CI fun and games

SConstruct

@@ -116,6 +116,7 @@ else:
       f"#third_party/acados/{arch}/lib",
       f"{brew_prefix}/lib",
       f"{brew_prefix}/opt/[email protected]/lib",
+      f"{brew_prefix}/opt/llvm/lib/c++",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
 

selfdrive/ui/onroad/augmented_road_view.py

@@ -102,10 +102,13 @@ def _render(self, rect):
 
     # Handle click events if no HUD interaction occurred
     if not self._hud_renderer.handle_mouse_event():
-      if self._click_callback and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      if self._click_callback is not None and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
         if rl.check_collision_point_rec(rl.get_mouse_position(), self._content_rect):
           self._click_callback()
 
+  def _handle_mouse_release(self, _):
+    pass
+
   def _draw_border(self, rect: rl.Rectangle):
     border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
     rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color)

system/ui/widgets/__init__.py

@@ -15,12 +15,13 @@ class Widget(abc.ABC):
   def __init__(self):
     self._rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
     self._parent_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
-    self._is_pressed = [False] * MAX_TOUCH_SLOTS
+    self.__is_pressed = [False] * MAX_TOUCH_SLOTS
     # if current mouse/touch down started within the widget's rectangle
-    self._tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
+    self.__tracking_is_pressed = [False] * MAX_TOUCH_SLOTS
     self._enabled: bool | Callable[[], bool] = True
     self._is_visible: bool | Callable[[], bool] = True
     self._touch_valid_callback: Callable[[], bool] | None = None
+    self._click_callback: Callable[[], None] | None = None
     self._multi_touch = False
 
   @property
@@ -40,7 +41,7 @@ def set_parent_rect(self, parent_rect: rl.Rectangle) -> None:
 
   @property
   def is_pressed(self) -> bool:
-    return any(self._is_pressed)
+    return any(self.__is_pressed)
 
   @property
   def enabled(self) -> bool:
@@ -56,6 +57,10 @@ def is_visible(self) -> bool:
   def set_visible(self, visible: bool | Callable[[], bool]) -> None:
     self._is_visible = visible
 
+  def set_click_callback(self, click_callback: Callable[[], None] | None) -> None:
+    """Set a callback to be called when the widget is clicked."""
+    self._click_callback = click_callback
+
   def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
     """Set a callback to determine if the widget can be clicked."""
     self._touch_valid_callback = touch_callback
@@ -91,28 +96,28 @@ def render(self, rect: rl.Rectangle = None) -> bool | int | None:
         # Allows touch to leave the rect and come back in focus if mouse did not release
         if mouse_event.left_pressed and self._touch_valid():
           if rl.check_collision_point_rec(mouse_event.pos, self._rect):
-            self._is_pressed[mouse_event.slot] = True
-            self._tracking_is_pressed[mouse_event.slot] = True
+            self.__is_pressed[mouse_event.slot] = True
+            self.__tracking_is_pressed[mouse_event.slot] = True
 
         # Callback such as scroll panel signifies user is scrolling
         elif not self._touch_valid():
-          self._is_pressed[mouse_event.slot] = False
-          self._tracking_is_pressed[mouse_event.slot] = False
+          self.__is_pressed[mouse_event.slot] = False
+          self.__tracking_is_pressed[mouse_event.slot] = False
 
         elif mouse_event.left_released:
-          if self._is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect):
+          if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._rect):
             self._handle_mouse_release(mouse_event.pos)
-          self._is_pressed[mouse_event.slot] = False
-          self._tracking_is_pressed[mouse_event.slot] = False
+          self.__is_pressed[mouse_event.slot] = False
+          self.__tracking_is_pressed[mouse_event.slot] = False
 
         # Mouse/touch is still within our rect
         elif rl.check_collision_point_rec(mouse_event.pos, self._rect):
-          if self._tracking_is_pressed[mouse_event.slot]:
-            self._is_pressed[mouse_event.slot] = True
+          if self.__tracking_is_pressed[mouse_event.slot]:
+            self.__is_pressed[mouse_event.slot] = True
 
         # Mouse/touch left our rect but may come back into focus later
         elif not rl.check_collision_point_rec(mouse_event.pos, self._rect):
-          self._is_pressed[mouse_event.slot] = False
+          self.__is_pressed[mouse_event.slot] = False
 
     return ret
 
@@ -128,6 +133,8 @@ def _update_layout_rects(self) -> None:
 
   def _handle_mouse_release(self, mouse_pos: MousePos) -> bool:
     """Optionally handle mouse release events."""
+    if self._click_callback:
+      self._click_callback()
     return False
 
   def show_event(self):

system/ui/widgets/button.py

@@ -165,7 +165,7 @@ def gui_button(
 class Button(Widget):
   def __init__(self,
                text: str,
-               click_callback: Callable[[], None] = None,
+               click_callback: Callable[[], None] | None = None,
                font_size: int = DEFAULT_BUTTON_FONT_SIZE,
                font_weight: FontWeight = FontWeight.MEDIUM,
                button_style: ButtonStyle = ButtonStyle.NORMAL,
@@ -190,10 +190,6 @@ def __init__(self,
   def set_text(self, text):
     self._label.set_text(text)
 
