ui: replace qt spinner with raylib (#35059)

* use raylib spinner

* remove qt spinner

* use wrapper, render spinner in thread

* english

* fix?

* match Qt font size more closely

system/athena/registration.py

@@ -7,10 +7,10 @@ from pathlib import Path
 from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.spinner import Spinner
 from openpilot.common.swaglog import cloudlog
 
 

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.spinner import Spinner
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, AGNOS
 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.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
@@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
 
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  with Spinner() as spinner:
+    spinner.update_progress(0, 100)
+    build_metadata = get_build_metadata()
+    build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)

system/ui/spinner.py

@@ -2,6 +2,7 @@
 import pyray as rl
 import os
 import threading
+import time
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
@@ -13,8 +14,8 @@ PROGRESS_BAR_HEIGHT = 20
 DEGREES_PER_SECOND = 360.0  # one full rotation per second
 MARGIN_H = 100
 TEXTURE_SIZE = 360
-FONT_SIZE = 88
-LINE_HEIGHT = 96
+FONT_SIZE = 96
+LINE_HEIGHT = 104
 DARKGRAY = (55, 55, 55, 255)
 
 
@@ -22,7 +23,7 @@ def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)
 
 
-class Spinner:
+class SpinnerRenderer:
   def __init__(self):
     self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
     self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE,
@@ -70,7 +71,7 @@ class Spinner:
                         spinner_origin, self._rotation, rl.WHITE)
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
-    # Display progress bar or text based on user input
+    # Display the progress bar or text based on user input
     if progress is not None:
       bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
       rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
@@ -84,9 +85,55 @@ class Spinner:
                         FONT_SIZE, 0.0, rl.WHITE)
 
 
+class Spinner:
+  def __init__(self):
+    self._renderer: SpinnerRenderer | 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 update(self, spinner_text: str):
+    if self._renderer is not None:
+      self._renderer.set_text(spinner_text)
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def _run(self):
+    if os.getenv("CI") is not None:
+      return
+    gui_app.init_window("Spinner")
+    self._renderer = renderer = SpinnerRenderer()
+    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 spinner thread")
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    self.close()
+
+
 if __name__ == "__main__":
-  gui_app.init_window("Spinner")
-  spinner = Spinner()
-  spinner.set_text("Spinner text")
-  for _ in gui_app.render():
-    spinner.render()
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5)