boardd is pandad (#32628)

* boardd is pandad

* rename tests
old-commit-hash: 34e329649d

.gitignore

@@ -40,8 +40,7 @@ compile_commands.json
 compare_runtime*.html
 
 persist
-board/obj/
-selfdrive/boardd/boardd
+selfdrive/pandad/pandad
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd

Jenkinsfile

@@ -192,7 +192,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@@ -202,7 +202,7 @@ node {
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
-          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
         ])
       },
       'camerad': {
@@ -236,9 +236,9 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
-          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-          ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],

RELEASES.md

@@ -634,7 +634,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -970,7 +970,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
+ * Fix ptr alignment issue in pandad
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -1002,7 +1002,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix boardd process priority
+ * Fix pandad process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -226,7 +226,7 @@ env = Environment(
     "#cereal",
     "#third_party",
     "#opendbc/can",
-    "#selfdrive/boardd",
+    "#selfdrive/pandad",
     "#common",
     "#rednose/helpers",
   ],

common/realtime.py

@@ -23,7 +23,7 @@ class Priority:
   CTRL_LOW = 51 # plannerd & radard
 
   # CORE 3
-  # - boardd = 55
+  # - pandad = 55
   CTRL_HIGH = 53
 
 

docs/c_docs.rst

@@ -77,10 +77,10 @@ sensorsd
 .. autodoxygenindex::
    :project: system_sensord_sensors
 
-boardd
+pandad
 ^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_boardd
+   :project: selfdrive_pandad
 
 
 rednose

pyproject.toml

@@ -20,7 +20,7 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/boardd",
+  "selfdrive/pandad",
   "selfdrive/car",
   "selfdrive/controls",
   "selfdrive/locationd",

selfdrive/SConscript

@@ -1,4 +1,4 @@
-SConscript(['boardd/SConscript'])
+SConscript(['pandad/SConscript'])
 SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])

selfdrive/boardd/.gitignore

@@ -1,3 +0,0 @@
-boardd
-boardd_api_impl.cpp
-tests/test_boardd_usbprotocol

selfdrive/car/card.py

@@ -11,7 +11,7 @@ from panda import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
@@ -153,7 +153,7 @@ class Car:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-      # signal boardd to switch to car safety mode
+      # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):

selfdrive/car/ecu_addrs.py

@@ -6,7 +6,7 @@ import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
 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.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 

selfdrive/car/fw_query_definitions.py

@@ -85,7 +85,7 @@ class Request:
   auxiliary: bool = False
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
-  # boardd toggles OBD multiplexing on/off as needed
+  # pandad toggles OBD multiplexing on/off as needed
   obd_multiplexing: bool = True
 
 

selfdrive/car/fw_versions.py

@@ -352,7 +352,7 @@ if __name__ == "__main__":
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
 
-  # Set up params for boardd
+  # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
   params.put_bool("IsOnroad", False)

selfdrive/car/isotp_parallel_query.py

@@ -4,7 +4,7 @@ from functools import partial
 
 import cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 

selfdrive/controls/controlsd.py

@@ -279,7 +279,7 @@ class Controls:
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
+      # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
       if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 

selfdrive/controls/tests/test_startup.py

@@ -4,7 +4,7 @@ from parameterized import parameterized
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 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
@@ -105,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
 
   msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
   for _ in range(1000):
-    # card waits for boardd to echo back that it has changed the multiplexing mode
+    # card waits for pandad to echo back that it has changed the multiplexing mode
     if not params.get_bool("ObdMultiplexingChanged"):
       params.put_bool("ObdMultiplexingChanged", True)
 

selfdrive/debug/clear_dtc.py

@@ -12,11 +12,11 @@ parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
 try:
-  check_output(["pidof", "boardd"])
-  print("boardd is running, please kill openpilot before running this script! (aborted)")
+  check_output(["pidof", "pandad"])
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
   sys.exit(1)
 except CalledProcessError as e:
-  if e.returncode != 1: # 1 == no process found (boardd not running)
+  if e.returncode != 1: # 1 == no process found (pandad not running)
     raise e
 
 panda = Panda()

selfdrive/debug/cpu_usage_stat.py

@@ -9,10 +9,10 @@ System tools like top/htop can only show current cpu usage values, so I write th
     Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
     Monitor multiple processes simuteneously.
   Sample usage:
-    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd
-    ('Add monitored proc:', './boardd')
+    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
+    ('Add monitored proc:', './pandad')
     ('Add monitored proc:', 'python locationd/ubloxd.py')
-    boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
+    pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
     ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
 '''
 import psutil

selfdrive/debug/get_fingerprint.py

@@ -4,7 +4,7 @@
 
 # Instructions:
 # - connect to a Panda
-# - run selfdrive/boardd/boardd
+# - run selfdrive/pandad/pandad
 # - launching this script
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,

