Move selfdrive/hardware/ to system/ (commaai#24725)

* move hardware to system/

* fix mypy

fix hardware

.github/workflows/selfdrive_tests.yaml

@@ -301,7 +301,7 @@ jobs:
                         $UNIT_TEST selfdrive/locationd && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST system/hardware/tici && \
                         $UNIT_TEST tools/lib/tests && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \

Jenkinsfile

@@ -136,7 +136,7 @@ pipeline {
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
                       ["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
-                      ["test updater", "python selfdrive/hardware/eon/test_neos_updater.py"],
+                      ["test updater", "python system/hardware/eon/test_neos_updater.py"],
                     ])
                   }
                 }
@@ -181,7 +181,7 @@ pipeline {
                   steps {
                     phone_steps("tici2", [
                       ["build", "cd selfdrive/manager && ./build.py"],
-                      ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
+                      ["test power draw", "python system/hardware/tici/test_power_draw.py"],
                       ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],

common/basedir.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 

common/modeldata.h

@@ -2,7 +2,7 @@
 
 #include <array>
 #include "common/mat.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;

common/params.cc

@@ -8,7 +8,7 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 namespace {
 

common/realtime.py

@@ -8,7 +8,7 @@
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC, TICI
+from system.hardware import PC, TICI
 
 
 # time step for each process

common/swaglog.cc

@@ -15,7 +15,7 @@
 
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 class SwaglogState : public LogState {
  public:

common/tests/test_swaglog.cc

@@ -7,7 +7,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";

common/transformations/camera.py

@@ -1,7 +1,7 @@
 import numpy as np
 
 import common.transformations.orientation as orient
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0

launch_chffrplus.sh

@@ -91,10 +91,10 @@ function two_init {
   # Check for NEOS update
   if [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
     echo "Installing NEOS update"
-    NEOS_PY="$DIR/selfdrive/hardware/eon/neos.py"
-    MANIFEST="$DIR/selfdrive/hardware/eon/neos.json"
+    NEOS_PY="$DIR/system/hardware/eon/neos.py"
+    MANIFEST="$DIR/system/hardware/eon/neos.json"
     $NEOS_PY --swap-if-ready $MANIFEST
-    $DIR/selfdrive/hardware/eon/updater $NEOS_PY $MANIFEST
+    $DIR/system/hardware/eon/updater $NEOS_PY $MANIFEST
   fi
 }
 
@@ -112,12 +112,12 @@ function tici_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
-    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 

release/files_common

@@ -190,29 +190,30 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware/__init__.py
-selfdrive/hardware/base.h
-selfdrive/hardware/base.py
-selfdrive/hardware/hw.h
-selfdrive/hardware/eon/__init__.py
-selfdrive/hardware/eon/androidd.py
-selfdrive/hardware/eon/shutdownd.py
-selfdrive/hardware/eon/hardware.h
-selfdrive/hardware/eon/hardware.py
-selfdrive/hardware/eon/neos.py
-selfdrive/hardware/eon/neos.json
-selfdrive/hardware/eon/updater
-selfdrive/hardware/tici/__init__.py
-selfdrive/hardware/tici/hardware.h
-selfdrive/hardware/tici/hardware.py
-selfdrive/hardware/tici/pins.py
-selfdrive/hardware/tici/agnos.py
-selfdrive/hardware/tici/agnos.json
-selfdrive/hardware/tici/amplifier.py
-selfdrive/hardware/tici/updater
-selfdrive/hardware/tici/iwlist.py
-selfdrive/hardware/pc/__init__.py
-selfdrive/hardware/pc/hardware.py
+selfdrive/hardware
+system/hardware/__init__.py
+system/hardware/base.h
+system/hardware/base.py
+system/hardware/hw.h
+system/hardware/eon/__init__.py
+system/hardware/eon/androidd.py
+system/hardware/eon/shutdownd.py
+system/hardware/eon/hardware.h
+system/hardware/eon/hardware.py
+system/hardware/eon/neos.py
+system/hardware/eon/neos.json
+system/hardware/eon/updater
+system/hardware/tici/__init__.py
+system/hardware/tici/hardware.h
+system/hardware/tici/hardware.py
+system/hardware/tici/pins.py
+system/hardware/tici/agnos.py
+system/hardware/tici/agnos.json
+system/hardware/tici/amplifier.py
+system/hardware/tici/updater
+system/hardware/tici/iwlist.py
+system/hardware/pc/__init__.py
+system/hardware/pc/hardware.py
 
