diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 51907b7a4..3541be92b 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -10,6 +10,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./laika ${OPENPILOT_PATH}/laika diff --git a/common/api/__init__.py b/common/api/__init__.py index c1fa635bd..0eb8aa762 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -2,8 +2,8 @@ import jwt import os import requests from datetime import datetime, timedelta -from common.basedir import PERSIST -from system.version import get_version +from openpilot.common.basedir import PERSIST +from openpilot.system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') diff --git a/common/basedir.py b/common/basedir.py index 371b54d3e..b4486f9f0 100644 --- a/common/basedir.py +++ b/common/basedir.py @@ -1,7 +1,7 @@ import os from pathlib import Path -from system.hardware import PC +from openpilot.system.hardware import PC BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../")) diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py index 33289e4f5..31ad76c5b 100644 --- a/common/kalman/simple_kalman.py +++ b/common/kalman/simple_kalman.py @@ -1,3 +1,3 @@ # pylint: skip-file -from common.kalman.simple_kalman_impl import KF1D as KF1D +from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D assert KF1D diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py index 96b252765..32cc79fc3 100644 --- a/common/kalman/tests/test_simple_kalman.py +++ b/common/kalman/tests/test_simple_kalman.py @@ -3,8 +3,8 @@ import random import timeit import numpy as np -from common.kalman.simple_kalman import KF1D -from common.kalman.simple_kalman_old import KF1D as KF1D_old +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old class TestSimpleKalman(unittest.TestCase): @@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase): setup = """ import numpy as np -from common.kalman.simple_kalman import KF1D -from common.kalman.simple_kalman_old import KF1D as KF1D_old +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old dt = 0.01 x0_0 = 0.0 diff --git a/common/params.py b/common/params.py index b6be424d4..bc1422dd8 100644 --- a/common/params.py +++ b/common/params.py @@ -1,4 +1,5 @@ -from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error +from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \ + put_bool_nonblocking # pylint: disable=no-name-in-module, import-error assert Params assert ParamKeyType assert UnknownKeyName diff --git a/common/realtime.py b/common/realtime.py index dd3a5fdf8..7549a7ef5 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -7,7 +7,7 @@ from typing import Optional, List, Union from setproctitle import getproctitle -from system.hardware import PC +from openpilot.system.hardware import PC # time step for each process diff --git a/common/spinner.py b/common/spinner.py index 34fd720ee..43d4bb2cc 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -1,6 +1,6 @@ import os import subprocess -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR class Spinner(): diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py index d39e66de1..e36df57a3 100644 --- a/common/tests/test_file_helpers.py +++ b/common/tests/test_file_helpers.py @@ -2,8 +2,8 @@ import os import unittest from uuid import uuid4 -from common.file_helpers import atomic_write_on_fs_tmp -from common.file_helpers import atomic_write_in_dir +from openpilot.common.file_helpers import atomic_write_on_fs_tmp +from openpilot.common.file_helpers import atomic_write_in_dir class TestFileHelpers(unittest.TestCase): diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py index 2fb8a1cef..de7bb972e 100644 --- a/common/tests/test_numpy_fast.py +++ b/common/tests/test_numpy_fast.py @@ -1,7 +1,7 @@ import numpy as np import unittest -from common.numpy_fast import interp +from openpilot.common.numpy_fast import interp class InterpTest(unittest.TestCase): diff --git a/common/tests/test_params.py b/common/tests/test_params.py index d432218c8..72fa4e3f7 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -6,7 +6,7 @@ import shutil import uuid import unittest -from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking +from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking class TestParams(unittest.TestCase): def setUp(self): diff --git a/common/text_window.py b/common/text_window.py index bea3a149f..d2762ebf7 100755 --- a/common/text_window.py +++ b/common/text_window.py @@ -2,7 +2,7 @@ import os import time import subprocess -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR class TextWindow: diff --git a/common/transformations/camera.py b/common/transformations/camera.py index eaed0e7af..c643cb570 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -1,6 +1,6 @@ import numpy as np -import common.transformations.orientation as orient +import openpilot.common.transformations.orientation as orient ## -- hardcoded hardware params -- eon_f_focal_length = 910.0 diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py index 46cc0ded0..7e7b56522 100644 --- a/common/transformations/coordinates.py +++ b/common/transformations/coordinates.py @@ -1,8 +1,8 @@ # pylint: skip-file -from common.transformations.orientation import numpy_wrap -from common.transformations.transformations import (ecef2geodetic_single, +from openpilot.common.transformations.orientation import numpy_wrap +from openpilot.common.transformations.transformations import (ecef2geodetic_single, geodetic2ecef_single) -from common.transformations.transformations import LocalCoord as LocalCoord_single +from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single class LocalCoord(LocalCoord_single): diff --git a/common/transformations/model.py b/common/transformations/model.py index 811a17eaf..114f8eae3 100644 --- a/common/transformations/model.py +++ b/common/transformations/model.py @@ -1,6 +1,6 @@ import numpy as np -from common.transformations.camera import (FULL_FRAME_SIZE, +from openpilot.common.transformations.camera import (FULL_FRAME_SIZE, get_view_frame_from_calib_frame) # segnet @@ -61,8 +61,8 @@ medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(b ### This function mimics the update_calibration logic in modeld.cc ### Manually verified to give similar results to xx.uncommon.utils.transform_img def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): - from common.transformations.orientation import rot_from_euler - from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics + from openpilot.common.transformations.orientation import rot_from_euler + from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics if tici and wide_cam: intrinsics = tici_ecam_intrinsics @@ -85,8 +85,8 @@ def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True): ### This is old, just for debugging def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True): - from common.transformations.orientation import rot_from_euler - from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics + from openpilot.common.transformations.orientation import rot_from_euler + from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics def get_view_frame_from_road_frame(roll, pitch, yaw, height): diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py index 134442b62..657a86a57 100644 --- a/common/transformations/orientation.py +++ b/common/transformations/orientation.py @@ -2,7 +2,7 @@ import numpy as np from typing import Callable -from common.transformations.transformations import (ecef_euler_from_ned_single, +from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single, euler2quat_single, euler2rot_single, ned_euler_from_ecef_single, diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index dc70faed0..7ae79403b 100755 --- a/common/transformations/tests/test_coordinates.py +++ b/common/transformations/tests/test_coordinates.py @@ -3,7 +3,7 @@ import numpy as np import unittest -import common.transformations.coordinates as coord +import openpilot.common.transformations.coordinates as coord geodetic_positions = np.array([[37.7610403, -122.4778699, 115], [27.4840915, -68.5867592, 2380], diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py index 50978e1a6..f77827d2f 100755 --- a/common/transformations/tests/test_orientation.py +++ b/common/transformations/tests/test_orientation.py @@ -3,7 +3,7 @@ import numpy as np import unittest -from common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ +from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ rot2quat, quat2rot, \ ned_euler_from_ecef diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx index ce80d90d2..c5cb9e005 100644 --- a/common/transformations/transformations.pyx +++ b/common/transformations/transformations.pyx @@ -1,20 +1,20 @@ # distutils: language = c++ # cython: language_level = 3 -from common.transformations.transformations cimport Matrix3, Vector3, Quaternion -from common.transformations.transformations cimport ECEF, NED, Geodetic - -from common.transformations.transformations cimport euler2quat as euler2quat_c -from common.transformations.transformations cimport quat2euler as quat2euler_c -from common.transformations.transformations cimport quat2rot as quat2rot_c -from common.transformations.transformations cimport rot2quat as rot2quat_c -from common.transformations.transformations cimport euler2rot as euler2rot_c -from common.transformations.transformations cimport rot2euler as rot2euler_c -from common.transformations.transformations cimport rot_matrix as rot_matrix_c -from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c -from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c -from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c -from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c -from common.transformations.transformations cimport LocalCoord_c +from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion +from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic + +from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c +from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c +from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c +from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c +from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c +from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c +from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c +from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c +from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c +from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c +from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c +from openpilot.common.transformations.transformations cimport LocalCoord_c import cython diff --git a/docs/conf.py b/docs/conf.py index beb592449..a4ed00c91 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -17,8 +17,8 @@ import os import sys from os.path import exists -from common.basedir import BASEDIR -from system.version import get_version +from openpilot.common.basedir import BASEDIR +from openpilot.system.version import get_version sys.path.insert(0, os.path.abspath('.')) sys.path.insert(0, os.path.abspath('..')) diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index 63564a6ff..209fba010 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons diff --git a/laika_repo b/laika_repo index ef21c612f..65901a1e6 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit ef21c612f4b0d68c790b4b1a6d637cd5fce7732e +Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253 diff --git a/panda b/panda index aed103d53..57ec466a9 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit aed103d5372d1e5b3fb686d2aa8f111081b37fd0 +Subproject commit 57ec466a91d1e2d51b43d54417091a50f0c9dc78 diff --git a/release/files_common b/release/files_common index 0f43daa4a..023fd9e3a 100644 --- a/release/files_common +++ b/release/files_common @@ -15,6 +15,9 @@ docs/INTEGRATION.md docs/LIMITATIONS.md site_scons/site_tools/cython.py +openpilot/__init__.py +openpilot/** + common/.gitignore common/__init__.py common/conversions.py diff --git a/scripts/count_cars.py b/scripts/count_cars.py index 25bad2c9b..8c0892bb8 100755 --- a/scripts/count_cars.py +++ b/scripts/count_cars.py @@ -2,7 +2,7 @@ from collections import Counter from pprint import pprint -from selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs import get_all_car_info if __name__ == "__main__": cars = get_all_car_info() diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py index 93688504f..367b4108b 100755 --- a/scripts/disable-powersave.py +++ b/scripts/disable-powersave.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from system.hardware import HARDWARE +from openpilot.system.hardware import HARDWARE if __name__ == "__main__": HARDWARE.set_power_save(False) diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py index 43716fbeb..b73d7dfad 100755 --- a/scripts/pyqt_demo.py +++ b/scripts/pyqt_demo.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from PyQt5.QtWidgets import QApplication, QLabel # pylint: disable=no-name-in-module, import-error -from selfdrive.ui.qt.python_helpers import set_main_window +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window if __name__ == "__main__": diff --git a/scripts/waste.py b/scripts/waste.py index e72b36706..0764ff77c 100755 --- a/scripts/waste.py +++ b/scripts/waste.py @@ -3,10 +3,10 @@ import os import time import numpy as np from multiprocessing import Process -from setproctitle import setproctitle # pylint: disable=no-name-in-module +from setproctitle import setproctitle def waste(core): - os.sched_setaffinity(0, [core,]) # pylint: disable=no-member + os.sched_setaffinity(0, [core,]) m1 = np.zeros((200, 200)) + 0.8 m2 = np.zeros((200, 200)) + 1.2 diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index b3a13d227..15088f69b 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -30,17 +30,17 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from common.api import Api -from common.basedir import PERSIST -from common.file_helpers import CallbackReader -from common.params import Params -from common.realtime import set_core_affinity -from system.hardware import HARDWARE, PC, AGNOS -from system.loggerd.config import ROOT -from system.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.statsd import STATS_DIR -from system.swaglog import SWAGLOG_DIR, cloudlog -from system.version import get_commit, get_origin, get_short_branch, get_version +from openpilot.common.api import Api +from openpilot.common.basedir import PERSIST +from openpilot.common.file_helpers import CallbackReader +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware import HARDWARE, PC, AGNOS +from openpilot.system.loggerd.config import ROOT +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.selfdrive.statsd import STATS_DIR +from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog +from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version # TODO: use socket constant when mypy recognizes this as a valid attribute @@ -552,7 +552,7 @@ def getNetworks(): @dispatcher.add_method def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: - from system.camerad.snapshot.snapshot import jpeg_write, snapshot + from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: def b64jpeg(x): diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 59ca2430c..877d8aca0 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -3,10 +3,10 @@ import time from multiprocessing import Process -from common.params import Params -from selfdrive.manager.process import launcher -from system.swaglog import cloudlog -from system.version import get_version, is_dirty +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process import launcher +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_version, is_dirty ATHENA_MGR_PID_PARAM = "AthenadPid" diff --git a/selfdrive/athena/registration.py b/selfdrive/athena/registration.py index 32bc92059..0ab69371c 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -6,13 +6,13 @@ from pathlib import Path from typing import Optional from datetime import datetime, timedelta -from common.api import api_get -from common.params import Params -from common.spinner import Spinner -from common.basedir import PERSIST -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.hardware import HARDWARE, PC -from system.swaglog import cloudlog +from openpilot.common.api import api_get +from openpilot.common.params import Params +from openpilot.common.spinner import Spinner +from openpilot.common.basedir import PERSIST +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 5087012bc..34edeb2de 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -6,7 +6,7 @@ import time from functools import wraps from multiprocessing import Process -from common.timeout import Timeout +from openpilot.common.timeout import Timeout class MockResponse: diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 7ce6932f2..f32df7421 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -18,10 +18,10 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException -from system import swaglog -from selfdrive.athena import athenad -from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher -from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server +from openpilot.system import swaglog +from openpilot.selfdrive.athena import athenad +from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher +from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server from cereal import messaging @@ -351,7 +351,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(athenad.upload_queue.qsize(), 1) self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) - @mock.patch('selfdrive.athena.athenad.create_connection') + @mock.patch('openpilot.selfdrive.athena.athenad.create_connection') def test_startLocalProxy(self, mock_create_connection): end_event = threading.Event() diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index e1fa00a76..3ec7cb115 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -6,11 +6,11 @@ import unittest from typing import Callable, cast, Optional from unittest.mock import MagicMock -from common.params import Params -from common.timeout import Timeout -from selfdrive.athena import athenad -from selfdrive.manager.helpers import write_onroad_params -from system.hardware import TICI +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.athena import athenad +from openpilot.selfdrive.manager.helpers import write_onroad_params +from openpilot.system.hardware import TICI def wifi_radio(on: bool) -> None: diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py index 7a3847730..195fca2df 100755 --- a/selfdrive/athena/tests/test_registration.py +++ b/selfdrive/athena/tests/test_registration.py @@ -7,9 +7,9 @@ from Crypto.PublicKey import RSA from pathlib import Path from unittest import mock -from common.params import Params -from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from selfdrive.athena.tests.helpers import MockResponse +from openpilot.common.params import Params +from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.selfdrive.athena.tests.helpers import MockResponse class TestRegistration(unittest.TestCase): @@ -23,7 +23,7 @@ class TestRegistration(unittest.TestCase): os.mkdir(os.path.join(self.persist.name, "comma")) self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa")) self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub")) - self.persist_patcher = mock.patch("selfdrive.athena.registration.PERSIST", self.persist.name) + self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name) self.persist_patcher.start() def tearDown(self): @@ -44,7 +44,7 @@ class TestRegistration(unittest.TestCase): self.params.put("HardwareSerial", "serial") self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" self.params.put("DongleId", dongle) self.assertEqual(register(), dongle) @@ -52,7 +52,7 @@ class TestRegistration(unittest.TestCase): def test_no_keys(self): # missing pubkey - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = register() self.assertEqual(m.call_count, 0) self.assertEqual(dongle, UNREGISTERED_DONGLE_ID) @@ -61,7 +61,7 @@ class TestRegistration(unittest.TestCase): def test_missing_cache(self): # keys exist but no dongle id self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: dongle = "DONGLE_ID_123" m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) self.assertEqual(register(), dongle) @@ -75,7 +75,7 @@ class TestRegistration(unittest.TestCase): def test_unregistered(self): # keys exist, but unregistered self._generate_keys() - with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m: + with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m: m.return_value = MockResponse(None, 402) dongle = register() self.assertEqual(m.call_count, 1) diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py index 527f1f4f5..702c46565 100644 --- a/selfdrive/boardd/boardd.py +++ b/selfdrive/boardd/boardd.py @@ -1,7 +1,7 @@ # pylint: skip-file # Cython, now uses scons to build -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp assert can_list_to_can_capnp def can_capnp_to_can_list(can, src_filter=None): diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index be2ed3c4c..ce9137a30 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -9,11 +9,11 @@ from typing import List, NoReturn from functools import cmp_to_key from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.boardd.set_time import set_time +from openpilot.system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 93453dcd9..fe17f64e8 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -3,7 +3,7 @@ import os import datetime from panda import Panda -from common.time import MIN_DATE +from openpilot.common.time import MIN_DATE def set_time(logger): sys_time = datetime.datetime.today() diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index 74393c6eb..dfce0e371 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -9,12 +9,12 @@ from pprint import pprint import cereal.messaging as messaging from cereal import car, log -from common.params import Params -from common.timeout import Timeout -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car import make_can_msg -from system.hardware import TICI -from selfdrive.test.helpers import phone_only, with_processes +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car import make_can_msg +from openpilot.system.hardware import TICI +from openpilot.selfdrive.test.helpers import phone_only, with_processes class TestBoardd(unittest.TestCase): diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 1d49446bf..970af385d 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -5,13 +5,13 @@ import unittest import cereal.messaging as messaging from cereal import log -from common.gpio import gpio_set, gpio_init -from common.params import Params +from openpilot.common.gpio import gpio_set, gpio_init +from openpilot.common.params import Params from panda import Panda, PandaDFU, PandaProtocolMismatch -from selfdrive.test.helpers import phone_only -from selfdrive.manager.process_config import managed_processes -from system.hardware import HARDWARE -from system.hardware.tici.pins import GPIO +from openpilot.selfdrive.test.helpers import phone_only +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE +from openpilot.system.hardware.tici.pins import GPIO HERE = os.path.dirname(os.path.realpath(__file__)) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 156161c79..c5f4a4152 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -5,7 +5,7 @@ from typing import Dict, Optional import capnp from cereal import car -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp # kg of standard extra cargo to count for drive, gas, etc... diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 4993b1865..1dad8e796 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,11 +1,11 @@ import numpy as np -from common.params import Params -from common.realtime import DT_CTRL +from openpilot.common.params import Params +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car.body import bodycan -from selfdrive.car.body.values import SPEED_FROM_RPM -from selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.car.body import bodycan +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.selfdrive.controls.lib.pid import PIDController MAX_TORQUE = 500 diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py index a1ef17360..fca9bcc62 100644 --- a/selfdrive/car/body/carstate.py +++ b/selfdrive/car/body/carstate.py @@ -1,7 +1,7 @@ from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.body.values import DBC +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.body.values import DBC STARTUP_TICKS = 100 diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 4d583bada..bf33eea38 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import math from cereal import car -from common.realtime import DT_CTRL -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.body.values import SPEED_FROM_RPM +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py index b2f765113..b461fcd5f 100644 --- a/selfdrive/car/body/radar_interface.py +++ b/selfdrive/car/body/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 4fef96637..56d972381 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -1,9 +1,9 @@ from typing import Dict from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 652862de4..81a8c7eac 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -2,16 +2,16 @@ import os from typing import Callable, Dict, List, Optional, Tuple from cereal import car -from common.params import Params -from common.basedir import BASEDIR -from system.version import is_comma_remote, is_tested_branch -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars -from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.system.version import is_comma_remote, is_tested_branch +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN +from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing +from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car import gen_empty_fingerprint FRAME_FINGERPRINT = 100 # 1s @@ -44,7 +44,7 @@ def get_one_can(logcan): def load_interfaces(brand_names): ret = {} for brand_name in brand_names: - path = f'selfdrive.car.{brand_name}' + path = f'openpilot.selfdrive.car.{brand_name}' CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'): diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index b418179e0..a568f927b 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,8 +1,8 @@ from opendbc.can.packer import CANPacker -from common.realtime import DT_CTRL -from selfdrive.car import apply_meas_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons -from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_meas_steer_torque_limits +from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons +from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags class CarController: diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index 7b250ddf9..eb1cf7e7d 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -1,9 +1,9 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS class CarState(CarStateBase): diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 10ed73e9f..96439f35d 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.chrysler.values import RAM_CARS +from openpilot.selfdrive.car.chrysler.values import RAM_CARS GearShifter = car.CarState.GearShifter VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index a3c0b0c7a..a87759910 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import get_safety_config -from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags +from openpilot.selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index 1d0661778..d98295842 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.chrysler.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.chrysler.values import DBC RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 172d3a08c..657ada270 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -5,9 +5,9 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 36ebe12fa..1a1252327 100755 --- a/selfdrive/car/disable_ecu.py +++ b/selfdrive/car/disable_ecu.py @@ -1,5 +1,5 @@ -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 02075a5e1..8475a69d8 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -8,10 +8,10 @@ from natsort import natsorted from typing import Dict, List from cereal import car -from common.basedir import BASEDIR -from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType -from selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr def get_all_footnotes() -> Dict[Enum, int]: diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2220205e8..3319ba31c 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -6,7 +6,7 @@ from enum import Enum from typing import Dict, List, Optional, Tuple, Union from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV GOOD_TORQUE_THRESHOLD = 1.0 # m/s^2 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)" diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 25938f0d3..cff1df79a 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -5,10 +5,10 @@ from typing import Optional, Set import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE -from selfdrive.car import make_can_msg -from selfdrive.car.fw_query_definitions import EcuAddrBusType -from selfdrive.boardd.boardd import can_list_to_can_capnp -from system.swaglog import cloudlog +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.system.swaglog import cloudlog def make_tester_present_msg(addr, bus, subaddr=None): diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 09ed30cc1..1d627e4b3 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -1,4 +1,4 @@ -from selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.interfaces import get_interface_attr FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index dd30bc57e..86008c635 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,10 +1,10 @@ from cereal import car -from common.numpy_fast import clip +from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 824d92993..5c787b787 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -1,10 +1,10 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index a49d7ad85..e0086ecbb 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car import CanBusBase +from openpilot.selfdrive.car import CanBusBase HUDControl = car.CarControl.HUDControl diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 990d14de9..755d7d1d0 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,11 +1,11 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import get_safety_config -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu +from openpilot.selfdrive.car.interfaces import CarInterfaceBase TransmissionType = car.CarParams.TransmissionType GearShifter = car.CarState.GearShifter diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index 78dd59462..a166fc20d 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -2,10 +2,10 @@ from math import cos, sin from cereal import car from opendbc.can.parser import CANParser -from common.conversions import Conversions as CV -from selfdrive.car.ford.fordcan import CanBus -from selfdrive.car.ford.values import DBC, RADAR -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.ford.fordcan import CanBus +from openpilot.selfdrive.car.ford.values import DBC, RADAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 01d1ae7b8..5d99db945 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,10 +4,10 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 7fa47da99..45c4967cb 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -6,13 +6,13 @@ import capnp import panda.python.uds as uds from cereal import car -from common.params import Params -from selfdrive.car.ecu_addrs import get_ecu_addrs -from selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] @@ -338,7 +338,7 @@ if __name__ == "__main__": import time import argparse import cereal.messaging as messaging - from selfdrive.car.vin import get_vin + from openpilot.selfdrive.car.vin import get_vin parser = argparse.ArgumentParser(description='Get firmware version of ECUs') parser.add_argument('--scan', action='store_true') diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 1b2424afa..f51cb7537 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import interp -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.gm import gmcan -from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.gm import gmcan +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 43cdee18d..8585e9f20 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -1,11 +1,11 @@ import copy from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import mean +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 0de206667..bd1e29ce3 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,5 +1,5 @@ -from selfdrive.car import make_can_msg -from selfdrive.car.gm.values import CAR +from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car.gm.values import CAR def create_buttons(packer, bus, idx, button): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 8e139947a..511da405d 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -3,12 +3,12 @@ from cereal import car from math import fabs, exp from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import create_button_event, get_safety_config -from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG -from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD -from selfdrive.controls.lib.drive_helpers import get_friction +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG +from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus +from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from openpilot.selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py index 99fb89ceb..b893babd3 100755 --- a/selfdrive/car/gm/radar_interface.py +++ b/selfdrive/car/gm/radar_interface.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import math from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.gm.values import DBC, CanBus -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.gm.values import DBC, CanBus +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase RADAR_HEADER_MSG = 1120 SLOT_1_MSG = RADAR_HEADER_MSG + 1 diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py index 1fc8a2561..fce5fea72 100755 --- a/selfdrive/car/gm/tests/test_gm.py +++ b/selfdrive/car/gm/tests/test_gm.py @@ -2,7 +2,7 @@ from parameterized import parameterized import unittest -from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET +from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET CAMERA_DIAGNOSTIC_ADDRESS = 0x24b diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index cfe518650..d12c21dc2 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -5,8 +5,8 @@ from enum import Enum from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 347c16c86..056b47c4b 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -1,13 +1,13 @@ from collections import namedtuple from cereal import car -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import create_gas_interceptor_command -from selfdrive.car.honda import hondacan -from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams -from selfdrive.controls.lib.drive_helpers import rate_limit +from openpilot.selfdrive.car import create_gas_interceptor_command +from openpilot.selfdrive.car.honda import hondacan +from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams +from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index d6d2b18a0..03aedb31d 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -1,13 +1,15 @@ from collections import defaultdict from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import interp +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus -from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus +from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ + HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \ + HONDA_BOSCH_RADARLESS +from openpilot.selfdrive.car.interfaces import CarStateBase TransmissionType = car.CarParams.TransmissionType diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 1fe0a1376..a8cbad78c 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -1,5 +1,5 @@ -from common.conversions import Conversions as CV -from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams # CAN bus layout with relay # 0 = ACC-CAN - radar side diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 1025eb621..3b87009a2 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -1,13 +1,13 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from common.numpy_fast import interp -from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car import create_button_event, get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu ButtonType = car.CarState.ButtonEvent.Type diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py index 58f665233..8090f8e03 100755 --- a/selfdrive/car/honda/radar_interface.py +++ b/selfdrive/car/honda/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.honda.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.honda.values import DBC def _create_nidec_can_parser(car_fingerprint): diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py index 7a8c86fb0..da64b8f70 100755 --- a/selfdrive/car/honda/tests/test_honda.py +++ b/selfdrive/car/honda/tests/test_honda.py @@ -2,7 +2,7 @@ import re import unittest -from selfdrive.car.honda.values import FW_VERSIONS +from openpilot.selfdrive.car.honda.values import FW_VERSIONS HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index b149fd2a0..403745bd4 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -3,11 +3,11 @@ from enum import Enum, IntFlag from typing import Dict, List, Optional, Union from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 6af5f572d..1ff211e86 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,12 +1,12 @@ from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import clip -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance -from selfdrive.car.hyundai import hyundaicanfd, hyundaican -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 2e3801c31..ee35bf666 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -3,12 +3,13 @@ import copy import math from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams -from selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \ + CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from openpilot.selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 CLUSTER_SAMPLE_RATE = 20 # frames diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index c0c60fba0..64fc24127 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR +from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index e78e02ae5..7aca5b850 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,6 +1,6 @@ -from common.numpy_fast import clip -from selfdrive.car import CanBusBase -from selfdrive.car.hyundai.values import HyundaiFlags +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.car import CanBusBase +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags class CanBus(CanBusBase): diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 3e25863f4..b4cf10d0e 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,15 +1,15 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car.hyundai.hyundaicanfd import CanBus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus +from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \ Buttons -from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR -from selfdrive.car import create_button_event, get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.disable_ecu import disable_ecu +from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR +from openpilot.selfdrive.car import create_button_event, get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.disable_ecu import disable_ecu Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py index 3b74a03d4..e1cae9ffa 100644 --- a/selfdrive/car/hyundai/radar_interface.py +++ b/selfdrive/car/hyundai/radar_interface.py @@ -3,8 +3,8 @@ import math from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import RadarInterfaceBase -from selfdrive.car.hyundai.values import DBC +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.hyundai.values import DBC RADAR_START_ADDR = 0x500 RADAR_MSG_COUNT = 32 diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py index 1bc8a4e36..6fe4582f5 100755 --- a/selfdrive/car/hyundai/tests/print_platform_codes.py +++ b/selfdrive/car/hyundai/tests/print_platform_codes.