Qt on NEOS (#20153)

* qt on neos

* cleanup

* check arch

* fix pc

* fix mac

* base libs

Co-authored-by: Comma Device <device@comma.ai>

SConstruct

@@ -264,10 +264,12 @@ Export('envCython')
 
 # Qt build environment
 qt_env = None
-if arch in ["x86_64", "Darwin", "larch64"]:
+if arch in ["x86_64", "Darwin", "larch64", "aarch64"]:
   qt_env = env.Clone()
 
-  qt_modules = ["Widgets", "Gui", "Core", "DBus", "Multimedia", "Network", "Concurrent", "WebEngine", "WebEngineWidgets"]
+  qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia"]
+  if arch != "aarch64":
+    qt_modules += ["DBus", "WebEngine", "WebEngineWidgets"]
 
   qt_libs = []
   if arch == "Darwin":
@@ -279,6 +281,15 @@ if arch in ["x86_64", "Darwin", "larch64"]:
     qt_dirs += [f"{QT_BASE}include/Qt{m}" for m in qt_modules]
     qt_env["LINKFLAGS"] += ["-F" + QT_BASE + "lib"]
     qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
+  elif arch == "aarch64":
+    qt_env['QTDIR'] = "/system/comma/usr"
+    qt_dirs = [
+      f"/system/comma/usr/include/qt",
+    ]
+    qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
+
+    qt_libs = [f"Qt5{m}" for m in qt_modules]
+    qt_libs += ['EGL', 'GLESv3', 'c++_shared']
   else:
     qt_env['QTDIR'] = "/usr"
     qt_dirs = [

selfdrive/manager.py

@@ -445,7 +445,7 @@ def manager_thread():
     start_managed_process(p)
 
   # start offroad
-  if EON:
+  if EON and "QT" not in os.environ:
     pm_apply_packages('enable')
     start_offroad()
 

selfdrive/ui/SConscript

@@ -2,13 +2,16 @@ import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'gpucommon', 'visionipc',
        'cereal', 'transformations')
 
-
 src = ['ui.cc', 'paint.cc', 'sidebar.cc', '#phonelibs/nanovg/nanovg.c']
-libs = [gpucommon, common, 'zmq', 'capnp', 'kj', 'm', 'OpenCL', cereal, messaging, visionipc, transformations]
+libs = [gpucommon, common, 'zmq', 'capnp', 'kj', 'm', 'OpenCL', cereal,
+        messaging, visionipc, transformations]
 
-if qt_env is None:
-  libs += ['EGL', 'GLESv3', 'gnustl_shared', 'log', 'utils', 'gui', 'hardware',
-           'ui', 'CB', 'gsl', 'adreno_utils', 'OpenSLES', 'cutils', 'uuid', 'OpenCL']
+if arch == 'aarch64':
+  libs += ['log', 'utils', 'gui', 'ui', 'CB', 'gsl', 'adreno_utils',
+           'cutils', 'uuid']
+
+if arch == 'aarch64' and "QT" not in os.environ:
+  libs += ['EGL', 'GLESv3', 'gnustl_shared', 'hardware', 'OpenSLES', 'cutils', 'uuid', 'ssl', 'crypto']
   linkflags = ['-Wl,-rpath=/system/lib64,-rpath=/system/comma/usr/lib']
 
   src += ["android/ui.cc", "android/sl_sound.cc"]
@@ -16,26 +19,27 @@ if qt_env is None:
     LINKFLAGS=linkflags,
     LIBS=libs)
 else:
-  qt_libs = qt_env["LIBS"] + libs + ["pthread", "ssl", "crypto"]
-
-  widgets = qt_env.Library("qt_widgets",
-                 ["qt/qt_sound.cc", "qt/widgets/keyboard.cc", "qt/widgets/input_field.cc", "qt/widgets/drive_stats.cc", "qt/widgets/ssh_keys.cc",
-                  "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc", "qt/widgets/toggle.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/setup.cc"],
-                 LIBS=qt_libs)
-  qt_libs.append(widgets)
-
-
+  qt_base_libs = qt_env["LIBS"] + libs + ["pthread", "ssl", "crypto"]
   if arch == "Darwin":
-    # fix OpenCL
-    del qt_libs[qt_libs.index('OpenCL')]
+    del qt_base_libs[qt_base_libs.index('OpenCL')]
     qt_env['FRAMEWORKS'] += ['OpenCL']
 
+  widgets_src = ["qt/widgets/input_field.cc", "qt/widgets/drive_stats.cc",
+                 "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/qt_sound.cc",
+                 "qt/widgets/offroad_alerts.cc", "qt/widgets/setup.cc", "qt/widgets/keyboard.cc"]
+
+  if arch != 'aarch64':
+    widgets_src += ["qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
+
+  widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=qt_base_libs)
+  qt_libs = qt_base_libs + [widgets]
+
   qt_src = ["qt/ui.cc", "qt/window.cc", "qt/home.cc", "qt/api.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc", "#phonelibs/qrcode/QrCode.cc"] + src
   qt_env.Program("_ui", qt_src, LIBS=qt_libs)
 
   # spinner and text window
-  qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
-  qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
+  qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_base_libs)
+  qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_base_libs)
 
   # build setup, factory resetter, and installer
   if "BUILD_SETUP" in os.environ:

selfdrive/ui/qt/offroad/onboarding.cc

@@ -4,8 +4,6 @@
 #include <QGridLayout>
 #include <QVBoxLayout>
 #include <QDesktopWidget>
-#include <QtWebEngine>
-#include <QWebEngineSettings>
 
