Add libusb package (#56)

Qt 5.15.18-lts-lgpl (QtBase + QtCharts) built from source as shared
libraries. Provides headers, shared libs, and tools (moc, rcc, uic)
for building cabana in openpilot without system Qt5 packages.

Co-authored-by: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

imgui/build.sh

@@ -5,6 +5,7 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
 cd "$DIR"
 
 INSTALL_DIR="$DIR/imgui/install"
+NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
 
 # Dear ImGui (docking branch, version 1.92.7)
 IMGUI_COMMIT="934c6a5f5ef2355d6df25395d555cb71f790c4e9"
@@ -12,6 +13,8 @@ IMGUI_COMMIT="934c6a5f5ef2355d6df25395d555cb71f790c4e9"
 IMPLOT_COMMIT="93c801b4bb801c5c11031d880b6af1d1f70bd79d"
 # rlImGui
 RLIMGUI_COMMIT="286e11acd6c785004c9550c7ed3762add2ae3d47"
+# GLFW 3.4
+GLFW_COMMIT="7b6aead9fb88b3623e3b3725ebb42670cbe4c579"
 
 # Clone/update imgui
 if [ ! -d "imgui-src/.git" ]; then
@@ -37,9 +40,42 @@ fi
 git -C rlimgui-src fetch --depth 1 origin "$RLIMGUI_COMMIT"
 git -C rlimgui-src checkout --force "$RLIMGUI_COMMIT"
 
+# Clone/update GLFW
+if [ ! -d "glfw-src/.git" ]; then
+  rm -rf glfw-src
+  git clone --depth 1 https://github.com/glfw/glfw.git glfw-src
+fi
+git -C glfw-src fetch --depth 1 origin "$GLFW_COMMIT"
+git -C glfw-src checkout --force "$GLFW_COMMIT"
+
+# Install GLFW build dependencies
+if [[ "$(uname)" == "Linux" ]]; then
+  if command -v dnf &>/dev/null; then
+    dnf install -y libX11-devel libXcursor-devel libXrandr-devel libXinerama-devel libXi-devel mesa-libGL-devel \
+                   wayland-devel wayland-protocols-devel libxkbcommon-devel
+  elif command -v apt-get &>/dev/null; then
+    if [ "$(id -u)" -eq 0 ]; then
+      apt-get update && apt-get install -y libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev libgl-dev \
+                                           libwayland-dev wayland-protocols libxkbcommon-dev
+    else
+      sudo apt-get update && sudo apt-get install -y libxcursor-dev libxi-dev libxinerama-dev libxrandr-dev libgl-dev \
+                                                     libwayland-dev wayland-protocols libxkbcommon-dev
+    fi
+  fi
+fi
+
+# Build GLFW static library
+cmake -B glfw-src/build -S glfw-src \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DBUILD_SHARED_LIBS=OFF \
+  -DGLFW_BUILD_EXAMPLES=OFF \
+  -DGLFW_BUILD_TESTS=OFF \
+  -DGLFW_BUILD_DOCS=OFF
+cmake --build glfw-src/build --parallel "$NJOBS"
+
 # Install
 rm -rf "$INSTALL_DIR"
-mkdir -p "$INSTALL_DIR/include/extras" "$INSTALL_DIR/src"
+mkdir -p "$INSTALL_DIR/include/extras" "$INSTALL_DIR/src" "$INSTALL_DIR/lib"
 
 # imgui
 cp imgui-src/imgui.h imgui-src/imgui_internal.h imgui-src/imconfig.h \
@@ -49,8 +85,10 @@ cp imgui-src/imgui.cpp imgui-src/imgui_draw.cpp imgui-src/imgui_tables.cpp \
    imgui-src/imgui_widgets.cpp imgui-src/imgui_demo.cpp \
    "$INSTALL_DIR/src/"
 cp imgui-src/backends/imgui_impl_opengl3.h imgui-src/backends/imgui_impl_opengl3_loader.h \
+   imgui-src/backends/imgui_impl_glfw.h \
    "$INSTALL_DIR/include/"
-cp imgui-src/backends/imgui_impl_opengl3.cpp "$INSTALL_DIR/src/"
+cp imgui-src/backends/imgui_impl_opengl3.cpp imgui-src/backends/imgui_impl_glfw.cpp \
+   "$INSTALL_DIR/src/"
 
 # implot
 cp implot-src/implot.h implot-src/implot_internal.h "$INSTALL_DIR/include/"
@@ -63,5 +101,9 @@ cp rlimgui-src/extras/FA6FreeSolidFontData.h rlimgui-src/extras/IconsFontAwesome
    "$INSTALL_DIR/include/extras/"
 cp rlimgui-src/rlImGui.cpp "$INSTALL_DIR/src/"
 
+# glfw
+cp glfw-src/build/src/libglfw3.a "$INSTALL_DIR/lib/"
+cp -r glfw-src/include/GLFW "$INSTALL_DIR/include/"
+
 echo "Installed imgui to $INSTALL_DIR"
 du -sh "$INSTALL_DIR"

imgui/imgui/__init__.py

@@ -3,8 +3,11 @@ import os
 DIR = os.path.join(os.path.dirname(__file__), "install")
 INCLUDE_DIR = os.path.join(DIR, "include")
 SRC_DIR = os.path.join(DIR, "src")
+LIB_DIR = os.path.join(DIR, "lib")
 
 
 def smoketest():
   assert os.path.isfile(os.path.join(INCLUDE_DIR, "imgui.h")), "imgui.h not found"
   assert os.path.isfile(os.path.join(SRC_DIR, "imgui.cpp")), "imgui.cpp not found"
+  assert os.path.isfile(os.path.join(LIB_DIR, "libglfw3.a")), "libglfw3.a not found"
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "GLFW", "glfw3.h")), "GLFW/glfw3.h not found"

imgui/pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "setuptools.build_meta"
 [project]
 name = "imgui"
 version = "1.92.7"
-description = "Dear ImGui + ImPlot + rlImGui (source distribution)"
+description = "Dear ImGui + ImPlot + rlImGui + GLFW 3.4 (static)"
 requires-python = ">=3.8"
 
 [tool.setuptools.packages.find]

libusb/build.sh

@@ -0,0 +1,52 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR"
+
+VERSION="1.0.29"
+ARCHIVE="libusb-${VERSION}.tar.bz2"
+URL="https://github.com/libusb/libusb/releases/download/v${VERSION}/${ARCHIVE}"
+INSTALL_DIR="$DIR/libusb/install"
+SRC_DIR="$DIR/libusb-src"
+VERSION_FILE="$SRC_DIR/.version"
+
+NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
+export CC="ccache ${CC:-cc}"
+
+if [ ! -f "$VERSION_FILE" ] || [ "$(cat "$VERSION_FILE")" != "$VERSION" ]; then
+  rm -rf "$SRC_DIR"
+  mkdir -p "$SRC_DIR"
+  curl -fSL "$URL" | tar xj --strip-components=1 -C "$SRC_DIR"
+  echo "$VERSION" > "$VERSION_FILE"
+fi
+
+PREFIX="$DIR/build/prefix"
+rm -rf "$DIR/build"
+mkdir -p "$DIR/build"
+
+CONFIGURE_ARGS=(
+  --prefix="$PREFIX"
+  --disable-shared
+  --enable-static
+)
+
+if [ "$(uname)" = "Linux" ]; then
+  CONFIGURE_ARGS+=(--disable-udev)
+fi
+
+cd "$SRC_DIR"
+CFLAGS="-O2 -fPIC" ./configure "${CONFIGURE_ARGS[@]}"
+make -j"$NJOBS"
+make install
+cd "$DIR"
+
+rm -rf "$INSTALL_DIR"
+mkdir -p "$INSTALL_DIR/lib/pkgconfig" "$INSTALL_DIR/include/libusb-1.0"
+
+cp "$PREFIX/lib/libusb-1.0.a" "$INSTALL_DIR/lib/"
+cp "$PREFIX/lib/pkgconfig/libusb-1.0.pc" "$INSTALL_DIR/lib/pkgconfig/"
+cp "$PREFIX/include/libusb-1.0/libusb.h" "$INSTALL_DIR/include/libusb-1.0/"
+
+echo "Installed libusb to $INSTALL_DIR"
+du -sh "$INSTALL_DIR"

libusb/libusb/__init__.py

@@ -0,0 +1,12 @@
+import os
+
+DIR = os.path.join(os.path.dirname(__file__), "install")
+LIB_DIR = os.path.join(DIR, "lib")
+INCLUDE_DIR = os.path.join(DIR, "include")
+PKGCONFIG_DIR = os.path.join(LIB_DIR, "pkgconfig")
+
+
+def smoketest():
+  assert os.path.isfile(os.path.join(LIB_DIR, "libusb-1.0.a")), "libusb-1.0.a not found"
+  assert os.path.isfile(os.path.join(INCLUDE_DIR, "libusb-1.0", "libusb.h")), "libusb.h not found"
+  assert os.path.isfile(os.path.join(PKGCONFIG_DIR, "libusb-1.0.pc")), "libusb-1.0.pc not found"

