From 0fce5d90459b77bf2cfa70f55f322f0e1fb8d01c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 11 Jun 2022 23:19:27 -0700 Subject: [PATCH] Move a bunch of stuff to system/ part 3 (#24829) * move swaglog.py * timezoned * logmessaged * version.py * fix linter --- .pylintrc | 2 +- common/api/__init__.py | 2 +- docs/conf.py | 6 ++++-- release/files_common | 8 ++++---- release/files_tici | 2 +- selfdrive/athena/athenad.py | 4 ++-- selfdrive/athena/manage_athenad.py | 4 ++-- selfdrive/athena/registration.py | 2 +- selfdrive/athena/tests/test_athenad.py | 2 +- selfdrive/boardd/pandad.py | 2 +- selfdrive/boardd/tests/boardd_old.py | 2 +- selfdrive/car/car_helpers.py | 4 ++-- selfdrive/car/disable_ecu.py | 2 +- selfdrive/car/fw_versions.py | 2 +- selfdrive/car/isotp_parallel_query.py | 2 +- selfdrive/car/mock/interface.py | 2 +- selfdrive/car/vin.py | 2 +- selfdrive/controls/controlsd.py | 2 +- selfdrive/controls/lib/events.py | 2 +- selfdrive/controls/lib/lane_planner.py | 2 +- selfdrive/controls/lib/lateral_planner.py | 2 +- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 2 +- selfdrive/controls/plannerd.py | 2 +- selfdrive/controls/radard.py | 2 +- selfdrive/debug/disable_ecu.py | 2 +- selfdrive/locationd/calibrationd.py | 2 +- selfdrive/locationd/laikad.py | 2 +- selfdrive/locationd/models/car_kf.py | 2 +- selfdrive/locationd/paramsd.py | 2 +- selfdrive/loggerd/deleter.py | 2 +- selfdrive/loggerd/tests/test_loggerd.py | 2 +- selfdrive/loggerd/tests/test_uploader.py | 2 +- selfdrive/loggerd/uploader.py | 2 +- selfdrive/manager/build.py | 4 ++-- selfdrive/manager/manager.py | 4 ++-- selfdrive/manager/process.py | 2 +- selfdrive/manager/process_config.py | 11 ++++++----- selfdrive/navd/navd.py | 2 +- selfdrive/sensord/rawgps/rawgpsd.py | 2 +- selfdrive/sentry.py | 4 ++-- selfdrive/statsd.py | 4 ++-- selfdrive/test/helpers.py | 2 +- selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/process_replay/test_debayer.py | 2 +- selfdrive/test/process_replay/test_processes.py | 2 +- selfdrive/test/test_onroad.py | 2 +- selfdrive/thermald/fan_controller.py | 2 +- selfdrive/thermald/power_monitoring.py | 2 +- selfdrive/thermald/thermald.py | 4 ++-- selfdrive/tombstoned.py | 4 ++-- selfdrive/updated.py | 4 ++-- {selfdrive => system}/logmessaged.py | 2 +- {selfdrive => system}/swaglog.py | 0 {selfdrive => system}/timezoned.py | 2 +- {selfdrive => system}/version.py | 2 +- 56 files changed, 76 insertions(+), 73 deletions(-) rename {selfdrive => system}/logmessaged.py (95%) rename {selfdrive => system}/swaglog.py (100%) rename {selfdrive => system}/timezoned.py (98%) rename {selfdrive => system}/version.py (99%) diff --git a/.pylintrc b/.pylintrc index 27539b743c..58988c5d74 100644 --- a/.pylintrc +++ b/.pylintrc @@ -3,7 +3,7 @@ # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code -extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5 +extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av # Add files or directories to the blacklist. They should be base names, not # paths. diff --git a/common/api/__init__.py b/common/api/__init__.py index fd2e70910e..c1fa635bd6 100644 --- a/common/api/__init__.py +++ b/common/api/__init__.py @@ -3,7 +3,7 @@ import os import requests from datetime import datetime, timedelta from common.basedir import PERSIST -from selfdrive.version import get_version +from system.version import get_version API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com') diff --git a/docs/conf.py b/docs/conf.py index c11d17455d..fea921de1f 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -14,10 +14,12 @@ # documentation root, use os.path.abspath to make it absolute, like shown here. # import os -from os.path import exists import sys -from selfdrive.version import get_version +from os.path import exists + from common.basedir import BASEDIR +from system.version import get_version + sys.path.insert(0, os.path.abspath('.')) sys.path.insert(0, os.path.abspath('..')) diff --git a/release/files_common b/release/files_common index e89163aba0..76d440c402 100644 --- a/release/files_common +++ b/release/files_common @@ -61,17 +61,17 @@ release/* tools/lib/* tools/joystick/* -selfdrive/version.py - selfdrive/__init__.py selfdrive/sentry.py -selfdrive/swaglog.py -selfdrive/logmessaged.py selfdrive/tombstoned.py selfdrive/updated.py selfdrive/rtshield.py selfdrive/statsd.py +system/logmessaged.py +system/swaglog.py +system/version.py + selfdrive/athena/__init__.py selfdrive/athena/athenad.py selfdrive/athena/manage_athenad.py diff --git a/release/files_tici b/release/files_tici index ee1ac63c34..485a898799 100644 --- a/release/files_tici +++ b/release/files_tici @@ -2,7 +2,7 @@ third_party/snpe/larch64** third_party/snpe/aarch64-ubuntu-gcc7.5/* third_party/mapbox-gl-native-qt/include/* -selfdrive/timezoned.py +system/timezoned.py selfdrive/assets/navigation/* selfdrive/assets/training_wide/* diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 0dc7d704a8..26220dfa99 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,8 +36,8 @@ from system.hardware import HARDWARE, PC, AGNOS from selfdrive.loggerd.config import ROOT from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR -from selfdrive.swaglog import SWAGLOG_DIR, cloudlog -from selfdrive.version import get_commit, get_origin, get_short_branch, get_version +from system.swaglog import SWAGLOG_DIR, cloudlog +from system.version import get_commit, get_origin, get_short_branch, get_version ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai') HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4")) diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py index 58ad58310f..6bbb03a799 100755 --- a/selfdrive/athena/manage_athenad.py +++ b/selfdrive/athena/manage_athenad.py @@ -5,8 +5,8 @@ from multiprocessing import Process from common.params import Params from selfdrive.manager.process import launcher -from selfdrive.swaglog import cloudlog -from selfdrive.version import get_version, is_dirty +from system.swaglog import cloudlog +from 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 c44ca4c28b..32bc92059c 100755 --- a/selfdrive/athena/registration.py +++ b/selfdrive/athena/registration.py @@ -12,7 +12,7 @@ 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 selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog UNREGISTERED_DONGLE_ID = "UnregisteredDevice" diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index a0b308c216..382b549c1b 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -16,7 +16,7 @@ from unittest import mock from websocket import ABNF from websocket._exceptions import WebSocketConnectionClosedException -from selfdrive import swaglog +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 diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 51bfb92dd9..54a28a6782 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -11,7 +11,7 @@ from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU from common.basedir import BASEDIR from common.params import Params from system.hardware import HARDWARE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog def get_expected_signature(panda: Panda) -> bytes: diff --git a/selfdrive/boardd/tests/boardd_old.py b/selfdrive/boardd/tests/boardd_old.py index 5e740fbcd8..fad29f6f34 100755 --- a/selfdrive/boardd/tests/boardd_old.py +++ b/selfdrive/boardd/tests/boardd_old.py @@ -13,7 +13,7 @@ import time import cereal.messaging as messaging from common.realtime import Ratekeeper -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.boardd.boardd import can_capnp_to_can_list from cereal import car diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 7863f0d882..3bfd99f88d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -4,12 +4,12 @@ from typing import Dict, List from cereal import car from common.params import Params from common.basedir import BASEDIR -from selfdrive.version import is_comma_remote, is_tested_branch +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, VIN_UNKNOWN from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py index 3a06cc06f1..ac5c6c9f8f 100644 --- 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 selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 69b7c5f452..c7253d794d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -12,7 +12,7 @@ from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from selfdrive.car.toyota.values import CAR as TOYOTA -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog Ecu = car.CarParams.Ecu diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index dc79babb13..0e807512cf 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -4,7 +4,7 @@ from functools import partial from typing import Optional import cereal.messaging as messaging -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from 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/mock/interface.py b/selfdrive/car/mock/interface.py index 65e886751d..715850c227 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -2,7 +2,7 @@ import math from cereal import car from common.conversions import Conversions as CV -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 2c5b623b06..7413c3f235 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -6,7 +6,7 @@ import cereal.messaging as messaging import panda.python.uds as uds from panda.python.uds import FUNCTIONAL_ADDRS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog OBD_VIN_REQUEST = b'\x09\x02' OBD_VIN_RESPONSE = b'\x49\x02\x01' diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 31807b0187..033072aa73 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -11,7 +11,7 @@ from common.params import Params, put_nonblocking import cereal.messaging as messaging from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog 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.lane_planner import CAMERA_OFFSET diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 7ca05cc744..cc63d4995d 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -8,7 +8,7 @@ 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 selfdrive.version import get_short_branch +from system.version import get_short_branch AlertSize = log.ControlsState.AlertSize AlertStatus = log.ControlsState.AlertStatus diff --git a/selfdrive/controls/lib/lane_planner.py b/selfdrive/controls/lib/lane_planner.py index 9bbad59084..1facb66d63 100644 --- a/selfdrive/controls/lib/lane_planner.py +++ b/selfdrive/controls/lib/lane_planner.py @@ -3,7 +3,7 @@ from cereal import log from common.filter_simple import FirstOrderFilter from common.numpy_fast import interp from common.realtime import DT_MDL -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog TRAJECTORY_SIZE = 33 diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index f3f59ee308..ec21c16e91 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,7 +1,7 @@ import numpy as np from common.realtime import sec_since_boot, DT_MDL from common.numpy_fast import interp -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index b99ee9e9ac..bc0fc9fea6 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -4,7 +4,7 @@ import numpy as np from common.realtime import sec_since_boot from common.numpy_fast import clip, interp -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.modeld.constants import index_function from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 0d21c519a3..d4a6aaef8f 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -12,7 +12,7 @@ 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 -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 083aeb79cc..06807b2a5c 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -2,7 +2,7 @@ from cereal import car from common.params import Params from common.realtime import Priority, config_realtime_process -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.longitudinal_planner import Planner from selfdrive.controls.lib.lateral_planner import LateralPlanner import cereal.messaging as messaging diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 0e514193dc..b2c9914457 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -10,7 +10,7 @@ from common.params import Params from common.realtime import Ratekeeper, Priority, config_realtime_process from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog class KalmanParams(): diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py index f0faf40017..af007207eb 100644 --- a/selfdrive/debug/disable_ecu.py +++ b/selfdrive/debug/disable_ecu.py @@ -3,7 +3,7 @@ import traceback import cereal.messaging as messaging from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog EXT_DIAG_REQUEST = b'\x10\x03' EXT_DIAG_RESPONSE = b'\x50\x03' diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index d7bf36fb26..e092c939ae 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -20,7 +20,7 @@ from common.realtime import set_realtime_priority from common.transformations.model import model_height from common.transformations.camera import get_view_frame_from_road_frame from common.transformations.orientation import rot_from_euler, euler_from_rot -from selfdrive.swaglog import cloudlog +from 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 4ec159cd25..01457f4681 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -17,7 +17,7 @@ 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 import common.transformations.coordinates as coord -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog MAX_TIME_GAP = 10 diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index 75534efa5a..fe7d2e650b 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -7,7 +7,7 @@ import numpy as np from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from selfdrive.locationd.models.constants import ObservationKind -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from rednose.helpers.kalmanfilter import KalmanFilter diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 0e83728e5c..ae67dc28ab 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -10,7 +10,7 @@ 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 selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL # Max 20 deg/s diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py index d745e91fb5..5606288024 100644 --- a/selfdrive/loggerd/deleter.py +++ b/selfdrive/loggerd/deleter.py @@ -2,7 +2,7 @@ import os import shutil import threading -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent from selfdrive.loggerd.uploader import listdir_by_creation diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index 54f7aaaa2b..9dbc7ac332 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -17,7 +17,7 @@ from common.params import Params from common.timeout import Timeout from selfdrive.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes -from selfdrive.version import get_version +from system.version import get_version from 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 diff --git a/selfdrive/loggerd/tests/test_uploader.py b/selfdrive/loggerd/tests/test_uploader.py index b8c01776ae..6090bbe2aa 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/selfdrive/loggerd/tests/test_uploader.py @@ -6,7 +6,7 @@ import unittest import logging import json -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog import selfdrive.loggerd.uploader as uploader from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py index 9de1c421bd..f97bafecb9 100644 --- a/selfdrive/loggerd/uploader.py +++ b/selfdrive/loggerd/uploader.py @@ -18,7 +18,7 @@ from common.realtime import set_core_affinity from system.hardware import TICI from selfdrive.loggerd.xattr_cache import getxattr, setxattr from selfdrive.loggerd.config import ROOT -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index f0a5aec927..10b4c0a4b8 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -11,8 +11,8 @@ from common.basedir import BASEDIR from common.spinner import Spinner from common.text_window import TextWindow from system.hardware import AGNOS -from selfdrive.swaglog import cloudlog, add_file_handler -from selfdrive.version import is_dirty +from system.swaglog import cloudlog, add_file_handler +from 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 94af397c7d..140c7f1d44 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -18,8 +18,8 @@ from selfdrive.manager.helpers import unblock_stdout 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 selfdrive.swaglog import cloudlog, add_file_handler -from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ +from system.swaglog import cloudlog, add_file_handler +from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ terms_version, training_version diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 22f55f3b36..dabfbe4ee0 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -16,7 +16,7 @@ from cereal import car from common.basedir import BASEDIR from common.params import Params from common.realtime import sec_since_boot -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from system.hardware import HARDWARE from cereal import log diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 443ebbb419..b3efe7e2de 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -18,16 +18,19 @@ def logging(started, params, CP: car.CarParams) -> bool: return started and run procs = [ + NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), + NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), + NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), + PythonProcess("logmessaged", "system.logmessaged", offroad=True), + PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True), + DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview), - NativeProcess("clocksd", "system/clocksd", ["./clocksd"]), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("logcatd", "system/logcatd", ["./logcatd"]), NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - NativeProcess("proclogd", "system/proclogd", ["./proclogd"]), NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), @@ -38,14 +41,12 @@ procs = [ PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), - PythonProcess("logmessaged", "selfdrive.logmessaged", offroad=True), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), - PythonProcess("timezoned", "selfdrive.timezoned", enabled=not PC, offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 52db9b1d08..fcd53d8b60 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -14,7 +14,7 @@ from selfdrive.navd.helpers import (Coordinate, coordinate_from_param, distance_along_geometry, maxspeed_to_ms, minimum_distance, parse_banner_instructions) -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog REROUTE_DISTANCE = 25 MANEUVER_TRANSITION_THRESHOLD = 10 diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index e0861c0d9a..3aa6d4b072 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -10,7 +10,7 @@ from struct import unpack_from, calcsize, pack import cereal.messaging as messaging from cereal import log -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv from selfdrive.sensord.rawgps.structs import dict_unpacker diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py index 10e43ee03c..aa409ea394 100644 --- a/selfdrive/sentry.py +++ b/selfdrive/sentry.py @@ -6,8 +6,8 @@ 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 selfdrive.swaglog import cloudlog -from selfdrive.version import get_branch, get_commit, get_origin, get_version, \ +from system.swaglog import cloudlog +from 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 a48ba56003..7dc002727e 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -9,10 +9,10 @@ from typing import NoReturn, Union, List, Dict from common.params import Params from cereal.messaging import SubMaster -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from system.hardware import HARDWARE from common.file_helpers import atomic_write_in_dir -from selfdrive.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty +from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index cc8efd6e46..8cc996c28d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -4,7 +4,7 @@ from functools import wraps from system.hardware import PC from selfdrive.manager.process_config import managed_processes -from selfdrive.version import training_version, terms_version +from system.version import training_version, terms_version def set_params_enabled(): diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index b466aa8193..f3bb286635 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -16,7 +16,7 @@ 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, save_log from selfdrive.test.process_replay.test_processes import format_diff -from selfdrive.version import get_commit +from system.version import get_commit from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py index cf939e3672..eff77fc479 100755 --- a/selfdrive/test/process_replay/test_debayer.py +++ b/selfdrive/test/process_replay/test_debayer.py @@ -9,7 +9,7 @@ import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip insta from system.hardware import PC, TICI from common.basedir import BASEDIR from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.version import get_commit +from system.version import get_commit from selfdrive.camerad.snapshot.snapshot import yuv_to_rgb from tools.lib.logreader import LogReader from tools.lib.filereader import FileReader diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index c1b5b85391..9f83a08e23 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -11,7 +11,7 @@ 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, save_log from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process -from selfdrive.version import get_commit +from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 6cf53a046e..79c3a2ebc0 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -39,7 +39,7 @@ PROCS = { "./_soundd": 1.0, "selfdrive.monitoring.dmonitoringd": 1.90, "./proclogd": 1.54, - "selfdrive.logmessaged": 0.2, + "system.logmessaged": 0.2, "./clocksd": 0.02, "./ubloxd": 0.02, "selfdrive.tombstoned": 0, diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py index b1c7013297..2094faeaa7 100644 --- a/selfdrive/thermald/fan_controller.py +++ b/selfdrive/thermald/fan_controller.py @@ -3,7 +3,7 @@ from abc import ABC, abstractmethod from common.realtime import DT_TRML from common.numpy_fast import interp -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.pid import PIDController class BaseFanController(ABC): diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index acc2fd90bc..9f009d3265 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -5,7 +5,7 @@ from cereal import log from common.params import Params, put_nonblocking from common.realtime import sec_since_boot from system.hardware import HARDWARE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.statsd import statlog CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1)) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 84663e8eb0..403e9cb232 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -20,10 +20,10 @@ from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS from selfdrive.loggerd.config import get_available_percent from selfdrive.statsd import statlog -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring from selfdrive.thermald.fan_controller import TiciFanController -from selfdrive.version import terms_version, training_version +from 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 1d0f8532db..0045e0766c 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -12,8 +12,8 @@ from typing import NoReturn from common.file_helpers import mkdirs_exists_ok from selfdrive.loggerd.config import ROOT import selfdrive.sentry as sentry -from selfdrive.swaglog import cloudlog -from selfdrive.version import get_commit +from system.swaglog import cloudlog +from 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/updated.py b/selfdrive/updated.py index 33e2d5d418..bdec383f52 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -38,9 +38,9 @@ from markdown_it import MarkdownIt from common.basedir import BASEDIR from common.params import Params from system.hardware import AGNOS, HARDWARE -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog from selfdrive.controls.lib.alertmanager import set_offroad_alert -from selfdrive.version import is_tested_branch +from system.version import is_tested_branch LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock") STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging") diff --git a/selfdrive/logmessaged.py b/system/logmessaged.py similarity index 95% rename from selfdrive/logmessaged.py rename to system/logmessaged.py index 1d1fab5162..280a23cf1d 100755 --- a/selfdrive/logmessaged.py +++ b/system/logmessaged.py @@ -4,7 +4,7 @@ from typing import NoReturn import cereal.messaging as messaging from common.logging_extra import SwagLogFileFormatter -from selfdrive.swaglog import get_file_handler +from system.swaglog import get_file_handler def main() -> NoReturn: diff --git a/selfdrive/swaglog.py b/system/swaglog.py similarity index 100% rename from selfdrive/swaglog.py rename to system/swaglog.py diff --git a/selfdrive/timezoned.py b/system/timezoned.py similarity index 98% rename from selfdrive/timezoned.py rename to system/timezoned.py index c1d5676db6..884a5c3812 100755 --- a/selfdrive/timezoned.py +++ b/system/timezoned.py @@ -10,7 +10,7 @@ from timezonefinder import TimezoneFinder from common.params import Params from system.hardware import AGNOS -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog def set_timezone(valid_timezones, timezone): diff --git a/selfdrive/version.py b/system/version.py similarity index 99% rename from selfdrive/version.py rename to system/version.py index 08ab097344..f0817b3a9f 100644 --- a/selfdrive/version.py +++ b/system/version.py @@ -5,7 +5,7 @@ from typing import List, Optional from functools import lru_cache from common.basedir import BASEDIR -from selfdrive.swaglog import cloudlog +from system.swaglog import cloudlog TESTED_BRANCHES = ['devel', 'release3-staging', 'dashcam3-staging', 'release3', 'dashcam3']