Remove Qt + weston #502

andiradulescu · 2025-10-22T21:53:40Z

Redo of #489 adding:

new agnos-display_0.0.2.deb with only removing weston files & libeglSubDriverWayland.so.patched - sources: Remove weston andiradulescu/agnos-display#1
kept libs32 and added libffi6 to libs
various small things

Problems:

raylib still wants libffi6
EGL Wayland driver needs to be kept in agnos-display
qmake is missing (can't build qt ui) - probably needs an openpilot branch without qt ui

Wi-fi works fine. Will put this ready for review if I manage to solve the problems above.

$ journalctl -u magic
Jul 11 18:53:03 comma systemd[1]: Starting magic.service - Magic...
Jul 11 18:53:03 comma-9539449f systemd[1]: Started magic.service - Magic.
Jul 11 18:53:04 comma-9539449f bash[3421]: RAYLIB STATIC 5.5.0.2 LOADED
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO: Initializing raylib 5.6-dev
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO: Platform backend: COMMA
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO: Supported raylib modules:
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > rcore:..... loaded (mandatory)
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > rlgl:...... loaded (mandatory)
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > rshapes:... loaded (optional)
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > rtextures:. loaded (optional)
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > rtext:..... loaded (optional)
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > rmodels:... loaded (optional)
Jul 11 18:53:04 comma-9539449f bash[3421]: INFO:     > raudio:.... loaded (optional)
Jul 11 18:53:04 comma-9539449f bash[3421]: gbm_create_device(156): Info: backend name is: msm_drm
Jul 11 18:53:04 comma-9539449f bash[3421]: WARNING: COMMA: Failed to get an EGL display
Jul 11 18:53:04 comma-9539449f bash[3421]: FATAL: COMMA: Failed to initialize EGL
Jul 11 18:53:04 comma-9539449f systemd[1]: magic.service: Main process exited, code=exited, status=1/FAILURE
Jul 11 18:53:04 comma-9539449f systemd[1]: magic.service: Failed with result 'exit-code'.

scons: Reading SConscript files ...
FileNotFoundError: [Errno 2] No such file or directory: 'qmake':
  File "/data/openpilot/SConstruct", line 183:
    qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
  File "/usr/lib/python3.12/subprocess.py", line 466:
    return run(*popenargs, stdout=PIPE, timeout=timeout, check=True,
  File "/usr/lib/python3.12/subprocess.py", line 548:
    with Popen(*popenargs, **kwargs) as process:
  File "/usr/lib/python3.12/subprocess.py", line 1026:
    self._execute_child(args, executable, preexec_fn, close_fds,
  File "/usr/lib/python3.12/subprocess.py", line 1955:
    raise child_exception_type(errno_num, err_msg, err_filename)

adeebshihadeh · 2025-10-22T22:22:45Z

Nice! FYI, we'll probably wait to merge this until after 0.10.1 is out to mitigate any extra risk.

adeebshihadeh · 2025-10-23T18:01:00Z

Qt has been deleted from openpilot!

adeebshihadeh · 2025-10-23T18:08:55Z

EGL Wayland driver needs to be kept in agnos-display

Why?

andiradulescu · 2025-10-23T18:59:38Z

EGL Wayland driver needs to be kept in agnos-display

Why?

Otherwise magic fails with:

Jul 11 18:53:04 comma-9539449f bash[3421]: WARNING: COMMA: Failed to get an EGL display
Jul 11 18:53:04 comma-9539449f bash[3421]: FATAL: COMMA: Failed to initialize EGL

I assume this happens because magic uses the weston/wayland socket that EGL Wayland driver opens. It's just an assumption.

I installed agnos-display_0.0.1.deb and magic works fine, doesn't throw that error anymore.

That was the only change needed to display the comma background. FYI, I have a custom bootloader splash, so I notice if it shows or not.

I will check what .so file(s) are needed for magic to work and only keep that/those. I assume it's libwayland-egl.so.

andiradulescu · 2025-10-23T19:22:31Z

$ ps aux | grep -E '4454|magic'
  ⎿ comma       4454  0.2  1.0 276300 37780 ?        Ssl  19:03   0:01 /usr/local/venv/bin/python -u /usr/comma/magic.py
     comma      53998  0.0  0.0   7044  1672 ?        Ss   19:13   0:00 bash -c ps aux | grep -E '4454|magic'
     comma      54000  0.0  0.0   6136   852 ?        S    19:13   0:00 grep -E 4454|magic

