Move camerad to system/ (commaai#24836)

* mv camerad

* add hardware symlink

* fix unit tests

.github/workflows/selfdrive_tests.yaml

@@ -309,7 +309,7 @@ jobs:
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \
-                        ./selfdrive/camerad/test/ae_gray_test && \
+                        ./camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2

.gitignore

@@ -49,8 +49,8 @@ selfdrive/loggerd/loggerd
 selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
-selfdrive/camerad/camerad
-selfdrive/camerad/test/ae_gray_test
+system/camerad/camerad
+system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

.pre-commit-config.yaml

@@ -54,7 +54,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(system/camerad/test/)/|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++

Jenkinsfile

@@ -194,8 +194,8 @@ pipeline {
                   steps {
                     phone_steps("eon-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                      ["test camerad", "python system/camerad/test/test_camerad.py"],
+                      ["test exposure", "python system/camerad/test/test_exposure.py"],
                     ])
                   }
                 }
@@ -204,8 +204,8 @@ pipeline {
                   steps {
                     phone_steps("tici-party", [
                       ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
-                      ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
+                      ["test camerad", "python system/camerad/test/test_camerad.py"],
+                      ["test exposure", "python system/camerad/test/test_exposure.py"],
                     ])
                   }
                 }

SConstruct

@@ -101,7 +101,7 @@ if arch == "aarch64" or arch == "larch64":
       "/usr/lib/aarch64-linux-gnu"
     ]
     cpppath += [
-      "#selfdrive/camerad/include",
+      "#system/camerad/include",
     ]
     cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
     cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
@@ -424,7 +424,7 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/camerad/SConscript'])
+SConscript(['system/camerad/SConscript'])
 SConscript(['selfdrive/modeld/SConscript'])
 
 SConscript(['selfdrive/controls/lib/cluster/SConscript'])

release/files_common

@@ -190,6 +190,7 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
+selfdrive/hardware
 selfdrive/hardware/__init__.py
 selfdrive/hardware/base.h
 selfdrive/hardware/base.py
@@ -316,28 +317,28 @@ selfdrive/ui/replay/*.h
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
-selfdrive/camerad/SConscript
-selfdrive/camerad/main.cc
-
-selfdrive/camerad/snapshot/*
-selfdrive/camerad/include/*
-selfdrive/camerad/cameras/camera_common.h
-selfdrive/camerad/cameras/camera_common.cc
-selfdrive/camerad/cameras/camera_qcom.cc
-selfdrive/camerad/cameras/camera_qcom.h
-selfdrive/camerad/cameras/debayer.cl
-selfdrive/camerad/cameras/sensor_i2c.h
-selfdrive/camerad/cameras/sensor2_i2c.h
-
-selfdrive/camerad/transforms/rgb_to_yuv.cc
-selfdrive/camerad/transforms/rgb_to_yuv.h
-selfdrive/camerad/transforms/rgb_to_yuv.cl
-selfdrive/camerad/transforms/rgb_to_yuv_test.cc
-
-selfdrive/camerad/imgproc/conv.cl
-selfdrive/camerad/imgproc/pool.cl
-selfdrive/camerad/imgproc/utils.cc
-selfdrive/camerad/imgproc/utils.h
+system/camerad/SConscript
+system/camerad/main.cc
+
+system/camerad/snapshot/*
+system/camerad/include/*
+system/camerad/cameras/camera_common.h
+system/camerad/cameras/camera_common.cc
+system/camerad/cameras/camera_qcom.cc
+system/camerad/cameras/camera_qcom.h
+system/camerad/cameras/debayer.cl
+system/camerad/cameras/sensor_i2c.h
+system/camerad/cameras/sensor2_i2c.h
+
+system/camerad/transforms/rgb_to_yuv.cc
+system/camerad/transforms/rgb_to_yuv.h
+system/camerad/transforms/rgb_to_yuv.cl
+system/camerad/transforms/rgb_to_yuv_test.cc
+
+system/camerad/imgproc/conv.cl
+system/camerad/imgproc/pool.cl
+system/camerad/imgproc/utils.cc
+system/camerad/imgproc/utils.h
 
 selfdrive/manager/__init__.py
 selfdrive/manager/build.py

release/files_tici

@@ -5,9 +5,9 @@ system/timezoned.py
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*
 
-selfdrive/camerad/cameras/camera_qcom2.cc
-selfdrive/camerad/cameras/camera_qcom2.h
-selfdrive/camerad/cameras/real_debayer.cl
+system/camerad/cameras/camera_qcom2.cc
+system/camerad/cameras/camera_qcom2.h
+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/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

@@ -20,7 +20,7 @@ def logging(started, params, CP: car.CarParams) -> bool:
 procs = [
   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("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),

selfdrive/test/process_replay/test_debayer.py

@@ -61,14 +61,14 @@ 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:
       build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
     debayer_prg = cl.Program(ctx, f.read()).build(options=build_args)
 
-  with open(os.path.join(BASEDIR, 'selfdrive/camerad/transforms/rgb_to_yuv.cl')) as f:
+  with open(os.path.join(BASEDIR, 'system/camerad/transforms/rgb_to_yuv.cl')) as f:
     build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -DWIDTH={FRAME_WIDTH} -DHEIGHT={FRAME_HEIGHT}' + \
       f' -DUV_WIDTH={UV_WIDTH} -DUV_HEIGHT={UV_HEIGHT} -DRGB_STRIDE={FRAME_WIDTH*3}' + \
       f' -DRGB_SIZE={FRAME_WIDTH*FRAME_HEIGHT}'

selfdrive/ui/qt/widgets/cameraview.h

@@ -7,7 +7,7 @@
 #include <QOpenGLWidget>
 #include <QThread>
 #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};

selfdrive/camerad/cameras/camera_common.cc → 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"
@@ -19,12 +19,12 @@
 
 #ifdef QCOM
 #include "CL/cl_ext_qcom.h"
-#include "selfdrive/camerad/cameras/camera_qcom.h"
+#include "system/camerad/cameras/camera_qcom.h"
 #elif 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;

selfdrive/camerad/cameras/camera_common.h → 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"

selfdrive/camerad/cameras/camera_qcom.cc → system/camerad/cameras/camera_qcom.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/camerad/cameras/camera_qcom.h"
+#include "system/camerad/cameras/camera_qcom.h"
 
 #include <fcntl.h>
 #include <poll.h>
@@ -14,11 +14,11 @@
 #include <cutils/properties.h>
 #include <linux/media.h>
 
-#include "selfdrive/camerad/cameras/sensor_i2c.h"
-#include "selfdrive/camerad/include/msm_cam_sensor.h"
-#include "selfdrive/camerad/include/msmb_camera.h"
-#include "selfdrive/camerad/include/msmb_isp.h"
-#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "system/camerad/cameras/sensor_i2c.h"
+#include "system/camerad/include/msm_cam_sensor.h"
+#include "system/camerad/include/msmb_camera.h"
+#include "system/camerad/include/msmb_isp.h"
+#include "system/camerad/include/msmb_ispif.h"
 #include "selfdrive/common/clutil.h"
 #include "selfdrive/common/params.h"
 #include "selfdrive/common/swaglog.h"

selfdrive/camerad/cameras/camera_qcom.h → system/camerad/cameras/camera_qcom.h

@@ -6,12 +6,12 @@
 
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionbuf.h"
-#include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/camerad/imgproc/utils.h"
-#include "selfdrive/camerad/include/msm_cam_sensor.h"
-#include "selfdrive/camerad/include/msmb_camera.h"
-#include "selfdrive/camerad/include/msmb_isp.h"
-#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/camerad/imgproc/utils.h"
+#include "system/camerad/include/msm_cam_sensor.h"
+#include "system/camerad/include/msmb_camera.h"
+#include "system/camerad/include/msmb_isp.h"
+#include "system/camerad/include/msmb_ispif.h"
 #include "selfdrive/common/mat.h"
 #include "selfdrive/common/util.h"
 

selfdrive/camerad/cameras/camera_qcom2.cc → 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

selfdrive/camerad/cameras/camera_qcom2.h → 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

selfdrive/camerad/cameras/camera_replay.cc → system/camerad/cameras/camera_replay.cc

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

selfdrive/camerad/imgproc/utils.cc → 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>

selfdrive/camerad/main.cc → system/camerad/main.cc

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

selfdrive/camerad/snapshot/snapshot.py → system/camerad/snapshot/snapshot.py

@@ -14,7 +14,7 @@
 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_RGB_ROAD,

selfdrive/camerad/test/ae_gray_test.cc → 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

selfdrive/camerad/test/test_exposure.py → system/camerad/test/test_exposure.py

@@ -4,7 +4,7 @@
 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 EON, TICI
 

selfdrive/camerad/transforms/rgb_to_yuv.cc → 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>

selfdrive/camerad/transforms/rgb_to_yuv_test.cc → 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