
tree = ast.parse(src)
|
||||
Analyzer().visit(tree)
|
||||
print("%5d %s %s" % (lns, f, xbit))
|
||||
print(f"{lns:5d} {f} {xbit}")
|
||||
if 'test' in f:
|
||||
testlns += lns
|
||||
elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
|
||||
@@ -47,8 +47,8 @@ for f in sorted(pyf):
|
||||
else:
|
||||
tlns += lns
|
||||
|
||||
print("%d lines of openpilot python" % tlns)
|
||||
print("%d lines of car ports" % carlns)
|
||||
print("%d lines of tools/scripts/debug" % scriptlns)
|
||||
print("%d lines of tests" % testlns)
|
||||
print(f"{tlns} lines of openpilot python")
|
||||
print(f"{carlns} lines of car ports")
|
||||
print(f"{scriptlns} lines of tools/scripts/debug")
|
||||
print(f"{testlns} lines of tests")
|
||||
#print(sorted(list(imps)))
|
||||
|
||||
+2
-2
@@ -16,9 +16,9 @@ def waste(core):
|
||||
j = 0
|
||||
while 1:
|
||||
if (i % 100) == 0:
|
||||
setproctitle("%3d: %8d" % (core, i))
|
||||
setproctitle(f"{core:3d}: {i:8d}")
|
||||
lt = time.monotonic()
|
||||
print("%3d: %8d %f %.2f" % (core, i, lt-st, j))
|
||||
print(f"{core:3d}: {i:8d} {lt-st:f} {j:.2f}")
|
||||
st = lt
|
||||
i += 1
|
||||
j = np.sum(np.matmul(m1, m2))
|
||||
|
||||
@@ -28,7 +28,7 @@ def can_printer(bus, max_msg, addr, ascii_decode):
|
||||
x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
|
||||
freq = len(msgs[_addr]) / (time.monotonic() - start)
|
||||
if max_msg is None or _addr < max_msg:
|
||||
dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
|
||||
dd += f"{_addr:04X}({_addr:4d})({len(msgs[_addr]):6d})({freq:3}dHz) {x.ljust(20)} {a}\n"
|
||||
print(dd)
|
||||
lp = time.monotonic()
|
||||
|
||||
|
||||
@@ -29,7 +29,7 @@ if __name__ == '__main__':
|
||||
start_t = time.process_time_ns()
|
||||
for msg in msgs:
|
||||
can_list = can_capnp_to_list([msg])
|
||||
for cp in tm.CI.can_parsers:
|
||||
for cp in tm.CI.can_parsers.values():
|
||||
if cp is not None:
|
||||
cp.update_strings(can_list)
|
||||
ets.append((time.process_time_ns() - start_t) * 1e-6)
|
||||
|
||||
@@ -22,7 +22,7 @@ def get_fingerprint(lr):
|
||||
msgs[c.address] = len(c.dat)
|
||||
|
||||
# show CAN fingerprint
|
||||
fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
|
||||
fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
|
||||
print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
|
||||
print(fingerprint)
|
||||
|
||||
|
||||
@@ -25,7 +25,7 @@ while True:
|
||||
if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
|
||||
msgs[c.address] = len(c.dat)
|
||||
|
||||
fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
|
||||
fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
|
||||
|
||||
print(f"number of messages {len(msgs)}:")
|
||||
print(f"fingerprint {fingerprint}")
|
||||
|
||||
@@ -12,7 +12,6 @@ from cereal import messaging
|
||||
from cereal.messaging import PubMaster, SubMaster
|
||||
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.realtime import set_realtime_priority
|
||||
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
|
||||
from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext
|
||||
@@ -126,7 +125,6 @@ def main():
|
||||
cl_context = CLContext()
|
||||
model = ModelState(cl_context)
|
||||
cloudlog.warning("models loaded, dmonitoringmodeld starting")
|
||||
Params().put_bool("DmModelInitialized", True)
|
||||
|
||||
cloudlog.warning("connecting to driver stream")
|
||||
vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
|
||||
|
||||
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
|
||||
oid sha256:66f3fa03aa1f61ed2ff84a954d3eca5d5fe9ef95bb484edc4044b63ff5b6e2ab
|
||||
size 50320584
|
||||
|
||||
@@ -42,7 +42,7 @@ class TestAlerts:
|
||||
|
||||
for name, e in events.items():
|
||||
if not name.endswith("DEPRECATED"):
|
||||
fail_msg = "%s @%d not in EVENTS" % (name, e)
|
||||
fail_msg = f"{name} @{e} not in EVENTS"
|
||||
assert e in EVENTS.keys(), fail_msg
|
||||
|
||||
# ensure alert text doesn't exceed allowed width
|
||||
|
||||
@@ -5,13 +5,13 @@ import copy
|
||||
import json
|
||||
import heapq
|
||||
import signal
|
||||
import platform
|
||||
from collections import Counter, OrderedDict
|
||||
from dataclasses import dataclass, field
|
||||
from typing import Any
|
||||
from collections.abc import Callable, Iterable
|
||||
from tqdm import tqdm
|
||||
import capnp
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
import cereal.messaging as messaging
|
||||
from cereal import car
|
||||
@@ -780,8 +780,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
|
||||
|
||||
def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> dict[str, Any]:
|
||||
environ_dict = {}
|
||||
if platform.system() != "Darwin":
|
||||
environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
|
||||
environ_dict["PARAMS_ROOT"] = f"{Paths.shm_path()}/params"
|
||||
if log_dir is not None:
|
||||
environ_dict["LOG_ROOT"] = log_dir
|
||||
|
||||
|
||||
@@ -1 +1 @@
|
||||
4bf2792e5997c0d916fa9be4442fd4c4901f597a
|
||||
6b43f700377cc3aea5ab01c642dde36947a1d382
|
||||
|
||||
@@ -110,5 +110,3 @@ if GetOption('extras') and arch != "Darwin":
|
||||
# build watch3
|
||||
if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
|
||||
qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
|
||||
|
||||
SConscript(['raylib/SConscript'])
|
||||
|
||||
@@ -124,6 +124,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
|
||||
// left: PrimeAdWidget
|
||||
QStackedWidget *left_widget = new QStackedWidget(this);
|
||||
QVBoxLayout *left_prime_layout = new QVBoxLayout();
|
||||
left_prime_layout->setContentsMargins(0, 0, 0, 0);
|
||||
QWidget *prime_user = new PrimeUserWidget();
|
||||
prime_user->setStyleSheet(R"(
|
||||
border-radius: 10px;
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
_spinner
|
||||
@@ -1,17 +0,0 @@
|
||||
Import('env', 'arch', 'common')
|
||||
|
||||
raylib_env = env.Clone()
|
||||
raylib_util_lib = env.Library("raylib_util_lib", ['util.cc'], LIBS='raylib')
|
||||
linked_libs = ['raylib', raylib_util_lib, common]
|
||||
raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
|
||||
|
||||
mac_frameworks = []
|
||||
if arch == "Darwin":
|
||||
mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
|
||||
elif arch == 'larch64':
|
||||
linked_libs += []
|
||||
else:
|
||||
linked_libs += ['OpenCL', 'dl', 'pthread']
|
||||
|
||||
if arch != 'aarch64':
|
||||
raylib_env.Program("_spinner", ["spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
|
||||
+16
-12
@@ -258,13 +258,13 @@ def upload_handler(end_event: threading.Event) -> None:
|
||||
sz = -1
|
||||
|
||||
cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
|
||||
response = _do_upload(item, partial(cb, sm, item, tid, end_event))
|
||||
|
||||
if response.status_code not in (200, 201, 401, 403, 412):
|
||||
cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
retry_upload(tid, end_event)
|
||||
else:
|
||||
cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
with _do_upload(item, partial(cb, sm, item, tid, end_event)) as response:
|
||||
if response.status_code not in (200, 201, 401, 403, 412):
|
||||
cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
retry_upload(tid, end_event)
|
||||
else:
|
||||
cloudlog.event("athena.upload_handler.success", fn=fn, sz=sz, network_type=network_type, metered=metered)
|
||||
|
||||
UploadQueueCache.cache(upload_queue)
|
||||
except (requests.exceptions.Timeout, requests.exceptions.ConnectionError, requests.exceptions.SSLError):
|
||||
@@ -309,13 +309,16 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
|
||||
raise Exception("invalid service")
|
||||
|
||||
socket = messaging.sub_sock(service, timeout=timeout)
|
||||
ret = messaging.recv_one(socket)
|
||||
try:
|
||||
ret = messaging.recv_one(socket)
|
||||
|
||||
if ret is None:
|
||||
raise TimeoutError
|
||||
if ret is None:
|
||||
raise TimeoutError
|
||||
|
||||
# this is because capnp._DynamicStructReader doesn't have typing information
|
||||
return cast(dict, ret.to_dict())
|
||||
# this is because capnp._DynamicStructReader doesn't have typing information
|
||||
return cast(dict, ret.to_dict())
|
||||
finally:
|
||||
del socket
|
||||
|
||||
|
||||
@dispatcher.add_method
|
||||
@@ -626,8 +629,9 @@ def log_handler(end_event: threading.Event) -> None:
|
||||
|
||||
def stat_handler(end_event: threading.Event) -> None:
|
||||
STATS_DIR = Paths.stats_root()
|
||||
last_scan = 0.0
|
||||
|
||||
while not end_event.is_set():
|
||||
last_scan = 0.
|
||||
curr_scan = time.monotonic()
|
||||
try:
|
||||
if curr_scan - last_scan > 10:
|
||||
|
||||
@@ -240,7 +240,7 @@ class TestAthenadMethods:
|
||||
@with_upload_handler
|
||||
def test_upload_handler_retry(self, mocker, host, status, retry):
|
||||
mock_put = mocker.patch('requests.put')
|
||||
mock_put.return_value.status_code = status
|
||||
mock_put.return_value.__enter__.return_value.status_code = status
|
||||
fn = self._create_file('qlog.zst')
|
||||
item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
|
||||
|
||||
|
||||
@@ -65,16 +65,19 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
|
||||
const SensorInfo *sensor = cam->sensor.get();
|
||||
|
||||
is_raw = cam->is_raw;
|
||||
camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
|
||||
frame_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
|
||||
|
||||
// RAW + final frames from ISP
|
||||
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
|
||||
for (int i = 0; i < frame_buf_count; i++) {
|
||||
camera_bufs_raw[i].allocate(raw_frame_size);
|
||||
camera_bufs_raw[i].init_cl(device_id, context);
|
||||
// RAW frames from ISP
|
||||
if (is_raw) {
|
||||
camera_bufs_raw = std::make_unique<VisionBuf[]>(frame_buf_count);
|
||||
|
||||
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
|
||||
for (int i = 0; i < frame_buf_count; i++) {
|
||||
camera_bufs_raw[i].allocate(raw_frame_size);
|
||||
camera_bufs_raw[i].init_cl(device_id, context);
|
||||
}
|
||||
LOGD("allocated %d CL buffers", frame_buf_count);
|
||||
}
|
||||
LOGD("allocated %d CL buffers", frame_buf_count);
|
||||
|
||||
out_img_width = sensor->frame_width;
|
||||
out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
|
||||
@@ -83,8 +86,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
|
||||
// TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
|
||||
size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
|
||||
|
||||
vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
|
||||
LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, cam->stride, cam->y_height);
|
||||
vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, cam->stride, cam->uv_offset);
|
||||
LOGD("created %d YUV vipc buffers with size %dx%d", VIPC_BUFFER_COUNT, cam->stride, cam->y_height);
|
||||
|
||||
imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, cam->stride, cam->uv_offset);
|
||||
}
|
||||
|
||||
@@ -8,7 +8,7 @@
|
||||
#include "common/util.h"
|
||||
|
||||
|
||||
const int YUV_BUFFER_COUNT = 20;
|
||||
const int VIPC_BUFFER_COUNT = 18;
|
||||
|
||||
typedef struct FrameMetadata {
|
||||
uint32_t frame_id;
|
||||
|
||||
@@ -69,10 +69,10 @@ public:
|
||||
};
|
||||
|
||||
void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
|
||||
if (!camera.enabled) return;
|
||||
|
||||
camera.camera_open(v, device_id, ctx);
|
||||
|
||||
if (!camera.enabled) return;
|
||||
|
||||
fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
|
||||
set_exposure_rect();
|
||||
|
||||
|
||||
@@ -242,6 +242,9 @@ SpectraCamera::SpectraCamera(SpectraMaster *master, const CameraConfig &config,
|
||||
cc(config),
|
||||
is_raw(raw) {
|
||||
mm.init(m->video0_fd);
|
||||
|
||||
ife_buf_depth = is_raw ? 4 : VIPC_BUFFER_COUNT;
|
||||
assert(ife_buf_depth < MAX_IFE_BUFS);
|
||||
}
|
||||
|
||||
SpectraCamera::~SpectraCamera() {
|
||||
@@ -261,12 +264,12 @@ int SpectraCamera::clear_req_queue() {
|
||||
}
|
||||
|
||||
void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
|
||||
if (!enabled) return;
|
||||
|
||||
if (!openSensor()) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (!enabled) return;
|
||||
|
||||
// size is driven by all the HW that handles frames,
|
||||
// the video encoder has certain alignment requirements in this case
|
||||
stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
|
||||
@@ -288,14 +291,15 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
|
||||
linkDevices();
|
||||
|
||||
LOGD("camera init %d", cc.camera_num);
|
||||
buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, cc.stream_type);
|
||||
buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
|
||||
camera_map_bufs();
|
||||
enqueue_req_multi(1, ife_buf_depth, 0);
|
||||
}
|
||||
|
||||
void SpectraCamera::enqueue_req_multi(uint64_t start, int n, bool dp) {
|
||||
for (uint64_t i = start; i < start + n; ++i) {
|
||||
request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
|
||||
enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
|
||||
request_ids[(i - 1) % ife_buf_depth] = i;
|
||||
enqueue_buffer((i - 1) % ife_buf_depth, dp);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -670,7 +674,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
|
||||
int ret;
|
||||
uint64_t request_id = request_ids[i];
|
||||
|
||||
if (buf_handle_raw[i] && sync_objs[i]) {
|
||||
if (sync_objs[i]) {
|
||||
// wait
|
||||
struct cam_sync_wait sync_wait = {0};
|
||||
sync_wait.sync_obj = sync_objs[i];
|
||||
@@ -733,31 +737,31 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
|
||||
|
||||
void SpectraCamera::camera_map_bufs() {
|
||||
int ret;
|
||||
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
|
||||
for (int i = 0; i < ife_buf_depth; i++) {
|
||||
// configure ISP to put the image in place
|
||||
struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
|
||||
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
|
||||
mem_mgr_map_cmd.mmu_hdls[0] = m->device_iommu;
|
||||
mem_mgr_map_cmd.num_hdl = 1;
|
||||
//mem_mgr_map_cmd.mmu_hdls[1] = m->icp_device_iommu;
|
||||
//mem_mgr_map_cmd.num_hdl = 2;
|
||||
mem_mgr_map_cmd.num_hdl = 1;
|
||||
mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
|
||||
|
||||
// RAW bayer images
|
||||
mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
|
||||
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
|
||||
assert(ret == 0);
|
||||
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
|
||||
buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
|
||||
|
||||
// TODO: this needs to match camera bufs length
|
||||
// final processed images
|
||||
VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
|
||||
mem_mgr_map_cmd.fd = vb->fd;
|
||||
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
|
||||
LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
|
||||
buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
|
||||
if (is_raw) {
|
||||
// RAW bayer images
|
||||
mem_mgr_map_cmd.fd = buf.camera_bufs_raw[i].fd;
|
||||
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
|
||||
assert(ret == 0);
|
||||
LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs_raw[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
|
||||
buf_handle_raw[i] = mem_mgr_map_cmd.out.buf_handle;
|
||||
} else {
|
||||
// final processed images
|
||||
VisionBuf *vb = buf.vipc_server->get_buffer(buf.stream_type, i);
|
||||
mem_mgr_map_cmd.fd = vb->fd;
|
||||
ret = do_cam_control(m->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
|
||||
LOGD("map buf req: (fd: %d) 0x%x %d", vb->fd, mem_mgr_map_cmd.out.buf_handle, ret);
|
||||
buf_handle_yuv[i] = mem_mgr_map_cmd.out.buf_handle;
|
||||
}
|
||||
}
|
||||
enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
|
||||
}
|
||||
|
||||
bool SpectraCamera::openSensor() {
|
||||
@@ -870,7 +874,7 @@ void SpectraCamera::configISP() {
|
||||
// allocate IFE memory, then configure it
|
||||
ife_cmd.init(m, 67984, 0x20,
|
||||
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
|
||||
m->device_iommu, m->cdm_iommu, FRAME_BUF_COUNT);
|
||||
m->device_iommu, m->cdm_iommu, ife_buf_depth);
|
||||
if (!is_raw) {
|
||||
ife_gamma_lut.init(m, 64*sizeof(uint32_t), 0x20,
|
||||
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE,
|
||||
@@ -925,7 +929,7 @@ void SpectraCamera::configICP() {
|
||||
|
||||
// BPS CMD buffer
|
||||
unsigned char striping_out[] = "\x00";
|
||||
bps_cmd.init(m, FRAME_BUF_COUNT*ALIGNED_SIZE(464, 0x20), 0x20,
|
||||
bps_cmd.init(m, ife_buf_depth*ALIGNED_SIZE(464, 0x20), 0x20,
|
||||
CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE | CAM_MEM_FLAG_HW_SHARED_ACCESS,
|
||||
m->icp_device_iommu);
|
||||
|
||||
@@ -1046,9 +1050,8 @@ void SpectraCamera::camera_close() {
|
||||
ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle);
|
||||
LOGD("release csiphy: %d", ret);
|
||||
|
||||
for (int i = 0; i < FRAME_BUF_COUNT; i++) {
|
||||
release(m->video0_fd, buf_handle_yuv[i]);
|
||||
release(m->video0_fd, buf_handle_raw[i]);
|
||||
for (int i = 0; i < ife_buf_depth; i++) {
|
||||
release(m->video0_fd, is_raw ? buf_handle_raw[i] : buf_handle_yuv[i]);
|
||||
}
|
||||
LOGD("released buffers");
|
||||
}
|
||||
@@ -1071,13 +1074,13 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
|
||||
|
||||
if (real_id != 0) { // next ready
|
||||
if (real_id == 1) {idx_offset = main_id;}
|
||||
int buf_idx = (real_id - 1) % FRAME_BUF_COUNT;
|
||||
int buf_idx = (real_id - 1) % ife_buf_depth;
|
||||
|
||||
// check for skipped frames
|
||||
if (main_id > frame_id_last + 1 && !skipped) {
|
||||
LOGE("camera %d realign", cc.camera_num);
|
||||
clear_req_queue();
|
||||
enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0);
|
||||
enqueue_req_multi(real_id + 1, ife_buf_depth - 1, 0);
|
||||
skipped = true;
|
||||
} else if (main_id == frame_id_last + 1) {
|
||||
skipped = false;
|
||||
@@ -1086,7 +1089,7 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
|
||||
// check for dropped requests
|
||||
if (real_id > request_id_last + 1) {
|
||||
LOGE("camera %d dropped requests %ld %ld", cc.camera_num, real_id, request_id_last);
|
||||
enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
|
||||
enqueue_req_multi(request_id_last + 1 + ife_buf_depth, real_id - (request_id_last + 1), 0);
|
||||
}
|
||||
|
||||
// metas
|
||||
@@ -1099,12 +1102,12 @@ void SpectraCamera::handle_camera_event(const cam_req_mgr_message *event_data) {
|
||||
meta_data.timestamp_sof = timestamp; // this is timestamped in the kernel's SOF IRQ callback
|
||||
|
||||
// dispatch
|
||||
enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1);
|
||||
enqueue_req_multi(real_id + ife_buf_depth, 1, 1);
|
||||
} else { // not ready
|
||||
if (main_id > frame_id_last + 10) {
|
||||
LOGE("camera %d reset after half second of no response", cc.camera_num);
|
||||
clear_req_queue();
|
||||
enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0);
|
||||
enqueue_req_multi(request_id_last + 1, ife_buf_depth, 0);
|
||||
frame_id_last = main_id;
|
||||
skipped = true;
|
||||
}
|
||||
|
||||
@@ -12,7 +12,7 @@
|
||||
#include "system/camerad/cameras/camera_common.h"
|
||||
#include "system/camerad/sensors/sensor.h"
|
||||
|
||||
#define FRAME_BUF_COUNT 4
|
||||
#define MAX_IFE_BUFS 20
|
||||
|
||||
const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py
|
||||
|
||||
@@ -116,6 +116,7 @@ public:
|
||||
|
||||
// *** state ***
|
||||
|
||||
int ife_buf_depth = -1;
|
||||
bool open = false;
|
||||
bool enabled = true;
|
||||
CameraConfig cc;
|
||||
@@ -151,11 +152,11 @@ public:
|
||||
SpectraBuf bps_iq;
|
||||
SpectraBuf bps_striping;
|
||||
|
||||
int buf_handle_yuv[FRAME_BUF_COUNT] = {};
|
||||
int buf_handle_raw[FRAME_BUF_COUNT] = {};
|
||||
int sync_objs[FRAME_BUF_COUNT] = {};
|
||||
int sync_objs_bps_out[FRAME_BUF_COUNT] = {};
|
||||
uint64_t request_ids[FRAME_BUF_COUNT] = {};
|
||||
int buf_handle_yuv[MAX_IFE_BUFS] = {};
|
||||
int buf_handle_raw[MAX_IFE_BUFS] = {};
|
||||
int sync_objs[MAX_IFE_BUFS] = {};
|
||||
int sync_objs_bps_out[MAX_IFE_BUFS] = {};
|
||||
uint64_t request_ids[MAX_IFE_BUFS] = {};
|
||||
uint64_t request_id_last = 0;
|
||||
uint64_t frame_id_last = 0;
|
||||
uint64_t idx_offset = 0;
|
||||
|
||||
@@ -3,7 +3,7 @@ from collections import namedtuple
|
||||
|
||||
from cereal import log
|
||||
|
||||
ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic'])
|
||||
ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'pmic', 'intake', 'exhaust'])
|
||||
NetworkType = log.DeviceState.NetworkType
|
||||
|
||||
|
||||
|
||||
@@ -83,6 +83,8 @@ def read_thermal(thermal_config):
|
||||
dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
|
||||
dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
|
||||
dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
|
||||
dat.deviceState.intakeTempC = read_tz(thermal_config.intake[0]) / thermal_config.intake[1]
|
||||
dat.deviceState.exhaustTempC = read_tz(thermal_config.exhaust[0]) / thermal_config.exhaust[1]
|
||||
return dat
|
||||
|
||||
|
||||
|
||||
@@ -47,4 +47,12 @@ namespace Path {
|
||||
}
|
||||
return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/";
|
||||
}
|
||||
|
||||
inline std::string shm_path() {
|
||||
#ifdef __APPLE__
|
||||
return"/tmp";
|
||||
#else
|
||||
return "/dev/shm";
|
||||
#endif
|
||||
}
|
||||
} // namespace Path
|
||||
|
||||
@@ -1,4 +1,5 @@
|
||||
import os
|
||||
import platform
|
||||
from pathlib import Path
|
||||
|
||||
from openpilot.system.hardware import PC
|
||||
@@ -56,3 +57,9 @@ class Paths:
|
||||
return Paths.comma_home()
|
||||
else:
|
||||
return "/tmp/.comma"
|
||||
|
||||
@staticmethod
|
||||
def shm_path() -> str:
|
||||
if PC and platform.system() == "Darwin":
|
||||
return "/tmp" # This is not really shared memory on macOS, but it's the closest we can get
|
||||
return "/dev/shm"
|
||||
|
||||
@@ -21,7 +21,7 @@ class Pc(HardwareBase):
|
||||
print("uninstall")
|
||||
|
||||
def get_imei(self, slot):
|
||||
return "%015d" % random.randint(0, 1 << 32)
|
||||
return f"{random.randint(0, 1 << 32):015d}"
|
||||
|
||||
def get_serial(self):
|
||||
return "cccccccc"
|
||||
@@ -54,7 +54,7 @@ class Pc(HardwareBase):
|
||||
print("SHUTDOWN!")
|
||||
|
||||
def get_thermal_config(self):
|
||||
return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1))
|
||||
return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), pmic=((None,), 1), intake=(None, 1), exhaust=(None, 1))
|
||||
|
||||
def set_screen_brightness(self, percentage):
|
||||
pass
|
||||
|
||||
@@ -323,12 +323,17 @@ class Tici(HardwareBase):
|
||||
os.system("sudo poweroff")
|
||||
|
||||
def get_thermal_config(self):
|
||||
return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
|
||||
["cpu%d-gold-usr" % i for i in range(4)], 1000),
|
||||
intake, exhaust = (None, 1), (None, 1)
|
||||
if self.get_device_type() == "mici":
|
||||
intake = ("intake", 1000)
|
||||
exhaust = ("exhaust", 1000)
|
||||
return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
|
||||
[f"cpu{i}-gold-usr" for i in range(4)], 1000),
|
||||
gpu=(("gpu0-usr", "gpu1-usr"), 1000),
|
||||
mem=("ddr-usr", 1000),
|
||||
bat=(None, 1),
|
||||
pmic=(("pm8998_tz", "pm8005_tz"), 1000))
|
||||
pmic=(("pm8998_tz", "pm8005_tz"), 1000),
|
||||
intake=intake,
|
||||
exhaust=exhaust)
|
||||
|
||||
def set_screen_brightness(self, percentage):
|
||||
try:
|
||||
|
||||
@@ -17,7 +17,7 @@ from openpilot.system.manager.process_config import managed_processes
|
||||
from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
|
||||
from openpilot.common.swaglog import cloudlog, add_file_handler
|
||||
from openpilot.system.version import get_build_metadata, terms_version, training_version
|
||||
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
|
||||
def manager_init() -> None:
|
||||
@@ -52,11 +52,11 @@ def manager_init() -> None:
|
||||
|
||||
# Create folders needed for msgq
|
||||
try:
|
||||
os.mkdir("/dev/shm")
|
||||
os.mkdir(Paths.shm_path())
|
||||
except FileExistsError:
|
||||
pass
|
||||
except PermissionError:
|
||||
print("WARNING: failed to make /dev/shm")
|
||||
print(f"WARNING: failed to make {Paths.shm_path()}")
|
||||
|
||||
# set version params
|
||||
params.put("Version", build_metadata.openpilot.version)
|
||||
|
||||
@@ -16,8 +16,9 @@ import openpilot.system.sentry as sentry
|
||||
from openpilot.common.basedir import BASEDIR
|
||||
from openpilot.common.params import Params
|
||||
from openpilot.common.swaglog import cloudlog
|
||||
from openpilot.system.hardware.hw import Paths
|
||||
|
||||
WATCHDOG_FN = "/dev/shm/wd_"
|
||||
WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
|
||||
ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
|
||||
|
||||
|
||||
|
||||
@@ -89,7 +89,6 @@ procs = [
|
||||
PythonProcess("deleter", "system.loggerd.deleter", always_run),
|
||||
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
|
||||
PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
|
||||
#PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
|
||||
PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
|
||||
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
|
||||
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
|
||||
|
||||
@@ -273,7 +273,7 @@ def main() -> NoReturn:
|
||||
|
||||
(pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
|
||||
if pending_msgs > 0:
|
||||
cloudlog.debug("have %d pending messages" % pending_msgs)
|
||||
cloudlog.debug(f"have {pending_msgs} pending messages")
|
||||
assert log_outer_length == len(inner_log_packet)
|
||||
|
||||
(log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
|
||||
@@ -283,7 +283,7 @@ def main() -> NoReturn:
|
||||
continue
|
||||
|
||||
if DEBUG:
|
||||
print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
|
||||
print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")
|
||||
|
||||
if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
|
||||
msg = messaging.new_message('qcomGnss', valid=True)
|
||||
|
||||
@@ -322,7 +322,7 @@ def parse_struct(ss):
|
||||
cnt = int(nam.split("[")[1].split("]")[0])
|
||||
st += st[-1]*(cnt-1)
|
||||
for i in range(cnt):
|
||||
nams.append("%s[%d]" % (nam.split("[")[0], i))
|
||||
nams.append(f'{nam.split("[")[0]}[{i}]')
|
||||
else:
|
||||
nams.append(nam)
|
||||
return st, nams
|
||||
|
||||
@@ -13,7 +13,7 @@ if __name__ == "__main__":
|
||||
cnos = []
|
||||
for m in ug.measurementReport.measurements:
|
||||
cnos.append(m.cno)
|
||||
print("Sats: %d Accuracy: %.2f m cnos" % (ug.measurementReport.numMeas, gle.horizontalAccuracy), sorted(cnos))
|
||||
print(f"Sats: {ug.measurementReport.numMeas} Accuracy: {gle.horizontalAccuracy:.2f} m cnos", sorted(cnos))
|
||||
except Exception:
|
||||
pass
|
||||
sm.update()
|
||||
|
||||
@@ -0,0 +1 @@
|
||||
spinner
|
||||
@@ -0,0 +1,23 @@
|
||||
import subprocess
|
||||
|
||||
Import('env', 'arch', 'common')
|
||||
|
||||
renv = env.Clone()
|
||||
|
||||
UBUNTU_FOCAL = int(subprocess.check_output('[ -f /etc/os-release ] && . /etc/os-release && [ "$ID" = "ubuntu" ] && [ "$VERSION_ID" = "20.04" ] && echo 1 || echo 0', shell=True, encoding='utf-8').rstrip())
|
||||
|
||||
if not UBUNTU_FOCAL:
|
||||
rayutil = env.Library("rayutil", ['raylib/util.cc'], LIBS='raylib')
|
||||
linked_libs = ['raylib', rayutil, common]
|
||||
renv['LIBPATH'] += [f'#third_party/raylib/{arch}/']
|
||||
|
||||
mac_frameworks = []
|
||||
if arch == "Darwin":
|
||||
mac_frameworks += ['OpenCL', 'CoreVideo', 'Cocoa', 'GLUT', 'CoreFoundation', 'OpenGL', 'IOKit']
|
||||
elif arch == 'larch64':
|
||||
linked_libs += ['GLESv2', 'GL', 'EGL', 'wayland-client', 'wayland-egl']
|
||||
else:
|
||||
linked_libs += ['OpenCL', 'dl', 'pthread']
|
||||
|
||||
if arch != 'aarch64':
|
||||
renv.Program("spinner", ["raylib/spinner.cc"], LIBS=linked_libs, FRAMEWORKS=mac_frameworks)
|
||||
@@ -2,7 +2,7 @@
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
|
||||
#include "selfdrive/ui/raylib/util.h"
|
||||
#include "system/ui/raylib/util.h"
|
||||
#include "third_party/raylib/include/raylib.h"
|
||||
|
||||
constexpr int kProgressBarWidth = 1000;
|
||||
@@ -19,8 +19,8 @@ int main(int argc, char *argv[]) {
|
||||
std::cin.sync_with_stdio(false);
|
||||
std::cin.tie(nullptr);
|
||||
|
||||
Texture2D commaTexture = LoadTextureResized("../../assets/img_spinner_comma.png", kTextureSize);
|
||||
Texture2D spinnerTexture = LoadTextureResized("../../assets/img_spinner_track.png", kTextureSize);
|
||||
Texture2D commaTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_comma.png", kTextureSize);
|
||||
Texture2D spinnerTexture = LoadTextureResized("../../selfdrive/assets/img_spinner_track.png", kTextureSize);
|
||||
|
||||
float rotation = 0.0f;
|
||||
std::string userInput;
|
||||
@@ -1,4 +1,4 @@
|
||||
#include "selfdrive/ui/raylib/util.h"
|
||||
#include "system/ui/raylib/util.h"
|
||||
|
||||
#include <array>
|
||||
|
||||
@@ -23,7 +23,6 @@ struct FontManager {
|
||||
FontManager() {
|
||||
for (int i = 0; i < fonts.size(); ++i) {
|
||||
fonts[i] = LoadFontEx(FONT_FILE_PATHS[i], 120, nullptr, 250);
|
||||
SetTextureFilter(fonts[i].texture, TEXTURE_FILTER_TRILINEAR);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -43,7 +42,6 @@ Texture2D LoadTextureResized(const char *fileName, int size) {
|
||||
Image img = LoadImage(fileName);
|
||||
ImageResize(&img, size, size);
|
||||
Texture2D texture = LoadTextureFromImage(img);
|
||||
SetTextureFilter(texture, TEXTURE_FILTER_TRILINEAR);
|
||||
return texture;
|
||||
}
|
||||
|
||||
@@ -51,6 +49,6 @@ void initApp(const char *title, int fps) {
|
||||
Hardware::set_display_power(true);
|
||||
Hardware::set_brightness(65);
|
||||
// SetTraceLogLevel(LOG_NONE);
|
||||
InitWindow(0, 0, title);
|
||||
InitWindow(2160, 1080, title);
|
||||
SetTargetFPS(fps);
|
||||
}
|
||||
Vendored
+158
-112
@@ -1,22 +1,22 @@
|
||||
/**********************************************************************************************
|
||||
*
|
||||
* raylib v5.0 - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
|
||||
* raylib v5.6-dev - A simple and easy-to-use library to enjoy videogames programming (www.raylib.com)
|
||||
*
|
||||
* FEATURES:
|
||||
* - NO external dependencies, all required libraries included with raylib
|
||||
* - Multiplatform: Windows, Linux, FreeBSD, OpenBSD, NetBSD, DragonFly,
|
||||
* MacOS, Haiku, Android, Raspberry Pi, DRM native, HTML5.
|
||||
* - Written in plain C code (C99) in PascalCase/camelCase notation
|
||||
* - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3 or ES2 - choose at compile)
|
||||
* - Hardware accelerated with OpenGL (1.1, 2.1, 3.3, 4.3, ES2, ES3 - choose at compile)
|
||||
* - Unique OpenGL abstraction layer (usable as standalone module): [rlgl]
|
||||
* - Multiple Fonts formats supported (TTF, XNA fonts, AngelCode fonts)
|
||||
* - Multiple Fonts formats supported (TTF, OTF, FNT, BDF, Sprite fonts)
|
||||
* - Outstanding texture formats support, including compressed formats (DXT, ETC, ASTC)
|
||||
* - Full 3d support for 3d Shapes, Models, Billboards, Heightmaps and more!
|
||||
* - Flexible Materials system, supporting classic maps and PBR maps
|
||||
* - Animated 3D models supported (skeletal bones animation) (IQM)
|
||||
* - Animated 3D models supported (skeletal bones animation) (IQM, M3D, GLTF)
|
||||
* - Shaders support, including Model shaders and Postprocessing shaders
|
||||
* - Powerful math module for Vector, Matrix and Quaternion operations: [raymath]
|
||||
* - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, XM, MOD)
|
||||
* - Audio loading and playing with streaming support (WAV, OGG, MP3, FLAC, QOA, XM, MOD)
|
||||
* - VR stereo rendering with configurable HMD device parameters
|
||||
* - Bindings to multiple programming languages available!
|
||||
*
|
||||
@@ -27,29 +27,35 @@
|
||||
* - One default RenderBatch is loaded on rlglInit()->rlLoadRenderBatch() [rlgl] (OpenGL 3.3 or ES2)
|
||||
*
|
||||
* DEPENDENCIES (included):
|
||||
* [rcore] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input (PLATFORM_DESKTOP)
|
||||
* [rlgl] glad (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading (PLATFORM_DESKTOP)
|
||||
* [rcore][GLFW] rglfw (Camilla Löwy - github.com/glfw/glfw) for window/context management and input
|
||||
* [rcore][RGFW] rgfw (ColleagueRiley - github.com/ColleagueRiley/RGFW) for window/context management and input
|
||||
* [rlgl] glad/glad_gles2 (David Herberth - github.com/Dav1dde/glad) for OpenGL 3.3 extensions loading
|
||||
* [raudio] miniaudio (David Reid - github.com/mackron/miniaudio) for audio device/context management
|
||||
*
|
||||
* OPTIONAL DEPENDENCIES (included):
|
||||
* [rcore] msf_gif (Miles Fogle) for GIF recording
|
||||
* [rcore] sinfl (Micha Mettke) for DEFLATE decompression algorithm
|
||||
* [rcore] sdefl (Micha Mettke) for DEFLATE compression algorithm
|
||||
* [rcore] rprand (Ramon Snatamaria) for pseudo-random numbers generation
|
||||
* [rtextures] qoi (Dominic Szablewski - https://phoboslab.org) for QOI image manage
|
||||
* [rtextures] stb_image (Sean Barret) for images loading (BMP, TGA, PNG, JPEG, HDR...)
|
||||
* [rtextures] stb_image_write (Sean Barret) for image writing (BMP, TGA, PNG, JPG)
|
||||
* [rtextures] stb_image_resize (Sean Barret) for image resizing algorithms
|
||||
* [rtextures] stb_image_resize2 (Sean Barret) for image resizing algorithms
|
||||
* [rtextures] stb_perlin (Sean Barret) for Perlin Noise image generation
|
||||
* [rtext] stb_truetype (Sean Barret) for ttf fonts loading
|
||||
* [rtext] stb_rect_pack (Sean Barret) for rectangles packing
|
||||
* [rmodels] par_shapes (Philip Rideout) for parametric 3d shapes generation
|
||||
* [rmodels] tinyobj_loader_c (Syoyo Fujita) for models loading (OBJ, MTL)
|
||||
* [rmodels] cgltf (Johannes Kuhlmann) for models loading (glTF)
|
||||
* [rmodels] Model3D (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
|
||||
* [rmodels] m3d (bzt) for models loading (M3D, https://bztsrc.gitlab.io/model3d)
|
||||
* [rmodels] vox_loader (Johann Nadalutti) for models loading (VOX)
|
||||
* [raudio] dr_wav (David Reid) for WAV audio file loading
|
||||
* [raudio] dr_flac (David Reid) for FLAC audio file loading
|
||||
* [raudio] dr_mp3 (David Reid) for MP3 audio file loading
|
||||
* [raudio] stb_vorbis (Sean Barret) for OGG audio loading
|
||||
* [raudio] jar_xm (Joshua Reisenauer) for XM audio module loading
|
||||
* [raudio] jar_mod (Joshua Reisenauer) for MOD audio module loading
|
||||
* [raudio] qoa (Dominic Szablewski - https://phoboslab.org) for QOA audio manage
|
||||
*
|
||||
*
|
||||
* LICENSE: zlib/libpng
|
||||
@@ -57,7 +63,7 @@
|
||||
* raylib is licensed under an unmodified zlib/libpng license, which is an OSI-certified,
|
||||
* BSD-like license that allows static linking with closed source software:
|
||||
*
|
||||
* Copyright (c) 2013-2023 Ramon Santamaria (@raysan5)
|
||||
* Copyright (c) 2013-2024 Ramon Santamaria (@raysan5)
|
||||
*
|
||||
* This software is provided "as-is", without any express or implied warranty. In no event
|
||||
* will the authors be held liable for any damages arising from the use of this software.
