more

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

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

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],

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

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -8,7 +8,7 @@ from openpilot.common.realtime import sec_since_boot
 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 openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -11,7 +11,7 @@ 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 openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 

selfdrive/manager/manager.py

@@ -9,7 +9,7 @@ from typing import List, Tuple, Union
 
 from cereal import log
 import cereal.messaging as messaging
-import selfdrive.sentry as sentry
+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

selfdrive/manager/process.py

@@ -11,7 +11,7 @@ from multiprocessing import Process
 from setproctitle import setproctitle  # pylint: disable=no-name-in-module
 
 import cereal.messaging as messaging
-import selfdrive.sentry as sentry
+import openpilot.selfdrive.sentry as sentry
 from cereal import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params

selfdrive/manager/test/test_manager.py

@@ -6,7 +6,7 @@ import unittest
 
 from cereal import car
 from openpilot.common.params import Params
-import selfdrive.manager.manager as manager
+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

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(...)
@@ -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
-```
+```

selfdrive/test/process_replay/test_fuzzy.py

@@ -8,7 +8,7 @@ import unittest
 from cereal import log
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
-import selfdrive.test.process_replay.process_replay as pr
+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 ...

selfdrive/tombstoned.py

@@ -11,7 +11,7 @@ from typing import NoReturn
 
 from openpilot.common.file_helpers import mkdirs_exists_ok
 from openpilot.system.loggerd.config import ROOT
-import selfdrive.sentry as sentry
+import openpilot.selfdrive.sentry as sentry
 from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit
 

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/"

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):

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

system/loggerd/tests/loggerd_tests_common.py

@@ -7,8 +7,8 @@ import unittest
 from pathlib import Path
 from typing import Optional
 
-import system.loggerd.deleter as deleter
-import system.loggerd.uploader as uploader
+import openpilot.system.loggerd.deleter as deleter
+import openpilot.system.loggerd.uploader as uploader
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 

system/loggerd/tests/test_deleter.py

@@ -6,7 +6,7 @@ from collections import namedtuple
 from pathlib import Path
 from typing import Sequence
 
-import system.loggerd.deleter as deleter
+import openpilot.system.loggerd.deleter as deleter
 from openpilot.common.timeout import Timeout, TimeoutException
 from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 

tools/gpstest/test_gps.py

@@ -5,7 +5,7 @@ import struct
 
 from openpilot.common.params import Params
 import cereal.messaging as messaging
-import system.sensord.pigeond as pd
+import openpilot.system.sensord.pigeond as pd
 from openpilot.system.hardware import TICI
 from openpilot.selfdrive.test.helpers import with_processes
 

tools/gpstest/test_laikad.py

@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-import system.sensord.pigeond as pd
+import openpilot.system.sensord.pigeond as pd
 
 from openpilot.common.params import Params
 from openpilot.system.hardware import TICI

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()"