IQ.Pilot Release Commit @ 0b96bd5

iqpilot/tools/cabana/ui/widgets/cameraview.h

@@ -0,0 +1,88 @@
+#pragma once
+
+#include <atomic>
+#include <cstdint>
+#include <memory>
+#include <mutex>
+#include <set>
+#include <string>
+#include <thread>
+#include <utility>
+#include <vector>
+
+#include "imgui.h"
+#include "imgui_internal.h"
+#include "cereal/visionstream.h"
+#include "tools/cabana/core/observable.h"
+#include "msgq/visionipc/visionipc_client.h"
+
+
+struct RgbImage {
+  int width = 0;
+  int height = 0;
+  std::vector<uint8_t> data;
+  bool isNull() const { return data.empty(); }
+  void reset() { width = height = 0; data.clear(); }
+  void resize(int w, int h) { width = w; height = h; data.resize(size_t(w) * h * 4); }
+  int bytesPerLine() const { return width * 4; }
+  void swap(RgbImage &other) { std::swap(width, other.width); std::swap(height, other.height); data.swap(other.data); }
+};
+
+
+struct GlTexture {
+  GlTexture() = default;
+  GlTexture(const GlTexture &) = delete;
+  GlTexture &operator=(const GlTexture &) = delete;
+  ~GlTexture() { destroy(); }
+  void upload(const RgbImage &image);
+  void destroy();
+  ImTextureRef ref() const { return ImTextureRef((ImTextureID)(uintptr_t)id); }
+
+  unsigned int id = 0;
+  int width = 0;
+  int height = 0;
+  uint64_t key = 0;
+  bool mipmap = false;
+};
+
+class CameraWidget {
+public:
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type);
+  ~CameraWidget();
+  void setStreamType(VisionStreamType type) { requested_stream_type_ = type; }
+  void stopVipcThread();
+
+
+  void setVisible(bool visible);
+
+  void draw(const ImVec2 &size);
+  const ImRect &rect() const { return rect_; }
+  float frameAspectRatio() const;
+  float width() const { return rect_.GetWidth(); }
+  float height() const { return rect_.GetHeight(); }
+
+  Observable<> clicked;
+  Observable<std::set<VisionStreamType>> availableStreamsUpdated;
+
+private:
+  void paint();
+  void startVipcThread();
+  void vipcThread();
+  void clearFrames();
+
+  ImU32 bg_ = IM_COL32(0, 0, 0, 255);
+  RgbImage rgb_frame_;
+  RgbImage rgb_back_;
+  bool frame_updated_ = false;
+  GlTexture frame_texture_;
+  ImRect rect_;
+  bool visible_ = false;
+
+  std::string stream_name_;
+  std::atomic<VisionStreamType> active_stream_type_;
+  std::atomic<VisionStreamType> requested_stream_type_;
+  std::thread vipc_thread_;
+  std::atomic<bool> vipc_exit_ = false;
+  std::mutex frame_lock_;
+  std::shared_ptr<bool> alive_ = std::make_shared<bool>(true);
+};