libusb/pyproject.toml

@@ -0,0 +1,15 @@
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "libusb"
+version = "1.0.29"
+description = "libusb USB device access library (static build)"
+requires-python = ">=3.8"
+
+[tool.setuptools.packages.find]
+include = ["libusb*"]
+
+[tool.setuptools.package-data]
+libusb = ["install/**/*"]

libusb/setup.py

@@ -0,0 +1,58 @@
+import os
+import platform
+import subprocess
+
+from setuptools.command.build_py import build_py
+
+try:
+  from wheel.bdist_wheel import bdist_wheel
+except ImportError:
+  bdist_wheel = None
+
+
+class BuildLibusb(build_py):
+  """Run build.sh to compile libusb before collecting package data."""
+
+  def run(self):
+    pkg_dir = os.path.dirname(os.path.abspath(__file__))
+    build_script = os.path.join(pkg_dir, "build.sh")
+    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+
+    super().run()
+
+
+cmdclass = {"build_py": BuildLibusb}
+
+if bdist_wheel is not None:
+
+  class PlatformWheel(bdist_wheel):
+    """Produce a platform-specific, Python-version-agnostic wheel."""
+
+    def finalize_options(self):
+      super().finalize_options()
+      self.root_is_pure = False
+
+    def get_tag(self):
+      system = platform.system()
+      machine = platform.machine()
+
+      if system == "Linux":
+        plat = f"linux_{machine}"
+      elif system == "Darwin":
+        plat = "macosx_11_0_arm64"
+      else:
+        plat = f"{system.lower()}_{machine}"
+
+      return "py3", "none", plat
+
+  cmdclass["bdist_wheel"] = PlatformWheel
+
+
+def setup():
+  from setuptools import setup as _setup
+
+  _setup(cmdclass=cmdclass)
+
+
+if __name__ == "__main__":
+  setup()

pyproject.toml

@@ -9,10 +9,12 @@ members = [
   "git-lfs",
   "imgui",
   "json11",
+  "libusb",
   "libjpeg",
   "libyuv",
   "nanosvg",
   "ncurses",
+  "qt5",
   "raylib",
   "zeromq",
   "zstd",