|
||||
@@ -82,21 +88,26 @@
|
||||
#include <stdarg.h> // Required for: va_list - Only used by TraceLogCallback
|
||||
|
||||
#define RAYLIB_VERSION_MAJOR 5
|
||||
#define RAYLIB_VERSION_MINOR 0
|
||||
#define RAYLIB_VERSION_MINOR 6
|
||||
#define RAYLIB_VERSION_PATCH 0
|
||||
#define RAYLIB_VERSION "5.0"
|
||||
#define RAYLIB_VERSION "5.6-dev"
|
||||
|
||||
// Function specifiers in case library is build/used as a shared library (Windows)
|
||||
// Function specifiers in case library is build/used as a shared library
|
||||
// NOTE: Microsoft specifiers to tell compiler that symbols are imported/exported from a .dll
|
||||
// NOTE: visibility("default") attribute makes symbols "visible" when compiled with -fvisibility=hidden
|
||||
#if defined(_WIN32)
|
||||
#if defined(__TINYC__)
|
||||
#define __declspec(x) __attribute__((x))
|
||||
#endif
|
||||
#if defined(BUILD_LIBTYPE_SHARED)
|
||||
#if defined(__TINYC__)
|
||||
#define __declspec(x) __attribute__((x))
|
||||
#endif
|
||||
#define RLAPI __declspec(dllexport) // We are building the library as a Win32 shared library (.dll)
|
||||
#elif defined(USE_LIBTYPE_SHARED)
|
||||
#define RLAPI __declspec(dllimport) // We are using the library as a Win32 shared library (.dll)
|
||||
#endif
|
||||
#else
|
||||
#if defined(BUILD_LIBTYPE_SHARED)
|
||||
#define RLAPI __attribute__((visibility("default"))) // We are building as a Unix shared library (.so/.dylib)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifndef RLAPI
|
||||
@@ -347,8 +358,10 @@ typedef struct Mesh {
|
||||
// Animation vertex data
|
||||
float *animVertices; // Animated vertex positions (after bones transformations)
|
||||
float *animNormals; // Animated normals (after bones transformations)
|
||||
unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning)
|
||||
float *boneWeights; // Vertex bone weight, up to 4 bones influence by vertex (skinning)
|
||||
unsigned char *boneIds; // Vertex bone ids, max 255 bone ids, up to 4 bones influence by vertex (skinning) (shader-location = 6)
|
||||
float *boneWeights; // Vertex bone weight, up to 4 bones influence by vertex (skinning) (shader-location = 7)
|
||||
Matrix *boneMatrices; // Bones animated transformation matrices
|
||||
int boneCount; // Number of bones
|
||||
|
||||
// OpenGL identifiers
|
||||
unsigned int vaoId; // OpenGL Vertex Array Object id
|
||||
@@ -416,7 +429,7 @@ typedef struct ModelAnimation {
|
||||
// Ray, ray for raycasting
|
||||
typedef struct Ray {
|
||||
Vector3 position; // Ray position (origin)
|
||||
Vector3 direction; // Ray direction
|
||||
Vector3 direction; // Ray direction (normalized)
|
||||
} Ray;
|
||||
|
||||
// RayCollision, ray hit information
|
||||
@@ -479,7 +492,6 @@ typedef struct VrDeviceInfo {
|
||||
int vResolution; // Vertical resolution in pixels
|
||||
float hScreenSize; // Horizontal size in meters
|
||||
float vScreenSize; // Vertical size in meters
|
||||
float vScreenCenter; // Screen center in meters
|
||||
float eyeToScreenDistance; // Distance between eye and display in meters
|
||||
float lensSeparationDistance; // Lens separation distance in meters
|
||||
float interpupillaryDistance; // IPD (distance between pupils) in meters
|
||||
@@ -673,7 +685,7 @@ typedef enum {
|
||||
KEY_KP_EQUAL = 336, // Key: Keypad =
|
||||
// Android key buttons
|
||||
KEY_BACK = 4, // Key: Android back button
|
||||
KEY_MENU = 82, // Key: Android menu button
|
||||
KEY_MENU = 5, // Key: Android menu button
|
||||
KEY_VOLUME_UP = 24, // Key: Android volume up button
|
||||
KEY_VOLUME_DOWN = 25 // Key: Android volume down button
|
||||
} KeyboardKey;
|
||||
@@ -717,12 +729,12 @@ typedef enum {
|
||||
GAMEPAD_BUTTON_LEFT_FACE_DOWN, // Gamepad left DPAD down button
|
||||
GAMEPAD_BUTTON_LEFT_FACE_LEFT, // Gamepad left DPAD left button
|
||||
GAMEPAD_BUTTON_RIGHT_FACE_UP, // Gamepad right button up (i.e. PS3: Triangle, Xbox: Y)
|
||||
GAMEPAD_BUTTON_RIGHT_FACE_RIGHT, // Gamepad right button right (i.e. PS3: Square, Xbox: X)
|
||||
GAMEPAD_BUTTON_RIGHT_FACE_RIGHT, // Gamepad right button right (i.e. PS3: Circle, Xbox: B)
|
||||
GAMEPAD_BUTTON_RIGHT_FACE_DOWN, // Gamepad right button down (i.e. PS3: Cross, Xbox: A)
|
||||
GAMEPAD_BUTTON_RIGHT_FACE_LEFT, // Gamepad right button left (i.e. PS3: Circle, Xbox: B)
|
||||
GAMEPAD_BUTTON_RIGHT_FACE_LEFT, // Gamepad right button left (i.e. PS3: Square, Xbox: X)
|
||||
GAMEPAD_BUTTON_LEFT_TRIGGER_1, // Gamepad top/back trigger left (first), it could be a trailing button
|
||||
GAMEPAD_BUTTON_LEFT_TRIGGER_2, // Gamepad top/back trigger left (second), it could be a trailing button
|
||||
GAMEPAD_BUTTON_RIGHT_TRIGGER_1, // Gamepad top/back trigger right (one), it could be a trailing button
|
||||
GAMEPAD_BUTTON_RIGHT_TRIGGER_1, // Gamepad top/back trigger right (first), it could be a trailing button
|
||||
GAMEPAD_BUTTON_RIGHT_TRIGGER_2, // Gamepad top/back trigger right (second), it could be a trailing button
|
||||
GAMEPAD_BUTTON_MIDDLE_LEFT, // Gamepad center buttons, left one (i.e. PS3: Select)
|
||||
GAMEPAD_BUTTON_MIDDLE, // Gamepad center buttons, middle one (i.e. PS3: PS, Xbox: XBOX)
|
||||
@@ -786,7 +798,10 @@ typedef enum {
|
||||
SHADER_LOC_MAP_CUBEMAP, // Shader location: samplerCube texture: cubemap
|
||||
SHADER_LOC_MAP_IRRADIANCE, // Shader location: samplerCube texture: irradiance
|
||||
SHADER_LOC_MAP_PREFILTER, // Shader location: samplerCube texture: prefilter
|
||||
SHADER_LOC_MAP_BRDF // Shader location: sampler2d texture: brdf
|
||||
SHADER_LOC_MAP_BRDF, // Shader location: sampler2d texture: brdf
|
||||
SHADER_LOC_VERTEX_BONEIDS, // Shader location: vertex attribute: boneIds
|
||||
SHADER_LOC_VERTEX_BONEWEIGHTS, // Shader location: vertex attribute: boneWeights
|
||||
SHADER_LOC_BONE_MATRICES // Shader location: array of matrices uniform: boneMatrices
|
||||
} ShaderLocationIndex;
|
||||
|
||||
#define SHADER_LOC_MAP_DIFFUSE SHADER_LOC_MAP_ALBEDO
|
||||
@@ -868,8 +883,7 @@ typedef enum {
|
||||
CUBEMAP_LAYOUT_LINE_VERTICAL, // Layout is defined by a vertical line with faces
|
||||
CUBEMAP_LAYOUT_LINE_HORIZONTAL, // Layout is defined by a horizontal line with faces
|
||||
CUBEMAP_LAYOUT_CROSS_THREE_BY_FOUR, // Layout is defined by a 3x4 cross with cubemap faces
|
||||
CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE, // Layout is defined by a 4x3 cross with cubemap faces
|
||||
CUBEMAP_LAYOUT_PANORAMA // Layout is defined by a panorama image (equirrectangular map)
|
||||
CUBEMAP_LAYOUT_CROSS_FOUR_BY_THREE // Layout is defined by a 4x3 cross with cubemap faces
|
||||
} CubemapLayout;
|
||||
|
||||
// Font type, defines generation method
|
||||
@@ -909,11 +923,11 @@ typedef enum {
|
||||
|
||||
// Camera system modes
|
||||
typedef enum {
|
||||
CAMERA_CUSTOM = 0, // Custom camera
|
||||
CAMERA_FREE, // Free camera
|
||||
CAMERA_ORBITAL, // Orbital camera
|
||||
CAMERA_FIRST_PERSON, // First person camera
|
||||
CAMERA_THIRD_PERSON // Third person camera
|
||||
CAMERA_CUSTOM = 0, // Camera custom, controlled by user (UpdateCamera() does nothing)
|
||||
CAMERA_FREE, // Camera free mode
|
||||
CAMERA_ORBITAL, // Camera orbital, around target, zoom supported
|
||||
CAMERA_FIRST_PERSON, // Camera first person
|
||||
CAMERA_THIRD_PERSON // Camera third person
|
||||
} CameraMode;
|
||||
|
||||
// Camera projection
|
||||
@@ -930,7 +944,7 @@ typedef enum {
|
||||
} NPatchLayout;
|
||||
|
||||
// Callbacks to hook some internal functions
|
||||
// WARNING: These callbacks are intended for advance users
|
||||
// WARNING: These callbacks are intended for advanced users
|
||||
typedef void (*TraceLogCallback)(int logLevel, const char *text, va_list args); // Logging: Redirect trace log messages
|
||||
typedef unsigned char *(*LoadFileDataCallback)(const char *fileName, int *dataSize); // FileIO: Load binary data
|
||||
typedef bool (*SaveFileDataCallback)(const char *fileName, void *data, int dataSize); // FileIO: Save binary data
|
||||
@@ -956,36 +970,36 @@ RLAPI void CloseWindow(void); // Close windo
|
||||
RLAPI bool WindowShouldClose(void); // Check if application should close (KEY_ESCAPE pressed or windows close icon clicked)
|
||||
RLAPI bool IsWindowReady(void); // Check if window has been initialized successfully
|
||||
RLAPI bool IsWindowFullscreen(void); // Check if window is currently fullscreen
|
||||
RLAPI bool IsWindowHidden(void); // Check if window is currently hidden (only PLATFORM_DESKTOP)
|
||||
RLAPI bool IsWindowMinimized(void); // Check if window is currently minimized (only PLATFORM_DESKTOP)
|
||||
RLAPI bool IsWindowMaximized(void); // Check if window is currently maximized (only PLATFORM_DESKTOP)
|
||||
RLAPI bool IsWindowFocused(void); // Check if window is currently focused (only PLATFORM_DESKTOP)
|
||||
RLAPI bool IsWindowHidden(void); // Check if window is currently hidden
|
||||
RLAPI bool IsWindowMinimized(void); // Check if window is currently minimized
|
||||
RLAPI bool IsWindowMaximized(void); // Check if window is currently maximized
|
||||
RLAPI bool IsWindowFocused(void); // Check if window is currently focused
|
||||
RLAPI bool IsWindowResized(void); // Check if window has been resized last frame
|
||||
RLAPI bool IsWindowState(unsigned int flag); // Check if one specific window flag is enabled
|
||||
RLAPI void SetWindowState(unsigned int flags); // Set window configuration state using flags (only PLATFORM_DESKTOP)
|
||||
RLAPI void SetWindowState(unsigned int flags); // Set window configuration state using flags
|
||||
RLAPI void ClearWindowState(unsigned int flags); // Clear window configuration state flags
|
||||
RLAPI void ToggleFullscreen(void); // Toggle window state: fullscreen/windowed (only PLATFORM_DESKTOP)
|
||||
RLAPI void ToggleBorderlessWindowed(void); // Toggle window state: borderless windowed (only PLATFORM_DESKTOP)
|
||||
RLAPI void MaximizeWindow(void); // Set window state: maximized, if resizable (only PLATFORM_DESKTOP)
|
||||
RLAPI void MinimizeWindow(void); // Set window state: minimized, if resizable (only PLATFORM_DESKTOP)
|
||||
RLAPI void RestoreWindow(void); // Set window state: not minimized/maximized (only PLATFORM_DESKTOP)
|
||||
RLAPI void SetWindowIcon(Image image); // Set icon for window (single image, RGBA 32bit, only PLATFORM_DESKTOP)
|
||||
RLAPI void SetWindowIcons(Image *images, int count); // Set icon for window (multiple images, RGBA 32bit, only PLATFORM_DESKTOP)
|
||||
RLAPI void SetWindowTitle(const char *title); // Set title for window (only PLATFORM_DESKTOP and PLATFORM_WEB)
|
||||
RLAPI void SetWindowPosition(int x, int y); // Set window position on screen (only PLATFORM_DESKTOP)
|
||||
RLAPI void ToggleFullscreen(void); // Toggle window state: fullscreen/windowed, resizes monitor to match window resolution
|
||||
RLAPI void ToggleBorderlessWindowed(void); // Toggle window state: borderless windowed, resizes window to match monitor resolution
|
||||
RLAPI void MaximizeWindow(void); // Set window state: maximized, if resizable
|
||||
RLAPI void MinimizeWindow(void); // Set window state: minimized, if resizable
|
||||
RLAPI void RestoreWindow(void); // Set window state: not minimized/maximized
|
||||
RLAPI void SetWindowIcon(Image image); // Set icon for window (single image, RGBA 32bit)
|
||||
RLAPI void SetWindowIcons(Image *images, int count); // Set icon for window (multiple images, RGBA 32bit)
|
||||
RLAPI void SetWindowTitle(const char *title); // Set title for window
|
||||
RLAPI void SetWindowPosition(int x, int y); // Set window position on screen
|
||||
RLAPI void SetWindowMonitor(int monitor); // Set monitor for the current window
|
||||
RLAPI void SetWindowMinSize(int width, int height); // Set window minimum dimensions (for FLAG_WINDOW_RESIZABLE)
|
||||
RLAPI void SetWindowMaxSize(int width, int height); // Set window maximum dimensions (for FLAG_WINDOW_RESIZABLE)
|
||||
RLAPI void SetWindowSize(int width, int height); // Set window dimensions
|
||||
RLAPI void SetWindowOpacity(float opacity); // Set window opacity [0.0f..1.0f] (only PLATFORM_DESKTOP)
|
||||
RLAPI void SetWindowFocused(void); // Set window focused (only PLATFORM_DESKTOP)
|
||||
RLAPI void SetWindowOpacity(float opacity); // Set window opacity [0.0f..1.0f]
|
||||
RLAPI void SetWindowFocused(void); // Set window focused
|
||||
RLAPI void *GetWindowHandle(void); // Get native window handle
|
||||
RLAPI int GetScreenWidth(void); // Get current screen width
|
||||
RLAPI int GetScreenHeight(void); // Get current screen height
|
||||
RLAPI int GetRenderWidth(void); // Get current render width (it considers HiDPI)
|
||||
RLAPI int GetRenderHeight(void); // Get current render height (it considers HiDPI)
|
||||
RLAPI int GetMonitorCount(void); // Get number of connected monitors
|
||||
RLAPI int GetCurrentMonitor(void); // Get current connected monitor
|
||||
RLAPI int GetCurrentMonitor(void); // Get current monitor where window is placed
|
||||
RLAPI Vector2 GetMonitorPosition(int monitor); // Get specified monitor position
|
||||
RLAPI int GetMonitorWidth(int monitor); // Get specified monitor width (current video mode used by monitor)
|
||||
RLAPI int GetMonitorHeight(int monitor); // Get specified monitor height (current video mode used by monitor)
|
||||
@@ -997,6 +1011,7 @@ RLAPI Vector2 GetWindowScaleDPI(void); // Get window
|
||||
RLAPI const char *GetMonitorName(int monitor); // Get the human-readable, UTF-8 encoded name of the specified monitor
|
||||
RLAPI void SetClipboardText(const char *text); // Set clipboard text content
|
||||
RLAPI const char *GetClipboardText(void); // Get clipboard text content
|
||||
RLAPI Image GetClipboardImage(void); // Get clipboard image content
|
||||
RLAPI void EnableEventWaiting(void); // Enable waiting for events on EndDrawing(), no automatic event polling
|
||||
RLAPI void DisableEventWaiting(void); // Disable waiting for events on EndDrawing(), automatic events polling
|
||||
|
||||
@@ -1035,7 +1050,7 @@ RLAPI void UnloadVrStereoConfig(VrStereoConfig config); // Unload VR s
|
||||
// NOTE: Shader functionality is not available on OpenGL 1.1
|
||||
RLAPI Shader LoadShader(const char *vsFileName, const char *fsFileName); // Load shader from files and bind default locations
|
||||
RLAPI Shader LoadShaderFromMemory(const char *vsCode, const char *fsCode); // Load shader from code strings and bind default locations
|
||||
RLAPI bool IsShaderReady(Shader shader); // Check if a shader is ready
|
||||
RLAPI bool IsShaderValid(Shader shader); // Check if a shader is valid (loaded on GPU)
|
||||
RLAPI int GetShaderLocation(Shader shader, const char *uniformName); // Get shader uniform location
|
||||
RLAPI int GetShaderLocationAttrib(Shader shader, const char *attribName); // Get shader attribute location
|
||||
RLAPI void SetShaderValue(Shader shader, int locIndex, const void *value, int uniformType); // Set shader uniform value
|
||||
@@ -1045,13 +1060,15 @@ RLAPI void SetShaderValueTexture(Shader shader, int locIndex, Texture2D texture)
|
||||
RLAPI void UnloadShader(Shader shader); // Unload shader from GPU memory (VRAM)
|
||||
|
||||
// Screen-space-related functions
|
||||
RLAPI Ray GetMouseRay(Vector2 mousePosition, Camera camera); // Get a ray trace from mouse position
|
||||
RLAPI Matrix GetCameraMatrix(Camera camera); // Get camera transform matrix (view matrix)
|
||||
RLAPI Matrix GetCameraMatrix2D(Camera2D camera); // Get camera 2d transform matrix
|
||||
RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera); // Get the screen space position for a 3d world space position
|
||||
RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera); // Get the world space position for a 2d camera screen space position
|
||||
#define GetMouseRay GetScreenToWorldRay // Compatibility hack for previous raylib versions
|
||||
RLAPI Ray GetScreenToWorldRay(Vector2 position, Camera camera); // Get a ray trace from screen position (i.e mouse)
|
||||
RLAPI Ray GetScreenToWorldRayEx(Vector2 position, Camera camera, int width, int height); // Get a ray trace from screen position (i.e mouse) in a viewport
|
||||
RLAPI Vector2 GetWorldToScreen(Vector3 position, Camera camera); // Get the screen space position for a 3d world space position
|
||||
RLAPI Vector2 GetWorldToScreenEx(Vector3 position, Camera camera, int width, int height); // Get size position for a 3d world space position
|
||||
RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera); // Get the screen space position for a 2d camera world space position
|
||||
RLAPI Vector2 GetWorldToScreen2D(Vector2 position, Camera2D camera); // Get the screen space position for a 2d camera world space position
|
||||
RLAPI Vector2 GetScreenToWorld2D(Vector2 position, Camera2D camera); // Get the world space position for a 2d camera screen space position
