10000 Reapply "ui: rewrite installer using raylib, remove qt (#33756)" by incognitojam · Pull Request #35308 · commaai/openpilot · GitHub
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Reapply "ui: rewrite installer using raylib, remove qt (#33756)" #35308

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Merged
merged 1 commit into from
May 27, 2025
Merged

Reapply "ui: rewrite installer using raylib, remove qt (#33756)" #35308

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26 changes: 17 additions & 9 deletions selfdrive/ui/SConscript
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
import os
import json
Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')

base_libs = [common, messaging, visionipc, transformations,
'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
Expand Down Expand Up @@ -76,8 +75,15 @@ if GetOption('extras'):

if arch != "Darwin":
# build installers
senv = qt_env.Clone()
senv['LINKFLAGS'].append('-Wl,-strip-debug')
raylib_env = env.Clone()
raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')

raylib_libs = common + ["raylib"]
if arch == "larch64":
raylib_libs += ["GLESv2", "wayland-client", "wayland-egl", "EGL"]
else:
raylib_libs += ["GL"]

release = "release3"
installers = [
Expand All @@ -87,17 +93,19 @@ if GetOption('extras'):
("openpilot_internal", "nightly-dev"),
]

cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
"ld -r -b binary -o $TARGET $SOURCE")
cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
"ld -r -b binary -o $TARGET $SOURCE")
inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
"ld -r -b binary -o $TARGET $SOURCE")
for name, branch in installers:
d = {'BRANCH': f"'\"{branch}\"'"}
if "internal" in name:
d['INTERNAL'] = "1"

obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
# keep installers small
assert f[0].get_size() < 370*1e3
assert f[0].get_size() < 1300*1e3, f[0].get_size()

# build watch3
if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
Expand Down
184 changes: 78 additions & 106 deletions selfdrive/ui/installer/installer.cc
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Original file line number Diff line number Diff line change
@@ -1,19 +1,15 @@
#include <unistd.h>

#include <cstdlib>
#include <array>
#include <cassert>
#include <fstream>
#include <map>
#include <string>

#include <QDebug>
#include <QDir>
#include <QTimer>
#include <QVBoxLayout>

#include "common/swaglog.h"
#include "common/util.h"
#include "selfdrive/ui/installer/installer.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/qt_window.h"
#include "third_party/raylib/include/raylib.h"

int freshClone();
int cachedFetch(const std::string &cache);
int executeGitCommand(const std::string &cmd);

std::string get_str(std::string const s) {
std::string::size_type pos = s.find('?');
Expand All @@ -28,136 +24,108 @@ const std::string BRANCH_STR = get_str(BRANCH "?
#define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
#define CONTINUE_PATH "/data/continue.sh"

const QString CACHE_PATH = "/data/openpilot.cache";
const std::string CACHE_PATH = "/data/openpilot.cache";

#define INSTALL_PATH "/data/openpilot"
#define TMP_INSTALL_PATH "/data/tmppilot"

extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
extern const uint8_t inter_ttf_end[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_end");

Font font;

void run(const char* cmd) {
int err = std::system(cmd);
assert(err == 0);
}

Installer::Installer(QWidget *parent) : QWidget(parent) {
QVBoxLayout *layout = new QVBoxLayout(this);
layout->setContentsMargins(150, 290, 150, 150);
layout->setSpacing(0);

QLabel *title = new QLabel(tr("Installing..."));
title->setStyleSheet("font-size: 90px; font-weight: 600;");
layout->addWidget(title, 0, Qt::AlignTop);

layout->addSpacing(170);

bar = new QProgressBar();
bar->setRange(0, 100);
bar->setTextVisible(false);
bar->setFixedHeight(72);
layout->addWidget(bar, 0, Qt::AlignTop);

layout->addSpacing(30);

val = new QLabel("0%");
val->setStyleSheet("font-size: 70px; font-weight: 300;");
layout->addWidget(val, 0, Qt::AlignTop);

layout->addStretch();

QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Installer::cloneFinished);
QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress);

QTimer::singleShot(100, this, &Installer::doInstall);

setStyleSheet(R"(
* {
font-family: Inter;
color: white;
background-color: black;
}
QProgressBar {
border: none;
background-color: #292929;
}
QProgressBar::chunk {
background-color: #364DEF;
}
)");
void renderProgress(int progress) {
BeginDrawing();
ClearBackground(BLACK);
DrawTextEx(font, "Installing...", (Vector2){150, 290}, 110, 0, WHITE);
Rectangle bar = {150, 570, (float)GetScreenWidth() - 300, 72};
DrawRectangleRec(bar, (Color){41, 41, 41, 255});
progress = std::clamp(progress, 0, 100);
bar.width *= progress / 100.0f;
DrawRectangleRec(bar, (Color){70, 91, 234, 255});
DrawTextEx(font, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE);
EndDrawing();
}

void Installer::updateProgress(int percent) {
bar->setValue(percent);
val->setText(QString("%1%").arg(percent));
update();
}

void Installer::doInstall() {
int doInstall() {
// wait for valid time
while (!util::system_time_valid()) {
usleep(500 * 1000);
qDebug() << "Waiting for valid time";
util::sleep_for(500);
LOGD("Waiting for valid time");
}

