services: capitalize constant service list (#30005)

* rename

* bump

* Apply suggestions from code review

cereal

@@ -1 +1 @@
-Subproject commit 4b334f6f10877e4a666b23983de2d27934ebf3b1
+Subproject commit aed84aeedf8fa7fe2a6bae700ccaf9667d3bdbb0

selfdrive/athena/athenad.py

@@ -29,7 +29,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.basedir import PERSIST
 from openpilot.common.file_helpers import CallbackReader
@@ -309,7 +309,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
 # security: user should be able to request any message from their car
 @dispatcher.add_method
 def getMessage(service: str, timeout: int = 1000) -> dict:
-  if service is None or service not in service_list:
+  if service is None or service not in SERVICE_LIST:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)

selfdrive/controls/lib/events.py

@@ -969,7 +969,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import service_list
+  from cereal.services import SERVICE_LIST
   from collections import defaultdict, OrderedDict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}
@@ -977,7 +977,7 @@ if __name__ == '__main__':
 
   CP = car.CarParams.new_message()
   CS = car.CarState.new_message()
-  sm = messaging.SubMaster(list(service_list.keys()))
+  sm = messaging.SubMaster(list(SERVICE_LIST.keys()))
 
   for i, alerts in EVENTS.items():
     for et, alert in alerts.items():

selfdrive/debug/check_lag.py

@@ -2,7 +2,7 @@
 from typing import Dict
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 TO_CHECK = ['carState']
 
@@ -20,7 +20,7 @@ if __name__ == "__main__":
         t = sm.logMonoTime[s] / 1e9
 
         if s in prev_t:
-          expected = 1.0 / (service_list[s].frequency)
+          expected = 1.0 / (SERVICE_LIST[s].frequency)
           dt = t - prev_t[s]
           if dt > 10 * expected:
             print(t, s, dt)

selfdrive/debug/count_events.py

@@ -7,7 +7,7 @@ from pprint import pprint
 from tqdm import tqdm
 from typing import List, Tuple, cast
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader
 
@@ -17,7 +17,7 @@ if __name__ == "__main__":
   cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
-  cams = [s for s in service_list if s.endswith('CameraState')]
+  cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
   alerts: List[Tuple[float, str]] = []
@@ -62,7 +62,7 @@ if __name__ == "__main__":
   print("\n")
   print("Cameras")
   for k, v in cnt_cameras.items():
-    s = service_list[k]
+    s = SERVICE_LIST[k]
     expected_frames = int(s.frequency * duration / cast(float, s.decimation))
     print("  ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected")
 

selfdrive/debug/dump.py

@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -31,7 +31,7 @@ if __name__ == "__main__":
 
   poller = messaging.Poller()
 
-  for m in args.socket if len(args.socket) > 0 else service_list:
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
     messaging.sub_sock(m, poller, addr=args.addr)
 
   values = None

selfdrive/debug/internal/qlog_size.py

@@ -5,7 +5,7 @@ from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import Route
 
@@ -49,7 +49,7 @@ if __name__ == "__main__":
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
   qlog_by_type = defaultdict(list)
-  for name, service in service_list.items():
+  for name, service in SERVICE_LIST.items():
     if service.decimation is None:
       continue
 

selfdrive/locationd/test/test_locationd.py

@@ -6,7 +6,7 @@ import time
 import capnp
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
@@ -74,8 +74,8 @@ class TestLocationdProc(unittest.TestCase):
     msgs = []
     for sec in range(65):
       for name in self.LLD_MSGS:
-        for j in range(int(service_list[name].frequency)):
+        for j in range(int(SERVICE_LIST[name].frequency)):
-          msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
+          msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9)))
 
     for msg in sorted(msgs, key=lambda x: x.logMonoTime):
       self.pm.send(msg.which(), msg)

selfdrive/test/process_replay/process_replay.py

@@ -14,7 +14,7 @@ import capnp
 
 import cereal.messaging as messaging
 from cereal import car
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
@@ -364,7 +364,7 @@ def controlsd_rcv_callback(msg, cfg, frame):
 
   socks = [
     s for s in cfg.subs if
-    frame % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0
+    frame % int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency) == 0
   ]
   if "sendcan" in socks and (frame - 1) < 2000:
     socks.remove("sendcan")
@@ -428,7 +428,7 @@ class FrequencyBasedRcvCallback:
 
     resp_sockets = [
       s for s in cfg.subs
-      if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
+      if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0
     ]
     return bool(len(resp_sockets))
 

selfdrive/test/profiling/lib.py

@@ -1,5 +1,5 @@
 from collections import defaultdict, deque
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 import cereal.messaging as messaging
 import capnp
 
@@ -67,7 +67,7 @@ class SubMaster(messaging.SubMaster):
     self.msgs = list(reversed(self.msgs))
 
     for s in services:
-      self.freq[s] = service_list[s].frequency
+      self.freq[s] = SERVICE_LIST[s].frequency
       try:
         data = messaging.new_message(s)
       except capnp.lib.capnp.KjException:

selfdrive/test/test_onroad.py

@@ -13,7 +13,7 @@ from pathlib import Path
 
 from cereal import car
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
@@ -179,7 +179,7 @@ class TestOnroad(unittest.TestCase):
         continue
 
       with self.subTest(service=s):
-        assert len(msgs) >= math.floor(service_list[s].frequency*55)
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55)
 
   def test_cloudlog_size(self):
     msgs = [m for m in self.lr if m.which() == 'logMessage']
@@ -356,7 +356,7 @@ class TestOnroad(unittest.TestCase):
         raise Exception(f"missing {s}")
 
       ts = np.diff(msgs) / 1e9
-      dt = 1 / service_list[s].frequency
+      dt = 1 / SERVICE_LIST[s].frequency
 
       try:
         np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check")

system/camerad/test/test_camerad.py

@@ -6,7 +6,7 @@ from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.system.hardware import TICI
 
@@ -43,10 +43,10 @@ class TestCamerad(unittest.TestCase):
     for cam, msgs in cls.logs.items():
       if cls.sensor_type is None:
         cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = service_list[cam].frequency * TEST_TIMESPAN
+      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency)
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
       assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
 
       for m in msgs:

system/hardware/tici/tests/test_power_draw.py

@@ -8,7 +8,7 @@ from tabulate import tabulate
 from typing import List
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE, TICI
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -91,7 +91,7 @@ class TestPowerDraw(unittest.TestCase):
       cur = used[proc.name]
       expected = proc.power
       msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
-      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      msgs_expected = int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
       tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
         self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))

system/loggerd/tests/test_loggerd.py

@@ -12,7 +12,7 @@ from typing import Dict, List
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -27,8 +27,8 @@ from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_fr
 
 SentinelType = log.Sentinel.SentinelType
 
-CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in service_list
+CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST
-                   and service_list[f].should_log and "encode" not in f.lower()]
+                   and SERVICE_LIST[f].should_log and "encode" not in f.lower()]
 
 
 class TestLoggerd(unittest.TestCase):
@@ -219,8 +219,8 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(expected_val, bootlog_val)
 
   def test_qlog(self):
-    qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is not None]
+    qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None]
-    no_qlog_services = [s for s in CEREAL_SERVICES if service_list[s].decimation is None]
+    no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None]
 
     services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
@@ -245,7 +245,7 @@ class TestLoggerd(unittest.TestCase):
         self.assertEqual(recv_cnt, 0, f"got {recv_cnt} {s} msgs in qlog")
       else:
         # check logged message count matches decimation
-        expected_cnt = (len(msgs) - 1) // service_list[s].decimation + 1
+        expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1
         self.assertEqual(recv_cnt, expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}")
 
   def test_rlog(self):

system/sensord/tests/test_pigeond.py

@@ -3,7 +3,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -26,10 +26,10 @@ class TestPigeond(unittest.TestCase):
     sm = messaging.SubMaster(['ubloxRaw'])
 
     # setup time
-    for _ in range(int(5 * service_list['ubloxRaw'].frequency)):
+    for _ in range(int(5 * SERVICE_LIST['ubloxRaw'].frequency)):
       sm.update()
 
-    for _ in range(int(10 * service_list['ubloxRaw'].frequency)):
+    for _ in range(int(10 * SERVICE_LIST['ubloxRaw'].frequency)):
       sm.update()
       assert sm.all_checks()
 

system/sensord/tests/test_sensord.py

@@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
@@ -172,7 +172,7 @@ class TestSensord(unittest.TestCase):
     for s, msgs in self.events.items():
       with self.subTest(sensor=s):
         freq = len(msgs) / self.sample_secs
-        ef = service_list[s].frequency
+        ef = SERVICE_LIST[s].frequency
         assert ef*0.85 <= freq <= ef*1.15
 
   def test_logmonottime_timestamp_diff(self):