identify camera by id not by video channel; make ui respond to window…

… resolution; add parameters for RoadUsbCameraID and DriverUSBCameraID;

common/params.py

@@ -107,6 +107,8 @@ class UnknownKeyName(Exception):
   "Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
   "Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
   "Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
+  "DriverUsbCameraID": [TxType.PERSISTENT],
+  "RoadUsbCameraID": [TxType.PERSISTENT],
 }
 
 

selfdrive/camerad/cameras/camera_webcam.cc

@@ -14,6 +14,7 @@
 #include <opencv2/highgui.hpp>
 #include <opencv2/core.hpp>
 #include <opencv2/videoio.hpp>
+#include "common/params.h"
 
 extern volatile sig_atomic_t do_exit;
 #define FRAME_WIDTH  1164
@@ -37,16 +38,16 @@ void camera_release_buffer(void *cookie, int buf_idx) {
 }
 
 
-void open_gl_stream_def(CameraState * s, int video_id, int width, int height, char ** strm_def) {
+void open_gl_stream_def(CameraState * s, char* camera_id, int width, int height, char ** strm_def) {
   printf("OPENGLSTREAM");
-  std::string  strm_template="v4l2src device=/dev/video%d  ! video/x-raw,width=%d,height=%d,framerate=%d/1,format=YUY2 !"
+  std::string  strm_template="v4l2src device=/dev/v4l/by-id/%s  ! video/x-raw,width=%d,height=%d,framerate=%d/1,format=YUY2 !"
   	                     " nvvidconv ! video/x-raw(memory:NVMM),format=I420 !"
   	                     " nvvidconv ! video/x-raw,format=BGRx !"
   	                     " videoconvert ! video/x-raw,format=BGR !"
 			     " videoscale ! video/x-raw,width=%d,height=%d !"
   			     " appsink ";  
-  * strm_def = (char*)calloc(300,1);
-  sprintf(*strm_def,strm_template.c_str(),video_id, width, height, s->fps, s->ci.frame_width, s->ci.frame_height);
+  * strm_def = (char*)calloc(600,1);
+  sprintf(*strm_def,strm_template.c_str(),camera_id, width, height, s->fps, s->ci.frame_width, s->ci.frame_height);
   printf(" GL Stream :[%s]\n",*strm_def);
 }
 
@@ -67,7 +68,9 @@ static void* rear_thread(void *arg) {
   CameraState* s = (CameraState*)arg;
   char * strm_def;
   printf("open_GL");
-  open_gl_stream_def(s,1, 800, 600, &strm_def);
+  char * cameraId_value;
+  const int result = read_db_value(NULL, "RoadUsbCameraID", &cameraId_value, NULL);
+  open_gl_stream_def(s,cameraId_value, 800, 600, &strm_def);
   cv::VideoCapture cap_rear(strm_def);  // road
   free(strm_def);
 
@@ -122,7 +125,10 @@ void front_thread(CameraState *s) {
   int err;
   printf("OPEN FRONT");
   char * strm_def;
-  open_gl_stream_def(s,0,640,480, &strm_def);
+  char * cameraId_value;
+  const int result = read_db_value(NULL, "DriverUsbCameraID", &cameraId_value, NULL);
+  if (result != 0) return;
+  open_gl_stream_def(s,cameraId_value,640,480, &strm_def);
   cv::VideoCapture cap_front(strm_def);  // driver
   free(strm_def);
 

selfdrive/car/tesla/carstate.py

@@ -233,6 +233,8 @@ def __init__(self, CP):
     self.ldwNumbPeriod = 1.5
     self.tapBlinkerExtension = 2
     self.ahbOffDuration = 5
+    self.roadCameraID = ""
+    self.driverCameraID = ""
     #read config file
     read_config_file(self)
     ### END OF MAIN CONFIG OPTIONS ###

selfdrive/car/tesla/readconfig.py

@@ -1,4 +1,6 @@
 import configparser
+from common.params import Params
+import subprocess
 
 default_config_file_path = '/data/bb_openpilot.cfg'
 