qt5/build.sh

@@ -0,0 +1,159 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd "$DIR"
+
+QT_VERSION="5.15.18"
+QT_TAG="v${QT_VERSION}-lts-lgpl"
+INSTALL_DIR="$DIR/qt5/install"
+NJOBS="$(nproc 2>/dev/null || sysctl -n hw.ncpu 2>/dev/null || echo 2)"
+
+# Install build dependencies
+if [[ "$(uname)" == "Linux" ]]; then
+  if command -v dnf &>/dev/null; then
+    dnf install -y \
+      mesa-libGL-devel \
+      fontconfig-devel \
+      freetype-devel \
+      libxcb-devel \
+      xcb-util-devel \
+      xcb-util-image-devel \
+      xcb-util-keysyms-devel \
+      xcb-util-renderutil-devel \
+      xcb-util-wm-devel \
+      libxkbcommon-devel \
+      libxkbcommon-x11-devel \
+      libX11-devel \
+      perl-IPC-Cmd
+  elif command -v apt-get &>/dev/null; then
+    if [ "$(id -u)" -eq 0 ]; then
+      apt-get update && apt-get install -y \
+        libgl-dev \
+        libfontconfig1-dev libfreetype-dev \
+        libxcb1-dev libxcb-glx0-dev libxcb-keysyms1-dev \
+        libxcb-image0-dev libxcb-shm0-dev libxcb-icccm4-dev \
+        libxcb-sync-dev libxcb-xfixes0-dev libxcb-shape0-dev \
+        libxcb-randr0-dev libxcb-render-util0-dev \
+        libxcb-xinerama0-dev libxcb-xkb-dev \
+        libxkbcommon-dev libxkbcommon-x11-dev \
+        libx11-xcb-dev
+    else
+      sudo apt-get update && sudo apt-get install -y \
+        libgl-dev \
+        libfontconfig1-dev libfreetype-dev \
+        libxcb1-dev libxcb-glx0-dev libxcb-keysyms1-dev \
+        libxcb-image0-dev libxcb-shm0-dev libxcb-icccm4-dev \
+        libxcb-sync-dev libxcb-xfixes0-dev libxcb-shape0-dev \
+        libxcb-randr0-dev libxcb-render-util0-dev \
+        libxcb-xinerama0-dev libxcb-xkb-dev \
+        libxkbcommon-dev libxkbcommon-x11-dev \
+        libx11-xcb-dev
+    fi
+  fi
+fi
+
+# Clone/update qtbase
+if [ ! -d "qtbase-src/.git" ]; then
+  rm -rf qtbase-src
+  git clone --depth 1 https://code.qt.io/qt/qtbase.git qtbase-src
+fi
+git -C qtbase-src fetch --depth 1 origin "$QT_TAG"
+git -C qtbase-src checkout --force FETCH_HEAD
+
+# Clean install dir and build artifacts to avoid stale cache issues
+rm -rf "$INSTALL_DIR"
+
+# Build qtbase (disable modules cabana doesn't need)
+cd qtbase-src
+make distclean 2>/dev/null || true
+./configure \
+  -release \
+  -prefix "$INSTALL_DIR" \
+  -opensource -confirm-license \
+  -nomake examples \
+  -nomake tests \
+  -no-dbus \
+  -no-icu \
+  -opengl desktop
+make -j"$NJOBS"
+make install
+cd "$DIR"
+
+# Clone/update qtcharts
+if [ ! -d "qtcharts-src/.git" ]; then
+  rm -rf qtcharts-src
+  git clone --depth 1 https://code.qt.io/qt/qtcharts.git qtcharts-src
+fi
+git -C qtcharts-src fetch --depth 1 origin "$QT_TAG"
+git -C qtcharts-src checkout --force FETCH_HEAD
+
+# Build qtcharts
+cd qtcharts-src
+make distclean 2>/dev/null || true
+"$INSTALL_DIR/bin/qmake"
+make -j"$NJOBS"
+make install
+cd "$DIR"
+
+# Cleanup (don't let individual failures kill the build)
+set +e
+rm -rf "$INSTALL_DIR/doc" "$INSTALL_DIR/mkspecs" "$INSTALL_DIR/lib/cmake" "$INSTALL_DIR/lib/pkgconfig"
+find "$INSTALL_DIR/lib" -name '*.prl' -delete 2>/dev/null || true
+find "$INSTALL_DIR/lib" -name '*.la' -delete 2>/dev/null || true
+
+# Remove unnecessary binaries (qmake alone is 28MB, only needed for qtcharts build above)
+find "$INSTALL_DIR/bin" -not -name moc -not -name rcc -not -name uic -not -type d -delete 2>/dev/null || true
+
+if [[ "$(uname)" == "Linux" ]]; then
+  # Remove unnecessary shared libs (keep only what cabana links)
+  KEEP_LIBS="Qt5Core Qt5Gui Qt5Widgets Qt5Charts Qt5OpenGL Qt5XcbQpa Qt5EglFSDeviceIntegration Qt5EglFsKmsSupport"
+  for f in "$INSTALL_DIR/lib/"lib*.so; do
+    name="${f##*/lib}"; name="${name%.so}"
+    echo "$KEEP_LIBS" | grep -qw "$name" || rm -f "$INSTALL_DIR/lib/lib${name}".so*
+  done
+
+  # Remove unnecessary include dirs
+  KEEP_INCLUDES="QtCore QtGui QtWidgets QtCharts QtOpenGL"
+  for d in "$INSTALL_DIR/include/"*/; do
+    name="$(basename "$d")"
+    echo "$KEEP_INCLUDES" | grep -qw "$name" || rm -rf "$d"
+  done
+
+  # Remove static libs
+  find "$INSTALL_DIR/lib" -maxdepth 1 -name '*.a' -delete
+
+  # Replace symlinks with copies (wheels can't store symlinks)
+  find "$INSTALL_DIR" -type l | while read -r link; do
+    target="$(readlink -f "$link")"
+    if [ -f "$target" ]; then
+      rm "$link"; cp "$target" "$link"
+    elif [ -d "$target" ]; then
+      rm "$link"; cp -r "$target" "$link"
+    fi
+  done
+
+  # Deduplicate versioned .so: keep only .so and .so.5 (SONAME)
+  find "$INSTALL_DIR/lib" -maxdepth 1 -name 'lib*.so.5.15.18' -delete
+  find "$INSTALL_DIR/lib" -maxdepth 1 -name 'lib*.so.5.15' -delete
+
+  # Strip
+  find "$INSTALL_DIR" -type f \( -name '*.so*' -o -path '*/bin/*' \) -exec strip --strip-unneeded {} + 2>/dev/null || true
+else
+  # macOS: replace symlinks, strip frameworks
+  find "$INSTALL_DIR" -type l | while read -r link; do
+    target="$(readlink -f "$link")"
+    if [ -f "$target" ]; then
+      rm "$link"; cp "$target" "$link"
+    elif [ -d "$target" ]; then
+      rm "$link"; cp -r "$target" "$link"
+    fi
+  done
+  find "$INSTALL_DIR" -type f -name '*.dylib' -exec strip -x {} + 2>/dev/null || true
+  find "$INSTALL_DIR/bin" -type f -exec strip -x {} + 2>/dev/null || true
+  find "$INSTALL_DIR/lib" -maxdepth 1 -name '*.a' -delete 2>/dev/null || true
+fi
+
+set -e
+echo "Installed Qt5 to $INSTALL_DIR"
+du -sh "$INSTALL_DIR"

