Move camerad to system/ (#24836)

* mv camerad

* add hardware symlink

* fix unit tests

.github/workflows/selfdrive_tests.yaml

@@ -310,7 +310,7 @@ jobs:
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2

Jenkinsfile

@@ -139,8 +139,8 @@ pipeline {
           steps {
             phone_steps("tici-party", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
             ])
           }
         }

SConstruct

@@ -94,7 +94,7 @@ if arch == "larch64":
     "/usr/lib/aarch64-linux-gnu"
   ]
   cpppath += [
-    "#selfdrive/camerad/include",
+    "#system/camerad/include",
   ]
   cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
   cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -379,6 +379,7 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
+  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
 ])
@@ -396,7 +397,6 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])

docs/c_docs.rst

@@ -28,11 +28,11 @@ selfdrive
 camerad
 ^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_camerad_cameras
+   :project: system_camerad_cameras
 .. autodoxygenindex::
-   :project: selfdrive_camerad_transforms
+   :project: system_camerad_transforms
 .. autodoxygenindex::
-   :project: selfdrive_camerad_imgproc
+   :project: system_camerad_imgproc
 
 locationd
 ^^^^^^^^^

release/files_common

@@ -182,6 +182,7 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
+selfdrive/hardware
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -298,24 +299,24 @@ selfdrive/ui/replay/*.h
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
-selfdrive/camerad/SConscript
+system/camerad/SConscript
-selfdrive/camerad/main.cc
+system/camerad/main.cc
 
-selfdrive/camerad/snapshot/*
+system/camerad/snapshot/*
-selfdrive/camerad/include/*
+system/camerad/include/*
-selfdrive/camerad/cameras/camera_common.h
+system/camerad/cameras/camera_common.h
-selfdrive/camerad/cameras/camera_common.cc
+system/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/sensor2_i2c.h
+system/camerad/cameras/sensor2_i2c.h
 
-selfdrive/camerad/transforms/rgb_to_yuv.cc
+system/camerad/transforms/rgb_to_yuv.cc
-selfdrive/camerad/transforms/rgb_to_yuv.h
+system/camerad/transforms/rgb_to_yuv.h
-selfdrive/camerad/transforms/rgb_to_yuv.cl
+system/camerad/transforms/rgb_to_yuv.cl
-selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+system/camerad/transforms/rgb_to_yuv_test.cc
 
-selfdrive/camerad/imgproc/conv.cl
+system/camerad/imgproc/conv.cl
-selfdrive/camerad/imgproc/pool.cl
+system/camerad/imgproc/pool.cl
-selfdrive/camerad/imgproc/utils.cc
+system/camerad/imgproc/utils.cc
-selfdrive/camerad/imgproc/utils.h
+system/camerad/imgproc/utils.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py

release/files_tici

@@ -7,9 +7,9 @@ system/timezoned.py
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
 
-selfdrive/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.cc
-selfdrive/camerad/cameras/camera_qcom2.h
+system/camerad/cameras/camera_qcom2.h
-selfdrive/camerad/cameras/real_debayer.cl
+system/camerad/cameras/real_debayer.cl
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64

selfdrive/athena/athenad.py

@@ -493,7 +493,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot():
-  from selfdrive.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):

selfdrive/loggerd/encoder/encoder.h

@@ -8,7 +8,7 @@
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
 #include "selfdrive/loggerd/video_writer.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #define V4L2_BUF_FLAG_KEYFRAME 8
 

selfdrive/loggerd/loggerd.h

@@ -15,7 +15,7 @@
 #include "cereal/services.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/timing.h"

selfdrive/manager/process_config.py

@@ -18,6 +18,8 @@ def logging(started, params, CP: car.CarParams) -> bool:
   return started and run
 
 procs = [
+  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
+  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
@@ -25,8 +27,6 @@ procs = [
   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("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),

selfdrive/test/process_replay/test_debayer.py

@@ -10,7 +10,7 @@ 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 selfdrive.camerad.snapshot.snapshot import yuv_to_rgb
+from system.camerad.snapshot.snapshot import yuv_to_rgb
 from tools.lib.logreader import LogReader
 from tools.lib.filereader import FileReader
 
@@ -62,7 +62,7 @@ def unbzip_frames(url):
 def init_kernels(frame_offset=0):
   ctx = cl.create_some_context(interactive=False)
 