$ lsof -p 4454 | grep '\\.so'
  ⎿ python  4454 comma  mem       REG                8,7    10048 93704 /usr/lib/aarch64-linux-gnu/libwayland-egl.so.1
     python  4454 comma  mem       REG                8,7   197632 93696 /usr/lib/aarch64-linux-gnu/libeglSubDriverWayland.so
     python  4454 comma  mem       REG                8,7   452624 38040 /usr/local/venv/lib/python3.12/site-packages/_cffi_backend.cpython-312-aarch64-linux-gnu.so
     python  4454 comma  mem       REG                8,7    67512 16089 /usr/lib/aarch64-linux-gnu/libgthread-2.0.so.0.8000.0
     python  4454 comma  mem       REG                8,7   592328 16440 /usr/lib/aarch64-linux-gnu/libpcre2-8.so.0.11.2
     python  4454 comma  mem       REG                8,7    67944 15951 /usr/lib/aarch64-linux-gnu/libffi.so.8.1.4
     python  4454 comma  mem       REG                8,7     9976 16637 /usr/lib/aarch64-linux-gnu/libsync.so.0
     python  4454 comma  mem       REG                8,7   247648 93701 /usr/lib/aarch64-linux-gnu/libpcre.so.1.2.6
     python  4454 comma  mem       REG                8,7  1445440 16033 /usr/lib/aarch64-linux-gnu/libglib-2.0.so.0.8000.0
     python  4454 comma  mem       REG                8,7    67512 16559 /usr/lib/aarch64-linux-gnu/librt.so.1
     python  4454 comma  mem       REG                8,7    30920 93669 /usr/lib/aarch64-linux-gnu/libffi.so.6.0.4
     python  4454 comma  mem       REG                8,7    68632 16787 /usr/lib/aarch64-linux-gnu/libwayland-client.so.0.22.0
     python  4454 comma  mem       REG                8,7   134376 16796 /usr/lib/aarch64-linux-gnu/libwayland-server.so.0.22.0
     python  4454 comma  mem       REG                8,7   133696 16000 /usr/lib/aarch64-linux-gnu/libgcc_s.so.1
     python  4454 comma  mem       REG                8,7  2633224 16634 /usr/lib/aarch64-linux-gnu/libstdc++.so.6.0.33
     python  4454 comma  mem       REG                8,7    38888 16244 /usr/lib/aarch64-linux-gnu/liblog.so.0
     python  4454 comma  mem       REG                8,7    67440 15873 /usr/lib/aarch64-linux-gnu/libdl.so.2
     python  4454 comma  mem       REG                8,7  1125816 93698 /usr/lib/aarch64-linux-gnu/libgsl.so
     python  4454 comma  mem       REG                8,7    59320 15834 /usr/lib/aarch64-linux-gnu/libcutils.so.0
     python  4454 comma  mem       REG                8,7    67440 16505 /usr/lib/aarch64-linux-gnu/libpthread.so.0
     python  4454 comma  mem       REG                8,7    59128 93693 /usr/lib/aarch64-linux-gnu/libadreno_utils.so
     python  4454 comma  mem       REG                8,7   133616 15878 /usr/lib/aarch64-linux-gnu/libdrm.so.2.4.0
     python  4454 comma  mem       REG                8,7   108536 93697 /usr/lib/aarch64-linux-gnu/libgbm.so
     python  4454 comma  mem       REG                8,7   119624 93688 /usr/lib/aarch64-linux-gnu/libEGL_adreno.so
     python  4454 comma  mem       REG                8,7 20152176 93690 /usr/lib/aarch64-linux-gnu/libGLESv2_adreno.so
     python  4454 comma  mem       REG                8,7  4837496 67870 /usr/local/venv/lib/python3.12/site-packages/raylib/_raylib_cffi.cpython-312-aarch64-linux-gnu.so
     python  4454 comma  mem       REG                8,7  1722920 15773 /usr/lib/aarch64-linux-gnu/libc.so.6
     python  4454 comma  mem       REG                8,7   198712 15933 /usr/lib/aarch64-linux-gnu/libexpat.so.1.9.1
     python  4454 comma  mem       REG                8,7   133272 16890 /usr/lib/aarch64-linux-gnu/libz.so.1.3
     python  4454 comma  mem       REG                8,7   591800 16264 /usr/lib/aarch64-linux-gnu/libm.so.6

So libwayland-egl.so.1, libeglSubDriverWayland.so are needed by magic.py. Those were removed in agnos-display 0.0.2 - will put them back.

maxime-desroches · 2025-10-23T19:41:29Z

We need libgbm which needs libwayland-server and libwayland-client. Haven't looked into removing that dependency yet

andiradulescu · 2025-10-23T20:04:50Z

We need libgbm which needs libwayland-server and libwayland-client. Haven't looked into removing that dependency yet

Yes, it can be seen in my previous comment. This PR removes old libwayland-* 1.9.0 libraries, but it's working since it's using libwayland from 24.04 and libgbm.