|
||||
RLAPI Matrix GetCameraMatrix(Camera camera); // Get camera transform matrix (view matrix)
|
||||
RLAPI Matrix GetCameraMatrix2D(Camera2D camera); // Get camera 2d transform matrix
|
||||
|
||||
// Timing-related functions
|
||||
RLAPI void SetTargetFPS(int fps); // Set target FPS (maximum)
|
||||
@@ -1060,7 +1077,7 @@ RLAPI double GetTime(void); // Get elapsed
|
||||
RLAPI int GetFPS(void); // Get current FPS
|
||||
|
||||
// Custom frame control functions
|
||||
// NOTE: Those functions are intended for advance users that want full control over the frame processing
|
||||
// NOTE: Those functions are intended for advanced users that want full control over the frame processing
|
||||
// By default EndDrawing() does this job: draws everything + SwapScreenBuffer() + manage frame timing + PollInputEvents()
|
||||
// To avoid that behaviour and control frame processes manually, enable in config.h: SUPPORT_CUSTOM_FRAME_CONTROL
|
||||
RLAPI void SwapScreenBuffer(void); // Swap back buffer with front buffer (screen drawing)
|
||||
@@ -1087,7 +1104,7 @@ RLAPI void *MemRealloc(void *ptr, unsigned int size); // Internal me
|
||||
RLAPI void MemFree(void *ptr); // Internal memory free
|
||||
|
||||
// Set custom callbacks
|
||||
// WARNING: Callbacks setup is intended for advance users
|
||||
// WARNING: Callbacks setup is intended for advanced users
|
||||
RLAPI void SetTraceLogCallback(TraceLogCallback callback); // Set custom trace log
|
||||
RLAPI void SetLoadFileDataCallback(LoadFileDataCallback callback); // Set custom file binary data loader
|
||||
RLAPI void SetSaveFileDataCallback(SaveFileDataCallback callback); // Set custom file binary data saver
|
||||
@@ -1116,10 +1133,12 @@ RLAPI const char *GetDirectoryPath(const char *filePath); // Get full pa
|
||||
RLAPI const char *GetPrevDirectoryPath(const char *dirPath); // Get previous directory path for a given path (uses static string)
|
||||
RLAPI const char *GetWorkingDirectory(void); // Get current working directory (uses static string)
|
||||
RLAPI const char *GetApplicationDirectory(void); // Get the directory of the running application (uses static string)
|
||||
RLAPI int MakeDirectory(const char *dirPath); // Create directories (including full path requested), returns 0 on success
|
||||
RLAPI bool ChangeDirectory(const char *dir); // Change working directory, return true on success
|
||||
RLAPI bool IsPathFile(const char *path); // Check if a given path is a file or a directory
|
||||
RLAPI bool IsFileNameValid(const char *fileName); // Check if fileName is valid for the platform/OS
|
||||
RLAPI FilePathList LoadDirectoryFiles(const char *dirPath); // Load directory filepaths
|
||||
RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan
|
||||
RLAPI FilePathList LoadDirectoryFilesEx(const char *basePath, const char *filter, bool scanSubdirs); // Load directory filepaths with extension filtering and recursive directory scan. Use 'DIR' in the filter string to include directories in the result
|
||||
RLAPI void UnloadDirectoryFiles(FilePathList files); // Unload filepaths
|
||||
RLAPI bool IsFileDropped(void); // Check if a file has been dropped into window
|
||||
RLAPI FilePathList LoadDroppedFiles(void); // Load dropped filepaths
|
||||
@@ -1131,10 +1150,14 @@ RLAPI unsigned char *CompressData(const unsigned char *data, int dataSize, int *
|
||||
RLAPI unsigned char *DecompressData(const unsigned char *compData, int compDataSize, int *dataSize); // Decompress data (DEFLATE algorithm), memory must be MemFree()
|
||||
RLAPI char *EncodeDataBase64(const unsigned char *data, int dataSize, int *outputSize); // Encode data to Base64 string, memory must be MemFree()
|
||||
RLAPI unsigned char *DecodeDataBase64(const unsigned char *data, int *outputSize); // Decode Base64 string data, memory must be MemFree()
|
||||
RLAPI unsigned int ComputeCRC32(unsigned char *data, int dataSize); // Compute CRC32 hash code
|
||||
RLAPI unsigned int *ComputeMD5(unsigned char *data, int dataSize); // Compute MD5 hash code, returns static int[4] (16 bytes)
|
||||
RLAPI unsigned int *ComputeSHA1(unsigned char *data, int dataSize); // Compute SHA1 hash code, returns static int[5] (20 bytes)
|
||||
|
||||
|
||||
// Automation events functionality
|
||||
RLAPI AutomationEventList LoadAutomationEventList(const char *fileName); // Load automation events list from file, NULL for empty list, capacity = MAX_AUTOMATION_EVENTS
|
||||
RLAPI void UnloadAutomationEventList(AutomationEventList *list); // Unload automation events list from file
|
||||
RLAPI void UnloadAutomationEventList(AutomationEventList list); // Unload automation events list from file
|
||||
RLAPI bool ExportAutomationEventList(AutomationEventList list, const char *fileName); // Export automation events list as text file
|
||||
RLAPI void SetAutomationEventList(AutomationEventList *list); // Set automation event list to record to
|
||||
RLAPI void SetAutomationEventBaseFrame(int frame); // Set automation event internal base frame to start recording
|
||||
@@ -1148,7 +1171,7 @@ RLAPI void PlayAutomationEvent(AutomationEvent event);
|
||||
|
||||
// Input-related functions: keyboard
|
||||
RLAPI bool IsKeyPressed(int key); // Check if a key has been pressed once
|
||||
RLAPI bool IsKeyPressedRepeat(int key); // Check if a key has been pressed again (Only PLATFORM_DESKTOP)
|
||||
RLAPI bool IsKeyPressedRepeat(int key); // Check if a key has been pressed again
|
||||
RLAPI bool IsKeyDown(int key); // Check if a key is being pressed
|
||||
RLAPI bool IsKeyReleased(int key); // Check if a key has been released once
|
||||
RLAPI bool IsKeyUp(int key); // Check if a key is NOT being pressed
|
||||
@@ -1157,16 +1180,17 @@ RLAPI int GetCharPressed(void); // Get char presse
|
||||
RLAPI void SetExitKey(int key); // Set a custom key to exit program (default is ESC)
|
||||
|
||||
// Input-related functions: gamepads
|
||||
RLAPI bool IsGamepadAvailable(int gamepad); // Check if a gamepad is available
|
||||
RLAPI const char *GetGamepadName(int gamepad); // Get gamepad internal name id
|
||||
RLAPI bool IsGamepadButtonPressed(int gamepad, int button); // Check if a gamepad button has been pressed once
|
||||
RLAPI bool IsGamepadButtonDown(int gamepad, int button); // Check if a gamepad button is being pressed
|
||||
RLAPI bool IsGamepadButtonReleased(int gamepad, int button); // Check if a gamepad button has been released once
|
||||
RLAPI bool IsGamepadButtonUp(int gamepad, int button); // Check if a gamepad button is NOT being pressed
|
||||
RLAPI int GetGamepadButtonPressed(void); // Get the last gamepad button pressed
|
||||
RLAPI int GetGamepadAxisCount(int gamepad); // Get gamepad axis count for a gamepad
|
||||
RLAPI float GetGamepadAxisMovement(int gamepad, int axis); // Get axis movement value for a gamepad axis
|
||||
RLAPI int SetGamepadMappings(const char *mappings); // Set internal gamepad mappings (SDL_GameControllerDB)
|
||||
RLAPI bool IsGamepadAvailable(int gamepad); // Check if a gamepad is available
|
||||
RLAPI const char *GetGamepadName(int gamepad); // Get gamepad internal name id
|
||||
RLAPI bool IsGamepadButtonPressed(int gamepad, int button); // Check if a gamepad button has been pressed once
|
||||
RLAPI bool IsGamepadButtonDown(int gamepad, int button); // Check if a gamepad button is being pressed
|
||||
RLAPI bool IsGamepadButtonReleased(int gamepad, int button); // Check if a gamepad button has been released once
|
||||
RLAPI bool IsGamepadButtonUp(int gamepad, int button); // Check if a gamepad button is NOT being pressed
|
||||
RLAPI int GetGamepadButtonPressed(void); // Get the last gamepad button pressed
|
||||
RLAPI int GetGamepadAxisCount(int gamepad); // Get gamepad axis count for a gamepad
|
||||
RLAPI float GetGamepadAxisMovement(int gamepad, int axis); // Get axis movement value for a gamepad axis
|
||||
RLAPI int SetGamepadMappings(const char *mappings); // Set internal gamepad mappings (SDL_GameControllerDB)
|
||||
RLAPI void SetGamepadVibration(int gamepad, float leftMotor, float rightMotor, float duration); // Set gamepad vibration for both motors (duration in seconds)
|
||||
|
||||
// Input-related functions: mouse
|
||||
RLAPI bool IsMouseButtonPressed(int button); // Check if a mouse button has been pressed once
|
||||
@@ -1197,7 +1221,7 @@ RLAPI int GetTouchPointCount(void); // Get number of t
|
||||
RLAPI void SetGesturesEnabled(unsigned int flags); // Enable a set of gestures using flags
|
||||
RLAPI bool IsGestureDetected(unsigned int gesture); // Check if a gesture have been detected
|
||||
RLAPI int GetGestureDetected(void); // Get latest detected gesture
|
||||
RLAPI float GetGestureHoldDuration(void); // Get gesture hold time in milliseconds
|
||||
RLAPI float GetGestureHoldDuration(void); // Get gesture hold time in seconds
|
||||
RLAPI Vector2 GetGestureDragVector(void); // Get gesture drag vector
|
||||
RLAPI float GetGestureDragAngle(void); // Get gesture drag angle
|
||||
RLAPI Vector2 GetGesturePinchVector(void); // Get gesture pinch delta
|
||||
@@ -1216,19 +1240,21 @@ RLAPI void UpdateCameraPro(Camera *camera, Vector3 movement, Vector3 rotation, f
|
||||
// NOTE: It can be useful when using basic shapes and one single font,
|
||||
// defining a font char white rectangle would allow drawing everything in a single draw call
|
||||
RLAPI void SetShapesTexture(Texture2D texture, Rectangle source); // Set texture and rectangle to be used on shapes drawing
|
||||
RLAPI Texture2D GetShapesTexture(void); // Get texture that is used for shapes drawing
|
||||
RLAPI Rectangle GetShapesTextureRectangle(void); // Get texture source rectangle that is used for shapes drawing
|
||||
|
||||
// Basic shapes drawing functions
|
||||
RLAPI void DrawPixel(int posX, int posY, Color color); // Draw a pixel
|
||||
RLAPI void DrawPixelV(Vector2 position, Color color); // Draw a pixel (Vector version)
|
||||
RLAPI void DrawPixel(int posX, int posY, Color color); // Draw a pixel using geometry [Can be slow, use with care]
|
||||
RLAPI void DrawPixelV(Vector2 position, Color color); // Draw a pixel using geometry (Vector version) [Can be slow, use with care]
|
||||
RLAPI void DrawLine(int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw a line
|
||||
RLAPI void DrawLineV(Vector2 startPos, Vector2 endPos, Color color); // Draw a line (using gl lines)
|
||||
RLAPI void DrawLineEx(Vector2 startPos, Vector2 endPos, float thick, Color color); // Draw a line (using triangles/quads)
|
||||
RLAPI void DrawLineStrip(Vector2 *points, int pointCount, Color color); // Draw lines sequence (using gl lines)
|
||||
RLAPI void DrawLineStrip(const Vector2 *points, int pointCount, Color color); // Draw lines sequence (using gl lines)
|
||||
RLAPI void DrawLineBezier(Vector2 startPos, Vector2 endPos, float thick, Color color); // Draw line segment cubic-bezier in-out interpolation
|
||||
RLAPI void DrawCircle(int centerX, int centerY, float radius, Color color); // Draw a color-filled circle
|
||||
RLAPI void DrawCircleSector(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw a piece of a circle
|
||||
RLAPI void DrawCircleSectorLines(Vector2 center, float radius, float startAngle, float endAngle, int segments, Color color); // Draw circle sector outline
|
||||
RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color color1, Color color2); // Draw a gradient-filled circle
|
||||
RLAPI void DrawCircleGradient(int centerX, int centerY, float radius, Color inner, Color outer); // Draw a gradient-filled circle
|
||||
RLAPI void DrawCircleV(Vector2 center, float radius, Color color); // Draw a color-filled circle (Vector version)
|
||||
RLAPI void DrawCircleLines(int centerX, int centerY, float radius, Color color); // Draw circle outline
|
||||
RLAPI void DrawCircleLinesV(Vector2 center, float radius, Color color); // Draw circle outline (Vector version)
|
||||
@@ -1240,27 +1266,28 @@ RLAPI void DrawRectangle(int posX, int posY, int width, int height, Color color)
|
||||
RLAPI void DrawRectangleV(Vector2 position, Vector2 size, Color color); // Draw a color-filled rectangle (Vector version)
|
||||
RLAPI void DrawRectangleRec(Rectangle rec, Color color); // Draw a color-filled rectangle
|
||||
RLAPI void DrawRectanglePro(Rectangle rec, Vector2 origin, float rotation, Color color); // Draw a color-filled rectangle with pro parameters
|
||||
RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a vertical-gradient-filled rectangle
|
||||
RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color color1, Color color2);// Draw a horizontal-gradient-filled rectangle
|
||||
RLAPI void DrawRectangleGradientEx(Rectangle rec, Color col1, Color col2, Color col3, Color col4); // Draw a gradient-filled rectangle with custom vertex colors
|
||||
RLAPI void DrawRectangleGradientV(int posX, int posY, int width, int height, Color top, Color bottom); // Draw a vertical-gradient-filled rectangle
|
||||
RLAPI void DrawRectangleGradientH(int posX, int posY, int width, int height, Color left, Color right); // Draw a horizontal-gradient-filled rectangle
|
||||
RLAPI void DrawRectangleGradientEx(Rectangle rec, Color topLeft, Color bottomLeft, Color topRight, Color bottomRight); // Draw a gradient-filled rectangle with custom vertex colors
|
||||
RLAPI void DrawRectangleLines(int posX, int posY, int width, int height, Color color); // Draw rectangle outline
|
||||
RLAPI void DrawRectangleLinesEx(Rectangle rec, float lineThick, Color color); // Draw rectangle outline with extended parameters
|
||||
RLAPI void DrawRectangleRounded(Rectangle rec, float roundness, int segments, Color color); // Draw rectangle with rounded edges
|
||||
RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
|
||||
RLAPI void DrawRectangleRoundedLines(Rectangle rec, float roundness, int segments, Color color); // Draw rectangle lines with rounded edges
|
||||
RLAPI void DrawRectangleRoundedLinesEx(Rectangle rec, float roundness, int segments, float lineThick, Color color); // Draw rectangle with rounded edges outline
|
||||
RLAPI void DrawTriangle(Vector2 v1, Vector2 v2, Vector2 v3, Color color); // Draw a color-filled triangle (vertex in counter-clockwise order!)
|
||||
RLAPI void DrawTriangleLines(Vector2 v1, Vector2 v2, Vector2 v3, Color color); // Draw triangle outline (vertex in counter-clockwise order!)
|
||||
RLAPI void DrawTriangleFan(Vector2 *points, int pointCount, Color color); // Draw a triangle fan defined by points (first vertex is the center)
|
||||
RLAPI void DrawTriangleStrip(Vector2 *points, int pointCount, Color color); // Draw a triangle strip defined by points
|
||||
RLAPI void DrawTriangleFan(const Vector2 *points, int pointCount, Color color); // Draw a triangle fan defined by points (first vertex is the center)
|
||||
RLAPI void DrawTriangleStrip(const Vector2 *points, int pointCount, Color color); // Draw a triangle strip defined by points
|
||||
RLAPI void DrawPoly(Vector2 center, int sides, float radius, float rotation, Color color); // Draw a regular polygon (Vector version)
|
||||
RLAPI void DrawPolyLines(Vector2 center, int sides, float radius, float rotation, Color color); // Draw a polygon outline of n sides
|
||||
RLAPI void DrawPolyLinesEx(Vector2 center, int sides, float radius, float rotation, float lineThick, Color color); // Draw a polygon outline of n sides with extended parameters
|
||||
|
||||
// Splines drawing functions
|
||||
RLAPI void DrawSplineLinear(Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Linear, minimum 2 points
|
||||
RLAPI void DrawSplineBasis(Vector2 *points, int pointCount, float thick, Color color); // Draw spline: B-Spline, minimum 4 points
|
||||
RLAPI void DrawSplineCatmullRom(Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Catmull-Rom, minimum 4 points
|
||||
RLAPI void DrawSplineBezierQuadratic(Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
|
||||
RLAPI void DrawSplineBezierCubic(Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
|
||||
RLAPI void DrawSplineLinear(const Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Linear, minimum 2 points
|
||||
RLAPI void DrawSplineBasis(const Vector2 *points, int pointCount, float thick, Color color); // Draw spline: B-Spline, minimum 4 points
|
||||
RLAPI void DrawSplineCatmullRom(const Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Catmull-Rom, minimum 4 points
|
||||
RLAPI void DrawSplineBezierQuadratic(const Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Quadratic Bezier, minimum 3 points (1 control point): [p1, c2, p3, c4...]
|
||||
RLAPI void DrawSplineBezierCubic(const Vector2 *points, int pointCount, float thick, Color color); // Draw spline: Cubic Bezier, minimum 4 points (2 control points): [p1, c2, c3, p4, c5, c6...]
