Create system/ for generic services (#24717)

* Create system/ for generic services

* logcatd joins the party

* fix those up

.github/workflows/selfdrive_tests.yaml

@@ -295,7 +295,7 @@ jobs:
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/loggerd/tests/test_logger &&\
-                        ./selfdrive/proclogd/tests/test_proclog && \
+                        ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
                         ./selfdrive/camerad/test/ae_gray_test && \
                         coverage xml"

.gitignore

@@ -41,7 +41,7 @@ board/obj/
 selfdrive/boardd/boardd
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
-selfdrive/proclogd/proclogd
+system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond

Dockerfile.openpilot

@@ -28,5 +28,6 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
 
 RUN scons -j$(nproc)

README.md

@@ -102,6 +102,9 @@ Directory Structure
     ├── panda               # Code used to communicate on CAN
     ├── third_party         # External libraries
     ├── pyextra             # Extra python packages
+    └── system              # Generic services
+        ├── logcatd         # systemd journal as a service
+        └── proclogd        # Logs information from /proc
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
@@ -112,7 +115,6 @@ Directory Structure
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── logcatd         # Android logcat as a service
         ├── loggerd         # Logger and uploader of car data
         ├── modeld          # Driving and monitoring model runners
         ├── proclogd        # Logs information from proc

SConstruct

@@ -377,6 +377,12 @@ if arch != "larch64":
 Export('rednose_config')
 SConscript(['rednose/SConscript'])
 
+# Build system services
+
+SConscript(['system/proclogd/SConscript'])
+if arch != "Darwin":
+  SConscript(['system/logcatd/SConscript'])
+
 # Build openpilot
 
 SConscript(['cereal/SConscript'])
@@ -396,7 +402,6 @@ SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])
-SConscript(['selfdrive/proclogd/SConscript'])
 SConscript(['selfdrive/clocksd/SConscript'])
 
 SConscript(['selfdrive/loggerd/SConscript'])
@@ -405,9 +410,6 @@ SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 
-if arch != "Darwin":
-  SConscript(['selfdrive/logcatd/SConscript'])
-
 if GetOption('test'):
   SConscript('panda/tests/safety/SConscript')
 

docs/c_docs.rst

@@ -66,7 +66,7 @@ qt
 proclogd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_proclogd
+   :project: system_proclogd
 
 modeld
 ^^^^^^

docs/docker/Dockerfile

@@ -30,6 +30,7 @@ COPY ./opendbc ${OPENPILOT_PATH}/opendbc
 COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
+COPY ./system ${OPENPILOT_PATH}/system
 COPY ./*.md ${OPENPILOT_PATH}/
 
 RUN scons -j$(nproc)

release/files_common

@@ -220,13 +220,13 @@ selfdrive/locationd/models/live_kf.cc
 
 selfdrive/locationd/calibrationd.py
 
-selfdrive/logcatd/SConscript
+system/logcatd/SConscript
-selfdrive/logcatd/logcatd_systemd.cc
+system/logcatd/logcatd_systemd.cc
 
-selfdrive/proclogd/SConscript
+system/proclogd/SConscript
-selfdrive/proclogd/main.cc
+system/proclogd/main.cc
-selfdrive/proclogd/proclog.cc
+system/proclogd/proclog.cc
-selfdrive/proclogd/proclog.h
+system/proclogd/proclog.h
 
 selfdrive/loggerd/SConscript
 selfdrive/loggerd/encoder/encoder.cc

selfdrive/manager/process_config.py

@@ -23,11 +23,11 @@ procs = [
   NativeProcess("camerad", "selfdrive/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "selfdrive/clocksd", ["./clocksd"]),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("logcatd", "selfdrive/logcatd", ["./logcatd"]),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("proclogd", "selfdrive/proclogd", ["./proclogd"]),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
   NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),

system/proclogd/main.cc

@@ -2,7 +2,7 @@
 #include <sys/resource.h>
 
 #include "common/util.h"
-#include "selfdrive/proclogd/proclog.h"
+#include "system/proclogd/proclog.h"
 
 ExitHandler do_exit;
 

system/proclogd/proclog.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/proclogd/proclog.h"
+#include "system/proclogd/proclog.h"
 
 #include <dirent.h>
 

system/proclogd/tests/test_proclog.cc

@@ -1,7 +1,7 @@
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
 #include "common/util.h"
-#include "selfdrive/proclogd/proclog.h"
+#include "system/proclogd/proclog.h"
 
 const std::string allowed_states = "RSDTZtWXxKWPI";
 

tools/sim/Dockerfile.sim

@@ -54,6 +54,7 @@ COPY ./opendbc $HOME/openpilot/opendbc
 COPY ./cereal $HOME/openpilot/cereal
 COPY ./panda $HOME/openpilot/panda
 COPY ./selfdrive $HOME/openpilot/selfdrive
+COPY ./system $HOME/openpilot/system
 COPY ./tools $HOME/openpilot/tools
 
 WORKDIR $HOME/openpilot