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes +from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 68a7603ec..b61b09a89 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,8 +2,8 @@ import unittest from cereal import car -from selfdrive.car.fw_versions import build_fw_dict -from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ +from openpilot.selfdrive.car.fw_versions import build_fw_dict +from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \ UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5a137267a..dc90fbfba 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -6,10 +6,10 @@ from typing import Dict, List, Optional, Set, Tuple, Union from cereal import car from panda.python import uds -from common.conversions import Conversions as CV -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index f30683d9a..53b3e381f 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -5,15 +5,15 @@ from abc import abstractmethod, ABC from typing import Any, Dict, Optional, Tuple, List, Callable from cereal import car -from common.basedir import BASEDIR -from common.conversions import Conversions as CV -from common.kalman.simple_kalman import KF1D -from common.numpy_fast import clip -from common.realtime import DT_CTRL -from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction -from selfdrive.controls.lib.events import Events -from selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.common.basedir import BASEDIR +from openpilot.common.conversions import Conversions as CV +from openpilot.common.kalman.simple_kalman import KF1D +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -441,7 +441,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]): try: brand_name = car_folder.split('/')[-1] - brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr]) + brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr]) if hasattr(brand_values, attr) or not ignore_none: attr_data = getattr(brand_values, attr, None) else: diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 93033126a..adbc598ea 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -3,8 +3,8 @@ from collections import defaultdict from functools import partial import cereal.messaging as messaging -from system.swaglog import cloudlog -from selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index cb401a8ab..320ad19bb 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -1,8 +1,8 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.mazda import mazdacan -from selfdrive.car.mazda.values import CarControllerParams, Buttons +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.mazda import mazdacan +from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index d782e59de..1f7846ca0 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -1,9 +1,9 @@ from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 class CarState(CarStateBase): def __init__(self, CP): diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index cb89c4c44..7ac93d9de 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.mazda.values import CAR, LKAS_LIMITS -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index 58a505f91..e350c5587 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,4 +1,4 @@ -from selfdrive.car.mazda.values import GEN1, Buttons +from openpilot.selfdrive.car.mazda.values import GEN1, Buttons def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py index b2f765113..b461fcd5f 100755 --- a/selfdrive/car/mazda/radar_interface.py +++ b/selfdrive/car/mazda/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index fbdf8961a..0230be229 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -2,9 +2,9 @@ from dataclasses import dataclass, field from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 7986adb8f..d36f972a8 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car -from system.swaglog import cloudlog +from openpilot.system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase # mocked car interface to work with chffrplus diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py index b2f765113..b461fcd5f 100755 --- a/selfdrive/car/mock/radar_interface.py +++ b/selfdrive/car/mock/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index dfc7902e4..8426041b3 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -1,6 +1,6 @@ from typing import Dict, List, Optional, Union -from selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.docs_definitions import CarInfo class CAR: diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 2c628b102..2da518bbf 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -1,8 +1,8 @@ from cereal import car from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.nissan import nissancan -from selfdrive.car.nissan.values import CAR, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.nissan import nissancan +from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index f17e2d8dc..b2ba9ce29 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -2,10 +2,10 @@ import copy from collections import deque from cereal import car from opendbc.can.can_define import CANDefine -from selfdrive.car.interfaces import CarStateBase -from common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV from opendbc.can.parser import CANParser -from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams +from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams TORQUE_SAMPLES = 12 diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 423a1bf8d..3d6b6cb70 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.nissan.values import CAR +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index 89754775b..49dcd6fe9 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -1,5 +1,5 @@ import crcmod -from selfdrive.car.nissan.values import CAR +from openpilot.selfdrive.car.nissan.values import CAR # TODO: add this checksum to the CANPacker nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff) diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py index b2f765113..b461fcd5f 100644 --- a/selfdrive/car/nissan/radar_interface.py +++ b/selfdrive/car/nissan/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 17df96809..db69132a7 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -4,9 +4,9 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 80634bf26..3aba25fe8 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,8 +1,8 @@ -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.subaru import subarucan +from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags class CarController: diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 84c1285af..66c4c6386 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -1,11 +1,11 @@ import copy from cereal import car from opendbc.can.can_define import CANDefine -from common.conversions import Conversions as CV -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags -from selfdrive.car import CanSignalRateCalculator +from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags +from openpilot.selfdrive.car import CanSignalRateCalculator class CarState(CarStateBase): diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index eab39420c..b206a816a 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py index b2f765113..b461fcd5f 100644 --- a/selfdrive/car/subaru/radar_interface.py +++ b/selfdrive/car/subaru/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index df2718c76..caa145184 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -1,5 +1,5 @@ from cereal import car -from selfdrive.car.subaru.values import CanBus +from openpilot.selfdrive.car.subaru.values import CanBus VisualAlert = car.CarControl.HUDControl.VisualAlert diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index dc25f31f7..8cb3a904b 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -4,9 +4,9 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index aeaaba88e..95a248a61 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -1,8 +1,8 @@ -from common.numpy_fast import clip +from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.tesla.teslacan import TeslaCAN -from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams +from openpilot.selfdrive.car import apply_std_steer_angle_limits +from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams class CarController: diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 61a6526f0..2cb4f09d7 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -1,9 +1,9 @@ import copy from collections import deque from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 209f00873..e06139729 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -1,9 +1,9 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car.tesla.values import CANBUS, CAR -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.tesla.values import CANBUS, CAR +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index c368c794b..b3e7c7fcb 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from selfdrive.car.tesla.values import DBC, CANBUS -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.tesla.values import DBC, CANBUS +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase RADAR_MSGS_A = list(range(0x310, 0x36E, 3)) RADAR_MSGS_B = list(range(0x311, 0x36F, 3)) diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index a491c030f..6bb27b995 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -1,7 +1,7 @@ import crcmod -from common.conversions import Conversions as CV -from selfdrive.car.tesla.values import CANBUS, CarControllerParams +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams class TeslaCAN: diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 3333455d1..15283ae4b 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -3,9 +3,9 @@ from collections import namedtuple from typing import Dict, List, Union from cereal import car -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarInfo +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 857ba8e4f..9c56f578b 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -1,18 +1,18 @@ #!/usr/bin/env python3 from typing import NamedTuple, Optional -from selfdrive.car.chrysler.values import CAR as CHRYSLER -from selfdrive.car.gm.values import CAR as GM -from selfdrive.car.ford.values import CAR as FORD -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.nissan.values import CAR as NISSAN -from selfdrive.car.mazda.values import CAR as MAZDA -from selfdrive.car.subaru.values import CAR as SUBARU -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN -from selfdrive.car.tesla.values import CAR as TESLA -from selfdrive.car.body.values import CAR as COMMA +from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.ford.values import CAR as FORD +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN +from openpilot.selfdrive.car.tesla.values import CAR as TESLA +from openpilot.selfdrive.car.body.values import CAR as COMMA # TODO: add routes for these cars non_tested_cars = [ diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py index 7189ff542..406ccd07f 100755 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ b/selfdrive/car/tests/test_can_fingerprint.py @@ -3,8 +3,8 @@ from parameterized import parameterized import unittest from cereal import log, messaging -from selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint -from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS +from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint +from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS class TestCanFingerprint(unittest.TestCase): diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 3945fbb98..a447fc21b 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -7,12 +7,12 @@ import importlib from parameterized import parameterized from cereal import car -from common.realtime import DT_CTRL -from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.interfaces import get_interface_attr -from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator def get_fuzzy_car_interface_args(draw: DrawType) -> dict: diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 6e4a58149..d9d67fe87 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -4,13 +4,13 @@ import os import re import unittest -from common.basedir import BASEDIR -from selfdrive.car.car_helpers import interfaces, get_interface_attr -from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info -from selfdrive.car.docs_definitions import Cable, Column, PartType, Star -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.debug.dump_car_info import dump_car_info -from selfdrive.debug.print_docs_diff import print_car_info_diff +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info +from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.debug.dump_car_info import dump_car_info +from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff class TestCarDocs(unittest.TestCase): diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py index a0baec68d..61e9a4d16 100755 --- a/selfdrive/car/tests/test_fingerprints.py +++ b/selfdrive/car/tests/test_fingerprints.py @@ -3,7 +3,7 @@ import os import sys from typing import Dict, List -from common.basedir import BASEDIR +from openpilot.common.basedir import BASEDIR # messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can) # (addr, len) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 6825bb371..3280dea7d 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -7,11 +7,12 @@ from parameterized import parameterized import threading from cereal import car -from common.params import Params -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus -from selfdrive.car.vin import get_vin +from openpilot.common.params import Params +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ + match_fw_to_car, get_fw_versions, get_present_ecus +from openpilot.selfdrive.car.vin import get_vin CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 9e9043d23..9de6063f3 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -6,11 +6,11 @@ import sys from typing import DefaultDict, Dict import unittest -from common.realtime import DT_CTRL -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.interfaces import get_torque_params -from selfdrive.car.subaru.values import CAR as SUBARU +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.interfaces import get_torque_params +from openpilot.selfdrive.car.subaru.values import CAR as SUBARU CAR_MODELS = all_known_cars() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index c40d8bb50..014772529 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -9,17 +9,17 @@ from typing import List, Optional, Tuple from parameterized import parameterized_class from cereal import log, car -from common.basedir import BASEDIR -from common.realtime import DT_CTRL -from selfdrive.car.fingerprints import all_known_cars -from selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from selfdrive.car.gm.values import CAR as GM -from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH -from selfdrive.car.hyundai.values import CAR as HYUNDAI -from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from tools.lib.route import Route, SegmentName, RouteName +from openpilot.common.basedir import BASEDIR +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.fingerprints import all_known_cars +from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces +from openpilot.selfdrive.car.gm.values import CAR as GM +from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH +from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI +from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index d2558b5b2..c625c2e49 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car -from common.numpy_fast import clip, interp -from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ +from openpilot.common.numpy_fast import clip, interp +from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ create_gas_interceptor_command, make_can_msg -from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ +from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command -from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ +from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \ UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 8a75ab427..7eefe43dd 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -1,14 +1,15 @@ import copy from cereal import car -from common.conversions import Conversions as CV -from common.numpy_fast import mean -from common.filter_simple import FirstOrderFilter -from common.realtime import DT_CTRL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import mean +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ + TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR SteerControlType = car.CarParams.SteerControlType diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6be01c1c0..c78479a97 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,11 +1,11 @@ #!/usr/bin/env python3 from cereal import car -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ +from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase EventName = car.CarEvent.EventName SteerControlType = car.CarParams.SteerControlType diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py index 56473b06a..fae6eecaf 100755 --- a/selfdrive/car/toyota/radar_interface.py +++ b/selfdrive/car/toyota/radar_interface.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 from opendbc.can.parser import CANParser from cereal import car -from selfdrive.car.toyota.values import DBC, TSS2_CAR -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase def _create_radar_can_parser(car_fingerprint): diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py index 46e3fc2d2..e877db3eb 100755 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -2,7 +2,7 @@ from cereal import car import unittest -from selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS +from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ad6a2c639..7d6252874 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -4,10 +4,10 @@ from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu MIN_ACC_SPEED = 19. * CV.MPH_TO_MS diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index cf1c25e85..28edf157a 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -3,9 +3,9 @@ import re import cereal.messaging as messaging from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS -from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.car.fw_query_definitions import StdQueries -from system.swaglog import cloudlog +from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery +from openpilot.selfdrive.car.fw_query_definitions import StdQueries +from openpilot.system.swaglog import cloudlog VIN_UNKNOWN = "0" * 17 VIN_RE = "[A-HJ-NPR-Z0-9]{17}" diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index ddcf80f00..e7a7f2a99 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -1,11 +1,11 @@ from cereal import car from opendbc.can.packer import CANPacker -from common.numpy_fast import clip -from common.conversions import Conversions as CV -from common.realtime import DT_CTRL -from selfdrive.car import apply_driver_steer_torque_limits -from selfdrive.car.volkswagen import mqbcan, pqcan -from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.common.numpy_fast import clip +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 35f7e8bf6..cbe8918d4 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -1,9 +1,9 @@ import numpy as np from cereal import car -from common.conversions import Conversions as CV -from selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ +from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ CarControllerParams diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 66b6239cb..d5377453c 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,9 +1,9 @@ from cereal import car from panda import Panda -from common.conversions import Conversions as CV -from selfdrive.car import get_safety_config -from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py index b2f765113..b461fcd5f 100644 --- a/selfdrive/car/volkswagen/radar_interface.py +++ b/selfdrive/car/volkswagen/radar_interface.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.interfaces import RadarInterfaceBase +from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): pass diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index bc129f79c..3ffc09a43 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -6,10 +6,10 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine -from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ +from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ Device -from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu NetworkLocation = car.CarParams.NetworkLocation diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 564a0aa6a..809403073 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -5,29 +5,29 @@ import time from typing import SupportsFloat from cereal import car, log -from common.numpy_fast import clip -from common.profiler import Profiler -from common.params import Params, put_nonblocking, put_bool_nonblocking -from common.realtime import DT_CTRL, Priority, Ratekeeper, config_realtime_process +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.profiler import Profiler +from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType -from common.conversions import Conversions as CV +from openpilot.common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from system.swaglog import cloudlog -from system.version import is_release_branch, get_short_branch -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature -from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED -from selfdrive.controls.lib.longcontrol import LongControl -from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD -from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.events import Events, ET -from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert -from selfdrive.controls.lib.vehicle_model import VehicleModel -from system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import is_release_branch, get_short_branch +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can +from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature +from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED +from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.events import Events, ET +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.system.hardware import HARDWARE SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py index f32e83833..6abcf4cbb 100644 --- a/selfdrive/controls/lib/alertmanager.py +++ b/selfdrive/controls/lib/alertmanager.py @@ -5,9 +5,9 @@ from collections import defaultdict from dataclasses import dataclass from typing import List, Dict, Optional -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.events import Alert +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 4652b41c1..d53803507 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -1,6 +1,6 @@ from cereal import log -from common.conversions import Conversions as CV -from common.realtime import DT_MDL +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_MDL LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index ab65da2e1..00916ddf7 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -1,10 +1,10 @@ import math from cereal import car, log -from common.conversions import Conversions as CV -from common.numpy_fast import clip, interp -from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import T_IDXS # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 0230a5775..7c30effce 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -5,10 +5,10 @@ from typing import Dict, Union, Callable, List, Optional from cereal import log, car import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.realtime import DT_CTRL -from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER -from system.version import get_short_branch +from openpilot.common.conversions import Conversions as CV +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER +from openpilot.system.version import get_short_branch AlertSize = log.ControlsState.AlertSize AlertStatus = log.ControlsState.AlertStatus diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index d38959c56..30e191844 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -1,7 +1,7 @@ from abc import abstractmethod, ABC -from common.numpy_fast import clip -from common.realtime import DT_CTRL +from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 9ed140d38..b13d41e51 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -1,7 +1,7 @@ import math from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.latcontrol import LatControl STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py index 6696d2e30..c41130af9 100644 --- a/selfdrive/controls/lib/latcontrol_pid.py +++ b/selfdrive/controls/lib/latcontrol_pid.py @@ -1,8 +1,8 @@ import math from cereal import log -from selfdrive.controls.lib.latcontrol import LatControl -from selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController class LatControlPID(LatControl): diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 6550b1922..2c7763063 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -1,10 +1,10 @@ import math from cereal import log -from common.numpy_fast import interp -from selfdrive.controls.lib.latcontrol import LatControl -from selfdrive.controls.lib.pid import PIDController -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.controls.lib.latcontrol import LatControl +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: # Lateral acceleration achieved by a specific car correlates to diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 506b03031..5e6f884df 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -5,12 +5,12 @@ import numpy as np from casadi import SX, vertcat, sin, cos # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.modeld.constants import T_IDXS if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython + from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 41aa95223..92786f73d 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,12 +1,12 @@ import time import numpy as np -from common.numpy_fast import interp -from common.realtime import DT_MDL -from system.swaglog import cloudlog -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error -from selfdrive.controls.lib.desire_helper import DesireHelper +from openpilot.common.realtime import DT_MDL +from openpilot.common.numpy_fast import interp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error +from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e8095813f..61c150aad 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,9 +1,9 @@ from cereal import car -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL -from selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone -from selfdrive.controls.lib.pid import PIDController -from selfdrive.modeld.constants import T_IDXS +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone +from openpilot.selfdrive.controls.lib.pid import PIDController +from openpilot.selfdrive.modeld.constants import T_IDXS LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 19cb2bac0..eaa782efe 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -3,17 +3,17 @@ import os import time import numpy as np from cereal import log -from common.numpy_fast import clip -from system.swaglog import cloudlog +from openpilot.common.numpy_fast import clip +from openpilot.system.swaglog import cloudlog # WARNING: imports outside of constants will not trigger a rebuild -from selfdrive.modeld.constants import index_function -from selfdrive.car.interfaces import ACCEL_MIN -from selfdrive.controls.radard import _LEAD_ACCEL_TAU +from openpilot.selfdrive.modeld.constants import index_function +from openpilot.selfdrive.car.interfaces import ACCEL_MIN +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU if __name__ == '__main__': # generating code - from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver + from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver else: - from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython + from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython from casadi import SX, vertcat diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 576527292..c1e782fa5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -1,21 +1,21 @@ #!/usr/bin/env python3 import math import numpy as np -from common.numpy_fast import clip, interp -from common.params import Params +from openpilot.common.numpy_fast import clip, interp +from openpilot.common.params import Params from cereal import log import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.filter_simple import FirstOrderFilter -from common.realtime import DT_MDL -from selfdrive.modeld.constants import T_IDXS -from selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX -from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error -from system.swaglog import cloudlog +from openpilot.common.conversions import Conversions as CV +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error +from openpilot.system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s A_CRUISE_MIN = -1.2 diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py index 965158131..f4ec7e599 100644 --- a/selfdrive/controls/lib/pid.py +++ b/selfdrive/controls/lib/pid.py @@ -1,7 +1,7 @@ import numpy as np from numbers import Number -from common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip, interp class PIDController(): diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py index 6c1b6fc4a..dbd42858a 100755 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ b/selfdrive/controls/lib/tests/test_alertmanager.py @@ -2,8 +2,8 @@ import random import unittest -from selfdrive.controls.lib.events import Alert, EVENTS -from selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.controls.lib.events import Alert, EVENTS +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager class TestAlertManager(unittest.TestCase): diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index b504b3d12..4ff7ef7c9 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -4,14 +4,14 @@ import unittest from parameterized import parameterized from cereal import car, log -from selfdrive.car.car_helpers import interfaces -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.nissan.values import CAR as NISSAN -from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.nissan.values import CAR as NISSAN +from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID +from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque +from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel class TestLatControl(unittest.TestCase): diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index 03d97a7e3..fc8ef2fb5 100755 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -5,9 +5,9 @@ import unittest import numpy as np from control import StateSpace -from selfdrive.car.honda.interface import CarInterface -from selfdrive.car.honda.values import CAR -from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.car.honda.values import CAR +from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices class TestVehicleModel(unittest.TestCase): diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 7e61efcf4..2b23a0440 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -2,12 +2,12 @@ import os import numpy as np from cereal import car -from common.params import Params -from common.realtime import Priority, config_realtime_process -from system.swaglog import cloudlog -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.lib.lateral_planner import LateralPlanner +from openpilot.common.params import Params +from openpilot.common.realtime import Priority, config_realtime_process +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging def cumtrapz(x, t): diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index cce866a09..8a21fdd8a 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -6,12 +6,12 @@ from typing import Optional, Dict, Any import capnp from cereal import messaging, log, car -from common.numpy_fast import interp -from common.params import Params -from common.realtime import Ratekeeper, Priority, config_realtime_process -from system.swaglog import cloudlog +from openpilot.common.numpy_fast import interp +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process +from openpilot.system.swaglog import cloudlog -from common.kalman.simple_kalman import KF1D +from openpilot.common.kalman.simple_kalman import KF1D # Default lead acceleration decay set to 50% at 1s diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index c0d70b3b6..7b4fba0dc 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -8,11 +8,11 @@ from PIL import Image, ImageDraw, ImageFont from cereal import log, car from cereal.messaging import SubMaster -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.events import Alert, EVENTS, ET -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.test.process_replay.process_replay import CONFIGS +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS AlertSize = log.ControlsState.AlertSize diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 6d11c30ab..c7221cfcf 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -4,11 +4,11 @@ import unittest from parameterized import parameterized_class from cereal import log -from common.params import Params -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT from cereal import car -from common.conversions import Conversions as CV -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 9ee7bdfb3..be949764c 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 import unittest -from common.params import Params +from openpilot.common.params import Params from cereal import log -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index b569da09b..8c09f46b6 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -1,8 +1,8 @@ import unittest import numpy as np -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS -from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc +from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS +from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0., diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 18c8e7902..72a5b4b48 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -5,13 +5,13 @@ from parameterized import parameterized from cereal import log, car import cereal.messaging as messaging -from common.params import Params -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error -from selfdrive.car.fingerprints import _FINGERPRINTS -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.mazda.values import CAR as MAZDA -from selfdrive.controls.lib.events import EVENT_NAME -from selfdrive.test.helpers import with_processes +from openpilot.common.params import Params +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error +from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.controls.lib.events import EVENT_NAME +from openpilot.selfdrive.test.helpers import with_processes EventName = car.CarEvent.EventName Ecu = car.CarParams.Ecu diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index d5f468f21..bdeed9fb7 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -2,10 +2,10 @@ import unittest from cereal import car, log -from common.realtime import DT_CTRL -from selfdrive.car.car_helpers import interfaces -from selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME -from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.car_helpers import interfaces +from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME +from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ AudibleAlert, EVENTS State = log.ControlsState.OpenpilotState diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ff98c20e6..ea1160d60 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -5,8 +5,8 @@ import time from collections import defaultdict import cereal.messaging as messaging -from selfdrive.debug.can_table import can_table -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.selfdrive.debug.can_table import can_table +from openpilot.tools.lib.logreader import logreader_from_route_or_segment RED = '\033[91m' CLEAR = '\033[0m' diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index 4b430e013..c4b688ce2 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -4,9 +4,9 @@ import time from tqdm import tqdm from cereal import car -from selfdrive.car.tests.routes import CarTestRoute -from selfdrive.car.tests.test_models import TestCarModelBase -from tools.plotjuggler.juggle import DEMO_ROUTE +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModelBase +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE N_RUNS = 10 diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a81d797b8..a8af5e6fe 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -8,8 +8,8 @@ from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import service_list -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": r = Route(sys.argv[1]) diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index b3294c872..9050fbb06 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -24,7 +24,7 @@ import argparse import re from collections import defaultdict -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes # Do statistics every 5 seconds PRINT_INTERVAL = 5 diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 71c7b34be..503720864 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -4,11 +4,11 @@ import random from cereal import car, log import cereal.messaging as messaging -from common.realtime import DT_CTRL -from selfdrive.car.honda.interface import CarInterface -from selfdrive.controls.lib.events import ET, Events -from selfdrive.controls.lib.alertmanager import AlertManager -from selfdrive.manager.process_config import managed_processes +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car.honda.interface import CarInterface +from openpilot.selfdrive.controls.lib.events import ET, Events +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager +from openpilot.selfdrive.manager.process_config import managed_processes EventName = car.CarEvent.EventName diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py index c9a21c284..6af328926 100755 --- a/selfdrive/debug/dump_car_info.py +++ b/selfdrive/debug/dump_car_info.py @@ -2,7 +2,7 @@ import argparse import pickle -from selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs import get_all_car_info def dump_car_info(path): diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 8d9ce8e6a..20cef0fcc 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -4,8 +4,8 @@ import argparse import json import cereal.messaging as messaging -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index b3598b105..c2bff7c63 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,8 @@ #!/usr/bin/env python3 import sys -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator def get_fingerprint(lr): diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py index 8209bbf4c..aedb3ada1 100755 --- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py +++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py @@ -5,11 +5,11 @@ from collections import defaultdict from tqdm import tqdm -from selfdrive.car.fw_versions import match_fw_to_car_fuzzy -from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS -from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS -from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS -from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS +from openpilot.selfdrive.car.fw_versions import match_fw_to_car_fuzzy +from openpilot.selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS +from openpilot.selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS +from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS +from openpilot.selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS FWS = {} diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index be9ab5b17..9b7f36952 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -6,8 +6,8 @@ from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import service_list -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route MIN_SIZE = 0.5 # Percent size of total to show as separate entry diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py index c35afc474..06f1be0b0 100755 --- a/selfdrive/debug/live_cpu_and_temp.py +++ b/selfdrive/debug/live_cpu_and_temp.py @@ -4,7 +4,7 @@ import capnp from collections import defaultdict from cereal.messaging import SubMaster -from common.numpy_fast import mean +from openpilot.common.numpy_fast import mean from typing import Optional, Dict def cputime_total(ct): diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py index 1cb6c3cdd..8fb6277d3 100755 --- a/selfdrive/debug/print_docs_diff.py +++ b/selfdrive/debug/print_docs_diff.py @@ -4,8 +4,8 @@ from collections import defaultdict import difflib import pickle -from selfdrive.car.docs import get_all_car_info -from selfdrive.car.docs_definitions import Column +from openpilot.selfdrive.car.docs import get_all_car_info +from openpilot.selfdrive.car.docs_definitions import Column FOOTNOTE_TAG = "{}" STAR_ICON = '' diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index c7a143497..c7b6250d3 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -2,10 +2,10 @@ import argparse -from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from tools.lib.logreader import MultiLogIterator -from tools.lib.route import Route -from tools.lib.helpers import save_log +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process +from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py index ceed4b0ec..73f98b285 100755 --- a/selfdrive/debug/sensor_data_to_hist.py +++ b/selfdrive/debug/sensor_data_to_hist.py @@ -10,8 +10,8 @@ import sys import numpy as np from collections import defaultdict -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route import matplotlib.pyplot as plt diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py index 24258db9f..6060dfbc3 100755 --- a/selfdrive/debug/set_car_params.py +++ b/selfdrive/debug/set_car_params.py @@ -2,9 +2,9 @@ import sys from cereal import car -from common.params import Params -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.common.params import Params +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": CP = None diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py index a97c41f12..19144ead7 100755 --- a/selfdrive/debug/show_matching_cars.py +++ b/selfdrive/debug/show_matching_cars.py @@ -1,5 +1,5 @@ #!/usr/bin/env python3 -from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars +from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars import cereal.messaging as messaging diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index 3f7a1a167..66fe2ea65 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -4,9 +4,9 @@ import sys from typing import List import unittest -from selfdrive.car.tests.routes import CarTestRoute -from selfdrive.car.tests.test_models import TestCarModel -from tools.lib.route import SegmentName +from openpilot.selfdrive.car.tests.routes import CarTestRoute +from openpilot.selfdrive.car.tests.test_models import TestCarModel +from openpilot.tools.lib.route import SegmentName def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite: diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 51cd42631..83e173244 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -6,10 +6,10 @@ import argparse import os import traceback from tqdm import tqdm -from tools.lib.logreader import LogReader -from tools.lib.route import Route -from selfdrive.car.car_helpers import interface_names -from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car NO_API = "NO_API" in os.environ diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index 0a459bb71..e1156c05a 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -3,10 +3,10 @@ import sys import numpy as np import matplotlib.pyplot as plt from sklearn import linear_model # pylint: disable=import-error -from selfdrive.car.toyota.values import STEER_THRESHOLD +from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator MIN_SAMPLES = 30 * 100 diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py index 93d901f7c..f4440a912 100755 --- a/selfdrive/debug/uiview.py +++ b/selfdrive/debug/uiview.py @@ -2,8 +2,8 @@ import time from cereal import car, log, messaging -from common.params import Params -from selfdrive.manager.process_config import managed_processes +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes if __name__ == "__main__": CP = car.CarParams(notCar=True) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 7f8fd03b9..6469ece40 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -14,11 +14,11 @@ from typing import List, NoReturn, Optional from cereal import log import cereal.messaging as messaging -from common.conversions import Conversions as CV -from common.params import Params, put_nonblocking -from common.realtime import set_realtime_priority -from common.transformations.orientation import rot_from_euler, euler_from_rot -from system.swaglog import cloudlog +from openpilot.common.conversions import Conversions as CV +from openpilot.common.params import Params, put_nonblocking +from openpilot.common.realtime import set_realtime_priority +from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot +from openpilot.system.swaglog import cloudlog MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index e4a408d13..207381336 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -11,7 +11,7 @@ from typing import List, Optional, Dict, Any import numpy as np from cereal import log, messaging -from common.params import Params, put_nonblocking +from openpilot.common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed @@ -20,10 +20,10 @@ from laika.gps_time import GPSTime from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func -from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind -from selfdrive.locationd.models.gnss_kf import GNSSKalman -from selfdrive.locationd.models.gnss_kf import States as GStates -from system.swaglog import cloudlog +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind +from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman +from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates +from openpilot.system.swaglog import cloudlog MAX_TIME_GAP = 10 EPHEMERIS_CACHE = 'LaikadEphemerisV3' diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index a5abf8514..6c02257a1 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -5,9 +5,9 @@ from typing import Any, Dict import numpy as np -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from selfdrive.locationd.models.constants import ObservationKind -from system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.system.