Move a bunch of stuff to system/ part 3 (#24829)

* move swaglog.py

* timezoned

* logmessaged

* version.py

* fix linter

.pylintrc

@@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5
+extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
 
 # Add files or directories to the blacklist. They should be base names, not
 # paths.

common/api/__init__.py

@@ -3,7 +3,7 @@
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
-from selfdrive.version import get_version
+from system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 

docs/conf.py

@@ -14,10 +14,12 @@
 # documentation root, use os.path.abspath to make it absolute, like shown here.
 #
 import os
-from os.path import exists
 import sys
-from selfdrive.version import get_version
+from os.path import exists
+
 from common.basedir import BASEDIR
+from system.version import get_version
+
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
 

release/files_common

@@ -61,17 +61,17 @@ release/*
 tools/lib/*
 tools/joystick/*
 
-selfdrive/version.py
-
 selfdrive/__init__.py
 selfdrive/sentry.py
-selfdrive/swaglog.py
-selfdrive/logmessaged.py
 selfdrive/tombstoned.py
 selfdrive/updated.py
 selfdrive/rtshield.py
 selfdrive/statsd.py
 
+system/logmessaged.py
+system/swaglog.py
+system/version.py
+
 selfdrive/athena/__init__.py
 selfdrive/athena/athenad.py
 selfdrive/athena/manage_athenad.py

release/files_tici

@@ -2,7 +2,7 @@ third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
 
-selfdrive/timezoned.py
+system/timezoned.py
 
 selfdrive/assets/navigation/*
 selfdrive/assets/training_wide/*

selfdrive/athena/athenad.py

@@ -36,8 +36,8 @@
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
-from selfdrive.swaglog import SWAGLOG_DIR, cloudlog
-from selfdrive.version import get_commit, get_origin, get_short_branch, get_version
+from system.swaglog import SWAGLOG_DIR, cloudlog
+from system.version import get_commit, get_origin, get_short_branch, get_version
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))

selfdrive/athena/manage_athenad.py

@@ -5,8 +5,8 @@
 
 from common.params import Params
 from selfdrive.manager.process import launcher
-from selfdrive.swaglog import cloudlog
-from selfdrive.version import get_version, is_dirty
+from system.swaglog import cloudlog
+from system.version import get_version, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 

selfdrive/athena/registration.py

@@ -12,7 +12,7 @@
 from common.basedir import PERSIST
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from system.hardware import HARDWARE, PC
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"

selfdrive/athena/tests/test_athenad.py

@@ -16,7 +16,7 @@
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from selfdrive import swaglog
+from system import swaglog
 from selfdrive.athena import athenad
 from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server

selfdrive/boardd/pandad.py

@@ -11,7 +11,7 @@
 from common.basedir import BASEDIR
 from common.params import Params
 from system.hardware import HARDWARE
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:

selfdrive/boardd/tests/boardd_old.py

@@ -13,7 +13,7 @@
 
 import cereal.messaging as messaging
 from common.realtime import Ratekeeper
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 from cereal import car
 

selfdrive/car/car_helpers.py

@@ -4,12 +4,12 @@
 from cereal import car
 from common.params import Params
 from common.basedir import BASEDIR
-from selfdrive.version import is_comma_remote, is_tested_branch
+from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
 from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
 

selfdrive/car/disable_ecu.py

@@ -1,5 +1,5 @@
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'

selfdrive/car/fw_versions.py

@@ -12,7 +12,7 @@
 from selfdrive.car.fingerprints import FW_VERSIONS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 

selfdrive/car/isotp_parallel_query.py

@@ -4,7 +4,7 @@
 from typing import Optional
 
 import cereal.messaging as messaging
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 

selfdrive/car/mock/interface.py

@@ -2,7 +2,7 @@
 import math
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase

selfdrive/car/vin.py

@@ -6,7 +6,7 @@
 import panda.python.uds as uds
 from panda.python.uds import FUNCTIONAL_ADDRS
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 OBD_VIN_REQUEST = b'\x09\x02'
 OBD_VIN_RESPONSE = b'\x49\x02\x01'

selfdrive/controls/controlsd.py

@@ -11,7 +11,7 @@
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET

selfdrive/controls/lib/events.py

@@ -8,7 +8,7 @@
 from common.conversions import Conversions as CV
 from common.realtime import DT_CTRL
 from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
-from selfdrive.version import get_short_branch
+from system.version import get_short_branch
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus

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.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 TRAJECTORY_SIZE = 33

selfdrive/controls/lib/lateral_planner.py

@@ -1,7 +1,7 @@
 import numpy as np
 from common.realtime import sec_since_boot, DT_MDL
 from common.numpy_fast import interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
 from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N, CAR_ROTATION_RADIUS
 from selfdrive.controls.lib.lane_planner import LanePlanner, TRAJECTORY_SIZE

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -4,7 +4,7 @@
 
 from common.realtime import sec_since_boot
 from common.numpy_fast import clip, interp
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.modeld.constants import index_function
 from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -12,7 +12,7 @@
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted

selfdrive/controls/plannerd.py

@@ -2,7 +2,7 @@
 from cereal import car
 from common.params import Params
 from common.realtime import Priority, config_realtime_process
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.controls.lib.longitudinal_planner import Planner
 from selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging

selfdrive/controls/radard.py

@@ -10,7 +10,7 @@
 from common.realtime import Ratekeeper, Priority, config_realtime_process
 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 system.swaglog import cloudlog
 
 
 class KalmanParams():

selfdrive/debug/disable_ecu.py

@@ -3,7 +3,7 @@
 
 import cereal.messaging as messaging
 from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'

selfdrive/locationd/calibrationd.py

@@ -20,7 +20,7 @@
 from common.transformations.model import model_height
 from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)

selfdrive/locationd/laikad.py

@@ -17,7 +17,7 @@
 from selfdrive.locationd.models.gnss_kf import GNSSKalman
 from selfdrive.locationd.models.gnss_kf import States as GStates
 import common.transformations.coordinates as coord
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
 

selfdrive/locationd/models/car_kf.py

@@ -7,7 +7,7 @@
 
 from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from selfdrive.locationd.models.constants import ObservationKind
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 from rednose.helpers.kalmanfilter import KalmanFilter
 

selfdrive/locationd/paramsd.py

@@ -10,7 +10,7 @@
 from common.numpy_fast import clip
 from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from selfdrive.locationd.models.constants import GENERATED_DIR
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s

selfdrive/loggerd/deleter.py

@@ -2,7 +2,7 @@
 import os
 import shutil
 import threading
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent
 from selfdrive.loggerd.uploader import listdir_by_creation
 

selfdrive/loggerd/tests/test_loggerd.py

@@ -17,7 +17,7 @@
 from common.timeout import Timeout
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.version import get_version
+from system.version import get_version
 from tools.lib.logreader import LogReader
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size

selfdrive/loggerd/tests/test_uploader.py

@@ -6,7 +6,7 @@
 import logging
 import json
 
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 import selfdrive.loggerd.uploader as uploader
 
 from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase

selfdrive/loggerd/uploader.py

@@ -18,7 +18,7 @@
 from system.hardware import TICI
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'

selfdrive/manager/build.py

@@ -11,8 +11,8 @@
 from common.spinner import Spinner
 from common.text_window import TextWindow
 from system.hardware import AGNOS
-from selfdrive.swaglog import cloudlog, add_file_handler
-from selfdrive.version import is_dirty
+from system.swaglog import cloudlog, add_file_handler
+from system.version import is_dirty
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")

selfdrive/manager/manager.py

@@ -18,8 +18,8 @@
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from selfdrive.swaglog import cloudlog, add_file_handler
-from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
+from system.swaglog import cloudlog, add_file_handler
+from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                               terms_version, training_version
 
 

selfdrive/manager/process.py

@@ -16,7 +16,7 @@
 from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
-from selfdrive.swaglog import cloudlog
+from system.swaglog import cloudlog
 from system.hardware import HARDWARE
 from cereal import log