-  def _handle_mouse_release(self, mouse_pos: MousePos):
-    if self._click_callback and self.enabled:
-      self._click_callback()
-
   def _update_state(self):
     if self.enabled:
       self._label.set_text_color(BUTTON_TEXT_COLOR[self._button_style])
@@ -215,7 +211,7 @@ class ButtonRadio(Button):
   def __init__(self,
                text: str,
                icon,
-               click_callback: Callable[[], None] = None,
+               click_callback: Callable[[], None] | None = None,
                font_size: int = DEFAULT_BUTTON_FONT_SIZE,
                text_alignment: TextAlignment = TextAlignment.LEFT,
                border_radius: int = 10,
@@ -230,9 +226,8 @@ def __init__(self,
     self.selected = False
 
   def _handle_mouse_release(self, mouse_pos: MousePos):
+    super()._handle_mouse_release(mouse_pos)
     self.selected = not self.selected
-    if self._click_callback:
-      self._click_callback()
 
   def _update_state(self):
     if self.selected:

system/updated/updated.py

@@ -113,6 +113,7 @@ def setup_git_options(cwd: str) -> None:
     ("protocol.version", "2"),
     ("gc.auto", "0"),
     ("gc.autoDetach", "false"),
+    ("remote.origin.fetch", "+refs/heads/*:refs/remotes/origin/*"),
   ]
   for option, value in git_cfg:
     run(["git", "config", option, value], cwd)
@@ -389,6 +390,7 @@ def fetch_update(self) -> None:
     cloudlog.info("git reset in progress")
     cmds = [
       ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"],
+      ["git", "branch", "--set-upstream-to", f"origin/{branch}"],
       ["git", "reset", "--hard"],
       ["git", "clean", "-xdff"],
       ["git", "submodule", "sync"],

system/version.py

@@ -37,9 +37,7 @@ def is_prebuilt(path: str = BASEDIR) -> bool:
 
 @cache
 def is_dirty(cwd: str = BASEDIR) -> bool:
-  origin = get_origin()
-  branch = get_branch()
-  if not origin or not branch:
+  if not get_origin() or not get_short_branch():
     return True
 
   dirty = False
@@ -52,6 +50,9 @@ def is_dirty(cwd: str = BASEDIR) -> bool:
       except subprocess.CalledProcessError:
         pass
 
+      branch = get_branch()
+      if not branch:
+        return True
       dirty = (subprocess.call(["git", "diff-index", "--quiet", branch, "--"], cwd=cwd)) != 0
   except subprocess.CalledProcessError:
     cloudlog.exception("git subprocess failed while checking dirty")

tools/install_ubuntu_dependencies.sh

@@ -20,41 +20,43 @@ fi
 # Install common packages
 function install_ubuntu_common_requirements() {
   $SUDO apt-get update
+
+  # normal stuff, mostly for the bare docker image
   $SUDO apt-get install -y --no-install-recommends \
     ca-certificates \
     clang \
     build-essential \
-    gcc-arm-none-eabi \
-    liblzma-dev \
-    capnproto \
-    libcapnp-dev \
     curl \
+    libssl-dev \
     libcurl4-openssl-dev \
+    locales \
     git \
     git-lfs \
+    xvfb
+
+  # TODO: vendor the rest of these in third_party/
+  $SUDO apt-get install -y --no-install-recommends \
+    gcc-arm-none-eabi \
+    capnproto \
+    libcapnp-dev \
     ffmpeg \
     libavformat-dev \
     libavcodec-dev \
     libavdevice-dev \
     libavutil-dev \
     libavfilter-dev \
-    libbz2-dev \
     libeigen3-dev \
     libffi-dev \
-    libglew-dev \
     libgles2-mesa-dev \
     libglfw3-dev \
     libglib2.0-0 \
     libjpeg-dev \
     libqt5charts5-dev \
     libncurses5-dev \
-    libssl-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
     libzstd-dev \
     libsqlite3-dev \
-    libsystemd-dev \
-    locales \
     opencl-headers \
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
@@ -63,8 +65,7 @@ function install_ubuntu_common_requirements() {
     libqt5svg5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
-    libqt5opengl5-dev \
-    xvfb
+    libqt5opengl5-dev
 }
 
 # Install Ubuntu 24.04 LTS packages
@@ -74,8 +75,6 @@ function install_ubuntu_lts_latest_requirements() {
   $SUDO apt-get install -y --no-install-recommends \
     g++-12 \
     qtbase5-dev \
-    qtchooser \
-    qt5-qmake \
     qtbase5-dev-tools \
     python3-dev \
     python3-venv

tools/mac_setup.sh

@@ -34,13 +34,11 @@ fi
 
 brew bundle --file=- <<-EOS
 brew "git-lfs"
-brew "zlib"
 brew "capnp"
 brew "coreutils"
 brew "eigen"
 brew "ffmpeg"
 brew "glfw"
-brew "libarchive"
 brew "libusb"
 brew "libtool"
 brew "llvm"
@@ -50,7 +48,6 @@ brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
 brew "gcc@13"
-cask "font-noto-color-emoji"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"