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index 0d661dc32..f98434c90 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -4,8 +4,8 @@ from typing import List import numpy as np -from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr if __name__ == '__main__': # Generating sympy import sympy as sp diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py index 4d38fa8e0..e8fa99995 100755 --- a/selfdrive/locationd/models/lane_kf.py +++ b/selfdrive/locationd/models/lane_kf.py @@ -3,7 +3,7 @@ import sys import numpy as np import sympy as sp -from selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.constants import ObservationKind from rednose.helpers.ekf_sym import gen_code, EKF_sym diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py index dc439c23f..c4933a612 100755 --- a/selfdrive/locationd/models/live_kf.py +++ b/selfdrive/locationd/models/live_kf.py @@ -4,7 +4,7 @@ import sys import os import numpy as np -from selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.constants import ObservationKind import sympy as sp import inspect diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py index d865509e9..8bd317bd5 100755 --- a/selfdrive/locationd/models/loc_kf.py +++ b/selfdrive/locationd/models/loc_kf.py @@ -9,8 +9,8 @@ from rednose.helpers.ekf_sym import EKF_sym, gen_code from rednose.helpers.lst_sq_computer import LstSqComputer from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate -from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +from openpilot.selfdrive.locationd.models.constants import ObservationKind +from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 1644ceaf9..55ad62145 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -7,12 +7,12 @@ import numpy as np import cereal.messaging as messaging from cereal import car from cereal import log -from common.params import Params, put_nonblocking -from common.realtime import config_realtime_process, DT_MDL -from common.numpy_fast import clip -from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States -from selfdrive.locationd.models.constants import GENERATED_DIR -from system.swaglog import cloudlog +from openpilot.common.params import Params, put_nonblocking +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.numpy_fast import clip +from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States +from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py index 97207908e..bf4fcbdbe 100755 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -10,7 +10,7 @@ from cffi import FFI import cereal.messaging as messaging from cereal import log -from common.ffi_wrapper import suffix +from openpilot.common.ffi_wrapper import suffix SENSOR_DECIMATION = 1 VISION_DECIMATION = 1 diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index e3e8c3ca7..a5eedaf99 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -6,8 +6,8 @@ import numpy as np import cereal.messaging as messaging from cereal import log -from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ +from openpilot.common.params import Params +from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index c90095cdc..58c650e26 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -2,7 +2,7 @@ import time import unittest from cereal import log -from common.params import Params +from openpilot.common.params import Params from datetime import datetime from unittest import mock @@ -13,11 +13,11 @@ from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader +from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader -from selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12)) UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 96233f532..6c6ac3343 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -7,10 +7,10 @@ import capnp import cereal.messaging as messaging from cereal.services import service_list -from common.params import Params -from common.transformations.coordinates import ecef2geodetic +from openpilot.common.params import Params +from openpilot.common.transformations.coordinates import ecef2geodetic -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 2bac2a898..ddb95e944 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -7,11 +7,11 @@ from collections import deque, defaultdict import cereal.messaging as messaging from cereal import car, log -from common.params import Params -from common.realtime import config_realtime_process, DT_MDL -from common.filter_simple import FirstOrderFilter -from system.swaglog import cloudlog -from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, DT_MDL +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 26003cd1d..c877e6ed9 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -5,12 +5,12 @@ import textwrap from pathlib import Path # NOTE: Do NOT import anything here that needs be built (e.g. params) -from common.basedir import BASEDIR -from common.spinner import Spinner -from common.text_window import TextWindow -from system.hardware import AGNOS -from system.swaglog import cloudlog, add_file_handler -from system.version import is_dirty +from openpilot.common.basedir import BASEDIR +from openpilot.common.spinner import Spinner +from openpilot.common.text_window import TextWindow +from openpilot.system.hardware import AGNOS +from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.system.version import is_dirty MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache") diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index e9a1b2cb5..a739437de 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -9,18 +9,18 @@ from typing import List, Tuple, Union from cereal import log import cereal.messaging as messaging -import selfdrive.sentry as sentry -from common.basedir import BASEDIR -from common.params import Params, ParamKeyType -from common.text_window import TextWindow -from selfdrive.boardd.set_time import set_time -from system.hardware import HARDWARE, PC -from selfdrive.manager.helpers import unblock_stdout, write_onroad_params -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID -from system.swaglog import cloudlog, add_file_handler -from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ +import openpilot.selfdrive.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params, ParamKeyType +from openpilot.common.text_window import TextWindow +from openpilot.selfdrive.boardd.set_time import set_time +from openpilot.system.hardware import HARDWARE, PC +from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params +from openpilot.selfdrive.manager.process import ensure_running +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID +from openpilot.system.swaglog import cloudlog, add_file_handler +from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ get_normalized_origin, terms_version, training_version, \ is_tested_branch, is_release_branch diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index e6c2c52be..8328f1cee 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -10,13 +10,12 @@ from multiprocessing import Process from setproctitle import setproctitle # pylint: disable=no-name-in-module +from cereal import car, log import cereal.messaging as messaging -import selfdrive.sentry as sentry -from cereal import car -from common.basedir import BASEDIR -from common.params import Params -from system.swaglog import cloudlog -from cereal import log +import openpilot.selfdrive.sentry as sentry +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7cd1ed948..936dff883 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -1,9 +1,9 @@ import os from cereal import car -from common.params import Params -from system.hardware import PC, TICI -from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess +from openpilot.common.params import Params +from openpilot.system.hardware import PC, TICI +from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess WEBCAM = os.getenv("USE_WEBCAM") is not None diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 39bda1e15..8ae872d3d 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -5,11 +5,11 @@ import time import unittest from cereal import car -from common.params import Params -import selfdrive.manager.manager as manager -from selfdrive.manager.process import ensure_running -from selfdrive.manager.process_config import managed_processes -from system.hardware import HARDWARE +from openpilot.common.params import Params +import openpilot.selfdrive.manager.manager as manager +from openpilot.selfdrive.manager.process import ensure_running +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index f19138b17..d1769c4be 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -23,7 +23,7 @@ ExitHandler do_exit; mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) { /* import numpy as np - from common.transformations.model import medmodel_frame_from_calib_frame + from openpilot.common.transformations.model import medmodel_frame_from_calib_frame medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3] calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame) */ diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py index 758948811..c3d3b3daa 100755 --- a/selfdrive/modeld/tests/test_modeld.py +++ b/selfdrive/modeld/tests/test_modeld.py @@ -6,10 +6,10 @@ import random import cereal.messaging as messaging from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import tici_f_frame_size -from common.realtime import DT_MDL -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.vision_meta import meta_from_camera_state +from openpilot.common.transformations.camera import tici_f_frame_size +from openpilot.common.realtime import DT_MDL +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py index f4fddaab4..1463342a6 100755 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ b/selfdrive/modeld/tests/timing/benchmark.py @@ -7,7 +7,7 @@ import time import numpy as np import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes N = int(os.getenv("N", "5")) diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py index 836ed9cc4..c7cff88f3 100755 --- a/selfdrive/monitoring/dmonitoringd.py +++ b/selfdrive/monitoring/dmonitoringd.py @@ -4,10 +4,10 @@ import gc import cereal.messaging as messaging from cereal import car from cereal import log -from common.params import Params, put_bool_nonblocking -from common.realtime import set_realtime_priority -from selfdrive.controls.lib.events import Events -from selfdrive.monitoring.driver_monitor import DriverStatus +from openpilot.common.params import Params, put_bool_nonblocking +from openpilot.common.realtime import set_realtime_priority +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus def dmonitoringd_thread(sm=None, pm=None): diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 97407e25e..ab82da301 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -1,11 +1,11 @@ from math import atan2 from cereal import car -from common.numpy_fast import interp -from common.realtime import DT_DMON -from common.filter_simple import FirstOrderFilter -from common.stat_live import RunningStatFilter -from common.transformations.camera import tici_d_frame_size +from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_DMON +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.stat_live import RunningStatFilter +from openpilot.common.transformations.camera import tici_d_frame_size EventName = car.CarEvent.EventName diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 98d3f43f1..b1011fb30 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -3,9 +3,9 @@ import unittest import numpy as np from cereal import car, log -from common.realtime import DT_DMON -from selfdrive.controls.lib.events import Events -from selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS +from openpilot.common.realtime import DT_DMON +from openpilot.selfdrive.controls.lib.events import Events +from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS EventName = car.CarEvent.EventName dm_settings = DRIVER_MONITOR_SETTINGS() diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py index 595781633..55c3f88a9 100644 --- a/selfdrive/navd/helpers.py +++ b/selfdrive/navd/helpers.py @@ -4,9 +4,9 @@ import json import math from typing import Any, Dict, List, Optional, Tuple, Union, cast -from common.conversions import Conversions -from common.numpy_fast import clip -from common.params import Params +from openpilot.common.conversions import Conversions +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params DIRECTIONS = ('left', 'right', 'straight') MODIFIABLE_DIRECTIONS = ('left', 'right') diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 57d5e0593..8d525ac73 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -7,8 +7,8 @@ import numpy as np import polyline from cffi import FFI -from common.ffi_wrapper import suffix -from common.basedir import BASEDIR +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR HEIGHT = WIDTH = SIZE = 256 METERS_PER_PIXEL = 2 diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 3a8897e8e..6a6a0846b 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -9,15 +9,15 @@ import numpy as np import cereal.messaging as messaging from cereal import log -from common.api import Api -from common.params import Params -from common.realtime import Ratekeeper -from common.transformations.coordinates import ecef2geodetic -from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import Ratekeeper +from openpilot.common.transformations.coordinates import ecef2geodetic +from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from system.swaglog import cloudlog +from openpilot.system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py index e6158dbde..811aa576d 100755 --- a/selfdrive/navd/set_destination.py +++ b/selfdrive/navd/set_destination.py @@ -2,7 +2,7 @@ import json import sys -from common.params import Params +from openpilot.common.params import Params if __name__ == "__main__": params = Params() diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py index e3eda8bde..1c3d8acd7 100755 --- a/selfdrive/navd/tests/test_map_renderer.py +++ b/selfdrive/navd/tests/test_map_renderer.py @@ -8,7 +8,7 @@ import cereal.messaging as messaging from typing import Any from cereal.visionipc import VisionIpcClient, VisionStreamType -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes LLK_DECIMATION = 10 CACHE_PATH = "/data/mbgl-cache-navd.db" diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py index 45571fe2d..68dc4989c 100755 --- a/selfdrive/rtshield.py +++ b/selfdrive/rtshield.py @@ -3,7 +3,7 @@ import os import time from typing import NoReturn -from common.realtime import set_core_affinity, set_realtime_priority +from openpilot.common.realtime import set_core_affinity, set_realtime_priority # RT shield - ensure CPU 3 always remains available for RT processes # runs as SCHED_FIFO with minimum priority to ensure kthreads don't diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index aa409ea39..02d9d1755 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -3,11 +3,11 @@ import sentry_sdk from enum import Enum from sentry_sdk.integrations.threading import ThreadingIntegration -from common.params import Params -from selfdrive.athena.registration import is_registered_device -from system.hardware import HARDWARE, PC -from system.swaglog import cloudlog -from system.version import get_branch, get_commit, get_origin, get_version, \ +from openpilot.common.params import Params +from openpilot.selfdrive.athena.registration import is_registered_device +from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_branch, get_commit, get_origin, get_version, \ is_comma_remote, is_dirty, is_tested_branch diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index a444a6231..8acf40651 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -7,13 +7,13 @@ from collections import defaultdict from datetime import datetime, timezone from typing import NoReturn, Union, List, Dict -from common.params import Params +from openpilot.common.params import Params from cereal.messaging import SubMaster -from system.swaglog import cloudlog -from system.hardware import HARDWARE -from common.file_helpers import atomic_write_in_dir -from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware import HARDWARE +from openpilot.common.file_helpers import atomic_write_in_dir +from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty +from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py index 291f9f6e4..ba55f3af2 100755 --- a/selfdrive/test/ciui.py +++ b/selfdrive/test/ciui.py @@ -7,7 +7,7 @@ signal.signal(signal.SIGTERM, signal.SIG_DFL) from PyQt5.QtCore import QTimer # pylint: disable=no-name-in-module, import-error from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel # pylint: disable=no-name-in-module, import-error -from selfdrive.ui.qt.python_helpers import set_main_window +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window class Window(QWidget): def __init__(self, parent=None): diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index f7dab576f..f5ba67b40 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -3,10 +3,10 @@ import time from functools import wraps import cereal.messaging as messaging -from common.params import Params -from selfdrive.manager.process_config import managed_processes -from system.hardware import PC -from system.version import training_version, terms_version +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import PC +from openpilot.system.version import training_version, terms_version def set_params_enabled(): diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 00ddfe627..000225ab7 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -1,5 +1,5 @@ import numpy as np -from selfdrive.test.longitudinal_maneuvers.plant import Plant +from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant class Maneuver: diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 541f7d874..9373eb6d8 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -4,11 +4,11 @@ import numpy as np from cereal import log import cereal.messaging as messaging -from common.realtime import Ratekeeper, DT_MDL -from selfdrive.controls.lib.longcontrol import LongCtrlState -from selfdrive.modeld.constants import T_IDXS -from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from selfdrive.controls.radard import _LEAD_ACCEL_TAU +from openpilot.common.realtime import Ratekeeper, DT_MDL +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState +from openpilot.selfdrive.modeld.constants import T_IDXS +from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner +from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU class Plant: @@ -46,8 +46,8 @@ class Plant: time.sleep(1) self.sm = messaging.SubMaster(['longitudinalPlan']) - from selfdrive.car.honda.values import CAR - from selfdrive.car.honda.interface import CarInterface + from openpilot.selfdrive.car.honda.values import CAR + from openpilot.selfdrive.car.honda.interface import CarInterface self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index bc477ca9f..a3b307ccb 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -4,9 +4,9 @@ import os from parameterized import parameterized_class import unittest -from common.params import Params -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver # TODO: make new FCW tests diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index d1743ac53..1174dbab8 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -62,8 +62,8 @@ def replay_process( Example usage: ```py -from selfdrive.test.process_replay import replay_process_with_name -from tools.lib.logreader import LogReader +from openpilot.selfdrive.test.process_replay import replay_process_with_name +from openpilot.tools.lib.logreader import LogReader lr = LogReader(...) @@ -91,7 +91,7 @@ Supported processes: Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files. ```py -from selfdrive.test.process_replay import get_custom_params_from_lr +from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr previous_segment_lr = LogReader(...) current_segment_lr = LogReader(...) @@ -104,7 +104,7 @@ output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_ Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values. ```py -from tools.lib.framereader import FrameReader +from openpilot.tools.lib.framereader import FrameReader frs = { 'roadCameraState': FrameReader(...), @@ -125,4 +125,4 @@ output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_outp # entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process print(output_store['radard']['out']) # radard stdout print(output_store['radard']['err']) # radard stderr -``` \ No newline at end of file +``` diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py index a872c310d..b99427718 100644 --- a/selfdrive/test/process_replay/__init__.py +++ b/selfdrive/test/process_replay/__init__.py @@ -1,2 +1,2 @@ -from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index a2a355805..7de0a2576 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -6,7 +6,7 @@ import numbers import dictdiffer from collections import Counter -from tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py index 5cf1acfa5..0af8ff6c7 100644 --- a/selfdrive/test/process_replay/helpers.py +++ b/selfdrive/test/process_replay/helpers.py @@ -4,7 +4,7 @@ import uuid from typing import List, Optional -from common.params import Params +from openpilot.common.params import Params class OpenpilotPrefix(object): def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True): diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py index eb2aba879..4560a66b9 100644 --- a/selfdrive/test/process_replay/migration.py +++ b/selfdrive/test/process_replay/migration.py @@ -1,7 +1,7 @@ from collections import defaultdict from cereal import messaging -from selfdrive.test.process_replay.vision_meta import meta_from_encode_index +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index def migrate_all(lr, old_logtime=False, camera_states=False): diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 56bb3e1b3..f576e07a4 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -6,18 +6,18 @@ from collections import defaultdict from typing import Any import cereal.messaging as messaging -from common.params import Params -from common.spinner import Spinner -from system.hardware import PC -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.test.process_replay.compare_logs import compare_logs -from selfdrive.test.process_replay.test_processes import format_diff -from selfdrive.test.process_replay.process_replay import get_process_config, replay_process -from system.version import get_commit -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.common.params import Params +from openpilot.common.spinner import Spinner +from openpilot.system.hardware import PC +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs +from openpilot.selfdrive.test.process_replay.test_processes import format_diff +from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 @@ -161,7 +161,7 @@ if __name__ == "__main__": import requests import threading import http.server - from selfdrive.test.openpilotci import upload_bytes + from openpilot.selfdrive.test.openpilotci import upload_bytes os.environ['MAPS_HOST'] = 'http://localhost:5000' class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): @@ -244,7 +244,7 @@ if __name__ == "__main__": # upload new refs if (update or failed) and not PC: - from selfdrive.test.openpilotci import upload_file + from openpilot.selfdrive.test.