rm qrcode (#38575)

openpilot/common/qrcode.py

@@ -0,0 +1,218 @@
+"""Small QR encoder for the UI's byte-mode, error-correction-level-L codes."""
+
+import numpy as np
+import pyray as rl
+
+
+# Indexes are QR versions. These are the only two Reed-Solomon parameters needed
+# for error-correction level L.
+_ECC_LEN = (0, 7, 10, 15, 20, 26, 18, 20, 24, 30, 18, 20, 24, 26, 30, 22, 24, 28, 30, 28, 28)
+_NUM_BLOCKS = (0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 4, 4, 4, 4, 4, 6, 6, 6, 6, 7, 8)
+
+# 15 format-info bits for level L (01) with mask 0: ((0x08 << 10) | bch_remainder) ^ 0x5412
+_FORMAT_BITS = 0b111011111000100
+
+
+def _raw_modules(version: int) -> int:
+  result = (16 * version + 128) * version + 64
+  if version >= 2:
+    align = version // 7 + 2
+    result -= (25 * align - 10) * align - 55
+  return result - (36 if version >= 7 else 0)
+
+
+def _capacity(version: int) -> int:
+  return _raw_modules(version) // 8 - _ECC_LEN[version] * _NUM_BLOCKS[version]
+
+
+def _append_bits(bits: list[int], value: int, length: int) -> None:
+  bits.extend((value >> i) & 1 for i in range(length - 1, -1, -1))
+
+
+def _data_codewords(data: bytes, version: int) -> bytes:
+  """Byte-mode-encode the payload, terminated and padded to the version's capacity."""
+  capacity = _capacity(version)
+  bits: list[int] = []
+  _append_bits(bits, 4, 4)  # byte mode
+  _append_bits(bits, len(data), 8 if version <= 9 else 16)
+  for value in data:
+    _append_bits(bits, value, 8)
+  bits.extend([0] * min(4, capacity * 8 - len(bits)))  # terminator
+  bits.extend([0] * (-len(bits) % 8))  # byte alignment
+  result = bytearray(sum(bits[i + j] << (7 - j) for j in range(8)) for i in range(0, len(bits), 8))
+  pad = (0xEC, 0x11)
+  while len(result) < capacity:
+    result.append(pad[(len(result) - (len(bits) // 8)) & 1])
+  return bytes(result)
+
+
+def _codewords(data: bytes, version: int) -> bytes:
+  """Split data codewords into Reed-Solomon blocks and interleave data + ECC."""
+  data = _data_codewords(data, version)
+  num_blocks = _NUM_BLOCKS[version]
+  ecc_len = _ECC_LEN[version]
+  raw_codewords = _raw_modules(version) // 8
+  short_len = raw_codewords // num_blocks
+  num_short = num_blocks - raw_codewords % num_blocks
+  divisor = _divisor(ecc_len)
+  blocks: list[tuple[bytes, bytes]] = []
+  offset = 0
+  for i in range(num_blocks):
+    length = short_len - ecc_len + (0 if i < num_short else 1)
+    block = data[offset:offset + length]
+    blocks.append((block, _remainder(block, divisor)))
+    offset += length
+  result = bytearray()
+  for i in range(short_len - ecc_len + 1):
+    for block, _ in blocks:
+      result.extend(block[i:i + 1])
+  for i in range(ecc_len):
+    for _, ecc in blocks:
+      result.append(ecc[i])
+  return bytes(result)
+
+
+def _multiply(x: int, y: int) -> int:
+  result = 0
+  for _ in range(8):
+    result = (result << 1) ^ (0x11D if result & 0x80 else 0)
+    if y & 0x80:
+      result ^= x
+    y <<= 1
+  return result
+
+
+def _divisor(degree: int) -> bytes:
+  result = bytearray([0] * (degree - 1) + [1])
+  root = 1
+  for _ in range(degree):
+    for j in range(degree):
+      result[j] = _multiply(result[j], root)
+      if j + 1 < degree:
+        result[j] ^= result[j + 1]
+    root = _multiply(root, 2)
+  return bytes(result)
+
+
+def _remainder(data: bytes, divisor: bytes) -> bytes:
+  result = bytearray(len(divisor))
+  for value in data:
+    factor = value ^ result.pop(0)
+    result.append(0)
+    for i, coefficient in enumerate(divisor):
+      result[i] ^= _multiply(coefficient, factor)
+  return bytes(result)
+
+
+def _alignment_positions(version: int) -> list[int]:
+  if version == 1:
+    return []
+  count = version // 7 + 2
+  step = ((version * 4 + count * 2 + 1) // (count * 2 - 2)) * 2
+  return [6] + [version * 4 + 10 - step * i for i in range(count - 1)][::-1]
+
+
+class _Qr:
+  def __init__(self, version: int, data: bytes):
+    self.version = version