 #include "common/params.h"
 #include "onboarding.hpp"
@@ -76,12 +74,16 @@ QWidget* OnboardingWindow::terms_screen() {
   QVBoxLayout *main_layout = new QVBoxLayout;
   main_layout->setContentsMargins(40, 0, 40, 0);
 
+#ifndef QCOM
   view = new QWebEngineView(this);
   view->settings()->setAttribute(QWebEngineSettings::ShowScrollBars, false);
   QString html = QString::fromStdString(util::read_file("../assets/offroad/tc.html"));
   view->setHtml(html);
   main_layout->addWidget(view);
 
+  QObject::connect(view->page(), SIGNAL(scrollPositionChanged(QPointF)), this, SLOT(scrollPositionChanged(QPointF)));
+#endif
+
   QHBoxLayout* buttons = new QHBoxLayout;
   buttons->addWidget(new QPushButton("Decline"));
   buttons->addSpacing(50);
@@ -93,8 +95,6 @@ QWidget* OnboardingWindow::terms_screen() {
     updateActiveScreen();
   });
 
-  QObject::connect(view->page(), SIGNAL(scrollPositionChanged(QPointF)), this, SLOT(scrollPositionChanged(QPointF)));
-  
   QWidget* w = layout2Widget(buttons);
   w->setFixedHeight(200);
   main_layout->addWidget(w);
@@ -167,8 +167,10 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
 }
 
 void OnboardingWindow::scrollPositionChanged(QPointF position){
+#ifndef QCOM
   if (position.y() > view->page()->contentsSize().height() - 1000){
     accept_btn->setEnabled(true);
     accept_btn->setText("Accept");
   }
+#endif
 }

selfdrive/ui/qt/offroad/onboarding.hpp

@@ -6,7 +6,12 @@
 #include <QMouseEvent>
 #include <QPointF>
 #include <QPushButton>
+
+#ifndef QCOM
+#include <QtWebEngine>
 #include <QWebEngineView>
+#include <QWebEngineSettings>
+#endif
 
 
 class TrainingGuide : public QFrame {
@@ -21,7 +26,7 @@ protected:
 private:
   int currentIndex = 0;
   QStackedLayout* slayout;
-  //Vector of bounding boxes for the next step. (minx, maxx, miny, maxy)
+  // Vector of bounding boxes for the a given training guide step. (minx, maxx, miny, maxy)
   QVector<QVector<int>> boundingBox {{250, 930, 750, 900}, {280, 1280, 650, 950}, {330, 1130, 590, 900}, {910, 1580, 500, 1000}, {1180, 1300, 630, 720}, {290, 1050, 590, 960}, 
   {1090, 1240, 550, 660}, {1050, 1580, 250, 900}, {320, 1130, 670, 1020}, {1010, 1580, 410, 750}, {1040, 1500, 230, 1030}, {300, 1190, 590, 920}, {1050, 1310, 170, 870}, {950, 1530, 460, 770}, {190, 970, 750, 970}};
 
@@ -40,9 +45,12 @@ private:
   std::string current_training_version;
   QWidget * terms_screen();
   QWidget * training_screen();
-  QWebEngineView* view;
   QPushButton* accept_btn;
 
+#ifndef QCOM
+  QWebEngineView* view;
+#endif
+
 signals:
   void onboardingDone();
 

selfdrive/ui/qt/offroad/settings.cc

@@ -10,7 +10,10 @@
 #include <QLabel>
 #include <QPixmap>
 
+#ifndef QCOM
 #include "networking.hpp"
+#endif
+
 #include "settings.hpp"
 #include "widgets/toggle.hpp"
 #include "widgets/offroad_alerts.hpp"
@@ -224,7 +227,11 @@ QWidget * developer_panel() {
 }
 
 QWidget * network_panel(QWidget * parent) {
+#ifdef QCOM
+  QWidget *w = new QWidget;
+#else
   Networking *w = new Networking(parent);
+#endif
   return w;
 }
 

selfdrive/ui/qt/offroad/settings.hpp

@@ -7,8 +7,6 @@
 #include <QButtonGroup>
 #include <QStackedLayout>
 
-#include "networking.hpp"
-
 // *** settings widgets ***
 
 class ParamsToggle : public QFrame {

selfdrive/ui/qt/qt_window.hpp

@@ -1,7 +1,6 @@
 #include <string>
 
 #include <QWidget>
-#include <QFontDatabase>
 #include <QApplication>
 
 #ifdef QCOM2

selfdrive/ui/sidebar.cc

@@ -7,7 +7,7 @@
 #include "sidebar.hpp"
 
 static void draw_background(UIState *s) {
-#ifdef QCOM
+#ifndef QT_GUI_LIB
   const NVGcolor color = COLOR_BLACK_ALPHA(85);
 #else
   const NVGcolor color = nvgRGBA(0x39, 0x39, 0x39, 0xff);

selfdrive/ui/ui

@@ -1,4 +1,11 @@
 #!/bin/sh
-export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
-exec ./_ui
 
+export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
+
+if [ -f /EON ]; then
+  export QT_QPA_EGLFS_HIDECURSOR=1
+  export QT_QPA_EVDEV_TOUCHSCREEN_PARAMETERS=/dev/input/event1:rotate=270
+  export QT_QPA_FONTDIR=../assets/fonts
+fi
+
+exec ./_ui

selfdrive/ui/ui.hpp

@@ -74,7 +74,7 @@ typedef enum UIStatus {
 } UIStatus;
 
 static std::map<UIStatus, NVGcolor> bg_colors = {
-#ifdef QCOM
+#ifndef QT_GUI_LIB
   {STATUS_OFFROAD, nvgRGBA(0x07, 0x23, 0x39, 0xf1)},
 #else
   {STATUS_OFFROAD, nvgRGBA(0x0, 0x0, 0x0, 0xff)},