|
||||
RLAPI void DrawSplineSegmentLinear(Vector2 p1, Vector2 p2, float thick, Color color); // Draw spline segment: Linear, 2 points
|
||||
RLAPI void DrawSplineSegmentBasis(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: B-Spline, 4 points
|
||||
RLAPI void DrawSplineSegmentCatmullRom(Vector2 p1, Vector2 p2, Vector2 p3, Vector2 p4, float thick, Color color); // Draw spline segment: Catmull-Rom, 4 points
|
||||
@@ -1278,12 +1305,13 @@ RLAPI Vector2 GetSplinePointBezierCubic(Vector2 p1, Vector2 c2, Vector2 c3, Vect
|
||||
RLAPI bool CheckCollisionRecs(Rectangle rec1, Rectangle rec2); // Check collision between two rectangles
|
||||
RLAPI bool CheckCollisionCircles(Vector2 center1, float radius1, Vector2 center2, float radius2); // Check collision between two circles
|
||||
RLAPI bool CheckCollisionCircleRec(Vector2 center, float radius, Rectangle rec); // Check collision between circle and rectangle
|
||||
RLAPI bool CheckCollisionCircleLine(Vector2 center, float radius, Vector2 p1, Vector2 p2); // Check if circle collides with a line created betweeen two points [p1] and [p2]
|
||||
RLAPI bool CheckCollisionPointRec(Vector2 point, Rectangle rec); // Check if point is inside rectangle
|
||||
RLAPI bool CheckCollisionPointCircle(Vector2 point, Vector2 center, float radius); // Check if point is inside circle
|
||||
RLAPI bool CheckCollisionPointTriangle(Vector2 point, Vector2 p1, Vector2 p2, Vector2 p3); // Check if point is inside a triangle
|
||||
RLAPI bool CheckCollisionPointPoly(Vector2 point, Vector2 *points, int pointCount); // Check if point is within a polygon described by array of vertices
|
||||
RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
|
||||
RLAPI bool CheckCollisionPointLine(Vector2 point, Vector2 p1, Vector2 p2, int threshold); // Check if point belongs to line created between two points [p1] and [p2] with defined margin in pixels [threshold]
|
||||
RLAPI bool CheckCollisionPointPoly(Vector2 point, const Vector2 *points, int pointCount); // Check if point is within a polygon described by array of vertices
|
||||
RLAPI bool CheckCollisionLines(Vector2 startPos1, Vector2 endPos1, Vector2 startPos2, Vector2 endPos2, Vector2 *collisionPoint); // Check the collision between two lines defined by two points each, returns collision point by reference
|
||||
RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2); // Get collision rectangle for two rectangles collision
|
||||
|
||||
//------------------------------------------------------------------------------------
|
||||
@@ -1294,12 +1322,12 @@ RLAPI Rectangle GetCollisionRec(Rectangle rec1, Rectangle rec2);
|
||||
// NOTE: These functions do not require GPU access
|
||||
RLAPI Image LoadImage(const char *fileName); // Load image from file into CPU memory (RAM)
|
||||
RLAPI Image LoadImageRaw(const char *fileName, int width, int height, int format, int headerSize); // Load image from RAW file data
|
||||
RLAPI Image LoadImageSvg(const char *fileNameOrString, int width, int height); // Load image from SVG file data or string with specified size
|
||||
RLAPI Image LoadImageAnim(const char *fileName, int *frames); // Load image sequence from file (frames appended to image.data)
|
||||
RLAPI Image LoadImageAnimFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int *frames); // Load image sequence from memory buffer
|
||||
RLAPI Image LoadImageFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load image from memory buffer, fileType refers to extension: i.e. '.png'
|
||||
RLAPI Image LoadImageFromTexture(Texture2D texture); // Load image from GPU texture data
|
||||
RLAPI Image LoadImageFromScreen(void); // Load image from screen buffer and (screenshot)
|
||||
RLAPI bool IsImageReady(Image image); // Check if an image is ready
|
||||
RLAPI bool IsImageValid(Image image); // Check if an image is valid (data and parameters)
|
||||
RLAPI void UnloadImage(Image image); // Unload image from CPU memory (RAM)
|
||||
RLAPI bool ExportImage(Image image, const char *fileName); // Export image data to file, returns true on success
|
||||
RLAPI unsigned char *ExportImageToMemory(Image image, const char *fileType, int *fileSize); // Export image to memory buffer
|
||||
@@ -1319,6 +1347,7 @@ RLAPI Image GenImageText(int width, int height, const char *text);
|
||||
// Image manipulation functions
|
||||
RLAPI Image ImageCopy(Image image); // Create an image duplicate (useful for transformations)
|
||||
RLAPI Image ImageFromImage(Image image, Rectangle rec); // Create an image from another image piece
|
||||
RLAPI Image ImageFromChannel(Image image, int selectedChannel); // Create an image from a selected channel of another image (GRAYSCALE)
|
||||
RLAPI Image ImageText(const char *text, int fontSize, Color color); // Create an image from text (default font)
|
||||
RLAPI Image ImageTextEx(Font font, const char *text, float fontSize, float spacing, Color tint); // Create an image from text (custom sprite font)
|
||||
RLAPI void ImageFormat(Image *image, int newFormat); // Convert image data to desired format
|
||||
@@ -1329,9 +1358,10 @@ RLAPI void ImageAlphaClear(Image *image, Color color, float threshold);
|
||||
RLAPI void ImageAlphaMask(Image *image, Image alphaMask); // Apply alpha mask to image
|
||||
RLAPI void ImageAlphaPremultiply(Image *image); // Premultiply alpha channel
|
||||
RLAPI void ImageBlurGaussian(Image *image, int blurSize); // Apply Gaussian blur using a box blur approximation
|
||||
RLAPI void ImageKernelConvolution(Image *image, const float *kernel, int kernelSize); // Apply custom square convolution kernel to image
|
||||
RLAPI void ImageResize(Image *image, int newWidth, int newHeight); // Resize image (Bicubic scaling algorithm)
|
||||
RLAPI void ImageResizeNN(Image *image, int newWidth,int newHeight); // Resize image (Nearest-Neighbor scaling algorithm)
|
||||
RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
|
||||
RLAPI void ImageResizeCanvas(Image *image, int newWidth, int newHeight, int offsetX, int offsetY, Color fill); // Resize canvas and fill with color
|
||||
RLAPI void ImageMipmaps(Image *image); // Compute all mipmap levels for a provided image
|
||||
RLAPI void ImageDither(Image *image, int rBpp, int gBpp, int bBpp, int aBpp); // Dither image data to 16bpp or lower (Floyd-Steinberg dithering)
|
||||
RLAPI void ImageFlipVertical(Image *image); // Flip image vertically
|
||||
@@ -1359,6 +1389,7 @@ RLAPI void ImageDrawPixel(Image *dst, int posX, int posY, Color color);
|
||||
RLAPI void ImageDrawPixelV(Image *dst, Vector2 position, Color color); // Draw pixel within an image (Vector version)
|
||||
RLAPI void ImageDrawLine(Image *dst, int startPosX, int startPosY, int endPosX, int endPosY, Color color); // Draw line within an image
|
||||
RLAPI void ImageDrawLineV(Image *dst, Vector2 start, Vector2 end, Color color); // Draw line within an image (Vector version)
|
||||
RLAPI void ImageDrawLineEx(Image *dst, Vector2 start, Vector2 end, int thick, Color color); // Draw a line defining thickness within an image
|
||||
RLAPI void ImageDrawCircle(Image *dst, int centerX, int centerY, int radius, Color color); // Draw a filled circle within an image
|
||||
RLAPI void ImageDrawCircleV(Image *dst, Vector2 center, int radius, Color color); // Draw a filled circle within an image (Vector version)
|
||||
RLAPI void ImageDrawCircleLines(Image *dst, int centerX, int centerY, int radius, Color color); // Draw circle outline within an image
|
||||
@@ -1367,6 +1398,11 @@ RLAPI void ImageDrawRectangle(Image *dst, int posX, int posY, int width, int hei
|
||||
RLAPI void ImageDrawRectangleV(Image *dst, Vector2 position, Vector2 size, Color color); // Draw rectangle within an image (Vector version)
|
||||
RLAPI void ImageDrawRectangleRec(Image *dst, Rectangle rec, Color color); // Draw rectangle within an image
|
||||
RLAPI void ImageDrawRectangleLines(Image *dst, Rectangle rec, int thick, Color color); // Draw rectangle lines within an image
|
||||
RLAPI void ImageDrawTriangle(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color); // Draw triangle within an image
|
||||
RLAPI void ImageDrawTriangleEx(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color c1, Color c2, Color c3); // Draw triangle with interpolated colors within an image
|
||||
RLAPI void ImageDrawTriangleLines(Image *dst, Vector2 v1, Vector2 v2, Vector2 v3, Color color); // Draw triangle outline within an image
|
||||
RLAPI void ImageDrawTriangleFan(Image *dst, Vector2 *points, int pointCount, Color color); // Draw a triangle fan defined by points within an image (first vertex is the center)
|
||||
RLAPI void ImageDrawTriangleStrip(Image *dst, Vector2 *points, int pointCount, Color color); // Draw a triangle strip defined by points within an image
|
||||
RLAPI void ImageDraw(Image *dst, Image src, Rectangle srcRec, Rectangle dstRec, Color tint); // Draw a source image within a destination image (tint applied to source)
|
||||
RLAPI void ImageDrawText(Image *dst, const char *text, int posX, int posY, int fontSize, Color color); // Draw text (using default font) within an image (destination)
|
||||
RLAPI void ImageDrawTextEx(Image *dst, Font font, const char *text, Vector2 position, float fontSize, float spacing, Color tint); // Draw text (custom sprite font) within an image (destination)
|
||||
@@ -1377,9 +1413,9 @@ RLAPI Texture2D LoadTexture(const char *fileName);
|
||||
RLAPI Texture2D LoadTextureFromImage(Image image); // Load texture from image data
|
||||
RLAPI TextureCubemap LoadTextureCubemap(Image image, int layout); // Load cubemap from image, multiple image cubemap layouts supported
|
||||
RLAPI RenderTexture2D LoadRenderTexture(int width, int height); // Load texture for rendering (framebuffer)
|
||||
RLAPI bool IsTextureReady(Texture2D texture); // Check if a texture is ready
|
||||
RLAPI bool IsTextureValid(Texture2D texture); // Check if a texture is valid (loaded in GPU)
|
||||
RLAPI void UnloadTexture(Texture2D texture); // Unload texture from GPU memory (VRAM)
|
||||
RLAPI bool IsRenderTextureReady(RenderTexture2D target); // Check if a render texture is ready
|
||||
RLAPI bool IsRenderTextureValid(RenderTexture2D target); // Check if a render texture is valid (loaded in GPU)
|
||||
RLAPI void UnloadRenderTexture(RenderTexture2D target); // Unload render texture from GPU memory (VRAM)
|
||||
RLAPI void UpdateTexture(Texture2D texture, const void *pixels); // Update GPU texture with new data
|
||||
RLAPI void UpdateTextureRec(Texture2D texture, Rectangle rec, const void *pixels); // Update GPU texture rectangle with new data
|
||||
@@ -1398,8 +1434,9 @@ RLAPI void DrawTexturePro(Texture2D texture, Rectangle source, Rectangle dest, V
|
||||
RLAPI void DrawTextureNPatch(Texture2D texture, NPatchInfo nPatchInfo, Rectangle dest, Vector2 origin, float rotation, Color tint); // Draws a texture (or part of it) that stretches or shrinks nicely
|
||||
|
||||
// Color/pixel related functions
|
||||
RLAPI bool ColorIsEqual(Color col1, Color col2); // Check if two colors are equal
|
||||
RLAPI Color Fade(Color color, float alpha); // Get color with alpha applied, alpha goes from 0.0f to 1.0f
|
||||
RLAPI int ColorToInt(Color color); // Get hexadecimal value for a Color
|
||||
RLAPI int ColorToInt(Color color); // Get hexadecimal value for a Color (0xRRGGBBAA)
|
||||
RLAPI Vector4 ColorNormalize(Color color); // Get Color normalized as float [0..1]
|
||||
RLAPI Color ColorFromNormalized(Vector4 normalized); // Get Color from normalized values [0..1]
|
||||
RLAPI Vector3 ColorToHSV(Color color); // Get HSV values for a Color, hue [0..360], saturation/value [0..1]
|
||||
@@ -1409,6 +1446,7 @@ RLAPI Color ColorBrightness(Color color, float factor); // G
|
||||
RLAPI Color ColorContrast(Color color, float contrast); // Get color with contrast correction, contrast values between -1.0f and 1.0f
|
||||
RLAPI Color ColorAlpha(Color color, float alpha); // Get color with alpha applied, alpha goes from 0.0f to 1.0f
|
||||
RLAPI Color ColorAlphaBlend(Color dst, Color src, Color tint); // Get src alpha-blended into dst color with tint
|
||||
RLAPI Color ColorLerp(Color color1, Color color2, float factor); // Get color lerp interpolation between two colors, factor [0.0f..1.0f]
|
||||
RLAPI Color GetColor(unsigned int hexValue); // Get Color structure from hexadecimal value
|
||||
RLAPI Color GetPixelColor(void *srcPtr, int format); // Get Color from a source pixel pointer of certain format
|
||||
RLAPI void SetPixelColor(void *dstPtr, Color color, int format); // Set color formatted into destination pixel pointer
|
||||
@@ -1421,10 +1459,10 @@ RLAPI int GetPixelDataSize(int width, int height, int format); // G
|
||||
// Font loading/unloading functions
|
||||
RLAPI Font GetFontDefault(void); // Get the default Font
|
||||
RLAPI Font LoadFont(const char *fileName); // Load font from file into GPU memory (VRAM)
|
||||
RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set
|
||||
RLAPI Font LoadFontEx(const char *fileName, int fontSize, int *codepoints, int codepointCount); // Load font from file with extended parameters, use NULL for codepoints and 0 for codepointCount to load the default character set, font size is provided in pixels height
|
||||
RLAPI Font LoadFontFromImage(Image image, Color key, int firstChar); // Load font from Image (XNA style)
|
||||
RLAPI Font LoadFontFromMemory(const char *fileType, const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount); // Load font from memory buffer, fileType refers to extension: i.e. '.ttf'
|
||||
RLAPI bool IsFontReady(Font font); // Check if a font is ready
|
||||
RLAPI bool IsFontValid(Font font); // Check if a font is valid (font data loaded, WARNING: GPU texture not checked)
|
||||
RLAPI GlyphInfo *LoadFontData(const unsigned char *fileData, int dataSize, int fontSize, int *codepoints, int codepointCount, int type); // Load font data for further use
|
||||
RLAPI Image GenImageFontAtlas(const GlyphInfo *glyphs, Rectangle **glyphRecs, int glyphCount, int fontSize, int padding, int packMethod); // Generate image font atlas using chars info
|
||||
RLAPI void UnloadFontData(GlyphInfo *glyphs, int glyphCount); // Unload font chars info data (RAM)
|
||||
@@ -1465,7 +1503,7 @@ RLAPI bool TextIsEqual(const char *text1, const char *text2);
|
||||
RLAPI unsigned int TextLength(const char *text); // Get text length, checks for '\0' ending
|
||||
RLAPI const char *TextFormat(const char *text, ...); // Text formatting with variables (sprintf() style)
|
||||
RLAPI const char *TextSubtext(const char *text, int position, int length); // Get a piece of a text string
|
||||
RLAPI char *TextReplace(char *text, const char *replace, const char *by); // Replace text string (WARNING: memory must be freed!)
|
||||
RLAPI char *TextReplace(const char *text, const char *replace, const char *by); // Replace text string (WARNING: memory must be freed!)
|
||||
RLAPI char *TextInsert(const char *text, const char *insert, int position); // Insert text in a position (WARNING: memory must be freed!)
|
||||
RLAPI const char *TextJoin(const char **textList, int count, const char *delimiter); // Join text strings with delimiter
|
||||
RLAPI const char **TextSplit(const char *text, char delimiter, int *count); // Split text into multiple strings
|
||||
@@ -1474,7 +1512,11 @@ RLAPI int TextFindIndex(const char *text, const char *find);
|
||||
RLAPI const char *TextToUpper(const char *text); // Get upper case version of provided string
|
||||
RLAPI const char *TextToLower(const char *text); // Get lower case version of provided string
|
||||
RLAPI const char *TextToPascal(const char *text); // Get Pascal case notation version of provided string
|
||||
RLAPI const char *TextToSnake(const char *text); // Get Snake case notation version of provided string
|
||||
RLAPI const char *TextToCamel(const char *text); // Get Camel case notation version of provided string
|
||||
|
||||
RLAPI int TextToInteger(const char *text); // Get integer value from text (negative values not supported)
|
||||
RLAPI float TextToFloat(const char *text); // Get float value from text (negative values not supported)
|
||||
|
||||
//------------------------------------------------------------------------------------
|
||||
// Basic 3d Shapes Drawing Functions (Module: models)
|
||||
@@ -1485,7 +1527,7 @@ RLAPI void DrawLine3D(Vector3 startPos, Vector3 endPos, Color color);
|
||||
RLAPI void DrawPoint3D(Vector3 position, Color color); // Draw a point in 3D space, actually a small line
|
||||
RLAPI void DrawCircle3D(Vector3 center, float radius, Vector3 rotationAxis, float rotationAngle, Color color); // Draw a circle in 3D world space
|
||||
RLAPI void DrawTriangle3D(Vector3 v1, Vector3 v2, Vector3 v3, Color color); // Draw a color-filled triangle (vertex in counter-clockwise order!)
|
||||
RLAPI void DrawTriangleStrip3D(Vector3 *points, int pointCount, Color color); // Draw a triangle strip defined by points
|
||||
RLAPI void DrawTriangleStrip3D(const Vector3 *points, int pointCount, Color color); // Draw a triangle strip defined by points
|
||||
RLAPI void DrawCube(Vector3 position, float width, float height, float length, Color color); // Draw cube
|
||||
RLAPI void DrawCubeV(Vector3 position, Vector3 size, Color color); // Draw cube (Vector version)
|
||||
RLAPI void DrawCubeWires(Vector3 position, float width, float height, float length, Color color); // Draw cube wires
|
||||
@@ -1510,7 +1552,7 @@ RLAPI void DrawGrid(int slices, float spacing);
|
||||
// Model management functions
|
||||
RLAPI Model LoadModel(const char *fileName); // Load model from files (meshes and materials)
|
||||
RLAPI Model LoadModelFromMesh(Mesh mesh); // Load model from generated mesh (default material)
|
||||
RLAPI bool IsModelReady(Model model); // Check if a model is ready
|
||||
RLAPI bool IsModelValid(Model model); // Check if a model is valid (loaded in GPU, VAO/VBOs)
|
||||
RLAPI void UnloadModel(Model model); // Unload model (including meshes) from memory (RAM and/or VRAM)
|
||||
RLAPI BoundingBox GetModelBoundingBox(Model model); // Compute model bounding box limits (considers all meshes)
|
||||
|
||||
@@ -1519,8 +1561,10 @@ RLAPI void DrawModel(Model model, Vector3 position, float scale, Color tint);
|
||||
RLAPI void DrawModelEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model with extended parameters
|
||||
RLAPI void DrawModelWires(Model model, Vector3 position, float scale, Color tint); // Draw a model wires (with texture if set)
|
||||
RLAPI void DrawModelWiresEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model wires (with texture if set) with extended parameters
|
||||
RLAPI void DrawModelPoints(Model model, Vector3 position, float scale, Color tint); // Draw a model as points
|
||||
RLAPI void DrawModelPointsEx(Model model, Vector3 position, Vector3 rotationAxis, float rotationAngle, Vector3 scale, Color tint); // Draw a model as points with extended parameters
|
||||
RLAPI void DrawBoundingBox(BoundingBox box, Color color); // Draw bounding box (wires)
|
||||
RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float size, Color tint); // Draw a billboard texture
|
||||
RLAPI void DrawBillboard(Camera camera, Texture2D texture, Vector3 position, float scale, Color tint); // Draw a billboard texture
|
||||
RLAPI void DrawBillboardRec(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector2 size, Color tint); // Draw a billboard texture defined by source
|
||||
RLAPI void DrawBillboardPro(Camera camera, Texture2D texture, Rectangle source, Vector3 position, Vector3 up, Vector2 size, Vector2 origin, float rotation, Color tint); // Draw a billboard texture defined by source and rotation
|
||||
|
||||
@@ -1530,9 +1574,10 @@ RLAPI void UpdateMeshBuffer(Mesh mesh, int index, const void *data, int dataSize
|
||||
RLAPI void UnloadMesh(Mesh mesh); // Unload mesh data from CPU and GPU
|
||||
RLAPI void DrawMesh(Mesh mesh, Material material, Matrix transform); // Draw a 3d mesh with material and transform
|
||||
RLAPI void DrawMeshInstanced(Mesh mesh, Material material, const Matrix *transforms, int instances); // Draw multiple mesh instances with material and different transforms
|
||||
RLAPI bool ExportMesh(Mesh mesh, const char *fileName); // Export mesh data to file, returns true on success
|
||||
RLAPI BoundingBox GetMeshBoundingBox(Mesh mesh); // Compute mesh bounding box limits
|
||||
RLAPI void GenMeshTangents(Mesh *mesh); // Compute mesh tangents
|
||||
RLAPI bool ExportMesh(Mesh mesh, const char *fileName); // Export mesh data to file, returns true on success
|
||||
RLAPI bool ExportMeshAsCode(Mesh mesh, const char *fileName); // Export mesh as code file (.h) defining multiple arrays of vertex attributes
|
||||
|
||||
// Mesh generation functions
|
||||
RLAPI Mesh GenMeshPoly(int sides, float radius); // Generate polygonal mesh
|
||||
@@ -1550,14 +1595,15 @@ RLAPI Mesh GenMeshCubicmap(Image cubicmap, Vector3 cubeSize);
|
||||
// Material loading/unloading functions
|
||||
RLAPI Material *LoadMaterials(const char *fileName, int *materialCount); // Load materials from model file
|
||||
RLAPI Material LoadMaterialDefault(void); // Load default material (Supports: DIFFUSE, SPECULAR, NORMAL maps)
|
||||
RLAPI bool IsMaterialReady(Material material); // Check if a material is ready
|
||||
RLAPI bool IsMaterialValid(Material material); // Check if a material is valid (shader assigned, map textures loaded in GPU)
|
||||
RLAPI void UnloadMaterial(Material material); // Unload material from GPU memory (VRAM)
|
||||
RLAPI void SetMaterialTexture(Material *material, int mapType, Texture2D texture); // Set texture for a material map type (MATERIAL_MAP_DIFFUSE, MATERIAL_MAP_SPECULAR...)
