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CameraView: sync pbo with glFence instead of calling glFinish (#23409) 

* CameraView: sync pbo with glFence instead of calling glFinish (#23293)

* Sync pbo with fence

* use std::unique_ptr

* cameraview.cc: call glFlush after creating fence

Co-authored-by: Dean Lee <deanlee3@gmail.com>
pull/23447/head
Willem Melching 2022-01-07 15:24:20 +01:00 committed by GitHub
parent c4b36ce11e
commit d77782ea93
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 40 additions and 19 deletions
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47
selfdrive/ui/qt/widgets/cameraview.cc
View File

@ -202,9 +202,15 @@ void CameraViewWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
std::lock_guard lk(lock);
if (latest_texture_id == -1) return;
glViewport(0, 0, width(), height());
// sync with the PBO
if (wait_fence) {
wait_fence->wait();
}
glBindVertexArray(frame_vao);
glActiveTexture(GL_TEXTURE0);
@ -289,26 +295,33 @@ void CameraViewWidget::vipcThread() {
}
if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) {
if (!Hardware::EON()) {
void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
{
std::lock_guard lk(lock);
if (!Hardware::EON()) {
void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly);
if (texture_buffer == nullptr) {
LOGE("gl_buffer->map returned nullptr");
continue;
}
memcpy(texture_buffer, buf->addr, buf->len);
gl_buffer->unmap();
if (texture_buffer == nullptr) {
LOGE("gl_buffer->map returned nullptr");
continue;
// copy pixels from PBO to texture object
glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
glBindTexture(GL_TEXTURE_2D, 0);
assert(glGetError() == GL_NO_ERROR);
wait_fence.reset(new WaitFence());
// Ensure the fence is in the GPU command queue, or waiting on it might block
// https://www.khronos.org/opengl/wiki/Sync_Object#Flushing_and_contexts
glFlush();
}
memcpy(texture_buffer, buf->addr, buf->len);
gl_buffer->unmap();
// copy pixels from PBO to texture object
glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex);
glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0);
glBindTexture(GL_TEXTURE_2D, 0);
assert(glGetError() == GL_NO_ERROR);
// use glFinish to ensure that the texture has been uploaded.
glFinish();
latest_texture_id = buf->idx;
}
latest_texture_id = buf->idx;
// Schedule update. update() will be invoked on the gui thread.
QMetaObject::invokeMethod(this, "update");

12
selfdrive/ui/qt/widgets/cameraview.h
View File

@ -36,11 +36,20 @@ protected:
virtual void updateFrameMat(int w, int h);
void vipcThread();
struct WaitFence {
WaitFence() { sync = glFenceSync(GL_SYNC_GPU_COMMANDS_COMPLETE, 0); }
~WaitFence() { glDeleteSync(sync); }
void wait() { glWaitSync(sync, 0, GL_TIMEOUT_IGNORED); }
GLsync sync = 0;
};
bool zoomed_view;
std::atomic<int> latest_texture_id = -1;
std::mutex lock;
int latest_texture_id = -1;
GLuint frame_vao, frame_vbo, frame_ibo;
mat4 frame_mat;
std::unique_ptr<EGLImageTexture> texture[UI_BUF_COUNT];
std::unique_ptr<WaitFence> wait_fence;
std::unique_ptr<QOpenGLShaderProgram> program;
QColor bg = QColor("#000000");
@ -50,7 +59,6 @@ protected:
std::atomic<VisionStreamType> stream_type;
QThread *vipc_thread = nullptr;
protected slots:
void vipcConnected(VisionIpcClient *vipc_client);
};