-  with open(os.path.join(BASEDIR, 'selfdrive/camerad/cameras/real_debayer.cl')) as f:
+  with open(os.path.join(BASEDIR, 'system/camerad/cameras/real_debayer.cl')) as f:
     build_args = ' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant' + \
       f' -DFRAME_STRIDE={FRAME_STRIDE} -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DFRAME_OFFSET={frame_offset} -DCAM_NUM=0'
     if PC:

selfdrive/ui/qt/widgets/cameraview.h

@@ -17,7 +17,7 @@
 #endif
 
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/ui.h"
 
 const int FRAME_BUFFER_SIZE = 5;

selfdrive/ui/replay/logreader.h

@@ -6,7 +6,7 @@
 #endif
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "selfdrive/ui/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};

system/camerad/cameras/camera_common.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <unistd.h>
 
@@ -10,7 +10,7 @@
 #include "libyuv.h"
 #include <jpeglib.h>
 
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 #include "common/clutil.h"
 #include "common/modeldata.h"
 #include "common/swaglog.h"
@@ -20,9 +20,9 @@
 
 #ifdef QCOM2
 #include "CL/cl_ext_qcom.h"
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 #else
-#include "selfdrive/camerad/test/camera_test.h"
+#include "system/camerad/test/camera_test.h"
 #endif
 
 ExitHandler do_exit;

system/camerad/cameras/camera_common.h

@@ -9,7 +9,7 @@
 #include "cereal/visionipc/visionbuf.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"

system/camerad/cameras/camera_qcom2.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#include "system/camerad/cameras/camera_qcom2.h"
 
 #include <fcntl.h>
 #include <poll.h>
@@ -20,7 +20,7 @@
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
 #include "common/swaglog.h"
-#include "selfdrive/camerad/cameras/sensor2_i2c.h"
+#include "system/camerad/cameras/sensor2_i2c.h"
 
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl

system/camerad/cameras/camera_qcom2.h

@@ -6,7 +6,7 @@
 
 #include <media/cam_req_mgr.h>
 
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 #include "common/util.h"
 
 #define FRAME_BUF_COUNT 4

system/camerad/imgproc/utils.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/imgproc/utils.h"
+#include "system/camerad/imgproc/utils.h"
 
 #include <algorithm>
 #include <cassert>

system/camerad/main.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 #include <cassert>
 

system/camerad/snapshot/snapshot.py

@@ -13,7 +13,7 @@ from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
-LM_THRESH = 120  # defined in selfdrive/camerad/imgproc/utils.h
+LM_THRESH = 120  # defined in system/camerad/imgproc/utils.h
 
 VISION_STREAMS = {
   "roadCameraState": VisionStreamType.VISION_STREAM_ROAD,

system/camerad/test/ae_gray_test.cc

@@ -8,7 +8,7 @@
 #include <cstring>
 
 #include "common/util.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
+#include "system/camerad/cameras/camera_common.h"
 
 int main() {
   // set up fake camerabuf

system/camerad/test/test_exposure.py

@@ -4,7 +4,7 @@ import unittest
 import numpy as np
 
 from selfdrive.test.helpers import with_processes
-from selfdrive.camerad.snapshot.snapshot import get_snapshots
+from system.camerad.snapshot.snapshot import get_snapshots
 
 from system.hardware import TICI
 

system/camerad/transforms/rgb_to_yuv.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 
 #include <cassert>
 #include <cstdio>

system/camerad/transforms/rgb_to_yuv_test.cc

@@ -30,7 +30,7 @@
 #include <CL/cl.h>
 
 #include "libyuv.h"
-#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/clutil.h"
 
 static inline double millis_since_boot() {

tools/webcam/README.md

@@ -23,14 +23,14 @@ git clone https://github.com/commaai/openpilot.git
 ```
 cd ~/openpilot
 ```
-- check out selfdrive/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
+- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down
 ```
 USE_WEBCAM=1 scons -j$(nproc)
 ```
 
 ## Connect the hardware
 - Connect the road facing camera first, then the driver facing camera
-- (default indexes are 1 and 2; can be modified in selfdrive/camerad/cameras/camera_webcam.cc)
+- (default indexes are 1 and 2; can be modified in system/camerad/cameras/camera_webcam.cc)
 - Connect your computer to panda
 
 ## GO