|
||||
RLAPI void SetModelMeshMaterial(Model *model, int meshId, int materialId); // Set material for a mesh
|
||||
|
||||
// Model animations loading/unloading functions
|
||||
RLAPI ModelAnimation *LoadModelAnimations(const char *fileName, int *animCount); // Load model animations from file
|
||||
RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame); // Update model animation pose
|
||||
RLAPI void UpdateModelAnimation(Model model, ModelAnimation anim, int frame); // Update model animation pose (CPU)
|
||||
RLAPI void UpdateModelAnimationBones(Model model, ModelAnimation anim, int frame); // Update model animation mesh bone matrices (GPU skinning)
|
||||
RLAPI void UnloadModelAnimation(ModelAnimation anim); // Unload animation data
|
||||
RLAPI void UnloadModelAnimations(ModelAnimation *animations, int animCount); // Unload animation array data
|
||||
RLAPI bool IsModelAnimationValid(Model model, ModelAnimation anim); // Check model animation skeleton match
|
||||
@@ -1587,11 +1633,11 @@ RLAPI float GetMasterVolume(void); // Get mas
|
||||
// Wave/Sound loading/unloading functions
|
||||
RLAPI Wave LoadWave(const char *fileName); // Load wave data from file
|
||||
RLAPI Wave LoadWaveFromMemory(const char *fileType, const unsigned char *fileData, int dataSize); // Load wave from memory buffer, fileType refers to extension: i.e. '.wav'
|
||||
RLAPI bool IsWaveReady(Wave wave); // Checks if wave data is ready
|
||||
RLAPI bool IsWaveValid(Wave wave); // Checks if wave data is valid (data loaded and parameters)
|
||||
RLAPI Sound LoadSound(const char *fileName); // Load sound from file
|
||||
RLAPI Sound LoadSoundFromWave(Wave wave); // Load sound from wave data
|
||||
RLAPI Sound LoadSoundAlias(Sound source); // Create a new sound that shares the same sample data as the source sound, does not own the sound data
|
||||
RLAPI bool IsSoundReady(Sound sound); // Checks if a sound is ready
|
||||
RLAPI bool IsSoundValid(Sound sound); // Checks if a sound is valid (data loaded and buffers initialized)
|
||||
RLAPI void UpdateSound(Sound sound, const void *data, int sampleCount); // Update sound buffer with new data
|
||||
RLAPI void UnloadWave(Wave wave); // Unload wave data
|
||||
RLAPI void UnloadSound(Sound sound); // Unload sound
|
||||
@@ -1609,7 +1655,7 @@ RLAPI void SetSoundVolume(Sound sound, float volume); // Set vol
|
||||
RLAPI void SetSoundPitch(Sound sound, float pitch); // Set pitch for a sound (1.0 is base level)
|
||||
RLAPI void SetSoundPan(Sound sound, float pan); // Set pan for a sound (0.5 is center)
|
||||
RLAPI Wave WaveCopy(Wave wave); // Copy a wave to a new wave
|
||||
RLAPI void WaveCrop(Wave *wave, int initSample, int finalSample); // Crop a wave to defined samples range
|
||||
RLAPI void WaveCrop(Wave *wave, int initFrame, int finalFrame); // Crop a wave to defined frames range
|
||||
RLAPI void WaveFormat(Wave *wave, int sampleRate, int sampleSize, int channels); // Convert wave data to desired format
|
||||
RLAPI float *LoadWaveSamples(Wave wave); // Load samples data from wave as a 32bit float data array
|
||||
RLAPI void UnloadWaveSamples(float *samples); // Unload samples data loaded with LoadWaveSamples()
|
||||
@@ -1617,7 +1663,7 @@ RLAPI void UnloadWaveSamples(float *samples); // Unload
|
||||
// Music management functions
|
||||
RLAPI Music LoadMusicStream(const char *fileName); // Load music stream from file
|
||||
RLAPI Music LoadMusicStreamFromMemory(const char *fileType, const unsigned char *data, int dataSize); // Load music stream from data
|
||||
RLAPI bool IsMusicReady(Music music); // Checks if a music stream is ready
|
||||
RLAPI bool IsMusicValid(Music music); // Checks if a music stream is valid (context and buffers initialized)
|
||||
RLAPI void UnloadMusicStream(Music music); // Unload music stream
|
||||
RLAPI void PlayMusicStream(Music music); // Start music playing
|
||||
RLAPI bool IsMusicStreamPlaying(Music music); // Check if music is playing
|
||||
@@ -1634,7 +1680,7 @@ RLAPI float GetMusicTimePlayed(Music music); // Get cur
|
||||
|
||||
// AudioStream management functions
|
||||
RLAPI AudioStream LoadAudioStream(unsigned int sampleRate, unsigned int sampleSize, unsigned int channels); // Load audio stream (to stream raw audio pcm data)
|
||||
RLAPI bool IsAudioStreamReady(AudioStream stream); // Checks if an audio stream is ready
|
||||
RLAPI bool IsAudioStreamValid(AudioStream stream); // Checks if an audio stream is valid (buffers initialized)
|
||||
RLAPI void UnloadAudioStream(AudioStream stream); // Unload audio stream and free memory
|
||||
RLAPI void UpdateAudioStream(AudioStream stream, const void *data, int frameCount); // Update audio stream buffers with data
|
||||
RLAPI bool IsAudioStreamProcessed(AudioStream stream); // Check if any audio stream buffers requires refill
|
||||
@@ -1649,10 +1695,10 @@ RLAPI void SetAudioStreamPan(AudioStream stream, float pan); // Set pan
|
||||
RLAPI void SetAudioStreamBufferSizeDefault(int size); // Default size for new audio streams
|
||||
RLAPI void SetAudioStreamCallback(AudioStream stream, AudioCallback callback); // Audio thread callback to request new data
|
||||
|
||||
RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as <float>s
|
||||
RLAPI void AttachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Attach audio stream processor to stream, receives the samples as 'float'
|
||||
RLAPI void DetachAudioStreamProcessor(AudioStream stream, AudioCallback processor); // Detach audio stream processor from stream
|
||||
|
||||
RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as <float>s
|
||||
RLAPI void AttachAudioMixedProcessor(AudioCallback processor); // Attach audio stream processor to the entire audio pipeline, receives the samples as 'float'
|
||||
RLAPI void DetachAudioMixedProcessor(AudioCallback processor); // Detach audio stream processor from the entire audio pipeline
|
||||
|
||||
#if defined(__cplusplus)
|
||||
|
||||
Vendored
+792
-33
@@ -1,6 +1,6 @@
|
||||
/**********************************************************************************************
|
||||
*
|
||||
* raymath v1.5 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
|
||||
* raymath v2.0 - Math functions to work with Vector2, Vector3, Matrix and Quaternions
|
||||
*
|
||||
* CONVENTIONS:
|
||||
* - Matrix structure is defined as row-major (memory layout) but parameters naming AND all
|
||||
@@ -12,7 +12,7 @@
|
||||
* - Functions are always self-contained, no function use another raymath function inside,
|
||||
* required code is directly re-implemented inside
|
||||
* - Functions input parameters are always received by value (2 unavoidable exceptions)
|
||||
* - Functions use always a "result" variable for return
|
||||
* - Functions use always a "result" variable for return (except C++ operators)
|
||||
* - Functions are always defined inline
|
||||
* - Angles are always in radians (DEG2RAD/RAD2DEG macros provided for convenience)
|
||||
* - No compound literals used to make sure libray is compatible with C++
|
||||
@@ -27,10 +27,12 @@
|
||||
* Define static inline functions code, so #include header suffices for use.
|
||||
* This may use up lots of memory.
|
||||
*
|
||||
* #define RAYMATH_DISABLE_CPP_OPERATORS
|
||||
* Disables C++ operator overloads for raymath types.
|
||||
*
|
||||
* LICENSE: zlib/libpng
|
||||
*
|
||||
* Copyright (c) 2015-2023 Ramon Santamaria (@raysan5)
|
||||
* Copyright (c) 2015-2024 Ramon Santamaria (@raysan5)
|
||||
*
|
||||
* This software is provided "as-is", without any express or implied warranty. In no event
|
||||
* will the authors be held liable for any damages arising from the use of this software.
|
||||
@@ -59,7 +61,9 @@
|
||||
// Function specifiers definition
|
||||
#if defined(RAYMATH_IMPLEMENTATION)
|
||||
#if defined(_WIN32) && defined(BUILD_LIBTYPE_SHARED)
|
||||
#define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll).
|
||||
#define RMAPI __declspec(dllexport) extern inline // We are building raylib as a Win32 shared library (.dll)
|
||||
#elif defined(BUILD_LIBTYPE_SHARED)
|
||||
#define RMAPI __attribute__((visibility("default"))) // We are building raylib as a Unix shared library (.so/.dylib)
|
||||
#elif defined(_WIN32) && defined(USE_LIBTYPE_SHARED)
|
||||
#define RMAPI __declspec(dllimport) // We are using raylib as a Win32 shared library (.dll)
|
||||
#else
|
||||
@@ -75,6 +79,7 @@
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------
|
||||
// Defines and Macros
|
||||
//----------------------------------------------------------------------------------
|
||||
@@ -163,7 +168,7 @@ typedef struct float16 {
|
||||
float v[16];
|
||||
} float16;
|
||||
|
||||
#include <math.h> // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabs()
|
||||
#include <math.h> // Required for: sinf(), cosf(), tan(), atan2f(), sqrtf(), floor(), fminf(), fmaxf(), fabsf()
|
||||
|
||||
//----------------------------------------------------------------------------------
|
||||
// Module Functions Definition - Utils math
|
||||
@@ -299,6 +304,14 @@ RMAPI float Vector2DotProduct(Vector2 v1, Vector2 v2)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate two vectors cross product
|
||||
RMAPI float Vector2CrossProduct(Vector2 v1, Vector2 v2)
|
||||
{
|
||||
float result = (v1.x*v2.y - v1.y*v2.x);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate distance between two vectors
|
||||
RMAPI float Vector2Distance(Vector2 v1, Vector2 v2)
|
||||
{
|
||||
@@ -429,6 +442,28 @@ RMAPI Vector2 Vector2Reflect(Vector2 v, Vector2 normal)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Get min value for each pair of components
|
||||
RMAPI Vector2 Vector2Min(Vector2 v1, Vector2 v2)
|
||||
{
|
||||
Vector2 result = { 0 };
|
||||
|
||||
result.x = fminf(v1.x, v2.x);
|
||||
result.y = fminf(v1.y, v2.y);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Get max value for each pair of components
|
||||
RMAPI Vector2 Vector2Max(Vector2 v1, Vector2 v2)
|
||||
{
|
||||
Vector2 result = { 0 };
|
||||
|
||||
result.x = fmaxf(v1.x, v2.x);
|
||||
result.y = fmaxf(v1.y, v2.y);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Rotate vector by angle
|
||||
RMAPI Vector2 Vector2Rotate(Vector2 v, float angle)
|
||||
{
|
||||
@@ -492,18 +527,18 @@ RMAPI Vector2 Vector2ClampValue(Vector2 v, float min, float max)
|
||||
{
|
||||
length = sqrtf(length);
|
||||
|
||||
float scale = 1; // By default, 1 as the neutral element.
|
||||
if (length < min)
|
||||
{
|
||||
float scale = min/length;
|
||||
result.x = v.x*scale;
|
||||
result.y = v.y*scale;
|
||||
scale = min/length;
|
||||
}
|
||||
else if (length > max)
|
||||
{
|
||||
float scale = max/length;
|
||||
result.x = v.x*scale;
|
||||
result.y = v.y*scale;
|
||||
scale = max/length;
|
||||
}
|
||||
|
||||
result.x = v.x*scale;
|
||||
result.y = v.y*scale;
|
||||
}
|
||||
|
||||
return result;
|
||||
@@ -522,6 +557,31 @@ RMAPI int Vector2Equals(Vector2 p, Vector2 q)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Compute the direction of a refracted ray
|
||||
// v: normalized direction of the incoming ray
|
||||
// n: normalized normal vector of the interface of two optical media
|
||||
// r: ratio of the refractive index of the medium from where the ray comes
|
||||
// to the refractive index of the medium on the other side of the surface
|
||||
RMAPI Vector2 Vector2Refract(Vector2 v, Vector2 n, float r)
|
||||
{
|
||||
Vector2 result = { 0 };
|
||||
|
||||
float dot = v.x*n.x + v.y*n.y;
|
||||
float d = 1.0f - r*r*(1.0f - dot*dot);
|
||||
|
||||
if (d >= 0.0f)
|
||||
{
|
||||
d = sqrtf(d);
|
||||
v.x = r*v.x - (r*dot + d)*n.x;
|
||||
v.y = r*v.y - (r*dot + d)*n.y;
|
||||
|
||||
result = v;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------
|
||||
// Module Functions Definition - Vector3 math
|
||||
//----------------------------------------------------------------------------------
|
||||
@@ -603,12 +663,12 @@ RMAPI Vector3 Vector3Perpendicular(Vector3 v)
|
||||
{
|
||||
Vector3 result = { 0 };
|
||||
|
||||
float min = (float) fabs(v.x);
|
||||
float min = fabsf(v.x);
|
||||
Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f};
|
||||
|
||||
if (fabsf(v.y) < min)
|
||||
{
|
||||
min = (float) fabs(v.y);
|
||||
min = fabsf(v.y);
|
||||
Vector3 tmp = {0.0f, 1.0f, 0.0f};
|
||||
cardinalAxis = tmp;
|
||||
}
|
||||
@@ -728,7 +788,7 @@ RMAPI Vector3 Vector3Normalize(Vector3 v)
|
||||
RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
|
||||
{
|
||||
Vector3 result = { 0 };
|
||||
|
||||
|
||||
float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
|
||||
float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
|
||||
|
||||
@@ -745,7 +805,7 @@ RMAPI Vector3 Vector3Project(Vector3 v1, Vector3 v2)
|
||||
RMAPI Vector3 Vector3Reject(Vector3 v1, Vector3 v2)
|
||||
{
|
||||
Vector3 result = { 0 };
|
||||
|
||||
|
||||
float v1dv2 = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z);
|
||||
float v2dv2 = (v2.x*v2.x + v2.y*v2.y + v2.z*v2.z);
|
||||
|
||||
@@ -832,7 +892,7 @@ RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
|
||||
// Vector3Normalize(axis);
|
||||
float length = sqrtf(axis.x*axis.x + axis.y*axis.y + axis.z*axis.z);
|
||||
if (length == 0.0f) length = 1.0f;
|
||||
float ilength = 1.0f / length;
|
||||
float ilength = 1.0f/length;
|
||||
axis.x *= ilength;
|
||||
axis.y *= ilength;
|
||||
axis.z *= ilength;
|
||||
@@ -873,6 +933,27 @@ RMAPI Vector3 Vector3RotateByAxisAngle(Vector3 v, Vector3 axis, float angle)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Move Vector towards target
|
||||
RMAPI Vector3 Vector3MoveTowards(Vector3 v, Vector3 target, float maxDistance)
|
||||
{
|
||||
Vector3 result = { 0 };
|
||||
|
||||
float dx = target.x - v.x;
|
||||
float dy = target.y - v.y;
|
||||
float dz = target.z - v.z;
|
||||
float value = (dx*dx) + (dy*dy) + (dz*dz);
|
||||
|
||||
if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
|
||||
|
||||
float dist = sqrtf(value);
|
||||
|
||||
result.x = v.x + dx/dist*maxDistance;
|
||||
result.y = v.y + dy/dist*maxDistance;
|
||||
result.z = v.z + dz/dist*maxDistance;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate linear interpolation between two vectors
|
||||
RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
|
||||
{
|
||||
@@ -885,6 +966,22 @@ RMAPI Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate cubic hermite interpolation between two vectors and their tangents
|
||||
// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
|
||||
RMAPI Vector3 Vector3CubicHermite(Vector3 v1, Vector3 tangent1, Vector3 v2, Vector3 tangent2, float amount)
|
||||
{
|
||||
Vector3 result = { 0 };
|
||||
|
||||
float amountPow2 = amount*amount;
|
||||
float amountPow3 = amount*amount*amount;
|
||||
|
||||
result.x = (2*amountPow3 - 3*amountPow2 + 1)*v1.x + (amountPow3 - 2*amountPow2 + amount)*tangent1.x + (-2*amountPow3 + 3*amountPow2)*v2.x + (amountPow3 - amountPow2)*tangent2.x;
|
||||
result.y = (2*amountPow3 - 3*amountPow2 + 1)*v1.y + (amountPow3 - 2*amountPow2 + amount)*tangent1.y + (-2*amountPow3 + 3*amountPow2)*v2.y + (amountPow3 - amountPow2)*tangent2.y;
|
||||
result.z = (2*amountPow3 - 3*amountPow2 + 1)*v1.z + (amountPow3 - 2*amountPow2 + amount)*tangent1.z + (-2*amountPow3 + 3*amountPow2)*v2.z + (amountPow3 - amountPow2)*tangent2.z;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate reflected vector to normal
|
||||
RMAPI Vector3 Vector3Reflect(Vector3 v, Vector3 normal)
|
||||
{
|
||||
@@ -1078,20 +1175,19 @@ RMAPI Vector3 Vector3ClampValue(Vector3 v, float min, float max)
|
||||
{
|
||||
length = sqrtf(length);
|
||||
|
||||
float scale = 1; // By default, 1 as the neutral element.