I'm running latest openpilot on this branch as I write this comment.

…agnos-display 0.0.2

andiradulescu · 2025-10-25T13:24:55Z

Branch drives fine! 🚀also displays openpilot raylib UI fine while driving, with no crashes or obvious issues.

Tested it today with openpilot remove qt commit.

Will continue to update openpilot master/nightly while keeping this custom AGNOS built from this branch.

Will tackle the removal of armhf dependencies in another branch, but after this gets merged.

Dockerfile.agnos

maxime-desroches · 2025-10-29T03:44:31Z

Sadly we will have to revert this for now, at least for a couple releases untill we decide to break backward compatibility between AGNOS versions.

The updater from previous releases is dependent on Qt and needs to be runable on newer AGNOS versions. Removing Qt prevents that.

adeebshihadeh · 2025-10-29T03:46:09Z

@maxime-desroches let's make a cleanup branch in the meantime that we can continue this in? I'm sure @andiradulescu is as excited as we are for these nice cleanups :)

This reverts commit 3762ea1.

andiradulescu requested a review from maxime-desroches October 22, 2025 21:54

bye bye

034aa1d

andiradulescu force-pushed the rmqtweston branch from 2692095 to 9427727 Compare October 23, 2025 20:04

add libwayland-egl.so.1, libeglSubDriverWayland.so(.patched) back to …

0352ea6

…agnos-display 0.0.2

andiradulescu force-pushed the rmqtweston branch from 9427727 to 0352ea6 Compare October 23, 2025 20:55

andiradulescu marked this pull request as ready for review October 23, 2025 21:46

adeebshihadeh reviewed Oct 25, 2025

View reviewed changes

Dockerfile.agnos Outdated Show resolved Hide resolved

adeebshihadeh reviewed Oct 25, 2025

View reviewed changes

Dockerfile.agnos Outdated Show resolved Hide resolved

moved libffi6 to libs/

e6494e3

andiradulescu force-pushed the rmqtweston branch from 73e04d0 to e6494e3 Compare October 25, 2025 19:06

andiradulescu requested review from adeebshihadeh and removed request for maxime-desroches October 25, 2025 19:46

revert deb for now, too hard to review

8cb6b0c

adeebshihadeh merged commit 3762ea1 into commaai:master Oct 25, 2025
2 checks passed

maxime-desroches added a commit that referenced this pull request Oct 29, 2025

Revert "Remove Qt + weston (#502)"

9d57291

This reverts commit 3762ea1.

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Remove Qt + weston #502

Remove Qt + weston #502

Uh oh!

andiradulescu commented Oct 22, 2025 •

edited

Loading

Uh oh!

adeebshihadeh commented Oct 22, 2025

Uh oh!

adeebshihadeh commented Oct 23, 2025

Uh oh!

adeebshihadeh commented Oct 23, 2025

Uh oh!

andiradulescu commented Oct 23, 2025 •

edited

Loading

Uh oh!

andiradulescu commented Oct 23, 2025

Uh oh!

maxime-desroches commented Oct 23, 2025

Uh oh!

andiradulescu commented Oct 23, 2025

Uh oh!

andiradulescu commented Oct 25, 2025 •

edited

Loading

Uh oh!

Uh oh!

Uh oh!

Uh oh!

maxime-desroches commented Oct 29, 2025

Uh oh!

adeebshihadeh commented Oct 29, 2025

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

Remove Qt + weston #502

Remove Qt + weston #502

Uh oh!

Conversation

andiradulescu commented Oct 22, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

adeebshihadeh commented Oct 22, 2025

Uh oh!

adeebshihadeh commented Oct 23, 2025

Uh oh!

adeebshihadeh commented Oct 23, 2025

Uh oh!

andiradulescu commented Oct 23, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

andiradulescu commented Oct 23, 2025

Uh oh!

maxime-desroches commented Oct 23, 2025

Uh oh!

andiradulescu commented Oct 23, 2025

Uh oh!

andiradulescu commented Oct 25, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Uh oh!

Uh oh!

Uh oh!

maxime-desroches commented Oct 29, 2025

Uh oh!

adeebshihadeh commented Oct 29, 2025

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

andiradulescu commented Oct 22, 2025 •

edited

Loading

andiradulescu commented Oct 23, 2025 •

edited

Loading

andiradulescu commented Oct 25, 2025 •

edited

Loading