working on device

Author: Comma Device

cereal

@@ -3,7 +3,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
 libs = [common, cereal, messaging, visionipc,
         'zmq', 'capnp', 'kj', 'z',
         'avformat', 'avcodec', 'swscale', 'avutil',
-        'yuv', 'OpenCL', 'pthread']
+        'yuv', 'OpenCL', 'EGL', 'pthread']
 
 src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc']
 if arch == "larch64":

selfdrive/loggerd/SConscript

@@ -4,7 +4,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 lenv = env.Clone()
 
 libs = [cereal, messaging, common, visionipc, gpucommon,
-        'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
+        'OpenCL', 'EGL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
 
 def get_dlsym_offset():
   """Returns the offset between dlopen and dlsym in libdl.so"""

selfdrive/modeld/SConscript

@@ -3,7 +3,7 @@ Import('qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc',
        'cereal', 'transformations')
 
 base_libs = [gpucommon, common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+             'capnp', 'kj', 'm', 'OpenCL', 'EGL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
 
 maps = arch in ['larch64', 'x86_64']
 

selfdrive/ui/SConscript

@@ -46,7 +46,7 @@ const char frame_fragment_shader[] =
   "void main() {\n"
   "  float y = texture(uTexture, vTexCoord).r;\n"
   "  float u = texture(uTexture, vTexCoord).g - 0.5;\n"
-  "  float v = texture(uTexture, vTexCoord).g - 0.5;\n"
+  "  float v = texture(uTexture, vTexCoord).b - 0.5;\n"
   "  float r = y + 1.402 * v;\n"
   "  float g = y - 0.344 * u - 0.714 * v;\n"
   "  float b = y + 1.772 * u;\n"
@@ -237,7 +237,7 @@ void CameraViewWidget::paintGL() {
 
   glActiveTexture(GL_TEXTURE0);
   glBindTexture(GL_TEXTURE_2D, textures[0]);
-  glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, latest_frame->egl_image);
+  glEGLImageTargetTexture2DOES(GL_TEXTURE_2D, frame->egl_image);
   assert(glGetError() == GL_NO_ERROR);
 
   glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v);