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index eb2c7dad4..9256b6015 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -16,17 +16,17 @@ import cereal.messaging as messaging from cereal import car from cereal.services import service_list from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name -from common.params import Params -from common.timeout import Timeout -from common.realtime import DT_CTRL +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE -from selfdrive.car.car_helpers import get_car, interfaces -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket -from selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams -from selfdrive.test.process_replay.migration import migrate_all -from selfdrive.test.process_replay.capture import ProcessOutputCapture -from tools.lib.logreader import LogReader +from openpilot.selfdrive.car.car_helpers import get_car, interfaces +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket +from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams +from openpilot.selfdrive.test.process_replay.migration import migrate_all +from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture +from openpilot.tools.lib.logreader import LogReader # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 07d3c04e3..81f27b7d0 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -6,13 +6,13 @@ import capnp from typing import Union, Iterable, Optional, List, Any, Dict, Tuple -from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \ check_openpilot_enabled, get_custom_params_from_lr -from selfdrive.test.update_ci_routes import upload_route -from tools.lib.route import Route -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.selfdrive.test.update_ci_routes import upload_route +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log def regen_segment( diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f69d07eb6..f42686ac6 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -6,10 +6,10 @@ import random import traceback from tqdm import tqdm -from selfdrive.test.process_replay.helpers import OpenpilotPrefix -from selfdrive.test.process_replay.regen import regen_and_save -from selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments -from tools.lib.route import SegmentName +from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix +from openpilot.selfdrive.test.process_replay.regen import regen_and_save +from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments +from openpilot.tools.lib.route import SegmentName def regen_job(segment, upload, disable_tqdm): diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index 2ed2be61a..a6e6955db 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -6,13 +6,13 @@ import numpy as np import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` -from system.hardware import PC, TICI -from common.basedir import BASEDIR -from selfdrive.test.openpilotci import BASE_URL, get_url -from system.version import get_commit -from system.camerad.snapshot.snapshot import yuv_to_rgb -from tools.lib.logreader import LogReader -from tools.lib.filereader import FileReader +from openpilot.system.hardware import PC, TICI +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url +from openpilot.system.version import get_commit +from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.filereader import FileReader TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33" SEGMENT = 0 @@ -172,7 +172,7 @@ if __name__ == "__main__": # upload new refs if update or (failed and TICI): - from selfdrive.test.openpilotci import upload_file + from openpilot.selfdrive.test.openpilotci import upload_file print("Uploading new refs") diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index c58599cae..f3f48d015 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/selfdrive/test/process_replay/test_fuzzy.py @@ -6,9 +6,9 @@ from parameterized import parameterized import unittest from cereal import log -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.test.fuzzy_generation import FuzzyGenerator -import selfdrive.test.process_replay.process_replay as pr +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator +import openpilot.selfdrive.test.process_replay.process_replay as pr # These processes currently fail because of unrealistic data breaking assumptions # that openpilot makes causing error with NaN, inf, int size, array indexing ... diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index fe80bc17a..9c8b5bfcd 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -7,14 +7,14 @@ from collections import defaultdict from tqdm import tqdm from typing import Any, DefaultDict, Dict -from selfdrive.car.car_helpers import interface_names -from selfdrive.test.openpilotci import get_url, upload_file -from selfdrive.test.process_replay.compare_logs import compare_logs -from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process -from system.version import get_commit -from tools.lib.filereader import FileReader -from tools.lib.logreader import LogReader -from tools.lib.helpers import save_log +from openpilot.selfdrive.car.car_helpers import interface_names +from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.helpers import save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py index 77c6b0345..2994b7745 100644 --- a/selfdrive/test/process_replay/vision_meta.py +++ b/selfdrive/test/process_replay/vision_meta.py @@ -1,7 +1,7 @@ from collections import namedtuple from cereal.visionipc import VisionStreamType -from common.realtime import DT_MDL, DT_DMON -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size +from openpilot.common.realtime import DT_MDL, DT_DMON +from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"]) ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size} diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 28e3b34e4..984907b87 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -5,13 +5,13 @@ import cProfile # pylint: disable=import-error import pprofile import pyprof2calltree -from common.params import Params -from tools.lib.logreader import LogReader -from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone -from selfdrive.test.process_replay.process_replay import CONFIGS -from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.car.honda.values import CAR as HONDA -from selfdrive.car.volkswagen.values import CAR as VW +from openpilot.common.params import Params +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS +from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA +from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.volkswagen.values import CAR as VW BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" @@ -79,11 +79,11 @@ def profile(proc, func, car='toyota'): if __name__ == '__main__': - from selfdrive.controls.controlsd import main as controlsd_thread - from selfdrive.controls.radard import radard_thread - from selfdrive.locationd.paramsd import main as paramsd_thread - from selfdrive.controls.plannerd import main as plannerd_thread - from selfdrive.locationd.laikad import main as laikad_thread + from openpilot.selfdrive.controls.controlsd import main as controlsd_thread + from openpilot.selfdrive.controls.radard import radard_thread + from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread + from openpilot.selfdrive.controls.plannerd import main as plannerd_thread + from openpilot.selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index d71f49dc3..0fa9d9c71 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -14,14 +14,14 @@ from pathlib import Path from cereal import car import cereal.messaging as messaging from cereal.services import service_list -from common.basedir import BASEDIR -from common.timeout import Timeout -from common.params import Params -from selfdrive.controls.lib.events import EVENTS, ET -from system.hardware import HARDWARE -from system.loggerd.config import ROOT -from selfdrive.test.helpers import set_params_enabled, release_only -from tools.lib.logreader import LogReader +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.events import EVENTS, ET +from openpilot.system.hardware import HARDWARE +from openpilot.system.loggerd.config import ROOT +from openpilot.selfdrive.test.helpers import set_params_enabled, release_only +from openpilot.tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index 599125094..429feca34 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -4,9 +4,9 @@ import time import subprocess import cereal.messaging as messaging -from common.basedir import BASEDIR -from common.timeout import Timeout -from selfdrive.test.helpers import set_params_enabled +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.selfdrive.test.helpers import set_params_enabled def test_time_to_onroad(): diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py index aab8b256a..e679cd2c3 100755 --- a/selfdrive/test/test_updated.py +++ b/selfdrive/test/test_updated.py @@ -9,8 +9,8 @@ import signal import subprocess import random -from common.basedir import BASEDIR -from common.params import Params +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params class TestUpdated(unittest.TestCase): diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index a831ad6e2..dbcf3b18d 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -14,9 +14,9 @@ else: import cereal.messaging as messaging from collections import namedtuple -from tools.lib.logreader import LogReader -from selfdrive.test.openpilotci import get_url -from common.basedir import BASEDIR +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.common.basedir import BASEDIR ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response']) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index cee2f49e5..a69eb80ce 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -5,9 +5,9 @@ import subprocess from tqdm import tqdm from azure.storage.blob import BlockBlobService # pylint: disable=import-error -from selfdrive.car.tests.routes import routes as test_car_models_routes -from selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE -from selfdrive.test.process_replay.test_processes import source_segments as replay_segments +from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes +from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE +from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments from xx.chffr.lib import azureutil # pylint: disable=import-error from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index f3e822da5..64cd4c78e 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -1,10 +1,10 @@ #!/usr/bin/env python3 from abc import ABC, abstractmethod -from common.realtime import DT_TRML -from common.numpy_fast import interp -from system.swaglog import cloudlog -from selfdrive.controls.lib.pid import PIDController +from openpilot.common.realtime import DT_TRML +from openpilot.common.numpy_fast import interp +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): @abstractmethod diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index e9b07da1f..0b3c73a1c 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -2,10 +2,10 @@ import time import threading from typing import Optional -from common.params import Params, put_nonblocking -from system.hardware import HARDWARE -from system.swaglog import cloudlog -from selfdrive.statsd import statlog +from openpilot.common.params import Params, put_nonblocking +from openpilot.system.hardware import HARDWARE +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py index 22d618485..7081e1353 100755 --- a/selfdrive/thermald/tests/test_fan_controller.py +++ b/selfdrive/thermald/tests/test_fan_controller.py @@ -3,7 +3,7 @@ import unittest from unittest.mock import Mock, patch from parameterized import parameterized -from selfdrive.thermald.fan_controller import TiciFanController +from openpilot.selfdrive.thermald.fan_controller import TiciFanController ALL_CONTROLLERS = [(TiciFanController,)] diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 57b16accf..5d6531ff4 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -2,35 +2,35 @@ import unittest from unittest.mock import patch -from common.params import Params -params = Params() +from openpilot.common.params import Params +from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ + CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S + # Create fake time -ssb = 0 -def mock_sec_since_boot(): +ssb = 0. +def mock_time_monotonic(): global ssb - ssb += 1 + ssb += 1. return ssb -with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot): - with patch("common.params.put_nonblocking", new=params.put): - from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S - TEST_DURATION_S = 50 GOOD_VOLTAGE = 12 * 1e3 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 def pm_patch(name, value, constant=False): if constant: - return patch(f"selfdrive.thermald.power_monitoring.{name}", value) - return patch(f"selfdrive.thermald.power_monitoring.{name}", return_value=value) + return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value) + return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value) + +@patch("time.monotonic", new=mock_time_monotonic) +@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y)) class TestPowerMonitoring(unittest.TestCase): def setUp(self): - # Clear stored capacity before each test - params.remove("CarBatteryCapacity") - params.remove("DisablePowerDown") + self.params = Params() + self.params.remove("CarBatteryCapacity") + self.params.remove("DisablePowerDown") # Test to see that it doesn't do anything when pandaState is None def test_pandaState_present(self): @@ -139,7 +139,7 @@ class TestPowerMonitoring(unittest.TestCase): def test_disable_power_down(self): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 - params.put_bool("DisablePowerDown", True) + self.params.put_bool("DisablePowerDown", True) with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index d2ab8ff73..b80ce71ae 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -13,19 +13,19 @@ import psutil import cereal.messaging as messaging from cereal import log -from common.dict_helpers import strip_deprecated_keys -from common.time import MIN_DATE -from common.filter_simple import FirstOrderFilter -from common.params import Params -from common.realtime import DT_TRML -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from system.hardware import HARDWARE, TICI, AGNOS -from system.loggerd.config import get_available_percent -from selfdrive.statsd import statlog -from system.swaglog import cloudlog -from selfdrive.thermald.power_monitoring import PowerMonitoring -from selfdrive.thermald.fan_controller import TiciFanController -from system.version import terms_version, training_version +from openpilot.common.dict_helpers import strip_deprecated_keys +from openpilot.common.time import MIN_DATE +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.params import Params +from openpilot.common.realtime import DT_TRML +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.system.hardware import HARDWARE, TICI, AGNOS +from openpilot.system.loggerd.config import get_available_percent +from openpilot.selfdrive.statsd import statlog +from openpilot.system.swaglog import cloudlog +from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring +from openpilot.selfdrive.thermald.fan_controller import TiciFanController +from openpilot.system.version import terms_version, training_version ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index b1086305b..25f2a61f9 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -9,11 +9,11 @@ import time import glob from typing import NoReturn -from common.file_helpers import mkdirs_exists_ok -from system.loggerd.config import ROOT -import selfdrive.sentry as sentry -from system.swaglog import cloudlog -from system.version import get_commit +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.system.loggerd.config import ROOT +import openpilot.selfdrive.sentry as sentry +from openpilot.system.swaglog import cloudlog +from openpilot.system.version import get_commit MAX_SIZE = 1_000_000 * 100 # allow up to 100M MAX_TOMBSTONE_FN_LEN = 62 # 85 - 23 ("/crash/") diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py index 905d41a63..59e51a551 100644 --- a/selfdrive/ui/qt/python_helpers.py +++ b/selfdrive/ui/qt/python_helpers.py @@ -3,8 +3,8 @@ from cffi import FFI import sip # pylint: disable=import-error -from common.ffi_wrapper import suffix -from common.basedir import BASEDIR +from openpilot.common.ffi_wrapper import suffix +from openpilot.common.basedir import BASEDIR def get_ffi(): diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index 8a3d9ec45..75b19ceb9 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -4,9 +4,9 @@ import sys import time import json -from common.basedir import BASEDIR -from common.params import Params -from selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert if __name__ == "__main__": params = Params() diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py index 8cc9215b7..80a261e6d 100755 --- a/selfdrive/ui/tests/test_soundd.py +++ b/selfdrive/ui/tests/test_soundd.py @@ -5,10 +5,10 @@ import unittest from cereal import log, car import cereal.messaging as messaging -from selfdrive.test.helpers import phone_only, with_processes +from openpilot.selfdrive.test.helpers import phone_only, with_processes # TODO: rewrite for unittest -from common.realtime import DT_CTRL -from system.hardware import HARDWARE +from openpilot.common.realtime import DT_CTRL +from openpilot.system.hardware import HARDWARE AudibleAlert = car.CarControl.HUDControl.AudibleAlert diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 8321e2e4c..1ff203b97 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -6,7 +6,7 @@ import shutil import unittest import xml.etree.ElementTree as ET -from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations +from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") UNFINISHED_TRANSLATION_TAG = " None: def handle_agnos_update() -> None: - from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number + from openpilot.system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number cur_version = HARDWARE.get_os_version() updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \ diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 447062fb2..ede97d1a7 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -7,11 +7,11 @@ from PIL import Image import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType -from common.params import Params -from common.realtime import DT_MDL -from system.hardware import PC -from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.manager.process_config import managed_processes +from openpilot.common.params import Params +from openpilot.common.realtime import DT_MDL +from openpilot.system.hardware import PC +from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert +from openpilot.selfdrive.manager.process_config import managed_processes LM_THRESH = 120 # defined in system/camerad/imgproc/utils.h diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 898377b11..97667ede8 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -4,9 +4,9 @@ import os from tqdm import tqdm -from common.file_helpers import mkdirs_exists_ok -from tools.lib.logreader import LogReader -from tools.lib.route import Route +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route import argparse diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index