ui: replace qt text window with raylib (#35064)

* remove qt text window

* use wrapper, render text window in thread

* add wait_for_exit method

* update imports

.gitattributes

@@ -11,7 +11,6 @@
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text

common/text_window.py

@@ -1,63 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class TextWindow:
-  def __init__(self, text):
-    try:
-      self.text_proc = subprocess.Popen(["./text", text],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
-
-  def get_status(self):
-    if self.text_proc is not None:
-      self.text_proc.poll()
-      return self.text_proc.returncode
-    return None
-
-  def __enter__(self):
-    return self
-
-  def close(self):
-    if self.text_proc is not None:
-      self.text_proc.terminate()
-      self.text_proc = None
-
-  def wait_for_exit(self):
-    if self.text_proc is not None:
-      while True:
-        if self.get_status() == 1:
-          return
-        time.sleep(0.1)
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  text = """Traceback (most recent call last):
-  File "./controlsd.py", line 608, in <module>
-    main()
-  File "./controlsd.py", line 604, in main
-    controlsd_thread(sm, pm, logcan)
-  File "./controlsd.py", line 455, in controlsd_thread
-    1/0
-ZeroDivisionError: division by zero"""
-  print(text)
-
-  with TextWindow(text) as s:
-    for _ in range(100):
-      if s.get_status() == 1:
-        print("Got exit button")
-        break
-      time.sleep(0.1)
-  print("gone")

selfdrive/ui/.gitignore

@@ -3,8 +3,6 @@ moc_*
 
 translations/main_test_en.*
 
-_text
-
 ui
 mui
 watch3

selfdrive/ui/SConscript

@@ -66,9 +66,6 @@ if GetOption('extras'):
 
   qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
-  # text window
-  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
-
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],

selfdrive/ui/qt/text.cc

@@ -1,64 +0,0 @@
-#include <QApplication>
-#include <QLabel>
-#include <QPushButton>
-#include <QScrollBar>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  QWidget window;
-  setMainWindow(&window);
-
-  QGridLayout *main_layout = new QGridLayout(&window);
-  main_layout->setMargin(50);
-
-  QLabel *label = new QLabel(argv[1]);
-  label->setWordWrap(true);
-  label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  ScrollView *scroll = new ScrollView(label);
-  scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-  main_layout->addWidget(scroll, 0, 0, Qt::AlignTop);
-
-  // Scroll to the bottom
-  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
-    scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
-  });
-
-  QPushButton *btn = new QPushButton();
-#ifdef __aarch64__
-  btn->setText(QObject::tr("Reboot"));
-  QObject::connect(btn, &QPushButton::clicked, [=]() {
-    Hardware::reboot();
-  });
-#else
-  btn->setText(QObject::tr("Exit"));
-  QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
-#endif
-  main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
-
-  window.setStyleSheet(R"(
-    * {
-      outline: none;
-      color: white;
-      background-color: black;
-      font-size: 60px;
-    }
-    QPushButton {
-      padding: 50px;
-      padding-right: 100px;
-      padding-left: 100px;
-      border: 2px solid white;
-      border-radius: 20px;
-      margin-right: 40px;
-    }
-  )");
-
-  return a.exec();
-}

selfdrive/ui/qt/text_larch64

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552
-size 3787480

selfdrive/ui/text

@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _text ]; then
-  cp qt/text_larch64 _text
-fi
-
-exec ./_text "$1"

system/manager/build.py

@@ -5,10 +5,10 @@ from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.text_window import TextWindow
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.hardware import HARDWARE, AGNOS
 from openpilot.system.ui.spinner import Spinner
+from openpilot.system.ui.text import TextWindow
 from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9

system/manager/manager.py

@@ -9,7 +9,6 @@ from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
-from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
@@ -18,6 +17,7 @@ from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_I
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.text import TextWindow
 
 
 def manager_init() -> None:

system/ui/text.py

@@ -1,5 +1,8 @@
 #!/usr/bin/env python3
+import os
 import re
+import threading
+import time
 import pyray as rl
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
@@ -42,7 +45,8 @@ def wrap_text(text, font_size, max_width):
 
   return lines
 
-class TextWindow:
+
+class TextWindowRenderer:
   def __init__(self, text: str):
     self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
     self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
@@ -70,13 +74,53 @@ class TextWindow:
     return ret
 
 
-def show_text_in_window(text: str):
-  gui_app.init_window("Text")
-  text_window = TextWindow(text)
-  for _ in gui_app.render():
-    text_window.render()
-  gui_app.close()
+class TextWindow:
+  def __init__(self, text: str):
+    self._text = text
+
+    self._renderer: TextWindowRenderer | None = None
+    self._stop_event = threading.Event()
+    self._thread = threading.Thread(target=self._run)
+    self._thread.start()
+
+    # wait for the renderer to be initialized
+    while self._renderer is None and self._thread.is_alive():
+      time.sleep(0.01)
+
+  def wait_for_exit(self):
+    while self._thread.is_alive():
+      time.sleep(0.01)
+
+  def _run(self):
+    if os.getenv("CI") is not None:
+      return
+    gui_app.init_window("Text")
+    self._renderer = renderer = TextWindowRenderer(self._text)
+    try:
+      for _ in gui_app.render():
+        if self._stop_event.is_set():
+          break
+        renderer.render()
+    finally:
+      gui_app.close()
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self._thread.is_alive():
+      self._stop_event.set()
+      self._thread.join(timeout=2.0)
+      if self._thread.is_alive():
+        print("WARNING: failed to join text window thread")
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    self.close()
 
 
 if __name__ == "__main__":
-  show_text_in_window(DEMO_TEXT)
+  with TextWindow(DEMO_TEXT):
+    time.sleep(5)