IQ.Pilot Prebuilt Release @ ab07000

system/ui/lib/egl.py

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+import os
+import cffi
+from dataclasses import dataclass
+from typing import Any
+from openpilot.common.swaglog import cloudlog
+
+# EGL constants
+EGL_LINUX_DMA_BUF_EXT = 0x3270
+EGL_WIDTH = 0x3057
+EGL_HEIGHT = 0x3056
+EGL_LINUX_DRM_FOURCC_EXT = 0x3271
+EGL_DMA_BUF_PLANE0_FD_EXT = 0x3272
+EGL_DMA_BUF_PLANE0_OFFSET_EXT = 0x3273
+EGL_DMA_BUF_PLANE0_PITCH_EXT = 0x3274
+EGL_DMA_BUF_PLANE1_FD_EXT = 0x3275
+EGL_DMA_BUF_PLANE1_OFFSET_EXT = 0x3276
+EGL_DMA_BUF_PLANE1_PITCH_EXT = 0x3277
+EGL_NONE = 0x3038
+GL_TEXTURE0 = 0x84C0
+GL_TEXTURE_EXTERNAL_OES = 0x8D65
+
+# DRM Format for NV12
+DRM_FORMAT_NV12 = 842094158
+
+
+@dataclass
+class EGLImage:
+  """Container for EGL image and associated resources"""
+
+  egl_image: Any
+  fd: int
+
+
+@dataclass
+class EGLState:
+  """Container for all EGL-related state"""
+
+  initialized: bool = False
+  ffi: Any = None
+  egl_lib: Any = None
+  gles_lib: Any = None
+
+  # EGL display connection - shared across all users
+  display: Any = None
+
+  # Constants
+  NO_CONTEXT: Any = None
+  NO_DISPLAY: Any = None
+  NO_IMAGE_KHR: Any = None
+
+  # Function pointers
+  get_current_display: Any = None
+  create_image_khr: Any = None
+  destroy_image_khr: Any = None
+  image_target_texture: Any = None
+  get_error: Any = None
+  swap_interval: Any = None
+  bind_texture: Any = None
+  active_texture: Any = None
+  flush: Any = None
+  finish: Any = None
+
+
+# Create a single instance of the state
+_egl = EGLState()
+
+
+def init_egl() -> bool:
+  """Initialize EGL and load necessary functions"""
+  global _egl
+
+  # Don't re-initialize if already done
+  if _egl.initialized:
+    return True
+
+  try:
+    _egl.ffi = cffi.FFI()
+    _egl.ffi.cdef("""
+      typedef int EGLint;
+      typedef unsigned int EGLBoolean;
+      typedef unsigned int EGLenum;
+      typedef unsigned int GLenum;
+      typedef void *EGLContext;
+      typedef void *EGLDisplay;
+      typedef void *EGLClientBuffer;
+      typedef void *EGLImageKHR;
+      typedef void *GLeglImageOES;
+
+      EGLDisplay eglGetCurrentDisplay(void);
+      EGLint eglGetError(void);
+      EGLImageKHR eglCreateImageKHR(EGLDisplay dpy, EGLContext ctx,
+                                  EGLenum target, EGLClientBuffer buffer,
+                                  const EGLint *attrib_list);
+      EGLBoolean eglDestroyImageKHR(EGLDisplay dpy, EGLImageKHR image);
+      EGLBoolean eglSwapInterval(EGLDisplay dpy, EGLint interval);
+      void glEGLImageTargetTexture2DOES(GLenum target, GLeglImageOES image);
+      void glBindTexture(GLenum target, unsigned int texture);
+      void glActiveTexture(GLenum texture);
+      void glFlush(void);
+      void glFinish(void);
+    """)
+
+    # Load libraries
+    _egl.egl_lib = _egl.ffi.dlopen("libEGL.so")
+    _egl.gles_lib = _egl.ffi.dlopen("libGLESv2.so")
+
+    # Cast NULL pointers
+    _egl.NO_CONTEXT = _egl.ffi.cast("void *", 0)
+    _egl.NO_DISPLAY = _egl.ffi.cast("void *", 0)
+    _egl.NO_IMAGE_KHR = _egl.ffi.cast("void *", 0)