f03c531b2..6669df301 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -7,8 +7,8 @@ from collections import defaultdict import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from selfdrive.manager.process_config import managed_processes -from system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import TICI TEST_TIMESPAN = 30 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index 8f65744da..50467f9db 100755 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -3,8 +3,8 @@ import time import unittest import numpy as np -from selfdrive.test.helpers import with_processes, phone_only -from system.camerad.snapshot.snapshot import get_snapshots +from openpilot.selfdrive.test.helpers import with_processes, phone_only +from openpilot.system.camerad.snapshot.snapshot import get_snapshots TEST_TIME = 45 REPEAT = 5 diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py index 77bb0e5e2..99079b5ef 100644 --- a/system/hardware/__init__.py +++ b/system/hardware/__init__.py @@ -1,9 +1,9 @@ import os from typing import cast -from system.hardware.base import HardwareBase -from system.hardware.tici.hardware import Tici -from system.hardware.pc.hardware import Pc +from openpilot.system.hardware.base import HardwareBase +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.pc.hardware import Pc TICI = os.path.isfile('/TICI') AGNOS = os.path.isfile('/AGNOS') diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 564f9e483..27c05f590 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,7 +1,7 @@ import random from cereal import log -from system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.base import HardwareBase, ThermalConfig NetworkType = log.DeviceState.NetworkType NetworkStrength = log.DeviceState.NetworkStrength diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 5f446a8e9..ef7d9adb7 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -10,7 +10,7 @@ from typing import Dict, Generator, List, Tuple, Union import requests -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync SPARSE_CHUNK_FMT = struct.Struct('H2xI4x') CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/" diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 6932ea08b..3cd342784 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -8,11 +8,11 @@ from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from common.gpio import gpio_set, gpio_init, get_irqs_for_action -from system.hardware.base import HardwareBase, ThermalConfig -from system.hardware.tici import iwlist -from system.hardware.tici.pins import GPIO -from system.hardware.tici.amplifier import Amplifier +from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action +from openpilot.system.hardware.base import HardwareBase, ThermalConfig +from openpilot.system.hardware.tici import iwlist +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.hardware.tici.amplifier import Amplifier NM = 'org.freedesktop.NetworkManager' NM_CON_ACT = NM + '.Connection.Active' diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py index 3c303ff61..28113ad07 100755 --- a/system/hardware/tici/power_draw_test.py +++ b/system/hardware/tici/power_draw_test.py @@ -2,9 +2,9 @@ import os import time import numpy as np -from system.hardware.tici.hardware import Tici -from system.hardware.tici.pins import GPIO -from common.gpio import gpio_init, gpio_set, gpio_export +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.common.gpio import gpio_init, gpio_set, gpio_export def read_power(): with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f: diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py index f9d1e3cc4..0a5431939 100755 --- a/system/hardware/tici/power_monitor.py +++ b/system/hardware/tici/power_monitor.py @@ -5,8 +5,8 @@ import datetime import numpy as np from typing import List -from common.realtime import Ratekeeper -from common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter def read_power(): diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py index 5d6885136..e186ba4ae 100755 --- a/system/hardware/tici/precise_power_measure.py +++ b/system/hardware/tici/precise_power_measure.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 import numpy as np -from system.hardware.tici.power_monitor import sample_power +from openpilot.system.hardware.tici.power_monitor import sample_power if __name__ == '__main__': print("measuring for 5 seconds") diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index 6d7232bd6..835985b0b 100755 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ b/system/hardware/tici/tests/compare_casync_manifest.py @@ -8,7 +8,7 @@ from typing import Dict, List import requests from tqdm import tqdm -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync def get_chunk_download_size(chunk): diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 601949544..cd3b0f90f 100755 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -5,9 +5,9 @@ import unittest import subprocess from panda import Panda -from system.hardware import TICI, HARDWARE -from system.hardware.tici.hardware import Tici -from system.hardware.tici.amplifier import Amplifier +from openpilot.system.hardware import TICI, HARDWARE +from openpilot.system.hardware.tici.hardware import Tici +from openpilot.system.hardware.tici.amplifier import Amplifier class TestAmplifier(unittest.TestCase): diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py index 8724575ad..94b32a9f7 100755 --- a/system/hardware/tici/tests/test_casync.py +++ b/system/hardware/tici/tests/test_casync.py @@ -4,7 +4,7 @@ import unittest import tempfile import subprocess -import system.hardware.tici.casync as casync +import openpilot.system.hardware.tici.casync as casync # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 # sudo losetup -f /tmp/img.raw diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py index bb22cb159..7d377ac3f 100755 --- a/system/hardware/tici/tests/test_hardware.py +++ b/system/hardware/tici/tests/test_hardware.py @@ -3,8 +3,8 @@ import time import unittest import numpy as np -from system.hardware import TICI -from system.hardware.tici.hardware import Tici +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.hardware import Tici HARDWARE = Tici() diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index a35f231c4..fbca95f6f 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -9,11 +9,11 @@ from typing import List import cereal.messaging as messaging from cereal.services import service_list -from system.hardware import HARDWARE, TICI -from system.hardware.tici.power_monitor import get_power -from selfdrive.manager.process_config import managed_processes -from selfdrive.manager.manager import manager_cleanup -from selfdrive.navd.tests.test_map_renderer import gen_llk +from openpilot.system.hardware import HARDWARE, TICI +from openpilot.system.hardware.tici.power_monitor import get_power +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.manager import manager_cleanup +from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk SAMPLE_TIME = 8 # seconds to sample power diff --git a/system/loggerd/config.py b/system/loggerd/config.py index df187a48c..dfc117f2c 100644 --- a/system/loggerd/config.py +++ b/system/loggerd/config.py @@ -1,6 +1,6 @@ import os from pathlib import Path -from system.hardware import PC +from openpilot.system.hardware import PC if os.environ.get('LOG_ROOT', False): ROOT = os.environ['LOG_ROOT'] diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py index 5e7b31f58..ab4a0b97c 100644 --- a/system/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -4,10 +4,10 @@ import shutil import threading from typing import List -from system.swaglog import cloudlog -from system.loggerd.config import ROOT, get_available_bytes, get_available_percent -from system.loggerd.uploader import listdir_by_creation -from system.loggerd.xattr_cache import getxattr +from openpilot.system.swaglog import cloudlog +from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from openpilot.system.loggerd.uploader import listdir_by_creation +from openpilot.system.loggerd.xattr_cache import getxattr MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py index 4bf4f7360..c749f42b9 100755 --- a/system/loggerd/tests/fill.py +++ b/system/loggerd/tests/fill.py @@ -3,8 +3,8 @@ from pathlib import Path -from system.loggerd.config import ROOT, get_available_percent -from system.loggerd.tests.loggerd_tests_common import create_random_file +from openpilot.system.loggerd.config import ROOT, get_available_percent +from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 7d71516df..89ddbd658 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -7,9 +7,9 @@ import unittest from pathlib import Path from typing import Optional -import system.loggerd.deleter as deleter -import system.loggerd.uploader as uploader -from system.loggerd.xattr_cache import setxattr +import openpilot.system.loggerd.deleter as deleter +import openpilot.system.loggerd.uploader as uploader +from openpilot.system.loggerd.xattr_cache import setxattr def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None: diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 9474b30f8..86152b05f 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,9 +6,9 @@ from collections import namedtuple from pathlib import Path from typing import Sequence -import system.loggerd.deleter as deleter -from common.timeout import Timeout, TimeoutException -from system.loggerd.tests.loggerd_tests_common import UploaderTestCase +import openpilot.system.loggerd.deleter as deleter +from openpilot.common.timeout import Timeout, TimeoutException +from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py index 81f4e9fb9..41b83c082 100755 --- a/system/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -11,12 +11,12 @@ from pathlib import Path from parameterized import parameterized from tqdm import trange -from common.params import Params -from common.timeout import Timeout -from system.hardware import TICI -from system.loggerd.config import ROOT -from selfdrive.manager.process_config import managed_processes -from tools.lib.logreader import LogReader +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.system.hardware import TICI +from openpilot.system.loggerd.config import ROOT +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.tools.lib.logreader import LogReader SEGMENT_LENGTH = 2 FULL_SIZE = 2507572 diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index c151afb24..b43f597c2 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -13,17 +13,17 @@ from typing import Dict, List import cereal.messaging as messaging from cereal import log from cereal.services import service_list -from common.basedir import BASEDIR -from common.params import Params -from common.timeout import Timeout -from system.loggerd.config import ROOT -from system.loggerd.xattr_cache import getxattr -from system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE -from selfdrive.manager.process_config import managed_processes -from system.version import get_version -from tools.lib.logreader import LogReader +from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params +from openpilot.common.timeout import Timeout +from openpilot.system.loggerd.config import ROOT +from openpilot.system.loggerd.xattr_cache import getxattr +from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.version import get_version +from openpilot.tools.lib.logreader import LogReader from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size +from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size SentinelType = log.Sentinel.SentinelType diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 580d1efae..bf21d8d7a 100755 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -8,10 +8,10 @@ import json from pathlib import Path from typing import List, Optional -from system.swaglog import cloudlog -from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.swaglog import cloudlog +from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from system.loggerd.tests.loggerd_tests_common import UploaderTestCase +from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py index c96301474..84b9c20d7 100644 --- a/system/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from system.loggerd.config import ROOT +from openpilot.system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py index 3d1d4472b..ef5028044 100755 --- a/system/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from system.loggerd.uploader import UPLOAD_ATTR_NAME +from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 196e5b3c2..8ed60dac5 100644 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -13,13 +13,13 @@ from typing import BinaryIO, Iterator, List, Optional, Tuple, Union from cereal import log import cereal.messaging as messaging -from common.api import Api -from common.params import Params -from common.realtime import set_core_affinity -from system.hardware import TICI -from system.loggerd.xattr_cache import getxattr, setxattr -from system.loggerd.config import ROOT -from system.swaglog import cloudlog +from openpilot.common.api import Api +from openpilot.common.params import Params +from openpilot.common.realtime import set_core_affinity +from openpilot.system.hardware import TICI +from openpilot.system.loggerd.xattr_cache import getxattr, setxattr +from openpilot.system.loggerd.config import ROOT +from openpilot.system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' diff --git a/system/logmessaged.py b/system/logmessaged.py index 04101d042..cab8cdd80 100755 --- a/system/logmessaged.py +++ b/system/logmessaged.py @@ -3,8 +3,8 @@ import zmq from typing import NoReturn import cereal.messaging as messaging -from common.logging_extra import SwagLogFileFormatter -from system.swaglog import get_file_handler +from openpilot.common.logging_extra import SwagLogFileFormatter +from openpilot.system.swaglog import get_file_handler def main() -> NoReturn: diff --git a/system/micd.py b/system/micd.py index 97ba0c262..ae2bf8673 100755 --- a/system/micd.py +++ b/system/micd.py @@ -2,9 +2,9 @@ import numpy as np from cereal import messaging -from common.filter_simple import FirstOrderFilter -from common.realtime import Ratekeeper -from system.swaglog import cloudlog +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import Ratekeeper +from openpilot.system.swaglog import cloudlog RATE = 10 FFT_SAMPLES = 4096 diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index f9ac2eaf9..a2b6b08de 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -10,11 +10,11 @@ from datetime import datetime from typing import List, Optional, Tuple from cereal import messaging -from common.params import Params -from system.swaglog import cloudlog -from system.hardware import TICI -from common.gpio import gpio_init, gpio_set -from system.hardware.tici.pins import GPIO +from openpilot.common.params import Params +from openpilot.system.swaglog import cloudlog +from openpilot.system.hardware import TICI +from openpilot.common.gpio import gpio_init, gpio_set +from openpilot.system.hardware.tici.pins import GPIO UBLOX_TTY = "/dev/ttyHS0" diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index d9b2c3773..bb228812d 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -15,14 +15,14 @@ from struct import unpack_from, calcsize, pack from cereal import log import cereal.messaging as messaging -from common.gpio import gpio_init, gpio_set +from openpilot.common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds from laika.helpers import get_prn_from_nmea_id from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK -from system.hardware.tici.pins import GPIO -from system.swaglog import cloudlog -from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from openpilot.system.hardware.tici.pins import GPIO +from openpilot.system.swaglog import cloudlog +from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py index 8c2e24676..02777d5a1 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/sensord/rawgps/test_rawgps.py @@ -8,10 +8,10 @@ import subprocess import numpy as np import cereal.messaging as messaging -from system.hardware import TICI -from system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem -from selfdrive.manager.process_config import managed_processes -from common.transformations.coordinates import ecef_from_geodetic +from openpilot.system.hardware import TICI +from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.common.transformations.coordinates import ecef_from_geodetic GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py index 9519183aa..d7c7567e4 100755 --- a/system/sensord/tests/test_pigeond.py +++ b/system/sensord/tests/test_pigeond.py @@ -4,11 +4,11 @@ import unittest import cereal.messaging as messaging from cereal.services import service_list -from common.gpio import gpio_read -from selfdrive.test.helpers import with_processes -from selfdrive.manager.process_config import managed_processes -from system.hardware import TICI -from system.hardware.tici.pins import GPIO +from openpilot.common.gpio import gpio_read +from openpilot.selfdrive.test.helpers import with_processes +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.hardware import TICI +from openpilot.system.hardware.tici.pins import GPIO # TODO: test TTFF when we have good A-GNSS diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index eea527ed6..b394a86b5 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -7,9 +7,9 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log -from common.gpio import get_irqs_for_action -from system.hardware import TICI -from selfdrive.manager.process_config import managed_processes +from openpilot.common.gpio import get_irqs_for_action +from openpilot.system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes BMX = { ('bmx055', 'acceleration'), diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py index e2cbc6d14..e023489ed 100755 --- a/system/sensord/tests/ttff_test.py +++ b/system/sensord/tests/ttff_test.py @@ -4,7 +4,7 @@ import time import atexit from cereal import messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes TIMEOUT = 10*60 diff --git a/system/swaglog.py b/system/swaglog.py index 28beb5a4d..5fe1c2f27 100644 --- a/system/swaglog.py +++ b/system/swaglog.py @@ -7,8 +7,8 @@ from logging.handlers import BaseRotatingHandler import zmq -from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter -from system.hardware import PC +from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter +from openpilot.system.hardware import PC if PC: SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log") diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py index 08335517a..955272d40 100755 --- a/system/tests/test_logmessaged.py +++ b/system/tests/test_logmessaged.py @@ -6,8 +6,8 @@ import time import unittest import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes -from system.swaglog import cloudlog, SWAGLOG_DIR +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.system.swaglog import cloudlog, SWAGLOG_DIR class TestLogmessaged(unittest.TestCase): diff --git a/system/timezoned.py b/system/timezoned.py index 884a5c381..37e813c56 100755 --- a/system/timezoned.py +++ b/system/timezoned.py @@ -8,9 +8,9 @@ from typing import NoReturn import requests from timezonefinder import TimezoneFinder -from common.params import Params -from system.hardware import AGNOS -from system.swaglog import cloudlog +from openpilot.common.params import Params +from openpilot.system.hardware import AGNOS +from openpilot.system.swaglog import cloudlog def set_timezone(valid_timezones, timezone): diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py index cd4ce0de0..b1709cd9b 100755 --- a/system/ubloxd/tests/test_ublox_processing.py +++ b/system/ubloxd/tests/test_ublox_processing.py @@ -6,9 +6,9 @@ from laika import AstroDog from laika.helpers import ConstellationId from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox from laika.opt import calc_pos_fix -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from selfdrive.test.helpers import with_processes +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.helpers import with_processes import cereal.messaging as messaging def get_gnss_measurements(log_reader): diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py index 7c7e68b23..783eb1eb0 100755 --- a/system/ubloxd/tests/ubloxd.py +++ b/system/ubloxd/tests/ubloxd.py @@ -2,7 +2,7 @@ # type: ignore # pylint: skip-file -from selfdrive.locationd.test import ublox +from openpilot.selfdrive.locationd.test import ublox import struct baudrate = 460800 diff --git a/system/version.py b/system/version.py index c9ab44369..82e99fd41 100644 --- a/system/version.py +++ b/system/version.py @@ -4,8 +4,8 @@ import subprocess from typing import List, Optional from functools import lru_cache -from common.basedir import BASEDIR -from system.swaglog import cloudlog +from openpilot.common.basedir import BASEDIR +from openpilot.system.swaglog import cloudlog RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly'] TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] @@ -127,7 +127,7 @@ def is_dirty() -> bool: if __name__ == "__main__": - from common.params import Params + from openpilot.common.params import Params params = Params() params.put("TermsVersion", terms_version) diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py index ed94cb6d8..717afdeaf 100644 --- a/tools/bodyteleop/web.py +++ b/tools/bodyteleop/web.py @@ -15,8 +15,8 @@ from aiohttp import web from aiortc import RTCPeerConnection, RTCSessionDescription import cereal.messaging as messaging -from common.basedir import BASEDIR -from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo +from openpilot.common.basedir import BASEDIR +from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo logger = logging.getLogger("pc") logging.basicConfig(level=logging.INFO) diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index cb122e2eb..da19e27b7 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -2,7 +2,7 @@ import argparse import json -from selfdrive.car.car_helpers import get_interface_attr +from openpilot.selfdrive.car.car_helpers import get_interface_attr def generate_dbc_json() -> str: diff --git a/tools/camerastream/receive.py b/tools/camerastream/receive.py index 6f8d67c78..bf6929c03 100755 --- a/tools/camerastream/receive.py +++ b/tools/camerastream/receive.py @@ -4,7 +4,7 @@ import sys import numpy as np os.environ['ZMQ'] = '1' -from common.window import Window +from openpilot.common.window import Window import cereal.messaging as messaging # start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad' diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index be8dbb61b..060446370 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -7,9 +7,9 @@ from collections import defaultdict import rpyc # pylint: disable=import-error from rpyc.utils.server import ThreadedServer # pylint: disable=import-error -#from common.params import Params +#from openpilot.common.params import Params import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes from laika.lib.coordinates import ecef2geodetic DELTA = 0.001 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 5043e484f..98f1ad84b 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -3,11 +3,11 @@ import time import unittest import struct -from common.params import Params +from openpilot.common.params import Params import cereal.messaging as messaging -import system.sensord.pigeond as pd -from system.hardware import TICI -from selfdrive.test.helpers import with_processes +import openpilot.system.sensord.pigeond as pd +from openpilot.system.hardware import TICI +from openpilot.selfdrive.test.helpers import with_processes def read_events(service, duration_sec): diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py index b3ce93fc8..c39967171 100644 --- a/tools/gpstest/test_gps_qcom.py +++ b/tools/gpstest/test_gps_qcom.py @@ -3,10 +3,10 @@ import time import unittest import subprocess as sp -from common.params import Params -from system.hardware import TICI +from openpilot.common.params import Params +from openpilot.system.hardware import TICI import cereal.messaging as messaging -from selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.manager.process_config import managed_processes def exec_mmcli(cmd): diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 689b0f0b9..abb47d4bf 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,12 +4,12 @@ import time import unittest import cereal.messaging as messaging -import system.sensord.pigeond as pd +import openpilot.system.sensord.pigeond as pd -from common.params import Params -from system.hardware import TICI -from selfdrive.manager.process_config import managed_processes -from selfdrive.test.helpers import with_processes +from openpilot.common.params import Params +from openpilot.system.hardware import TICI +from openpilot.selfdrive.manager.process_config import managed_processes +from openpilot.selfdrive.test.helpers import with_processes def wait_for_location(sm, timeout, con=10): diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index b31dab83f..82847e3fa 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -5,10 +5,10 @@ import threading from inputs import get_gamepad import cereal.messaging as messaging -from common.realtime import Ratekeeper -from common.numpy_fast import interp, clip -from common.params import Params -from tools.lib.kbhit import KBHit +from openpilot.common.realtime import Ratekeeper +from openpilot.common.numpy_fast import interp, clip +from openpilot.common.params import Params +from openpilot.tools.lib.kbhit import KBHit class Keyboard: diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index 81a4790de..f2adc97e0 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,7 +8,7 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" diff --git a/tools/lib/README.md b/tools/lib/README.md index 8f540a5c8..daf74aaf4 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -3,8 +3,8 @@ Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python -from tools.lib.route import Route -from tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader r = Route("a2a0ccea32023010|2023-07-27--13-01-19") @@ -37,8 +37,8 @@ for msg in lr: `MultiLogIterator` is similar to `LogReader`, but reads multiple logs. ```python -from tools.lib.route import Route -from tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import MultiLogIterator # setup a MultiLogIterator to read all the logs in the route r = Route("a2a0ccea32023010|2023-07-27--13-01-19") diff --git a/tools/lib/auth.py b/tools/lib/auth.py index a1bcdb1c5..7fc71b689 100755 --- a/tools/lib/auth.py +++ b/tools/lib/auth.py @@ -29,8 +29,8 @@ from http.server import BaseHTTPRequestHandler, HTTPServer from typing import Any, Dict from urllib.parse import parse_qs, urlencode -from tools.lib.api import APIError, CommaApi, UnauthorizedError -from tools.lib.auth_config import set_token, get_token +from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError +from openpilot.tools.lib.auth_config import set_token, get_token PORT = 3000 diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index 7952fee49..8863dd57a 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -1,7 +1,7 @@ import json import os -from common.file_helpers import mkdirs_exists_ok -from system.hardware import PC +from openpilot.common.file_helpers import mkdirs_exists_ok +from openpilot.system.hardware import PC class MissingAuthConfigError(Exception): diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 1e474e5dd..01756bb5e 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -3,9 +3,9 @@ import functools import re from typing import List, Optional -from tools.lib.auth_config import get_token -from tools.lib.api import CommaApi -from tools.lib.helpers import RE, timestamp_to_datetime +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.helpers import RE, timestamp_to_datetime @functools.total_ordering diff --git a/tools/lib/cache.py b/tools/lib/cache.py index 82b229873..d142955e5 100644 --- a/tools/lib/cache.py +++ b/tools/lib/cache.py @@ -1,6 +1,6 @@ import os import urllib.parse -from common.file_helpers import mkdirs_exists_ok +from openpilot.common.file_helpers import mkdirs_exists_ok DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache") diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py index 718b853b1..5ac23d57e 100644 --- a/tools/lib/filereader.py +++ b/tools/lib/filereader.py @@ -1,5 +1,5 @@ import os -from tools.lib.url_file import URLFile +from openpilot.tools.lib.url_file import URLFile DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index b4845b9f0..27984514e 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -13,11 +13,11 @@ import numpy as np from lru import LRU import _io -from tools.lib.cache import cache_path_for_file_path -from tools.lib.exceptions import DataUnreadableError -from common.file_helpers import atomic_write_in_dir +from openpilot.tools.lib.cache import cache_path_for_file_path +from openpilot.tools.lib.exceptions import DataUnreadableError +from openpilot.common.file_helpers import atomic_write_in_dir -from tools.lib.filereader import FileReader +from openpilot.tools.lib.filereader import FileReader HEVC_SLICE_B = 0 HEVC_SLICE_P = 1 diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 8f1e5b9f8..e528996f3 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -8,8 +8,8 @@ import warnings from cereal import log as capnp_log -from tools.lib.filereader import FileReader -from tools.lib.route import Route, SegmentName +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.route import Route, SegmentName # this is an iterator itself, and uses private variables from LogReader class MultiLogIterator: diff --git a/tools/lib/route.py b/tools/lib/route.py index 388cb003e..e37b7d443 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -5,9 +5,9 @@ from collections import defaultdict from itertools import chain from typing import Optional -from tools.lib.auth_config import get_token -from tools.lib.api import CommaApi -from tools.lib.helpers import RE +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.api import CommaApi +from openpilot.tools.lib.helpers import RE QLOG_FILENAMES = ['qlog', 'qlog.bz2'] QCAMERA_FILENAMES = ['qcamera.ts'] diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index d2a2a6872..1e44b9648 100644 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -4,7 +4,7 @@ import shutil import unittest os.environ["COMMA_CACHE"] = "/tmp/__test_cache__" -from tools.lib.url_file import URLFile, CACHE_DIR +from openpilot.tools.lib.url_file import URLFile, CACHE_DIR class TestFileDownload(unittest.TestCase): diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py index 6efa0dc35..1f24ae5c8 100755 --- a/tools/lib/tests/test_readers.py +++ b/tools/lib/tests/test_readers.py @@ -5,8 +5,8 @@ import tempfile from collections import defaultdict import numpy as np -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader class TestReaders(unittest.TestCase): diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py index 814017c9c..7977f17be 100755 --- a/tools/lib/tests/test_route_library.py +++ b/tools/lib/tests/test_route_library.py @@ -2,7 +2,7 @@ import unittest from collections import namedtuple -from tools.lib.route import SegmentName +from openpilot.tools.lib.route import SegmentName class TestRouteLibrary(unittest.TestCase): def test_segment_name_formats(self): diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index 1e94a588f..c2c7fc9d3 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -9,7 +9,7 @@ import pycurl from hashlib import sha256 from io import BytesIO from tenacity import retry, wait_random_exponential, stop_after_attempt -from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir +from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir # Cache chunk size K = 1000 CHUNK_SIZE = 1000 * K diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index a5d6974f9..02858b1ed 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -10,11 +10,11 @@ import tempfile import requests import argparse -from common.basedir import BASEDIR -from selfdrive.test.openpilotci import get_url -from tools.lib.logreader import LogReader -from tools.lib.route import Route, SegmentName -from tools.lib.helpers import save_log +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentName +from openpilot.tools.lib.helpers import save_log from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -129,7 +129,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No if dbc is None: for cp in [m for m in all_data if m.which() == 'carParams']: try: - DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC + DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC dbc = DBC[cp.carParams.carFingerprint]['pt'] except Exception: pass diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index 8fc032042..e29e33f92 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -6,9 +6,9 @@ import subprocess import time import unittest -from common.basedir import BASEDIR -from common.timeout import Timeout -from tools.plotjuggler.juggle import install +from openpilot.common.basedir import BASEDIR +from openpilot.common.timeout import Timeout +from openpilot.tools.plotjuggler.juggle import install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 44b109514..032c29824 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -8,10 +8,10 @@ from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' -from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL -from selfdrive.boardd.boardd import can_capnp_to_can_list -from tools.plotjuggler.juggle import load_segment -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL +from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list +from openpilot.tools.plotjuggler.juggle import load_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment from panda import Panda, PandaJungle def send_thread(s, flock): diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py index 4ab8efab6..aa1350214 100644 --- a/tools/replay/lib/ui_helpers.py +++ b/tools/replay/lib/ui_helpers.py @@ -7,10 +7,10 @@ import pygame # pylint: disable=import-error from matplotlib.backends.backend_agg import FigureCanvasAgg -from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, +from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length, tici_f_frame_size, tici_f_focal_length, get_view_frame_from_calib_frame) -from selfdrive.controls.radard import RADAR_TO_CAMERA +from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA RED = (255, 0, 0) diff --git a/tools/replay/ui.py b/tools/replay/ui.py index a222e8e5b..1659a024a 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -8,9 +8,9 @@ import numpy as np import pygame # pylint: disable=import-error import cereal.messaging as messaging -from common.numpy_fast import clip -from common.basedir import BASEDIR -from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, +from openpilot.common.numpy_fast import clip +from openpilot.common.basedir import BASEDIR +from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP, _INTRINSICS, BLACK, GREEN, YELLOW, Calibration, get_blank_lid_overlay, init_plots, diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index c008a7aef..8d69ae954 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -11,9 +11,9 @@ import tty from collections import defaultdict import cereal.messaging as messaging -from tools.lib.framereader import FrameReader -from tools.lib.logreader import LogReader -from selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.framereader import FrameReader +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.openpilotci import get_url IGNORE = ['initData', 'sentinel'] diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py index 139373f66..471db7ee3 100755 --- a/tools/scripts/fetch_image_from_route.py +++ b/tools/scripts/fetch_image_from_route.py @@ -8,8 +8,8 @@ if len(sys.argv) < 4: import requests from PIL import Image -from tools.lib.auth_config import get_token -from tools.lib.framereader import FrameReader +from openpilot.tools.lib.auth_config import get_token +from openpilot.tools.lib.framereader import FrameReader jwt = get_token() diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 3fefd45ba..541252d27 100644 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -2,9 +2,9 @@ import argparse import os import sys -from common.basedir import BASEDIR -from tools.lib.logreader import MultiLogIterator -from tools.lib.route import Route +from openpilot.common.basedir import BASEDIR +from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.route import Route os.environ['BASEDIR'] = BASEDIR diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py index 8f03303b5..699765eee 100755 --- a/tools/scripts/setup_ssh_keys.py +++ b/tools/scripts/setup_ssh_keys.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import requests -from common.params import Params +from openpilot.common.params import Params import sys diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 48aa12ebc..d312f34ec 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -14,6 +14,7 @@ RUN mkdir -p $HOME/openpilot COPY SConstruct $HOME/openpilot/ +COPY ./openpilot $HOME/openpilot/openpilot COPY ./body $HOME/openpilot/body COPY ./third_party $HOME/openpilot/third_party COPY ./site_scons $HOME/openpilot/site_scons @@ -30,4 +31,4 @@ COPY ./tools $HOME/openpilot/tools WORKDIR $HOME/openpilot RUN scons --cache-readonly -j12 -RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()" +RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()" diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 64446e111..bacf38296 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -16,13 +16,13 @@ import pyopencl.array as cl_array import cereal.messaging as messaging from cereal import log from cereal.visionipc import VisionIpcServer, VisionStreamType -from common.basedir import BASEDIR -from common.numpy_fast import clip -from common.params import Params -from common.realtime import DT_DMON, Ratekeeper -from selfdrive.car.honda.values import CruiseButtons -from selfdrive.test.helpers import set_params_enabled -from tools.sim.lib.can import can_function +from openpilot.common.basedir import BASEDIR +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from openpilot.common.realtime import DT_DMON, Ratekeeper +from openpilot.selfdrive.car.honda.values import CruiseButtons +from openpilot.selfdrive.test.helpers import set_params_enabled +from openpilot.tools.sim.lib.can import can_function W, H = 1928, 1208 REPEAT_COUNTER = 5 @@ -550,12 +550,12 @@ if __name__ == "__main__": if args.joystick: # start input poll for joystick - from tools.sim.lib.manual_ctrl import wheel_poll_thread + from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread wheel_poll_thread(q) else: # start input poll for keyboard - from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread + from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread keyboard_poll_thread(q) p.join() diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py index d0b588839..4cecbb2a6 100755 --- a/tools/sim/lib/can.py +++ b/tools/sim/lib/can.py @@ -2,8 +2,8 @@ import cereal.messaging as messaging from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser -from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error -from selfdrive.car import crc8_pedal +from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error +from openpilot.selfdrive.car import crc8_pedal packer = CANPacker("honda_civic_touring_2016_can_generated") rpacker = CANPacker("acura_ilx_2016_nidec") diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py index cfaf95ca0..65f5f4a30 100755 --- a/tools/sim/tests/test_carla_integration.py +++ b/tools/sim/tests/test_carla_integration.py @@ -6,10 +6,10 @@ import os from multiprocessing import Queue from cereal import messaging -from common.basedir import BASEDIR -from selfdrive.manager.helpers import unblock_stdout -from tools.sim import bridge -from tools.sim.bridge import CarlaBridge +from openpilot.common.basedir import BASEDIR +from openpilot.selfdrive.manager.helpers import unblock_stdout +from openpilot.tools.sim import bridge +from openpilot.tools.sim.bridge import CarlaBridge CI = "CI" in os.environ diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index b816d82f9..c61560885 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import logreader_from_route_or_segment def sigint_handler(signal, frame): exit(0) diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py index 2ae35992e..d4f7d71b4 100755 --- a/tools/webcam/front_mount_helper.py +++ b/tools/webcam/front_mount_helper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import numpy as np -# copied from common.transformations/camera.py +# copied from openpilot.common.transformations/camera.py eon_dcam_focal_length = 860.0 # pixels webcam_focal_length = 908.0 # pixels diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py index 4331614ac..a9ae25ee6 100755 --- a/tools/webcam/warp_vis.py +++ b/tools/webcam/warp_vis.py @@ -1,7 +1,7 @@ #!/usr/bin/env python import numpy as np -# copied from common.transformations/camera.py +# copied from openpilot.common.transformations/camera.py eon_focal_length = 910.0 # pixels eon_dcam_focal_length = 860.0 # pixels diff --git a/tools/zookeeper/check_consumption.py b/tools/zookeeper/check_consumption.py index 1345b9057..dab948318 100755 --- a/tools/zookeeper/check_consumption.py +++ b/tools/zookeeper/check_consumption.py @@ -2,7 +2,7 @@ import sys import time -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper # Usage: check_consumption.py # Exit code: 0 -> passed diff --git a/tools/zookeeper/disable.py b/tools/zookeeper/disable.py index 6c1eecc18..4bea3e7ed 100755 --- a/tools/zookeeper/disable.py +++ b/tools/zookeeper/disable.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() diff --git a/tools/zookeeper/enable_and_wait.py b/tools/zookeeper/enable_and_wait.py index 6907e6017..51b8dc0a5 100755 --- a/tools/zookeeper/enable_and_wait.py +++ b/tools/zookeeper/enable_and_wait.py @@ -3,7 +3,7 @@ import os import sys import time from socket import gethostbyname, gaierror -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper def is_online(ip): try: diff --git a/tools/zookeeper/ignition.py b/tools/zookeeper/ignition.py index 5c85be203..d5f01c362 100755 --- a/tools/zookeeper/ignition.py +++ b/tools/zookeeper/ignition.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import sys -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py index fa1f442bb..a081baa72 100755 --- a/tools/zookeeper/power_monitor.py +++ b/tools/zookeeper/power_monitor.py @@ -3,9 +3,9 @@ import sys import time import datetime -from common.realtime import Ratekeeper -from common.filter_simple import FirstOrderFilter -from tools.zookeeper import Zookeeper +from openpilot.common.realtime import Ratekeeper +from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__": z = Zookeeper() diff --git a/tools/zookeeper/test_zookeeper.py b/tools/zookeeper/test_zookeeper.py index ba395ad7b..89f7f2897 100755 --- a/tools/zookeeper/test_zookeeper.py +++ b/tools/zookeeper/test_zookeeper.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import time -from tools.zookeeper import Zookeeper +from openpilot.tools.zookeeper import Zookeeper if __name__ == "__main__":