IQ.Pilot Release Commit @ f2a861c

iqpilot/tools/cabana/cameraview.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include <atomic>
+#include <mutex>
+#include <set>
+#include <string>
+#include <thread>
+#include <utility>
+
+#include <QImage>
+#include <QWidget>
+
+#include "cereal/visionstream.h"
+#include "msgq/visionipc/visionipc_client.h"
+
+class CameraWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr);
+  ~CameraWidget();
+  void setStreamType(VisionStreamType type) { requested_stream_type = type; }
+  VisionStreamType getStreamType() { return active_stream_type; }
+  void stopVipcThread();
+
+signals:
+  void clicked();
+  void vipcThreadFrameReceived();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override { stopVipcThread(); }
+  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  void vipcThread();
+  void clearFrames();
+
+  QColor bg = Qt::black;
+  QImage rgb_frame;   // written by vipc thread, drawn by GUI thread; guarded by frame_lock
+  QImage rgb_back;    // vipc thread only
+
+  std::string stream_name;
+  std::atomic<VisionStreamType> active_stream_type;
+  std::atomic<VisionStreamType> requested_stream_type;
+  std::set<VisionStreamType> available_streams;
+  std::thread vipc_thread;
+  std::atomic<bool> vipc_exit = false;
+  std::mutex frame_lock;
+
+protected slots:
+  void vipcFrameReceived();
+  void availableStreamsUpdated(std::set<VisionStreamType> streams);
+};
+
+Q_DECLARE_METATYPE(std::set<VisionStreamType>);