+
+    # Bind functions
+    _egl.get_current_display = _egl.egl_lib.eglGetCurrentDisplay
+    _egl.create_image_khr = _egl.egl_lib.eglCreateImageKHR
+    _egl.destroy_image_khr = _egl.egl_lib.eglDestroyImageKHR
+    _egl.swap_interval = _egl.egl_lib.eglSwapInterval
+    _egl.image_target_texture = _egl.gles_lib.glEGLImageTargetTexture2DOES
+    _egl.get_error = _egl.egl_lib.eglGetError
+    _egl.bind_texture = _egl.gles_lib.glBindTexture
+    _egl.active_texture = _egl.gles_lib.glActiveTexture
+    _egl.flush = _egl.gles_lib.glFlush
+    _egl.finish = _egl.gles_lib.glFinish
+
+    # Initialize EGL display once here
+    _egl.display = _egl.get_current_display()
+    if _egl.display == _egl.NO_DISPLAY:
+      raise RuntimeError("Failed to get EGL display")
+
+    _egl.initialized = True
+    return True
+  except Exception as e:
+    cloudlog.exception(f"EGL initialization failed: {e}")
+    _egl.initialized = False
+    return False
+
+
+def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
+  assert _egl.initialized, "EGL not initialized"
+
+  try:
+    # Duplicate fd since EGL needs it
+    dup_fd = os.dup(fd)
+  except OSError as e:
+    cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
+    return None
+
+  # Create image attributes for EGL
+  img_attrs = [
+    EGL_WIDTH, width,
+    EGL_HEIGHT, height,
+    EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12,
+    EGL_DMA_BUF_PLANE0_FD_EXT, dup_fd,
+    EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
+    EGL_DMA_BUF_PLANE0_PITCH_EXT, stride,
+    EGL_DMA_BUF_PLANE1_FD_EXT, dup_fd,
+    EGL_DMA_BUF_PLANE1_OFFSET_EXT, uv_offset,
+    EGL_DMA_BUF_PLANE1_PITCH_EXT, stride,
+    EGL_NONE
+  ]
+
+  attr_array = _egl.ffi.new("int[]", img_attrs)
+  egl_image = _egl.create_image_khr(_egl.display, _egl.NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, _egl.ffi.NULL, attr_array)
+
+  if egl_image == _egl.NO_IMAGE_KHR:
+    cloudlog.error(f"Failed to create EGL image: {_egl.get_error()}")
+    os.close(dup_fd)
+    return None
+
+  return EGLImage(egl_image=egl_image, fd=dup_fd)
+
+
+def destroy_egl_image(egl_image: EGLImage) -> None:
+  assert _egl.initialized, "EGL not initialized"
+
+  _egl.destroy_image_khr(_egl.display, egl_image.egl_image)
+
+  # Close the duplicated fd we created in create_egl_image()
+  # We need to handle OSError since the fd might already be closed
+  try:
+    os.close(egl_image.fd)
+  except OSError:
+    pass
+
+
+def bind_egl_image_to_texture(texture_id: int, egl_image: EGLImage) -> None:
+  assert _egl.initialized, "EGL not initialized"
+
+  _egl.active_texture(GL_TEXTURE0)
+  _egl.bind_texture(GL_TEXTURE_EXTERNAL_OES, texture_id)
+  _egl.image_target_texture(GL_TEXTURE_EXTERNAL_OES, egl_image.egl_image)
+  _egl.flush()
+
+
+def set_swap_interval(interval: int) -> bool:
+  if not _egl.initialized and not init_egl():
+    return False
+  return bool(_egl.swap_interval(_egl.display, max(0, int(interval))))
+
+
+def finish_gl() -> bool:
+  if not _egl.initialized and not init_egl():
+    return False
+  _egl.finish()
+  return True