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore

scripts/disable-powersave.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)

selfdrive/athena/athenad.py

@@ -32,7 +32,7 @@
 from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
-from selfdrive.hardware import HARDWARE, PC, TICI
+from system.hardware import HARDWARE, PC, TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR

selfdrive/athena/registration.py

@@ -11,7 +11,7 @@
 from common.spinner import Spinner
 from common.basedir import PERSIST
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.swaglog import cloudlog
 
 

selfdrive/boardd/boardd.cc

@@ -27,7 +27,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/boardd/pigeon.h"
 

selfdrive/boardd/main.cc

@@ -3,7 +3,7 @@
 #include "selfdrive/boardd/boardd.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   LOGW("starting boardd");

selfdrive/boardd/pandad.py

@@ -10,7 +10,7 @@
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.swaglog import cloudlog
 
 

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -12,7 +12,7 @@
 from common.timeout import Timeout
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
 
 

selfdrive/camerad/cameras/camera_common.cc

@@ -15,7 +15,7 @@
 #include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #ifdef QCOM
 #include "CL/cl_ext_qcom.h"

selfdrive/camerad/cameras/camera_common.h

@@ -14,7 +14,7 @@
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/visionimg.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1

selfdrive/camerad/main.cc

@@ -4,7 +4,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   if (!Hardware::PC()) {

selfdrive/camerad/snapshot/snapshot.py

@@ -10,7 +10,7 @@
 from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionStreamType  # pylint: disable=no-name-in-module, import-error
 from common.params import Params
 from common.realtime import DT_MDL
-from selfdrive.hardware import TICI, PC
+from system.hardware import TICI, PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 

selfdrive/camerad/test/test_camerad.py

@@ -7,7 +7,7 @@
 from selfdrive.test.helpers import with_processes
 
 # only tests for EON and TICI
-from selfdrive.hardware import EON, TICI
+from system.hardware import EON, TICI
 
 TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds
 SKIP_FRAME_TOLERANCE = 0

selfdrive/camerad/test/test_exposure.py

@@ -6,7 +6,7 @@
 from selfdrive.test.helpers import with_processes
 from selfdrive.camerad.snapshot.snapshot import get_snapshots
 
-from selfdrive.hardware import EON, TICI
+from system.hardware import EON, TICI
 
 TEST_TIME = 45
 REPEAT = 5

selfdrive/controls/controlsd.py

@@ -27,7 +27,7 @@
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE, TICI, EON
+from system.hardware import HARDWARE, TICI, EON
 from selfdrive.manager.process_config import managed_processes
 
 SOFT_DISABLE_TIME = 3  # seconds

selfdrive/controls/lib/lane_planner.py

@@ -3,7 +3,7 @@
 from common.filter_simple import FirstOrderFilter
 from common.numpy_fast import interp
 from common.realtime import DT_MDL
-from selfdrive.hardware import EON, TICI
+from system.hardware import EON, TICI
 from selfdrive.swaglog import cloudlog
 
 

selfdrive/controls/plannerd.py

@@ -5,7 +5,7 @@
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 import cereal.messaging as messaging
 
 

selfdrive/controls/radard.py

@@ -11,7 +11,7 @@
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
 from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 
 
 class KalmanParams():

selfdrive/loggerd/config.py

@@ -1,6 +1,6 @@
 import os
 from pathlib import Path
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if os.environ.get('LOG_ROOT', False):
   ROOT = os.environ['LOG_ROOT']

selfdrive/loggerd/logger.h

@@ -13,7 +13,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const std::string LOG_ROOT = Path::log_root();
 

selfdrive/loggerd/loggerd.h

@@ -20,7 +20,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/loggerd/encoder.h"
 #include "selfdrive/loggerd/logger.h"

selfdrive/loggerd/tests/test_encoder.py

@@ -13,7 +13,7 @@
 
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import EON, TICI
+from system.hardware import EON, TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from tools.lib.logreader import LogReader

selfdrive/loggerd/tests/test_loggerd.py

@@ -15,7 +15,7 @@
 from common.basedir import BASEDIR
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.version import get_version

selfdrive/loggerd/uploader.py

@@ -15,7 +15,7 @@
 from common.api import Api
 from common.params import Params
 from common.realtime import set_core_affinity
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog

selfdrive/manager/build.py

@@ -10,7 +10,7 @@
 from common.basedir import BASEDIR
 from common.spinner import Spinner
 from common.text_window import TextWindow
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.swaglog import cloudlog, add_file_handler
 from selfdrive.version import is_dirty
 

selfdrive/manager/manager.py

@@ -13,7 +13,7 @@
 from common.params import Params, ParamKeyType
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.manager.helpers import unblock_stdout
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes