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ui: move watch3 to raylib (#35967)

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* move to py

* cleaner

* clean that up
This commit is contained in:
Adeeb Shihadeh
2025-08-09 15:00:36 -07:00
committed by GitHub
parent 72b71d57bc
commit 2d8030de0b
4 changed files with 24 additions and 50 deletions
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4
selfdrive/ui/SConscript
View File

@@ -102,7 +102,3 @@ if GetOption('extras'):
f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
# keep installers small
assert f[0].get_size() < 1900*1e3, f[0].get_size()
# build watch3
if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])

20
selfdrive/ui/onroad/cameraview.py
View File

@@ -141,6 +141,9 @@ class CameraView(Widget):
self.client = None
def __del__(self):
self.close()
def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
if not self.frame:
return np.eye(3)
@@ -337,16 +340,7 @@ class CameraView(Widget):
if __name__ == "__main__":
gui_app.init_window("watch3")
road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
try:
for _ in gui_app.render():
road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
finally:
road_camera_view.close()
driver_camera_view.close()
wide_road_camera_view.close()
gui_app.init_window("camera view")
road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
for _ in gui_app.render():
road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))

33
selfdrive/ui/watch3.cc
View File

@@ -1,33 +0,0 @@
#include <QApplication>
#include <QtWidgets>
#include "selfdrive/ui/qt/qt_window.h"
#include "selfdrive/ui/qt/util.h"
#include "selfdrive/ui/qt/widgets/cameraview.h"
int main(int argc, char *argv[]) {
initApp(argc, argv);
QApplication a(argc, argv);
QWidget w;
setMainWindow(&w);
QVBoxLayout *layout = new QVBoxLayout(&w);
layout->setMargin(0);
layout->setSpacing(0);
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
}
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
}
return a.exec();
}

17
selfdrive/ui/watch3.py Executable file
View File

@@ -0,0 +1,17 @@
#!/usr/bin/env python3
import pyray as rl
from msgq.visionipc import VisionStreamType
from openpilot.system.ui.lib.application import gui_app
from openpilot.selfdrive.ui.onroad.cameraview import CameraView
if __name__ == "__main__":
gui_app.init_window("watch3")
road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
for _ in gui_app.render():
road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))