@@ -10,6 +12,7 @@ class ConfigFile():
   def read(self, into, config_path):
       configr = configparser.RawConfigParser()
       file_changed = False
+      params = Params()
 
       try:
         configr.read(config_path)
@@ -22,10 +25,12 @@ def read(self, into, config_path):
 
       main_section = 'OP_CONFIG'
       pref_section = 'OP_PREFERENCES'
+      jetson_section = 'JETSON_PREFERENCES'
       logging_section = 'LOGGING'
       config = configparser.RawConfigParser(allow_no_value=True)
       config.add_section(main_section)
       config.add_section(pref_section)
+      config.add_section(jetson_section)
       config.add_section(logging_section)
 
       #user_handle -> userHandle
@@ -217,6 +222,7 @@ def read(self, into, config_path):
         comment = 'If you use an aftermarket Tesla Bosch Radar that already has a coded VIN, you will have to enter that VIN value here.'
       )
       file_changed |= didUpdate
+
       if into.radarVIN == '':
         into.radarVIN = default_radar_vin
         file_changed = True
@@ -338,6 +344,33 @@ def read(self, into, config_path):
       )
       file_changed |= didUpdate
 
+      #jetson_road_camera_id -> roadCameraID
+      into.roadCameraID, didUpdate = self.read_config_entry(
+        config, configr, prev_file_contents, section = jetson_section,
+        entry = 'jetson_road_camera_id', entry_type = str,
+        default_value = 'NotSet',
+        comment = 'ID of camera facing road, as seen in ls -al /dev/v4l/by-id'
+      )
+      file_changed |= didUpdate
+
+      #jetson_driver_camera_id -> driverCameraID
+      into.driverCameraID, didUpdate = self.read_config_entry(
+        config, configr, prev_file_contents, section = jetson_section,
+        entry = 'jetson_driver_camera_id', entry_type = str,
+        default_value = 'NotSet',
+        comment = 'ID of camera facing driver, as seen in ls -al /dev/v4l/by-id'
+      )
+      file_changed |= didUpdate
+
+      #check camera_id values against LiveParams
+      savedRoadCameraID = params.get("RoadUsbCameraID")
+      savedDriverCameraID = params.get("DriverUsbCameraID")
+      if into.driverCameraID != savedDriverCameraID:
+          params.put("DriverUsbCameraID",into.driverCameraID)
+      if into.roadCameraID != savedRoadCameraID:
+          params.put("RoadUsbCameraID",into.roadCameraID)
+
+
       into.shouldLogCanErrors, didUpdate = self.read_config_entry(
         config, configr, prev_file_contents, section = logging_section,
         entry = 'should_log_can_errors', entry_type = bool,
@@ -427,6 +460,8 @@ class CarSettings():
   tapBlinkerExtension = None
   ahbOffDuration = None
   usesApillarHarness = None
+  roadCameraID = None
+  driverCameraID = None
 
   def __init__(self, optional_config_file_path = default_config_file_path):
     config_file = ConfigFile()

selfdrive/car/tesla/readconfig.sh

@@ -1,4 +1,3 @@
-#!/usr/bin/bash
 CFG_FILE=/data/bb_openpilot.cfg
 CFG_CONTENT=$(cat $CFG_FILE | sed -r '/[^=]+=[^=]+/!d' | sed -r 's/\s+=\s/=/g')
-eval "$CFG_CONTENT"
+eval "export $CFG_CONTENT"

selfdrive/ui/SConscript

@@ -13,7 +13,7 @@ if larch == "aarch64":
   linkflags = ['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib']
 else:
   src += ['linux.cc']
-  libs += ['pthread', 'glfw']
+  libs += ['pthread', 'glfw', 'X11']
   linkflags = []
 
 env.Program('_ui', src,

selfdrive/ui/bbui.h

@@ -2,6 +2,19 @@
 
 #include "cereal/gen/c/ui.capnp.h"
 