selfdrive/debug/hyundai_enable_radar_points.py

@@ -79,11 +79,11 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   try:
-    check_output(["pidof", "boardd"])
-    print("boardd is running, please kill openpilot before running this script! (aborted)")
+    check_output(["pidof", "pandad"])
+    print("pandad is running, please kill openpilot before running this script! (aborted)")
     sys.exit(1)
   except CalledProcessError as e:
-    if e.returncode != 1: # 1 == no process found (boardd not running)
+    if e.returncode != 1: # 1 == no process found (pandad not running)
       raise e
 
   confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()

selfdrive/debug/read_dtc_status.py

@@ -13,11 +13,11 @@ parser.add_argument('--debug', action='store_true')
 args = parser.parse_args()
 
 try:
-  check_output(["pidof", "boardd"])
-  print("boardd is running, please kill openpilot before running this script! (aborted)")
+  check_output(["pidof", "pandad"])
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
   sys.exit(1)
 except CalledProcessError as e:
-  if e.returncode != 1: # 1 == no process found (boardd not running)
+  if e.returncode != 1: # 1 == no process found (pandad not running)
     raise e
 
 panda = Panda()

selfdrive/pandad/.gitignore

@@ -0,0 +1,3 @@
+pandad
+pandad_api_impl.cpp
+tests/test_pandad_usbprotocol

selfdrive/pandad/SConscript

@@ -3,9 +3,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging')
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
 panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
-env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
+env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
 if GetOption('extras'):
-  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
+  env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)

selfdrive/pandad/__init__.py

@@ -1,5 +1,5 @@
 # Cython, now uses scons to build
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 assert can_list_to_can_capnp
 
 def can_capnp_to_can_list(can, src_filter=None):

selfdrive/pandad/can_list_to_can_capnp.cc

@@ -1,5 +1,5 @@
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;

selfdrive/pandad/main.cc

@@ -1,12 +1,12 @@
 #include <cassert>
 
-#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/pandad/pandad.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  LOGW("starting boardd");
+  LOGW("starting pandad");
 
   if (!Hardware::PC()) {
     int err;
@@ -17,6 +17,6 @@ int main(int argc, char *argv[]) {
   }
 
   std::vector<std::string> serials(argv + 1, argv + argc);
-  boardd_main_thread(serials);
+  pandad_main_thread(serials);
   return 0;
 }

selfdrive/pandad/panda.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 #include <unistd.h>
 

selfdrive/pandad/panda.h

@@ -13,7 +13,7 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can_definitions.h"
-#include "selfdrive/boardd/panda_comms.h"
+#include "selfdrive/pandad/panda_comms.h"
 
 #define USB_TX_SOFT_LIMIT   (0x100U)
 #define USBPACKET_MAX_SIZE  (0x40)

selfdrive/pandad/panda_comms.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 #include <cassert>
 #include <stdexcept>

selfdrive/pandad/pandad.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/pandad/pandad.h"
 
 #include <algorithm>
 #include <array>
@@ -25,7 +25,7 @@
 // - The internal panda will always be the first panda
 // - Consecutive pandas will be sorted based on panda type, and then serial number
 // Connecting:
-// - If a panda connection is dropped, boardd will reconnect to all pandas
+// - If a panda connection is dropped, pandad will reconnect to all pandas
 // - If a panda is added, we will only reconnect when we are offroad
 // CAN buses:
 // - Each panda will have it's block of 4 buses. E.g.: the second panda will use
@@ -163,7 +163,7 @@ Panda *connect(std::string serial="", uint32_t index=0) {
 }
 
 void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
-  util::set_thread_name("boardd_can_send");
+  util::set_thread_name("pandad_can_send");
 
   AlignedBuffer aligned_buf;
   std::unique_ptr<Context> context(Context::create());
@@ -198,12 +198,12 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 }
 
 void can_recv_thread(std::vector<Panda *> pandas) {
-  util::set_thread_name("boardd_can_recv");
+  util::set_thread_name("pandad_can_recv");
 
   PubMaster pm({"can"});
 
   // run at 100Hz
-  RateKeeper rk("boardd_can_recv", 100);
+  RateKeeper rk("pandad_can_recv", 100);
   std::vector<can_frame> raw_can_data;
 
   while (!do_exit && check_all_connected(pandas)) {
@@ -405,7 +405,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
 }
 
 void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
-  util::set_thread_name("boardd_panda_state");
+  util::set_thread_name("pandad_panda_state");
 
   Params params;
   SubMaster sm({"controlsState"});
@@ -495,7 +495,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
 
 void peripheral_control_thread(Panda *panda, bool no_fan_control) {
-  util::set_thread_name("boardd_peripheral_control");
+  util::set_thread_name("pandad_peripheral_control");
 