// cleanup previous install attempts
run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);

// do the install
if (QDir(CACHE_PATH).exists()) {
cachedFetch(CACHE_PATH);
if (util::file_exists(CACHE_PATH)) {
return cachedFetch(CACHE_PATH);
} else {
freshClone();
return freshClone();
}
}

void Installer::freshClone() {
qDebug() << "Doing fresh clone";
proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(),
"--depth=1", "--recurse-submodules", TMP_INSTALL_PATH});
int freshClone() {
LOGD("Doing fresh clone");
std::string cmd = util::string_format("git clone --progress %s -b %s --depth=1 --recurse-submodules %s 2>&1",
GIT_URL.c_str(), BRANCH_STR.c_str(), TMP_INSTALL_PATH);
return executeGitCommand(cmd);
}

void Installer::cachedFetch(const QString &cache) {
qDebug() << "Fetching with cache: " << cache;
int cachedFetch(const std::string &cache) {
8000 LOGD("Fetching with cache: %s", cache.c_str());

run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str());
int err = chdir(TMP_INSTALL_PATH);
assert(err == 0);
run(("git remote set-branches --add origin " + BRANCH_STR).c_str());
run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, BRANCH_STR.c_str()).c_str());

updateProgress(10);
renderProgress(10);

proc.setWorkingDirectory(TMP_INSTALL_PATH);
proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()});
return executeGitCommand(util::string_format("cd %s && git fetch --progress origin %s 2>&1", TMP_INSTALL_PATH, BRANCH_STR.c_str()));
}

void Installer::readProgress() {
const QVector<QPair<QString, int>> stages = {
int executeGitCommand(const std::string &cmd) {
static const std::array stages = {
// prefix, weight in percentage
{"Receiving objects: ", 91},
{"Resolving deltas: ", 2},
{"Updating files: ", 7},
std::pair{"Receiving objects: ", 91},
std::pair{"Resolving deltas: ", 2},
std::pair{"Updating files: ", 7},
};

auto line = QString(proc.readAllStandardError());

int base = 0;
for (const QPair kv : stages) {
if (line.startsWith(kv.first)) {
auto perc = line.split(kv.first)[1].split("%")[0];
int p = base + int(perc.toFloat() / 100. * kv.second);
updateProgress(p);
break;
FILE *pipe = popen(cmd.c_str(), "r");
if (!pipe) return -1;

char buffer[512];
while (fgets(buffer, sizeof(buffer), pipe) != nullptr) {
std::string line(buffer);
int base = 0;
for (const auto &[text, weight] : stages) {
if (line.find(text) != std::string::npos) {
size_t percentPos = line.find("%");
if (percentPos != std::string::npos && percentPos >= 3) {
int percent = std::stoi(line.substr(percentPos - 3, 3));
int progress = base + int(percent / 100. * weight);
renderProgress(progress);
}
break;
}
base += weight;
}
base += kv.second;
}
return pclose(pipe);
}

void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
qDebug() << "git finished with " << exitCode;
void cloneFinished(int exitCode) {
LOGD("git finished with %d", exitCode);
assert(exitCode == 0);

updateProgress(100);
renderProgress(100);

// ensure correct branch is checked out
int err = chdir(TMP_INSTALL_PATH);
Expand Down Expand Up @@ -203,13 +171,17 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
run("mv /data/continue.sh.new " CONTINUE_PATH);

// wait for the installed software's UI to take over
QTimer::singleShot(60 * 1000, &QCoreApplication::quit);
util::sleep_for(60 * 1000);
}

int main(int argc, char *argv[]) {
initApp(argc, argv);
QApplication a(argc, argv);
Installer installer;
setMainWindow(&installer);
return a.exec();
InitWindow(2160, 1080, "Installer");
font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
renderProgress(0);
int result = doInstall();
cloneFinished(result);
CloseWindow();
UnloadFont(font);
return 0;
}
28 changes: 0 additions & 28 deletions selfdrive/ui/installer/installer.h
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3 changes: 3 additions & 0 deletions selfdrive/ui/installer/inter-ascii.ttf
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