|
||||
if (length < min)
|
||||
{
|
||||
float scale = min/length;
|
||||
result.x = v.x*scale;
|
||||
result.y = v.y*scale;
|
||||
result.z = v.z*scale;
|
||||
scale = min/length;
|
||||
}
|
||||
else if (length > max)
|
||||
{
|
||||
float scale = max/length;
|
||||
result.x = v.x*scale;
|
||||
result.y = v.y*scale;
|
||||
result.z = v.z*scale;
|
||||
scale = max/length;
|
||||
}
|
||||
|
||||
result.x = v.x*scale;
|
||||
result.y = v.y*scale;
|
||||
result.z = v.z*scale;
|
||||
}
|
||||
|
||||
return result;
|
||||
@@ -1136,6 +1232,233 @@ RMAPI Vector3 Vector3Refract(Vector3 v, Vector3 n, float r)
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------
|
||||
// Module Functions Definition - Vector4 math
|
||||
//----------------------------------------------------------------------------------
|
||||
|
||||
RMAPI Vector4 Vector4Zero(void)
|
||||
{
|
||||
Vector4 result = { 0.0f, 0.0f, 0.0f, 0.0f };
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI Vector4 Vector4One(void)
|
||||
{
|
||||
Vector4 result = { 1.0f, 1.0f, 1.0f, 1.0f };
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI Vector4 Vector4Add(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
Vector4 result = {
|
||||
v1.x + v2.x,
|
||||
v1.y + v2.y,
|
||||
v1.z + v2.z,
|
||||
v1.w + v2.w
|
||||
};
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI Vector4 Vector4AddValue(Vector4 v, float add)
|
||||
{
|
||||
Vector4 result = {
|
||||
v.x + add,
|
||||
v.y + add,
|
||||
v.z + add,
|
||||
v.w + add
|
||||
};
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI Vector4 Vector4Subtract(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
Vector4 result = {
|
||||
v1.x - v2.x,
|
||||
v1.y - v2.y,
|
||||
v1.z - v2.z,
|
||||
v1.w - v2.w
|
||||
};
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI Vector4 Vector4SubtractValue(Vector4 v, float add)
|
||||
{
|
||||
Vector4 result = {
|
||||
v.x - add,
|
||||
v.y - add,
|
||||
v.z - add,
|
||||
v.w - add
|
||||
};
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI float Vector4Length(Vector4 v)
|
||||
{
|
||||
float result = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI float Vector4LengthSqr(Vector4 v)
|
||||
{
|
||||
float result = (v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w);
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI float Vector4DotProduct(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z + v1.w*v2.w);
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate distance between two vectors
|
||||
RMAPI float Vector4Distance(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
float result = sqrtf(
|
||||
(v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
|
||||
(v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w));
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate square distance between two vectors
|
||||
RMAPI float Vector4DistanceSqr(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
float result =
|
||||
(v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y) +
|
||||
(v1.z - v2.z)*(v1.z - v2.z) + (v1.w - v2.w)*(v1.w - v2.w);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
RMAPI Vector4 Vector4Scale(Vector4 v, float scale)
|
||||
{
|
||||
Vector4 result = { v.x*scale, v.y*scale, v.z*scale, v.w*scale };
|
||||
return result;
|
||||
}
|
||||
|
||||
// Multiply vector by vector
|
||||
RMAPI Vector4 Vector4Multiply(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
Vector4 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z, v1.w*v2.w };
|
||||
return result;
|
||||
}
|
||||
|
||||
// Negate vector
|
||||
RMAPI Vector4 Vector4Negate(Vector4 v)
|
||||
{
|
||||
Vector4 result = { -v.x, -v.y, -v.z, -v.w };
|
||||
return result;
|
||||
}
|
||||
|
||||
// Divide vector by vector
|
||||
RMAPI Vector4 Vector4Divide(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
Vector4 result = { v1.x/v2.x, v1.y/v2.y, v1.z/v2.z, v1.w/v2.w };
|
||||
return result;
|
||||
}
|
||||
|
||||
// Normalize provided vector
|
||||
RMAPI Vector4 Vector4Normalize(Vector4 v)
|
||||
{
|
||||
Vector4 result = { 0 };
|
||||
float length = sqrtf((v.x*v.x) + (v.y*v.y) + (v.z*v.z) + (v.w*v.w));
|
||||
|
||||
if (length > 0)
|
||||
{
|
||||
float ilength = 1.0f/length;
|
||||
result.x = v.x*ilength;
|
||||
result.y = v.y*ilength;
|
||||
result.z = v.z*ilength;
|
||||
result.w = v.w*ilength;
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Get min value for each pair of components
|
||||
RMAPI Vector4 Vector4Min(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
Vector4 result = { 0 };
|
||||
|
||||
result.x = fminf(v1.x, v2.x);
|
||||
result.y = fminf(v1.y, v2.y);
|
||||
result.z = fminf(v1.z, v2.z);
|
||||
result.w = fminf(v1.w, v2.w);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Get max value for each pair of components
|
||||
RMAPI Vector4 Vector4Max(Vector4 v1, Vector4 v2)
|
||||
{
|
||||
Vector4 result = { 0 };
|
||||
|
||||
result.x = fmaxf(v1.x, v2.x);
|
||||
result.y = fmaxf(v1.y, v2.y);
|
||||
result.z = fmaxf(v1.z, v2.z);
|
||||
result.w = fmaxf(v1.w, v2.w);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate linear interpolation between two vectors
|
||||
RMAPI Vector4 Vector4Lerp(Vector4 v1, Vector4 v2, float amount)
|
||||
{
|
||||
Vector4 result = { 0 };
|
||||
|
||||
result.x = v1.x + amount*(v2.x - v1.x);
|
||||
result.y = v1.y + amount*(v2.y - v1.y);
|
||||
result.z = v1.z + amount*(v2.z - v1.z);
|
||||
result.w = v1.w + amount*(v2.w - v1.w);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Move Vector towards target
|
||||
RMAPI Vector4 Vector4MoveTowards(Vector4 v, Vector4 target, float maxDistance)
|
||||
{
|
||||
Vector4 result = { 0 };
|
||||
|
||||
float dx = target.x - v.x;
|
||||
float dy = target.y - v.y;
|
||||
float dz = target.z - v.z;
|
||||
float dw = target.w - v.w;
|
||||
float value = (dx*dx) + (dy*dy) + (dz*dz) + (dw*dw);
|
||||
|
||||
if ((value == 0) || ((maxDistance >= 0) && (value <= maxDistance*maxDistance))) return target;
|
||||
|
||||
float dist = sqrtf(value);
|
||||
|
||||
result.x = v.x + dx/dist*maxDistance;
|
||||
result.y = v.y + dy/dist*maxDistance;
|
||||
result.z = v.z + dz/dist*maxDistance;
|
||||
result.w = v.w + dw/dist*maxDistance;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Invert the given vector
|
||||
RMAPI Vector4 Vector4Invert(Vector4 v)
|
||||
{
|
||||
Vector4 result = { 1.0f/v.x, 1.0f/v.y, 1.0f/v.z, 1.0f/v.w };
|
||||
return result;
|
||||
}
|
||||
|
||||
// Check whether two given vectors are almost equal
|
||||
RMAPI int Vector4Equals(Vector4 p, Vector4 q)
|
||||
{
|
||||
#if !defined(EPSILON)
|
||||
#define EPSILON 0.000001f
|
||||
#endif
|
||||
|
||||
int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
|
||||
((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
|
||||
((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
|
||||
((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
|
||||
return result;
|
||||
}
|
||||
|
||||
|
||||
//----------------------------------------------------------------------------------
|
||||
// Module Functions Definition - Matrix math
|
||||
//----------------------------------------------------------------------------------
|
||||
@@ -1524,32 +1847,32 @@ RMAPI Matrix MatrixScale(float x, float y, float z)
|
||||
}
|
||||
|
||||
// Get perspective projection matrix
|
||||
RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
|
||||
RMAPI Matrix MatrixFrustum(double left, double right, double bottom, double top, double nearPlane, double farPlane)
|
||||
{
|
||||
Matrix result = { 0 };
|
||||
|
||||
float rl = (float)(right - left);
|
||||
float tb = (float)(top - bottom);
|
||||
float fn = (float)(far - near);
|
||||
float fn = (float)(farPlane - nearPlane);
|
||||
|
||||
result.m0 = ((float)near*2.0f)/rl;
|
||||
result.m0 = ((float)nearPlane*2.0f)/rl;
|
||||
result.m1 = 0.0f;
|
||||
result.m2 = 0.0f;
|
||||
result.m3 = 0.0f;
|
||||
|
||||
result.m4 = 0.0f;
|
||||
result.m5 = ((float)near*2.0f)/tb;
|
||||
result.m5 = ((float)nearPlane*2.0f)/tb;
|
||||
result.m6 = 0.0f;
|
||||
result.m7 = 0.0f;
|
||||
|
||||
result.m8 = ((float)right + (float)left)/rl;
|
||||
result.m9 = ((float)top + (float)bottom)/tb;
|
||||
result.m10 = -((float)far + (float)near)/fn;
|
||||
result.m10 = -((float)farPlane + (float)nearPlane)/fn;
|
||||
result.m11 = -1.0f;
|
||||
|
||||
result.m12 = 0.0f;
|
||||
result.m13 = 0.0f;
|
||||
result.m14 = -((float)far*(float)near*2.0f)/fn;
|
||||
result.m14 = -((float)farPlane*(float)nearPlane*2.0f)/fn;
|
||||
result.m15 = 0.0f;
|
||||
|
||||
return result;
|
||||
@@ -1901,6 +2224,32 @@ RMAPI Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate quaternion cubic spline interpolation using Cubic Hermite Spline algorithm
|
||||
// as described in the GLTF 2.0 specification: https://registry.khronos.org/glTF/specs/2.0/glTF-2.0.html#interpolation-cubic
|
||||
RMAPI Quaternion QuaternionCubicHermiteSpline(Quaternion q1, Quaternion outTangent1, Quaternion q2, Quaternion inTangent2, float t)
|
||||
{
|
||||
float t2 = t*t;
|
||||
float t3 = t2*t;
|
||||
float h00 = 2*t3 - 3*t2 + 1;
|
||||
float h10 = t3 - 2*t2 + t;
|
||||
float h01 = -2*t3 + 3*t2;
|
||||
float h11 = t3 - t2;
|
||||
|
||||
Quaternion p0 = QuaternionScale(q1, h00);
|
||||
Quaternion m0 = QuaternionScale(outTangent1, h10);
|
||||
Quaternion p1 = QuaternionScale(q2, h01);
|
||||
Quaternion m1 = QuaternionScale(inTangent2, h11);
|
||||
|
||||
Quaternion result = { 0 };
|
||||
|
||||
result = QuaternionAdd(p0, m0);
|
||||
result = QuaternionAdd(result, p1);
|
||||
result = QuaternionAdd(result, m1);
|
||||
result = QuaternionNormalize(result);
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
// Calculate quaternion based on the rotation from one vector to another
|
||||
RMAPI Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
|
||||
{
|
||||
@@ -1960,7 +2309,7 @@ RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
|
||||
}
|
||||
|
||||
float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f)*0.5f;
|
||||
float mult = 0.25f / biggestVal;
|
||||
float mult = 0.25f/biggestVal;
|
||||
|
||||
switch (biggestIndex)
|
||||
{
|
||||
@@ -2042,8 +2391,7 @@ RMAPI Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
|
||||
float ilength = 0.0f;
|
||||
|
||||
// Vector3Normalize(axis)
|
||||
Vector3 v = axis;
|
||||
length = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z);
|
||||
length = axisLength;
|
||||
if (length == 0.0f) length = 1.0f;
|
||||
ilength = 1.0f/length;
|
||||
axis.x *= ilength;
|
||||
@@ -2187,4 +2535,415 @@ RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
|
||||
return result;
|
||||
}
|
||||
|
||||
// Decompose a transformation matrix into its rotational, translational and scaling components
|
||||
RMAPI void MatrixDecompose(Matrix mat, Vector3 *translation, Quaternion *rotation, Vector3 *scale)
|
||||
{
|
||||
// Extract translation.
|
||||
translation->x = mat.m12;
|
||||
translation->y = mat.m13;
|
||||
translation->z = mat.m14;
|
||||
|
||||
// Extract upper-left for determinant computation
|
||||
const float a = mat.m0;
|
||||
const float b = mat.m4;
|
||||
const float c = mat.m8;
|
||||
const float d = mat.m1;
|
||||
const float e = mat.m5;
|
||||
const float f = mat.m9;
|
||||
const float g = mat.m2;
|
||||
const float h = mat.m6;
|
||||
const float i = mat.m10;
|
||||
const float A = e*i - f*h;
|
||||
const float B = f*g - d*i;
|
||||
const float C = d*h - e*g;
|
||||
|
||||
// Extract scale
|
||||
const float det = a*A + b*B + c*C;
|
||||
Vector3 abc = { a, b, c };
|
||||
Vector3 def = { d, e, f };
|
||||
Vector3 ghi = { g, h, i };
|
||||
|
||||
float scalex = Vector3Length(abc);
|
||||
float scaley = Vector3Length(def);
|
||||
float scalez = Vector3Length(ghi);
|
||||
Vector3 s = { scalex, scaley, scalez };
|
||||
|
||||
if (det < 0) s = Vector3Negate(s);
|
||||
|
||||
*scale = s;
|
||||
|
||||
// Remove scale from the matrix if it is not close to zero
|
||||
Matrix clone = mat;
|
||||
if (!FloatEquals(det, 0))
|
||||
{
|
||||
clone.m0 /= s.x;
|
||||
clone.m4 /= s.x;
|
||||
clone.m8 /= s.x;
|
||||
clone.m1 /= s.y;
|
||||
clone.m5 /= s.y;
|
||||
clone.m9 /= s.y;
|
||||
clone.m2 /= s.z;
|
||||
clone.m6 /= s.z;
|
||||
clone.m10 /= s.z;
|
||||
|
||||
// Extract rotation
|
||||
*rotation = QuaternionFromMatrix(clone);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Set to identity if close to zero
|
||||
*rotation = QuaternionIdentity();
|
||||
}
|
||||
}
|
||||
|
||||
#if defined(__cplusplus) && !defined(RAYMATH_DISABLE_CPP_OPERATORS)
|
||||
|
||||
// Optional C++ math operators
|
||||
//-------------------------------------------------------------------------------
|
||||
|
||||
// Vector2 operators
|
||||
static constexpr Vector2 Vector2Zeros = { 0, 0 };
|
||||
static constexpr Vector2 Vector2Ones = { 1, 1 };
|
||||
static constexpr Vector2 Vector2UnitX = { 1, 0 };
|
||||
static constexpr Vector2 Vector2UnitY = { 0, 1 };
|
||||
|
||||
inline Vector2 operator + (const Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
return Vector2Add(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator += (Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
lhs = Vector2Add(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector2 operator - (const Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
return Vector2Subtract(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator -= (Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
lhs = Vector2Subtract(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector2 operator * (const Vector2& lhs, const float& rhs)
|
||||
{
|
||||
return Vector2Scale(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator *= (Vector2& lhs, const float& rhs)
|
||||
{
|
||||
lhs = Vector2Scale(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector2 operator * (const Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
return Vector2Multiply(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator *= (Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
lhs = Vector2Multiply(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector2 operator * (const Vector2& lhs, const Matrix& rhs)
|
||||
{
|
||||
return Vector2Transform(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator *= (Vector2& lhs, const Matrix& rhs)
|
||||
{
|
||||
lhs = Vector2Transform(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector2 operator / (const Vector2& lhs, const float& rhs)
|
||||
{
|
||||
return Vector2Scale(lhs, 1.0f / rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator /= (Vector2& lhs, const float& rhs)
|
||||
{
|
||||
lhs = Vector2Scale(lhs, 1.0f / rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector2 operator / (const Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
return Vector2Divide(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector2& operator /= (Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
lhs = Vector2Divide(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline bool operator == (const Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y);
|
||||
}
|
||||
|
||||
inline bool operator != (const Vector2& lhs, const Vector2& rhs)
|
||||
{
|
||||
return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y);
|
||||
}
|
||||
|
||||
// Vector3 operators
|
||||
static constexpr Vector3 Vector3Zeros = { 0, 0, 0 };
|
||||
static constexpr Vector3 Vector3Ones = { 1, 1, 1 };
|
||||
static constexpr Vector3 Vector3UnitX = { 1, 0, 0 };
|
||||
static constexpr Vector3 Vector3UnitY = { 0, 1, 0 };
|
||||
static constexpr Vector3 Vector3UnitZ = { 0, 0, 1 };
|
||||
|
||||
inline Vector3 operator + (const Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
return Vector3Add(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator += (Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
lhs = Vector3Add(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector3 operator - (const Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
return Vector3Subtract(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator -= (Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
lhs = Vector3Subtract(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector3 operator * (const Vector3& lhs, const float& rhs)
|
||||
{
|
||||
return Vector3Scale(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator *= (Vector3& lhs, const float& rhs)
|
||||
{
|
||||
lhs = Vector3Scale(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector3 operator * (const Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
return Vector3Multiply(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator *= (Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
lhs = Vector3Multiply(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector3 operator * (const Vector3& lhs, const Matrix& rhs)
|
||||
{
|
||||
return Vector3Transform(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator *= (Vector3& lhs, const Matrix& rhs)
|
||||
{
|
||||
lhs = Vector3Transform(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector3 operator / (const Vector3& lhs, const float& rhs)
|
||||
{
|
||||
return Vector3Scale(lhs, 1.0f / rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator /= (Vector3& lhs, const float& rhs)
|
||||
{
|
||||
lhs = Vector3Scale(lhs, 1.0f / rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector3 operator / (const Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
return Vector3Divide(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector3& operator /= (Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
lhs = Vector3Divide(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline bool operator == (const Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z);
|
||||
}
|
||||
|
||||
inline bool operator != (const Vector3& lhs, const Vector3& rhs)
|
||||
{
|
||||
return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z);
|
||||
}
|
||||
|
||||
// Vector4 operators
|
||||
static constexpr Vector4 Vector4Zeros = { 0, 0, 0, 0 };
|
||||
static constexpr Vector4 Vector4Ones = { 1, 1, 1, 1 };
|
||||
static constexpr Vector4 Vector4UnitX = { 1, 0, 0, 0 };
|
||||
static constexpr Vector4 Vector4UnitY = { 0, 1, 0, 0 };
|
||||
static constexpr Vector4 Vector4UnitZ = { 0, 0, 1, 0 };
|
||||
static constexpr Vector4 Vector4UnitW = { 0, 0, 0, 1 };
|
||||
|
||||
inline Vector4 operator + (const Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
return Vector4Add(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector4& operator += (Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
lhs = Vector4Add(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector4 operator - (const Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
return Vector4Subtract(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector4& operator -= (Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
lhs = Vector4Subtract(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector4 operator * (const Vector4& lhs, const float& rhs)
|
||||
{
|
||||
return Vector4Scale(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector4& operator *= (Vector4& lhs, const float& rhs)
|
||||
{
|
||||
lhs = Vector4Scale(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector4 operator * (const Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
return Vector4Multiply(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector4& operator *= (Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
lhs = Vector4Multiply(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector4 operator / (const Vector4& lhs, const float& rhs)
|
||||
{
|
||||
return Vector4Scale(lhs, 1.0f / rhs);
|
||||
}
|
||||
|
||||
inline const Vector4& operator /= (Vector4& lhs, const float& rhs)
|
||||
{
|
||||
lhs = Vector4Scale(lhs, 1.0f / rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Vector4 operator / (const Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
return Vector4Divide(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Vector4& operator /= (Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
lhs = Vector4Divide(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline bool operator == (const Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
return FloatEquals(lhs.x, rhs.x) && FloatEquals(lhs.y, rhs.y) && FloatEquals(lhs.z, rhs.z) && FloatEquals(lhs.w, rhs.w);
|
||||
}
|
||||
|
||||
inline bool operator != (const Vector4& lhs, const Vector4& rhs)
|
||||
{
|
||||
return !FloatEquals(lhs.x, rhs.x) || !FloatEquals(lhs.y, rhs.y) || !FloatEquals(lhs.z, rhs.z) || !FloatEquals(lhs.w, rhs.w);
|
||||
}
|
||||
|
||||
// Quaternion operators
|
||||
static constexpr Quaternion QuaternionZeros = { 0, 0, 0, 0 };
|
||||
static constexpr Quaternion QuaternionOnes = { 1, 1, 1, 1 };
|
||||
static constexpr Quaternion QuaternionUnitX = { 0, 0, 0, 1 };
|
||||
|
||||
inline Quaternion operator + (const Quaternion& lhs, const float& rhs)
|
||||
{
|
||||
return QuaternionAddValue(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Quaternion& operator += (Quaternion& lhs, const float& rhs)
|
||||
{
|
||||
lhs = QuaternionAddValue(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Quaternion operator - (const Quaternion& lhs, const float& rhs)
|
||||
{
|
||||
return QuaternionSubtractValue(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Quaternion& operator -= (Quaternion& lhs, const float& rhs)
|
||||
{
|
||||
lhs = QuaternionSubtractValue(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Quaternion operator * (const Quaternion& lhs, const Matrix& rhs)
|
||||
{
|
||||
return QuaternionTransform(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Quaternion& operator *= (Quaternion& lhs, const Matrix& rhs)
|
||||
{
|
||||
lhs = QuaternionTransform(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
// Matrix operators
|
||||
inline Matrix operator + (const Matrix& lhs, const Matrix& rhs)
|
||||
{
|
||||
return MatrixAdd(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Matrix& operator += (Matrix& lhs, const Matrix& rhs)
|
||||
{
|
||||
lhs = MatrixAdd(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Matrix operator - (const Matrix& lhs, const Matrix& rhs)
|
||||
{
|
||||
return MatrixSubtract(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Matrix& operator -= (Matrix& lhs, const Matrix& rhs)
|
||||
{
|
||||
lhs = MatrixSubtract(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
|
||||
inline Matrix operator * (const Matrix& lhs, const Matrix& rhs)
|
||||
{
|
||||
return MatrixMultiply(lhs, rhs);
|
||||
}
|
||||
|
||||
inline const Matrix& operator *= (Matrix& lhs, const Matrix& rhs)
|
||||
{
|
||||
lhs = MatrixMultiply(lhs, rhs);
|
||||
return lhs;
|
||||
}
|
||||
//-------------------------------------------------------------------------------
|
||||
#endif // C++ operators
|
||||
|
||||
#endif // RAYMATH_H
|
||||
|
||||
Vendored
+596
-193
File diff suppressed because it is too large
Load Diff
+2
-2
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:fac99ffbab698b99a47019ff02ff839f7536c32996b5e7aa827ef4820b288212
|
||||
size 10630538
|
||||
oid sha256:2682a70d41ec1894e060fb1bc6795dd93bf51aeee1ad779b4b0f6e82f1ff6efc
|
||||
size 3140268
|
||||
|
||||
Vendored
+22
-17
@@ -4,33 +4,38 @@ set -e
|
||||
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
|
||||
cd $DIR
|
||||
|
||||
RAYLIB_PLATFORM="PLATFORM_DESKTOP"
|
||||
|
||||
ARCHNAME=$(uname -m)
|
||||
if [ -f /TICI ]; then
|
||||
ARCHNAME="larch64"
|
||||
RAYLIB_PLATFORM="PLATFORM_COMMA"
|
||||
fi
|
||||
|
||||
if [[ "$OSTYPE" == "darwin"* ]]; then
|
||||
ARCHNAME="Darwin"
|
||||
fi
|
||||
|
||||
if [ ! -d raylib_repo ]; then
|
||||
git clone https://github.com/raysan5/raylib.git raylib_repo
|
||||
fi
|
||||
|
||||
cd raylib_repo
|
||||
git fetch --tags origin 5.0
|
||||
git checkout 5.0
|
||||
|
||||
git clean -xdff .