+#if !defined(QCOM) && !defined(QCOM2)
+#ifndef __APPLE__
+#define GLFW_INCLUDE_ES2
+#else
+#define GLFW_INCLUDE_GLCOREARB
+#endif
+
+#define GLFW_INCLUDE_GLEXT
+#include <GLFW/glfw3.h>
+int linux_abs_x = 0;
+int linux_abs_y = 0;
+UIState *mouse_ui_state;
+#endif
 // TODO: this is also hardcoded in common/transformations/camera.py
 
 
@@ -251,7 +264,13 @@ int bb_ui_draw_measure( UIState *s,  const char* bb_value, const char* bb_uom, c
 }
 
 
+
 bool bb_handle_ui_touch( UIState *s, int touch_x, int touch_y) {
+#if !defined(QCOM) && !defined(QCOM2)
+  touch_x = (int)(vwp_w * touch_x / 1280);
+  touch_y = (int)(vwp_h * touch_y / 720);
+  printf("Linux mouse up at %d, %d  ( %d, %d)\n",(int)touch_x, (int)touch_y, linux_abs_x, linux_abs_y);
+#endif
   for(int i=0; i<6; i++) {
     if (s->b.btns_r[i] > 0) {
       if ((abs(touch_x - s->b.btns_x[i]) < s->b.btns_r[i]) && (abs(touch_y - s->b.btns_y[i]) < s->b.btns_r[i])) {
@@ -292,6 +311,20 @@ bool bb_handle_ui_touch( UIState *s, int touch_x, int touch_y) {
   return false;
 };
 
+#if !defined(QCOM) && !defined(QCOM2)
+void bb_mouse_event_handler(GLFWwindow* window, int button, int action, int mods) {
+   if (button == GLFW_MOUSE_BUTTON_LEFT && action == GLFW_RELEASE) {
+
+        double xpos, ypos;
+	glfwGetCursorPos(window, &xpos, &ypos);
+	int w_width,w_height;
+	glfwGetWindowSize(window, &linux_abs_x, &linux_abs_y);
+        bb_handle_ui_touch(mouse_ui_state,(int) xpos, (int)ypos);
+   }
+}
+#endif
+
+
 int bb_get_button_status( UIState *s, char *btn_name) {
   int ret_status = -1;
   for (int i = 0; i< 6; i++) {

selfdrive/ui/bbuistate.h

@@ -8,6 +8,15 @@ typedef struct UICstmButton {
 } UICstmButton;
 
 typedef struct BBUIState {
+    float scr_scale_x;
+    float scr_scale_y;
+    int scr_w;
+    int scr_h;
+    float scr_device_factor;
+    float scr_scissor_offset;
+#if !defined(QCOM) && !defined(QCOM2)
+    Display *scr_display;
+#endif
     int touch_last_x;
     int touch_last_y;
     bool touch_last;

selfdrive/ui/linux.cc

@@ -13,16 +13,14 @@
 #endif
 
 #define GLFW_INCLUDE_GLEXT
-#include <GLFW/glfw3.h>
+#include "GLFW/glfw3.h"
 
 typedef struct FramebufferState FramebufferState;
 typedef struct TouchState TouchState;
 
-extern "C" {
-
-FramebufferState* framebuffer_init(
+FramebufferState* framebuffer_init_linux(
     const char* name, int32_t layer, int alpha,
-    int *out_w, int *out_h) {
+    int *out_w, int *out_h, GLFWmousebuttonfun mouse_event_handler) {
   glfwInit();
 
 #ifndef __APPLE__
@@ -41,7 +39,9 @@ FramebufferState* framebuffer_init(
   if (!window) {
     printf("glfwCreateWindow failed\n");
   }
-
+  if (mouse_event_handler != NULL) {
+    glfwSetMouseButtonCallback(window,mouse_event_handler);
+  }
   glfwMakeContextCurrent(window);
   glfwSwapInterval(0);
 
