openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/navd/map_renderer.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <memory>
+
+#include <QOpenGLContext>
+#include <QMapboxGL>
+#include <QTimer>
+#include <QGeoCoordinate>
+#include <QOpenGLBuffer>
+#include <QOffscreenSurface>
+#include <QOpenGLFunctions>
+#include <QOpenGLFramebufferObject>
+
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/messaging/messaging.h"
+
+
+class MapRenderer : public QObject {
+  Q_OBJECT
+
+public:
+  MapRenderer(const QMapboxGLSettings &, bool online=true);
+  uint8_t* getImage();
+  void update();
+  bool loaded();
+  ~MapRenderer();
+
+private:
+  std::unique_ptr<QOpenGLContext> ctx;
+  std::unique_ptr<QOffscreenSurface> surface;
+  std::unique_ptr<QOpenGLFunctions> gl_functions;
+  std::unique_ptr<QOpenGLFramebufferObject> fbo;
+
+  std::unique_ptr<VisionIpcServer> vipc_server;
+  std::unique_ptr<PubMaster> pm;
+  std::unique_ptr<SubMaster> sm;
+  void publish(const double render_time, const bool loaded);
+  void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
+
+  QMapboxGLSettings m_settings;
+  QScopedPointer<QMapboxGL> m_map;
+
+  void initLayers();
+
+  uint32_t frame_id = 0;
+  uint64_t last_llk_rendered = 0;
+  bool rendered() {
+    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
+  }
+
+  QTimer* timer;
+  bool ever_loaded = false;
+
+public slots:
+  void updatePosition(QMapbox::Coordinate position, float bearing);
+  void updateRoute(QList<QGeoCoordinate> coordinates);
+  void msgUpdate();
+};