Update visionIPC stream and intrinsic matrix when going onroad (#20947)
* Choose correct vipc stream when going onroad * whitespacealbatross
parent
39c6ea6d7c
commit
ccdec0291d
|
@ -245,7 +245,19 @@ static void update_status(UIState *s) {
|
|||
|
||||
s->scene.is_rhd = Params().getBool("IsRHD");
|
||||
s->scene.end_to_end = Params().getBool("EndToEndToggle");
|
||||
s->vipc_client = s->scene.driver_view ? s->vipc_client_front : s->vipc_client_rear;
|
||||
s->wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
|
||||
|
||||
// Update intrinsics matrix after possible wide camera toggle change
|
||||
ui_resize(s, s->fb_w, s->fb_h);
|
||||
|
||||
// Choose vision ipc client
|
||||
if (s->scene.driver_view) {
|
||||
s->vipc_client = s->vipc_client_front;
|
||||
} else if (s->wide_camera){
|
||||
s->vipc_client = s->vipc_client_wide;
|
||||
} else {
|
||||
s->vipc_client = s->vipc_client_rear;
|
||||
}
|
||||
} else {
|
||||
s->vipc_client->connected = false;
|
||||
}
|
||||
|
@ -269,8 +281,10 @@ QUIState::QUIState(QObject *parent) : QObject(parent) {
|
|||
ui_state.last_frame = nullptr;
|
||||
ui_state.wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
|
||||
|
||||
ui_state.vipc_client_rear = new VisionIpcClient("camerad", ui_state.wide_camera ? VISION_STREAM_RGB_WIDE : VISION_STREAM_RGB_BACK, true);
|
||||
ui_state.vipc_client_rear = new VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, true);
|
||||
ui_state.vipc_client_front = new VisionIpcClient("camerad", VISION_STREAM_RGB_FRONT, true);
|
||||
ui_state.vipc_client_wide = new VisionIpcClient("camerad", VISION_STREAM_RGB_WIDE, true);
|
||||
|
||||
ui_state.vipc_client = ui_state.vipc_client_rear;
|
||||
|
||||
// update timer
|
||||
|
|
|
@ -102,6 +102,7 @@ typedef struct UIState {
|
|||
VisionIpcClient * vipc_client;
|
||||
VisionIpcClient * vipc_client_front;
|
||||
VisionIpcClient * vipc_client_rear;
|
||||
VisionIpcClient * vipc_client_wide;
|
||||
VisionBuf * last_frame;
|
||||
|
||||
// framebuffer
|
||||
|
|
Loading…
Reference in New Issue