From 2d8030de0b5171fa5827a33be5a3033eb55e5d04 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 9 Aug 2025 15:00:36 -0700
Subject: [PATCH] ui: move watch3 to raylib (#35967)

* move to py

* cleaner

* clean that up
---
 selfdrive/ui/SConscript           |  4 ----
 selfdrive/ui/onroad/cameraview.py | 20 +++++++------------
 selfdrive/ui/watch3.cc            | 33 -------------------------------
 selfdrive/ui/watch3.py            | 17 ++++++++++++++++
 4 files changed, 24 insertions(+), 50 deletions(-)
 delete mode 100644 selfdrive/ui/watch3.cc
 create mode 100755 selfdrive/ui/watch3.py

diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 9d59e2bd48..f1ef0402c5 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -102,7 +102,3 @@ if GetOption('extras'):
       f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
       assert f[0].get_size() < 1900*1e3, f[0].get_size()
-
-# build watch3
-if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
-  qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'msgq', 'visionipc'])
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index cc2c6b4fe7..ca031e2f17 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -141,6 +141,9 @@ class CameraView(Widget):
 
     self.client = None
 
+  def __del__(self):
+    self.close()
+
   def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
     if not self.frame:
       return np.eye(3)
@@ -337,16 +340,7 @@ class CameraView(Widget):
 
 
 if __name__ == "__main__":
-  gui_app.init_window("watch3")
-  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
-  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
-  try:
-    for _ in gui_app.render():
-      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
-      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
-  finally:
-    road_camera_view.close()
-    driver_camera_view.close()
-    wide_road_camera_view.close()
+  gui_app.init_window("camera view")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
deleted file mode 100644
index 258e2a7bd6..0000000000
--- a/selfdrive/ui/watch3.cc
+++ /dev/null
@@ -1,33 +0,0 @@
-#include <QApplication>
-#include <QtWidgets>
-
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-
-  QApplication a(argc, argv);
-  QWidget w;
-  setMainWindow(&w);
-
-  QVBoxLayout *layout = new QVBoxLayout(&w);
-  layout->setMargin(0);
-  layout->setSpacing(0);
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD));
-  }
-
-  {
-    QHBoxLayout *hlayout = new QHBoxLayout();
-    layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER));
-    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD));
-  }
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/watch3.py b/selfdrive/ui/watch3.py
new file mode 100755
index 0000000000..bb64cdc4d5
--- /dev/null
+++ b/selfdrive/ui/watch3.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import pyray as rl
+
+from msgq.visionipc import VisionStreamType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  for _ in gui_app.render():
+    road.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+    driver.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+    wide.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))