qt5/pyproject.toml

@@ -0,0 +1,15 @@
+[build-system]
+requires = ["setuptools>=64", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "qt5"
+version = "5.15.18"
+description = "Qt 5.15 (QtBase + QtCharts)"
+requires-python = ">=3.8"
+
+[tool.setuptools.packages.find]
+include = ["qt5*"]
+
+[tool.setuptools.package-data]
+qt5 = ["install/**/*"]

qt5/qt5/__init__.py

@@ -0,0 +1,19 @@
+import os
+
+DIR = os.path.join(os.path.dirname(__file__), "install")
+BIN_DIR = os.path.join(DIR, "bin")
+LIB_DIR = os.path.join(DIR, "lib")
+INCLUDE_DIR = os.path.join(DIR, "include")
+
+
+def smoketest():
+  assert os.path.isfile(os.path.join(BIN_DIR, "moc")), "moc not found"
+  assert os.path.isfile(os.path.join(BIN_DIR, "rcc")), "rcc not found"
+  import glob
+  import platform
+  if platform.system() == "Darwin":
+    assert os.path.isdir(os.path.join(LIB_DIR, "QtCore.framework")), "QtCore.framework not found"
+    assert os.path.isdir(os.path.join(LIB_DIR, "QtCharts.framework")), "QtCharts.framework not found"
+  else:
+    assert glob.glob(os.path.join(LIB_DIR, "libQt5Core.so*")), "libQt5Core.so not found"
+    assert glob.glob(os.path.join(LIB_DIR, "libQt5Charts.so*")), "libQt5Charts.so not found"

qt5/setup.py

@@ -0,0 +1,58 @@
+import os
+import platform
+import subprocess
+
+from setuptools.command.build_py import build_py
+
+try:
+  from wheel.bdist_wheel import bdist_wheel
+except ImportError:
+  bdist_wheel = None
+
+
+class BuildQt5(build_py):
+  """Run build.sh to compile Qt5 before collecting package data."""
+
+  def run(self):
+    pkg_dir = os.path.dirname(os.path.abspath(__file__))
+    build_script = os.path.join(pkg_dir, "build.sh")
+    subprocess.check_call(["bash", build_script], cwd=pkg_dir)
+
+    super().run()
+
+
+cmdclass = {"build_py": BuildQt5}
+
+if bdist_wheel is not None:
+
+  class PlatformWheel(bdist_wheel):
+    """Produce a platform-specific, Python-version-agnostic wheel."""
+
+    def finalize_options(self):
+      super().finalize_options()
+      self.root_is_pure = False
+
+    def get_tag(self):
+      system = platform.system()
+      machine = platform.machine()
+
+      if system == "Linux":
+        plat = f"linux_{machine}"
+      elif system == "Darwin":
+        plat = "macosx_11_0_arm64"
+      else:
+        plat = f"{system.lower()}_{machine}"
+
+      return "py3", "none", plat
+
+  cmdclass["bdist_wheel"] = PlatformWheel
+
+
+def setup():
+  from setuptools import setup as _setup
+
+  _setup(cmdclass=cmdclass)
+
+
+if __name__ == "__main__":
+  setup()