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IQ.Pilot Release Commit @ 661a2de

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IQ.Lvbs CI [bot]
2026-08-08 14:37:51 -05:00
parent a6c27ac169
commit a1ef7d6c80
211 changed files with 7332 additions and 2756 deletions
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28
selfdrive/ui/mici/onroad/cameraview.py
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@@ -4,7 +4,7 @@ import pyray as rl
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.common.swaglog import cloudlog
from openpilot.system.hardware import TICI
from openpilot.system.hardware import EGL_DMA_BUF_SUPPORTED
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
from openpilot.system.ui.widgets import Widget
@@ -38,7 +38,7 @@ void main() {
"""
# Choose fragment shader based on platform capabilities
if TICI:
if EGL_DMA_BUF_SUPPORTED:
FRAME_FRAGMENT_SHADER = """
#version 300 es
#extension GL_OES_EGL_image_external_essl3 : enable
@@ -121,7 +121,7 @@ class CameraView(Widget):
self._texture_needs_update = True
self.last_connection_attempt: float = 0.0
self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not EGL_DMA_BUF_SUPPORTED else -1
self._engaged_loc = rl.get_shader_location(self.shader, "engaged")
self._engaged_val = rl.ffi.new("int[1]", [1])
self._enhance_driver_loc = rl.get_shader_location(self.shader, "enhance_driver")
@@ -137,8 +137,8 @@ class CameraView(Widget):
self._placeholder_color: rl.Color | None = None
# Initialize EGL for zero-copy rendering on TICI
if TICI:
# Initialize EGL for zero-copy rendering on comma 3/3X.
if EGL_DMA_BUF_SUPPORTED:
if not init_egl():
raise RuntimeError("Failed to initialize EGL")
@@ -189,7 +189,7 @@ class CameraView(Widget):
self._clear_textures()
# Clean up EGL texture
if TICI and self.egl_texture:
if EGL_DMA_BUF_SUPPORTED and self.egl_texture:
rl.unload_texture(self.egl_texture)
self.egl_texture = None
@@ -264,7 +264,7 @@ class CameraView(Widget):
dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
# Render with appropriate method
if TICI:
if EGL_DMA_BUF_SUPPORTED:
self._render_egl(src_rect, dst_rect)
else:
self._render_textures(src_rect, dst_rect)
@@ -387,12 +387,12 @@ class CameraView(Widget):
self._initialize_textures()
def _initialize_textures(self):
self._clear_textures()
if not TICI:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
self._clear_textures()
if not EGL_DMA_BUF_SUPPORTED:
self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
def _clear_textures(self):
if self.texture_y and self.texture_y.id:
@@ -404,7 +404,7 @@ class CameraView(Widget):
self.texture_uv = None
# Clean up EGL resources
if TICI:
if EGL_DMA_BUF_SUPPORTED:
for data in self.egl_images.values():
destroy_egl_image(data)
self.egl_images = {}