+    self.size = version * 4 + 17
+    self.modules = [[False] * self.size for _ in range(self.size)]
+    self.function = [[False] * self.size for _ in range(self.size)]
+    self._draw_functions()
+    self._draw_data(_codewords(data, version))
+    for y in range(self.size):
+      for x in range(self.size):
+        if not self.function[y][x]:
+          self.modules[y][x] ^= (x + y) % 2 == 0
+    self._format()
+
+  def _set_function(self, x: int, y: int, dark: bool) -> None:
+    if 0 <= x < self.size and 0 <= y < self.size:
+      self.modules[y][x] = dark
+      self.function[y][x] = True
+
+  def _finder(self, x: int, y: int) -> None:
+    for dy in range(-4, 5):
+      for dx in range(-4, 5):
+        distance = max(abs(dx), abs(dy))
+        self._set_function(x + dx, y + dy, distance != 2 and distance != 4)
+
+  def _alignment(self, x: int, y: int) -> None:
+    for dy in range(-2, 3):
+      for dx in range(-2, 3):
+        self._set_function(x + dx, y + dy, max(abs(dx), abs(dy)) != 1)
+
+  def _draw_functions(self) -> None:
+    for i in range(self.size):
+      self._set_function(6, i, i % 2 == 0)
+      self._set_function(i, 6, i % 2 == 0)
+    self._finder(3, 3)
+    self._finder(self.size - 4, 3)
+    self._finder(3, self.size - 4)
+    positions = _alignment_positions(self.version)
+    for y in positions:
+      for x in positions:
+        if not ((x == 6 and y in (6, self.size - 7)) or (x == self.size - 7 and y == 6)):
+          self._alignment(x, y)
+    # reserve the format-info modules before the data is placed; the real
+    # values are written by the second _format call after masking
+    self._format()
+    if self.version >= 7:
+      value = self.version
+      for _ in range(12):
+        value = (value << 1) ^ ((value >> 11) * 0x1F25)
+      value = self.version << 12 | value
+      for i in range(18):
+        bit = ((value >> i) & 1) != 0
+        a = self.size - 11 + i % 3
+        b = i // 3
+        self._set_function(a, b, bit)
+        self._set_function(b, a, bit)
+
+  def _format(self) -> None:
+    for i in range(15):
+      bit = ((_FORMAT_BITS >> i) & 1) != 0
+      y_pos = i if i < 6 else i + 1 if i < 8 else self.size - 15 + i
+      self._set_function(8, y_pos, bit)
+      x_pos = self.size - 1 - i if i < 8 else 15 - i if i < 9 else 14 - i
+      self._set_function(x_pos, 8, bit)
+    self._set_function(8, self.size - 8, True)
+
+  def _draw_data(self, data: bytes) -> None:
+    bits = ((byte >> s) & 1 for byte in data for s in reversed(range(8)))
+    upward = True
+    right = self.size - 1
+    while right >= 1:
+      if right == 6:  # skip the vertical timing column
+        right = 5
+      for vert in range(self.size):
+        y = self.size - 1 - vert if upward else vert
+        for x in (right, right - 1):
+          if not self.function[y][x]:
+            self.modules[y][x] = bool(next(bits, 0))
+      upward = not upward
+      right -= 2
+
+
+def make_texture(data: str, inverted: bool = False) -> rl.Texture:
+  """Render a URL as the RGBA QR texture used by the UI. The texture upload
+  copies the pixels, so the intermediate image/array don't need to outlive it."""
+  raw = data.encode()
+  for version in range(1, 21):
+    count_bits = 8 if version <= 9 else 16
+    if 4 + count_bits + len(raw) * 8 <= _capacity(version) * 8:
+      break
+  else:
+    raise ValueError("QR URL is too long")
+  modules = np.pad(_Qr(version, raw).modules, 0 if inverted else 4)
+  modules = np.repeat(np.repeat(modules, 10, axis=0), 10, axis=1)
+  gray = ((modules == inverted) * 255).astype(np.uint8)
+  img_array = np.dstack((gray, gray, gray, np.full_like(gray, 255)))
+
+  rl_image = rl.Image()
+  rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+  rl_image.width = img_array.shape[1]
+  rl_image.height = img_array.shape[0]
+  rl_image.mipmaps = 1
+  rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+  return rl.load_texture_from_image(rl_image)