   SubMaster sm({"deviceState", "driverCameraState"});
 
@@ -546,8 +546,8 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
   }
 }
 
-void boardd_main_thread(std::vector<std::string> serials) {
-  LOGW("launching boardd");
+void pandad_main_thread(std::vector<std::string> serials) {
+  LOGW("launching pandad");
 
   if (serials.size() == 0) {
     serials = Panda::list();

selfdrive/pandad/pandad.h

@@ -3,7 +3,7 @@
 #include <string>
 #include <vector>
 
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 bool safety_setter_thread(std::vector<Panda *> pandas);
-void boardd_main_thread(std::vector<std::string> serials);
+void pandad_main_thread(std::vector<std::string> serials);

selfdrive/pandad/pandad.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# simple boardd wrapper that updates the panda first
+# simple pandad wrapper that updates the panda first
 import os
 import usb1
 import time
@@ -157,10 +157,10 @@ def main() -> NoReturn:
 
     first_run = False
 
-    # run boardd with all connected serials as arguments
-    os.environ['MANAGER_DAEMON'] = 'boardd'
-    os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
-    subprocess.run(["./boardd", *panda_serials], check=True)
+    # run pandad with all connected serials as arguments
+    os.environ['MANAGER_DAEMON'] = 'pandad'
+    os.chdir(os.path.join(BASEDIR, "selfdrive/pandad"))
+    subprocess.run(["./pandad", *panda_serials], check=True)
 
 if __name__ == "__main__":
   main()

selfdrive/pandad/spi.cc

@@ -13,7 +13,7 @@
 #include "common/timing.h"
 #include "common/swaglog.h"
 #include "panda/board/comms_definitions.h"
-#include "selfdrive/boardd/panda_comms.h"
+#include "selfdrive/pandad/panda_comms.h"
 
 
 #define SPI_SYNC 0x5AU

selfdrive/pandad/tests/test_pandad.py

@@ -39,7 +39,7 @@ class TestPandad:
     managed_processes['pandad'].stop()
 
     if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown:
-      raise Exception("boardd failed to start")
+      raise Exception("pandad failed to start")
 
     return dt
 
@@ -101,7 +101,7 @@ class TestPandad:
       ts.append(dt)
 
     # 5s for USB (due to enumeration)
-    # - 0.2s pandad -> boardd
+    # - 0.2s pandad -> pandad
     # - plus some buffer
     assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0)
     print("startup times", ts, sum(ts) / len(ts))

selfdrive/pandad/tests/test_pandad_loopback.py

@@ -11,18 +11,18 @@ from cereal import car, log
 from openpilot.common.retry import retry
 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.pandad 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
 
 
 @retry(attempts=3)
-def setup_boardd(num_pandas):
+def setup_pandad(num_pandas):
   params = Params()
   params.put_bool("IsOnroad", False)
 
-  with Timeout(90, "boardd didn't start"):
+  with Timeout(90, "pandad didn't start"):
     sm = messaging.SubMaster(['pandaStates'])
     while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
         any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
@@ -32,7 +32,7 @@ def setup_boardd(num_pandas):
   assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \
                                       connect another panda for multipanda tests."
 
-  # boardd safety setting relies on these params
+  # pandad safety setting relies on these params
   cp = car.CarParams.new_message()
 
   safety_config = car.CarParams.SafetyConfig.new_message()
@@ -72,7 +72,7 @@ class TestBoarddLoopback:
   @with_processes(['pandad'])
   def test_loopback(self):
     num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
-    setup_boardd(num_pandas)
+    setup_pandad(num_pandas)
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
     sm = messaging.SubMaster(['pandaStates'])
@@ -80,7 +80,7 @@ class TestBoarddLoopback:
 
     n = 200
     for i in range(n):
-      print(f"boardd loopback {i}/{n}")
+      print(f"pandad loopback {i}/{n}")
 
       sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas)
 

selfdrive/pandad/tests/test_pandad_spi.py

@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import phone_only, with_processes
-from openpilot.selfdrive.boardd.tests.test_boardd_loopback import setup_boardd, send_random_can_messages
+from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
 
 @pytest.mark.tici
@@ -25,7 +25,7 @@ class TestBoarddSpi:
   @phone_only
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
-    setup_boardd(1)
+    setup_pandad(1)
 
     sendcan = messaging.pub_sock('sendcan')
     socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')}

selfdrive/pandad/tests/test_pandad_usbprotocol.cc

@@ -4,7 +4,7 @@
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 struct PandaTest : public Panda {
   PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);

selfdrive/test/test_onroad.py

@@ -58,7 +58,7 @@ PROCS = {
   "./logcatd": 0,
   "system.micd": 6.0,
   "system.timed": 0,
-  "selfdrive.boardd.pandad": 0,
+  "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": (0.5, 15.0),
@@ -67,12 +67,12 @@ PROCS = {
 