|
||||
mkdir build
|
||||
cd build
|
||||
cmake ..
|
||||
make -j$(nproc)
|
||||
|
||||
INSTALL_DIR="$DIR/$ARCHNAME"
|
||||
rm -rf $INSTALL_DIR
|
||||
mkdir -p $INSTALL_DIR
|
||||
|
||||
rm -rf $DIR/include
|
||||
cp $DIR/raylib_repo/build/raylib/libraylib.a $INSTALL_DIR/
|
||||
cp -r $DIR/raylib_repo/build/raylib/include $DIR
|
||||
INSTALL_H_DIR="$DIR/include"
|
||||
rm -rf $INSTALL_H_DIR
|
||||
mkdir -p $INSTALL_H_DIR
|
||||
|
||||
if [ ! -d raylib_repo ]; then
|
||||
git clone -b master --no-tags https://github.com/commaai/raylib.git raylib_repo
|
||||
fi
|
||||
|
||||
cd raylib_repo
|
||||
|
||||
COMMIT="5b56f44b1f1014300fbf03b636571f2bbdfc0d05"
|
||||
git fetch origin $COMMIT
|
||||
git reset --hard $COMMIT
|
||||
git clean -xdff .
|
||||
|
||||
cd src
|
||||
|
||||
make -j$(nproc) PLATFORM=$RAYLIB_PLATFORM
|
||||
sudo make install RAYLIB_INSTALL_PATH=$INSTALL_DIR RAYLIB_H_INSTALL_PATH=$INSTALL_H_DIR
|
||||
|
||||
+2
-2
@@ -1,3 +1,3 @@
|
||||
version https://git-lfs.github.com/spec/v1
|
||||
oid sha256:0c07c718e411baefd74fd761d18f18fcc681ccd606d477118acff96732d21791
|
||||
size 10233524
|
||||
oid sha256:76697e9a248b8af45e798137038fa5ec5d9e36c9b4565fa448aefbcd0d2ab113
|
||||
size 2769636
|
||||
|
||||
@@ -558,7 +558,9 @@ void MainWindow::closeEvent(QCloseEvent *event) {
|
||||
if (can && !can->liveStreaming()) {
|
||||
settings.video_splitter_state = video_splitter->saveState();
|
||||
}
|
||||
settings.message_header_state = messages_widget->saveHeaderState();
|
||||
if (messages_widget) {
|
||||
settings.message_header_state = messages_widget->saveHeaderState();
|
||||
}
|
||||
|
||||
QWidget::closeEvent(event);
|
||||
}
|
||||
|
||||
@@ -201,7 +201,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
|
||||
}
|
||||
};
|
||||
|
||||
const static QString NA = QStringLiteral("N/A");
|
||||
const static QString NA = QStringLiteral("N/A");
|
||||
const auto &item = items_[index.row()];
|
||||
if (role == Qt::DisplayRole) {
|
||||
switch (index.column()) {
|
||||
@@ -217,8 +217,6 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
|
||||
return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors));
|
||||
} else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
|
||||
return QVariant::fromValue((void*)(&can->lastMessage(item.id).dat));
|
||||
} else if (role == Qt::ForegroundRole && !isMessageActive(item.id)) {
|
||||
return QApplication::palette().color(QPalette::Disabled, QPalette::Text);
|
||||
} else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
|
||||
auto msg = dbc()->msg(item.id);
|
||||
auto tooltip = item.name;
|
||||
@@ -379,7 +377,17 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
|
||||
// MessageView
|
||||
|
||||
void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
|
||||
QTreeView::drawRow(painter, option, index);
|
||||
const auto &item = ((MessageListModel*)model())->items_[index.row()];
|
||||
if (!isMessageActive(item.id)) {
|
||||
QStyleOptionViewItem custom_option = option;
|
||||
custom_option.palette.setBrush(QPalette::Text, custom_option.palette.color(QPalette::Disabled, QPalette::Text));
|
||||
auto color = QApplication::palette().color(QPalette::HighlightedText);
|
||||
color.setAlpha(100);
|
||||
custom_option.palette.setBrush(QPalette::HighlightedText, color);
|
||||
QTreeView::drawRow(painter, custom_option, index);
|
||||
} else {
|
||||
QTreeView::drawRow(painter, option, index);
|
||||
}
|
||||
|
||||
QPen oldPen = painter->pen();
|
||||
const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);
|
||||
|
||||
@@ -1,5 +1,6 @@
|
||||
#include "tools/cabana/streams/abstractstream.h"
|
||||
|
||||
#include <limits>
|
||||
#include <utility>
|
||||
|
||||
#include <QApplication>
|
||||
@@ -228,11 +229,10 @@ double calc_freq(const MessageId &msg_id, double current_sec) {
|
||||
auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
|
||||
|
||||
int count = std::distance(first, last);
|
||||
if (count > 1) {
|
||||
double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
|
||||
return count / duration;
|
||||
}
|
||||
return 0;
|
||||
if (count <= 1) return 0.0;
|
||||
|
||||
double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
|
||||
return duration > std::numeric_limits<double>::epsilon() ? (count - 1) / duration : 0.0;
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
@@ -9,7 +9,19 @@
|
||||
#include <QMessageBox>
|
||||
#include <QPainter>
|
||||
|
||||
#include "system/hardware/hw.h"
|
||||
class OneShotHttpRequest : public HttpRequest {
|
||||
public:
|
||||
OneShotHttpRequest(QObject *parent) : HttpRequest(parent, false) {}
|
||||
void send(const QString &url) {
|
||||
if (reply) {
|
||||
reply->disconnect();
|
||||
reply->abort();
|
||||
reply->deleteLater();
|
||||
reply = nullptr;
|
||||
}
|
||||
sendRequest(url);
|
||||
}
|
||||
};
|
||||
|
||||
// The RouteListWidget class extends QListWidget to display a custom message when empty
|
||||
class RouteListWidget : public QListWidget {
|
||||
@@ -29,12 +41,12 @@ public:
|
||||
QString empty_text_ = tr("No items");
|
||||
};
|
||||
|
||||
RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
|
||||
RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent), route_requester_(new OneShotHttpRequest(this)) {
|
||||
setWindowTitle(tr("Remote routes"));
|
||||
|
||||
QFormLayout *layout = new QFormLayout(this);
|
||||
layout->addRow(tr("Device"), device_list_ = new QComboBox(this));
|
||||
layout->addRow(tr("Duration"), period_selector_ = new QComboBox(this));
|
||||
layout->addRow(period_selector_ = new QComboBox(this));
|
||||
layout->addRow(route_list_ = new RouteListWidget(this));
|
||||
auto button_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
|
||||
layout->addRow(button_box);
|
||||
@@ -45,8 +57,10 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
|
||||
period_selector_->addItem(tr("Last 2 weeks"), 14);
|
||||
period_selector_->addItem(tr("Last month"), 30);
|
||||
period_selector_->addItem(tr("Last 6 months"), 180);
|
||||
period_selector_->addItem(tr("Preserved"), -1);
|
||||
|
||||
// Connect signals and slots
|
||||
QObject::connect(route_requester_, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
|
||||
connect(device_list_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
|
||||
connect(period_selector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &RoutesDialog::fetchRoutes);
|
||||
connect(route_list_, &QListWidget::itemDoubleClicked, this, &QDialog::accept);
|
||||
@@ -54,7 +68,7 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
|
||||
QObject::connect(button_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
|
||||
|
||||
// Send request to fetch devices
|
||||
HttpRequest *http = new HttpRequest(this, !Hardware::PC());
|
||||
HttpRequest *http = new HttpRequest(this, false);
|
||||
QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseDeviceList);
|
||||
http->sendRequest(CommaApi::BASE_URL + "/v1/me/devices/");
|
||||
}
|
||||
@@ -81,43 +95,44 @@ void RoutesDialog::fetchRoutes() {
|
||||
|
||||
route_list_->clear();
|
||||
route_list_->setEmptyText(tr("Loading..."));
|
||||
|
||||
HttpRequest *http = new HttpRequest(this, !Hardware::PC());
|
||||
QObject::connect(http, &HttpRequest::requestDone, this, &RoutesDialog::parseRouteList);
|
||||
|
||||
// Construct URL with selected device and date range
|
||||
auto dongle_id = device_list_->currentData().toString();
|
||||
QDateTime current = QDateTime::currentDateTime();
|
||||
QString url = QString("%1/v1/devices/%2/routes_segments?start=%3&end=%4")
|
||||
.arg(CommaApi::BASE_URL).arg(dongle_id)
|
||||
.arg(current.addDays(-(period_selector_->currentData().toInt())).toMSecsSinceEpoch())
|
||||
.arg(current.toMSecsSinceEpoch());
|
||||
http->sendRequest(url);
|
||||
QString url = QString("%1/v1/devices/%2").arg(CommaApi::BASE_URL, device_list_->currentText());
|
||||
int period = period_selector_->currentData().toInt();
|
||||
if (period == -1) {
|
||||
url += "/routes/preserved";
|
||||
} else {
|
||||
QDateTime now = QDateTime::currentDateTime();
|
||||
url += QString("/routes_segments?start=%1&end=%2")
|
||||
.arg(now.addDays(-period).toMSecsSinceEpoch())
|
||||
.arg(now.toMSecsSinceEpoch());
|
||||
}
|
||||
route_requester_->send(url);
|
||||
}
|
||||
|
||||
void RoutesDialog::parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err) {
|
||||
if (success) {
|
||||
for (const QJsonValue &route : QJsonDocument::fromJson(json.toUtf8()).array()) {
|
||||
uint64_t start_time = route["start_time_utc_millis"].toDouble();
|
||||
uint64_t end_time = route["end_time_utc_millis"].toDouble();
|
||||
auto datetime = QDateTime::fromMSecsSinceEpoch(start_time);
|
||||
auto item = new QListWidgetItem(QString("%1 %2min").arg(datetime.toString()).arg((end_time - start_time) / (1000 * 60)));
|
||||
QDateTime from, to;
|
||||
if (period_selector_->currentData().toInt() == -1) {
|
||||
from = QDateTime::fromString(route["start_time"].toString(), Qt::ISODateWithMs);
|
||||
to = QDateTime::fromString(route["end_time"].toString(), Qt::ISODateWithMs);
|
||||
} else {
|
||||
from = QDateTime::fromMSecsSinceEpoch(route["start_time_utc_millis"].toDouble());
|
||||
to = QDateTime::fromMSecsSinceEpoch(route["end_time_utc_millis"].toDouble());
|
||||
}
|
||||
auto item = new QListWidgetItem(QString("%1 %2min").arg(from.toString()).arg(from.secsTo(to) / 60));
|
||||
item->setData(Qt::UserRole, route["fullname"].toString());
|
||||
route_list_->addItem(item);
|
||||
}
|
||||
// Select first route if available
|
||||
if (route_list_->count() > 0) route_list_->setCurrentRow(0);
|
||||
} else {
|
||||
QMessageBox::warning(this, tr("Error"), tr("Failed to fetch routes. Check your network connection."));
|
||||
reject();
|
||||
}
|
||||
route_list_->setEmptyText(tr("No items"));
|
||||
sender()->deleteLater();
|
||||
}
|
||||
|
||||
void RoutesDialog::accept() {
|
||||
if (auto current_item = route_list_->currentItem()) {
|
||||
route_ = current_item->data(Qt::UserRole).toString();
|
||||
}
|
||||
QDialog::accept();
|
||||
QString RoutesDialog::route() {
|
||||
auto current_item = route_list_->currentItem();
|
||||
return current_item ? current_item->data(Qt::UserRole).toString() : "";
|
||||
}
|
||||
|
||||
@@ -6,15 +6,15 @@
|
||||
#include "selfdrive/ui/qt/api.h"
|
||||
|
||||
class RouteListWidget;
|
||||
class OneShotHttpRequest;
|
||||
|
||||
class RoutesDialog : public QDialog {
|
||||
Q_OBJECT
|
||||
public:
|
||||
RoutesDialog(QWidget *parent);
|
||||
QString route() const { return route_; }
|
||||
QString route();
|
||||
|
||||
protected:
|
||||
void accept() override;
|
||||
void parseDeviceList(const QString &json, bool success, QNetworkReply::NetworkError err);
|
||||
void parseRouteList(const QString &json, bool success, QNetworkReply::NetworkError err);
|
||||
void fetchRoutes();
|
||||
@@ -22,5 +22,5 @@ protected:
|
||||
QComboBox *device_list_;
|
||||
QComboBox *period_selector_;
|
||||
RouteListWidget *route_list_;
|
||||
QString route_;
|
||||
OneShotHttpRequest *route_requester_;
|
||||
};
|
||||
|
||||
@@ -101,9 +101,9 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
|
||||
pc_latency = (time.monotonic()-time_q[0])*1000
|
||||
time_q = time_q[1:]
|
||||
if debug:
|
||||
print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
|
||||
% (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
|
||||
process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
|
||||
print(f"{len(msgs):2d} {evta.idx.encodeId:4d} {evt.logMonoTime/1e9:.3f} {evta.idx.timestampEof/1e6:.3f} \
|
||||
roll {frame_latency:6.2f} ms latency {process_latency:6.2f} ms + {network_latency:6.2f} ms + {pc_latency:6.2f} ms \
|
||||
= {process_latency+network_latency+pc_latency:6.2f} ms", len(evta.data), sock_name)
|
||||
|
||||
|
||||
class CompressedVipc:
|
||||
|
||||
@@ -168,9 +168,9 @@ def print_timestamps(timestamps, durations, start_times, relative):
|
||||
print(" "+service)
|
||||
events = timestamps[frame_id][service]
|
||||
for event, time in sorted(events, key = lambda x: x[1]):
|
||||
print(" "+'%-53s%-53s' %(event, str((time-t0)/1e6)))
|
||||
print(" "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
|
||||
for event, time in durations[frame_id][service]:
|
||||
print(" "+'%-53s%-53s' %(event, str(time*1000)))
|
||||
print(" "+f'{event:<53s}{str(time*1000):<53s}')
|
||||
|
||||
def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
|
||||
plt.rcParams.update({'font.size': 18})
|
||||
|
||||
+27
-1
@@ -94,7 +94,7 @@ function op_check_git() {
|
||||
fi
|
||||
|
||||
echo "Checking for git lfs files..."
|
||||
if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
|
||||
if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/dmonitoring_model.onnx) == "data" ]]; then
|
||||
echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
|
||||
else
|
||||
echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
|
||||
@@ -312,6 +312,30 @@ function op_sim() {
|
||||
op_run_command exec tools/sim/launch_openpilot.sh
|
||||
}
|
||||
|
||||
function op_switch() {
|
||||
op_before_cmd
|
||||
|
||||
REMOTE="origin"
|
||||
if [ "$#" -gt 1 ]; then
|
||||
REMOTE="$1"
|
||||
shift
|
||||
fi
|
||||
|
||||
if [ -z "$1" ]; then
|
||||
echo -e "${BOLD}${UNDERLINE}Usage:${NC} op switch [REMOTE] <BRANCH>"
|
||||
return 1
|
||||
fi
|
||||
BRANCH="$1"
|
||||
|
||||
git fetch "$REMOTE" "$BRANCH":"$BRANCH"
|
||||
git checkout -f --recurse-submodules "$BRANCH"
|
||||
git reset --hard "$BRANCH"
|
||||
git clean -df
|
||||
git submodule update --init --recursive
|
||||
git submodule foreach git reset --hard
|
||||
git submodule foreach git clean -df
|
||||
}
|
||||
|
||||
function op_default() {
|
||||
echo "An openpilot helper"
|
||||
echo ""
|
||||
@@ -333,6 +357,7 @@ function op_default() {
|
||||
echo -e " ${BOLD}setup${NC} Install openpilot dependencies"
|
||||
echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory"
|
||||
echo -e " ${BOLD}install${NC} Install the 'op' tool system wide"
|
||||
echo -e " ${BOLD}switch${NC} Switch to a different git branch with a clean slate (nukes any changes)"
|
||||
echo ""
|
||||
echo -e "${BOLD}${UNDERLINE}Commands [Tooling]:${NC}"
|
||||
echo -e " ${BOLD}juggle${NC} Run PlotJuggler"
|
||||
@@ -388,6 +413,7 @@ function _op() {
|
||||
replay ) shift 1; op_replay "$@" ;;
|
||||
sim ) shift 1; op_sim "$@" ;;
|
||||
install ) shift 1; op_install "$@" ;;
|
||||
switch ) shift 1; op_switch "$@" ;;
|
||||
post-commit ) shift 1; op_install_post_commit "$@" ;;
|
||||
* ) op_default "$@" ;;
|
||||
esac
|
||||
|
||||
@@ -31,11 +31,11 @@ print("got api response")
|
||||
|
||||
segments = r.json()[camera]
|
||||
if segment >= len(segments):
|
||||
raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))
|
||||
raise Exception(f"segment {segment} not found, got {len(segments)} segments")
|
||||
|
||||
fr = FrameReader(segments[segment])
|
||||
if frame >= fr.frame_count:
|
||||
raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
|
||||
raise Exception("frame {frame} not found, got {fr.frame_count} frames")
|
||||
|
||||
im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
|
||||
fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"
|
||||
|
||||
@@ -133,8 +133,8 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
|
||||
button_name_list.append(btn_name)
|
||||
button_states[btn_name] = 0
|
||||
|
||||
print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
|
||||
print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
|
||||
print(f'{num_axes} axes found: {", ".join(axis_name_list)}')
|
||||
print(f'{num_buttons} buttons found: {", ".join(button_name_list)}')
|
||||
|
||||
# Enable FF
|
||||
import evdev
|
||||
|
||||
Reference in New Issue
Block a user