openpilot/selfdrive/ui/mici/layouts/onboarding.py

@@ -1,9 +1,9 @@
 import math
 import numpy as np
-import qrcode
 import pyray as rl
 from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.qrcode import make_texture
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.button import SmallCircleIconButton
@@ -284,21 +284,7 @@ class QRCodeWidget(Widget):
     self._generate_qr(url)
 
   def _generate_qr(self, url: str):
-    qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
-    qr.add_data(url)
-    qr.make(fit=True)
-
-    pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
-    img_array = np.array(pil_img, dtype=np.uint8)
-
-    rl_image = rl.Image()
-    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-    rl_image.width = pil_img.width
-    rl_image.height = pil_img.height
-    rl_image.mipmaps = 1
-    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-    self._qr_texture = rl.load_texture_from_image(rl_image)
+    self._qr_texture = make_texture(url, inverted=True)
 
   def _render(self, _):
     if self._qr_texture:

openpilot/selfdrive/ui/mici/widgets/pairing_dialog.py

@@ -1,9 +1,8 @@
 import pyray as rl
-import qrcode
-import numpy as np
 import time
 
 from openpilot.common.api import Api
+from openpilot.common.qrcode import make_texture
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.selfdrive.ui.ui_state import ui_state
@@ -37,24 +36,9 @@ class PairingDialog(NavWidget):
 
   def _generate_qr_code(self) -> None:
     try:
-      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
-      qr.add_data(self._get_pairing_url())
-      qr.make(fit=True)
-
-      pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
-      img_array = np.array(pil_img, dtype=np.uint8)
-
       if self._qr_texture and self._qr_texture.id != 0:
         rl.unload_texture(self._qr_texture)
-
-      rl_image = rl.Image()
-      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-      rl_image.width = pil_img.width
-      rl_image.height = pil_img.height
-      rl_image.mipmaps = 1
-      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-      self._qr_texture = rl.load_texture_from_image(rl_image)
+      self._qr_texture = make_texture(self._get_pairing_url(), inverted=True)
     except Exception as e:
       cloudlog.warning(f"QR code generation failed: {e}")
       self._qr_texture = None

openpilot/selfdrive/ui/widgets/pairing_dialog.py

@@ -1,9 +1,8 @@
 import pyray as rl
-import qrcode
-import numpy as np
 import time
 
 from openpilot.common.api import Api
+from openpilot.common.qrcode import make_texture
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.system.ui.widgets import Widget
@@ -39,24 +38,9 @@ class PairingDialog(Widget):
 
   def _generate_qr_code(self) -> None:
     try:
-      qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=4)
-      qr.add_data(self._get_pairing_url())
-      qr.make(fit=True)
-
-      pil_img = qr.make_image(fill_color="black", back_color="white").convert('RGBA')
-      img_array = np.array(pil_img, dtype=np.uint8)
-
       if self.qr_texture and self.qr_texture.id != 0:
         rl.unload_texture(self.qr_texture)
-
-      rl_image = rl.Image()
-      rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
-      rl_image.width = pil_img.width
-      rl_image.height = pil_img.height
-      rl_image.mipmaps = 1
-      rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
-
-      self.qr_texture = rl.load_texture_from_image(rl_image)
+      self.qr_texture = make_texture(self._get_pairing_url())
     except Exception:
       cloudlog.exception("QR code generation failed")
       self.qr_texture = None

pyproject.toml

@@ -51,7 +51,6 @@ dependencies = [
 
   # ui
   "comma-deps-raylib",
-  "qrcode",
 ]
 
 [project.optional-dependencies]

uv.lock

@@ -588,7 +588,6 @@ dependencies = [
     { name = "pycapnp" },
     { name = "pyjwt", extra = ["crypto"] },
     { name = "pyzmq" },
-    { name = "qrcode" },
     { name = "requests" },
     { name = "scons" },
     { name = "sentry-sdk" },
@@ -654,7 +653,6 @@ requires-dist = [
     { name = "pycapnp", specifier = "==2.1.0" },
     { name = "pyjwt", extras = ["crypto"] },
     { name = "pyzmq" },
-    { name = "qrcode" },
     { name = "rednose", marker = "extra == 'submodules'", editable = "rednose_repo" },
     { name = "requests" },
     { name = "ruff", marker = "extra == 'testing'" },
@@ -835,18 +833,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/78/c2/c012beae5f76b72f007a9e91ee9401cb88c51d0f83c6257a03e785c81cc2/pyzmq-27.1.0-cp312-abi3-win_arm64.whl", hash = "sha256:75a2f36223f0d535a0c919e23615fc85a1e23b71f40c7eb43d7b1dedb4d8f15f", size = 552993, upload-time = "2025-09-08T23:08:18.926Z" },
 ]
 
-[[package]]
-name = "qrcode"
-version = "8.2"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "colorama", marker = "sys_platform == 'win32'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/8f/b2/7fc2931bfae0af02d5f53b174e9cf701adbb35f39d69c2af63d4a39f81a9/qrcode-8.2.tar.gz", hash = "sha256:35c3f2a4172b33136ab9f6b3ef1c00260dd2f66f858f24d88418a015f446506c", size = 43317, upload-time = "2025-05-01T15:44:24.726Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/dd/b8/d2d6d731733f51684bbf76bf34dab3b70a9148e8f2cef2bb544fccec681a/qrcode-8.2-py3-none-any.whl", hash = "sha256:16e64e0716c14960108e85d853062c9e8bba5ca8252c0b4d0231b9df4060ff4f", size = 45986, upload-time = "2025-05-01T15:44:22.781Z" },
-]
-
 [[package]]
 name = "rednose"
 version = "0.0.1"