@@ -55,6 +55,8 @@ FramebufferState* framebuffer_init(
 
   return (FramebufferState*)window;
 }
+extern "C" {
+
 
 void framebuffer_set_power(FramebufferState *s, int mode) {
 }

selfdrive/ui/paint.cc

@@ -808,8 +808,13 @@ static void ui_draw_vision(UIState *s) {
 
   // Draw video frames
   glEnable(GL_SCISSOR_TEST);
-  glViewport(ui_viz_rx+ui_viz_ro, s->fb_h-(box_y+box_h), viz_w, box_h);
+#if defined(QCOM) || defined(QCOM2)
+  glViewport(ui_viz_rx+ui_viz_ro, s->fb_h-(box_y+box_h), viz_w , box_h);
   glScissor(ui_viz_rx, s->fb_h-(box_y+box_h), ui_viz_rw, box_h);
+#else
+  glViewport(0, s->b.scr_h + s->b.scr_scissor_offset, s->b.scr_w, s->b.scr_w * 0.751);
+  glScissor(0, s->b.scr_h + s->b.scr_scissor_offset, s->b.scr_w, s->b.scr_w * 0.751);
+#endif
   glEnable(GL_BLEND);
   glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
   draw_frame(s);
@@ -819,6 +824,7 @@ static void ui_draw_vision(UIState *s) {
   glClear(GL_STENCIL_BUFFER_BIT);
 
   nvgBeginFrame(s->vg, s->fb_w, s->fb_h, 1.0f);
+  nvgScale(s->vg,s->b.scr_scale_x,s->b.scr_scale_y);
   nvgSave(s->vg);
 
   // Draw augmented elements
@@ -858,6 +864,8 @@ void ui_draw(UIState *s) {
     ui_draw_sidebar(s);
     ui_draw_vision(s);
   } else {
+    nvgScale(s->vg,s->b.scr_scale_x,s->b.scr_scale_y);
+
     ui_draw_blank(s);
     if (!s->scene.uilayout_sidebarcollapsed) {
       ui_draw_sidebar(s);
@@ -918,8 +926,8 @@ static const char frame_fragment_shader[] =
 #endif
 
 static const mat4 device_transform = {{
-  1.0,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
+  0.68,  0.0, 0.0, 0.0,
+  0.0,  0.68, 0.0, 0.0,
   0.0,  0.0, 1.0, 0.0,
   0.0,  0.0, 0.0, 1.0,
 }};
@@ -1040,9 +1048,19 @@ void ui_nvg_init(UIState *s) {
     glBindBuffer(GL_ARRAY_BUFFER,0);
     glBindVertexArray(0);
   }
-
-  s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
-  s->rear_frame_mat = matmul(device_transform, frame_transform);
+  #if defined(QCOM) || defined(QCOM2)
+    s->rear_frame_mat = matmul(device_transform, frame_transform);
+    s->front_frame_mat = matmul(device_transform, full_to_wide_frame_transform);
+  #else
+    mat4 device_transform_bb = {{
+      s->b.scr_device_factor,  0.0, 0.0, 0.0,
+      0.0,   s->b.scr_device_factor, 0.0, 0.0,
+      0.0,  0.0, 1.0, 0.0,
+      0.0,  0.0, 0.0, 1.0,
+    }};
+    s->rear_frame_mat = matmul(device_transform_bb, frame_transform);
+    s->front_frame_mat = matmul(device_transform_bb, full_to_wide_frame_transform);
+  #endif
 
   for(int i = 0;i < UI_BUF_COUNT; i++) {
     s->khr[i] = NULL;

selfdrive/ui/ui

@@ -2,7 +2,7 @@
 export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
 TBP=/data/tinkla_buddy_pro
 if test -f "$TBP"; then
-  exec /usr/bin/startx ./_ui
+  exec /usr/bin/startx ./_ui -rez 800 480
 else
   exec ./_ui
 fi