 PROCS.update({
   "tici": {
-    "./boardd": 4.0,
+    "./pandad": 4.0,
     "./ubloxd": 0.02,
     "system.ubloxd.pigeond": 6.0,
   },
   "tizi": {
-     "./boardd": 19.0,
+     "./pandad": 19.0,
     "system.qcomgpsd.qcomgpsd": 1.0,
   }
 }.get(HARDWARE.get_device_type(), {}))

system/hardware/tici/hardware.py

@@ -379,7 +379,7 @@ class Tici(HardwareBase):
 
     # *** CPU config ***
 
-    # offline big cluster, leave core 4 online for boardd
+    # offline big cluster, leave core 4 online for pandad
     for i in range(5, 8):
       val = '0' if powersave_enabled else '1'
       sudo_write(val, f'/sys/devices/system/cpu/cpu{i}/online')
@@ -390,7 +390,7 @@ class Tici(HardwareBase):
 
     # *** IRQ config ***
 
-    # boardd core
+    # pandad core
     affine_irq(4, "spi_geni")         # SPI
     affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
     if "tici" in self.get_device_type():

system/manager/manager.py

@@ -145,7 +145,7 @@ def manager_thread() -> None:
     elif not started and started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
-    # update onroad params, which drives boardd's safety setter thread
+    # update onroad params, which drives pandad's safety setter thread
     if started != started_prev:
       write_onroad_params(started, params)
 

system/manager/process_config.py

@@ -60,7 +60,7 @@ procs = [
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", only_onroad),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
-  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
+  NativeProcess("pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
@@ -70,7 +70,7 @@ procs = [
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
-  PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
+  PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),

system/qcomgpsd/nmeaport.py

@@ -127,7 +127,7 @@ def main() -> NoReturn:
     print("qcomgpsd is running, please kill openpilot before running this script! (aborted)")
     sys.exit(1)
   except CalledProcessError as e:
-    if e.returncode != 1: # 1 == no process found (boardd not running)
+    if e.returncode != 1: # 1 == no process found (pandad not running)
       raise e
 
   print("power up antenna ...")

tools/cabana/SConscript

@@ -39,4 +39,4 @@ output_json_file = 'tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")])
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/pandad", '#opendbc', "#cereal", Glob("#opendbc/*.dbc")])

tools/cabana/streams/pandastream.h

@@ -7,7 +7,7 @@
 #include <QFormLayout>
 
 #include "tools/cabana/streams/livestream.h"
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};

tools/latencylogger/README.md

@@ -76,7 +76,7 @@ Frame ID: 1202
     Events updated                                       111.183541
     sendcan published                                    112.981692
     controlsState published                              113.731994
-  boardd
+  pandad
     sending sendcan to panda: 250027001751393037323631   81.928119
     sendcan sent to panda: 250027001751393037323631      82.164834
     sending sendcan to panda: 250027001751393037323631   93.569986

tools/latencylogger/latency_logger.py

@@ -12,7 +12,7 @@ from openpilot.tools.lib.logreader import LogReader
 
 DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
 
-SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'boardd']
+SERVICES = ['camerad', 'modeld', 'plannerd', 'controlsd', 'pandad']
 MONOTIME_KEYS = ['modelMonoTime', 'lateralPlanMonoTime']
 MSGQ_TO_SERVICE = {
   'roadCameraState': 'camerad',
@@ -137,7 +137,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times):
           timestamps[int(jmsg['msg']['timestamp']['frame_id'])][service].append((event, time))
           continue
 
-        if service == "boardd":
+        if service == "pandad":
           timestamps[latest_controls_frameid][service].append((event, time))
           end_times[latest_controls_frameid][service] = time
         else:
@@ -153,7 +153,7 @@ def insert_cloudlogs(lr, timestamps, start_times, end_times):
             failed_inserts += 1
 
   if latest_controls_frameid == 0:
-    print("Warning: failed to bind boardd logs to a frame ID. Add a timestamp cloudlog in controlsd.")
+    print("Warning: failed to bind pandad logs to a frame ID. Add a timestamp cloudlog in controlsd.")
   elif failed_inserts > len(timestamps):
     print(f"Warning: failed to bind {failed_inserts} cloudlog timestamps to a frame ID")
 

tools/replay/can_replay.py

@@ -8,7 +8,7 @@ import threading
 os.environ['FILEREADER_CACHE'] = '1'
 
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
-from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
+from openpilot.selfdrive.pandad import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
 from panda import PandaJungle
 

tools/sim/lib/simulated_car.py

@@ -3,7 +3,7 @@ import cereal.messaging as messaging
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 from openpilot.tools.sim.lib.common import SimulatorState
 from panda.python import Panda