Spinner: wait for UI to start (#20279)

* Impose a max rate for updating spinner progress

* fix import

* Show spinner until offroad is started

* no need for time

* Fix ROOT_DIR

* Fix fb include

* fix relative path

* don't touch these files

* Close spinner after all procs have started

* don't touch file

* Move up

* Revert changes to spinner, and only sleep on final progress update

* add this back

* revert time

* test sending 100

* test sending 100

* revert makefile changes

* rm 2nd 100% update

* pass spinner to thread function

* pass ignore list

* Default to None

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: a3556410de

common/spinner.py

@@ -25,7 +25,7 @@ class Spinner():
         pass
 
   def update_progress(self, cur: int, total: int):
-    self.update(str(int(100 * cur / total)))
+    self.update(str(round(100 * cur / total)))
 
   def close(self):
     if self.spinner_proc is not None:

selfdrive/manager/manager.py

@@ -99,13 +99,11 @@ def manager_prepare(spinner=None):
   os.chdir(os.path.dirname(os.path.abspath(__file__)))
 
   total = 100.0 - (0 if PREBUILT else MAX_BUILD_PROGRESS)
-
   for i, p in enumerate(managed_processes.values()):
-    perc = (100.0 - total) + total * (i + 1) / len(managed_processes)
-
-    if spinner:
-      spinner.update_progress(perc, 100.)
     p.prepare()
+    if spinner:
+      perc = (100.0 - total) + total * (i + 1) / len(managed_processes)
+      spinner.update_progress(perc, 100.)
 
 
 def manager_cleanup():
@@ -118,7 +116,7 @@ def manager_cleanup():
   cloudlog.info("everything is dead")
 
 
-def manager_thread():
+def manager_thread(spinner=None):
   cloudlog.info("manager start")
   cloudlog.info({"environ": os.environ})
 
@@ -136,6 +134,10 @@ def manager_thread():
     pm_apply_packages('enable')
     start_offroad()
 
+  ensure_running(managed_processes.values(), started=False, not_run=ignore)
+  if spinner:  # close spinner when ui has started
+    spinner.close()
+
   started_prev = False
   params = Params()
   sm = messaging.SubMaster(['deviceState'])
@@ -177,9 +179,6 @@ def main(spinner=None):
   manager_init(spinner)
   manager_prepare(spinner)
 
-  if spinner:
-    spinner.close()
-
   if os.getenv("PREPAREONLY") is not None:
     return
 
@@ -187,7 +186,7 @@ def main(spinner=None):
   signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(1))
 
   try:
-    manager_thread()
+    manager_thread(spinner)
   except Exception:
     traceback.print_exc()
     crash.capture_exception()