From 72905fb18f3c0d86d1076e177d7f540173000500 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 20 Aug 2023 17:13:59 -0700 Subject: [PATCH] more --- Dockerfile.openpilot | 1 + common/transformations/camera.py | 2 +- common/transformations/tests/test_coordinates.py | 2 +- release/files_common | 3 +++ selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py | 2 +- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- selfdrive/manager/manager.py | 2 +- selfdrive/manager/process.py | 2 +- selfdrive/manager/test/test_manager.py | 2 +- selfdrive/test/process_replay/README.md | 8 ++++---- selfdrive/test/process_replay/test_fuzzy.py | 2 +- selfdrive/tombstoned.py | 2 +- system/hardware/tici/agnos.py | 2 +- system/hardware/tici/tests/compare_casync_manifest.py | 2 +- system/hardware/tici/tests/test_casync.py | 2 +- system/loggerd/tests/loggerd_tests_common.py | 4 ++-- system/loggerd/tests/test_deleter.py | 2 +- tools/gpstest/test_gps.py | 2 +- tools/gpstest/test_laikad.py | 2 +- tools/sim/Dockerfile.sim | 3 ++- 20 files changed, 27 insertions(+), 22 deletions(-) diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 51907b7a44..3541be92b0 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/transformations/camera.py b/common/transformations/camera.py index eaed0e7afe..c643cb5702 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/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py index dc70faed0b..7ae79403bd 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/release/files_common b/release/files_common index 8381546b03..02f4198222 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/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index a8d1f1c76c..8d2632f33e 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/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 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 3433ff892e..f92e1301ba 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/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 diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 152f9561f4..a739437de7 100755 --- a/selfdrive/manager/manager.py +++ b/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 diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 46cbdbac92..603a9a8f52 100644 --- a/selfdrive/manager/process.py +++ b/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 diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 3bb9585d12..8ae872d3df 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/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 diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index d1743ac539..15b69ebd1d 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(...) @@ -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/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py index 7fdb8b630d..f3f48d0159 100755 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ b/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 ... diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 5849af3a22..25f2a61f98 100755 --- a/selfdrive/tombstoned.py +++ b/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 diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 5f446a8e90..ef7d9adb79 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/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py index 6d7232bd64..835985b0b5 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_casync.py b/system/hardware/tici/tests/test_casync.py index 8724575ad6..94b32a9f76 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/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index cd8978987e..89ddbd658c 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/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 diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py index 580c0ccec2..86152b05f8 100755 --- a/system/loggerd/tests/test_deleter.py +++ b/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 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index aaa430cc45..98f1ad84b8 100644 --- a/tools/gpstest/test_gps.py +++ b/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 diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 540802e6f8..abb47d4bfc 100644 --- a/tools/gpstest/test_laikad.py +++ b/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 diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 48aa12ebc6..d312f34ecd 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()"