Merge common/ and selfdrive/common (#24556)

* Merge common/ and selfdrive/common

* fix that

* fix version

* fix unit tests
old-commit-hash: cb8885cffb

.github/workflows/selfdrive_tests.yaml

@@ -291,9 +291,9 @@ jobs:
                         $UNIT_TEST selfdrive/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
+                        ./common/tests/test_util && \
+                        ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./selfdrive/common/tests/test_util && \
-                        ./selfdrive/common/tests/test_swaglog && \
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./selfdrive/proclogd/tests/test_proclog && \
                         ./selfdrive/ui/replay/tests/test_replay && \

SConstruct

@@ -130,7 +130,7 @@ else:
       "#third_party/libyuv/x64/lib",
       "#third_party/mapbox-gl-native-qt/x86_64",
       "#cereal",
-      "#selfdrive/common",
+      "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
@@ -138,7 +138,7 @@ else:
   rpath += [
     Dir("#third_party/snpe/x86_64-linux-clang").abspath,
     Dir("#cereal").abspath,
-    Dir("#selfdrive/common").abspath
+    Dir("#common").abspath
   ]
 
 if GetOption('asan'):
@@ -156,8 +156,8 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
-cflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
-cxxflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
+cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
+cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 env = Environment(
   ENV=lenv,
@@ -212,7 +212,7 @@ env = Environment(
     "#third_party",
     "#opendbc/can",
     "#selfdrive/boardd",
-    "#selfdrive/common",
+    "#common",
   ],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
@@ -330,7 +330,7 @@ if GetOption("clazy"):
 
 Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
 
-SConscript(['selfdrive/common/SConscript'])
+SConscript(['common/SConscript'])
 Import('_common', '_gpucommon', '_gpu_libs')
 
 if SHARED:
@@ -384,7 +384,6 @@ SConscript(['opendbc/can/SConscript'])
 
 SConscript(['third_party/SConscript'])
 
-SConscript(['common/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 

common/SConscript

@@ -1,4 +1,39 @@
-Import('envCython', 'common')
+Import('env', 'envCython', 'arch', 'SHARED')
 
+if SHARED:
+  fxn = env.SharedLibrary
+else:
+  fxn = env.Library
+
+common_libs = [
+  'params.cc',
+  'statlog.cc',
+  'swaglog.cc',
+  'util.cc',
+  'gpio.cc',
+  'i2c.cc',
+  'watchdog.cc',
+]
+
+_common = fxn('common', common_libs, LIBS="json11")
+
+files = [
+  'clutil.cc',
+  'visionimg.cc',
+]
+
+if arch == "larch64":
+  _gpu_libs = ["GLESv2"]
+else:
+  _gpu_libs = ["GL"]
+
+_gpucommon = fxn('gpucommon', files, LIBS=_gpu_libs)
+Export('_common', '_gpucommon', '_gpu_libs')
+
+if GetOption('test'):
+  env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common])
+  env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread'])
+
+# Cython
 envCython.Program('clock.so', 'clock.pyx')
-envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
+envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])

common/clutil.cc

@@ -1,10 +1,10 @@
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 #include <cassert>
 #include <iostream>
 #include <memory>
 
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 namespace {  // helper functions
 

common/gpio.cc

@@ -1,11 +1,11 @@
-#include "selfdrive/common/gpio.h"
+#include "common/gpio.h"
 
 #include <fcntl.h>
 #include <unistd.h>
 
 #include <cstring>
 
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 // We assume that all pins have already been exported on boot,
 // and that we have permission to write to them.

common/i2c.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/common/i2c.h"
+#include "common/i2c.h"
 
 #include <fcntl.h>
 #include <sys/ioctl.h>
@@ -8,9 +8,9 @@
 #include <cstdio>
 #include <stdexcept>
 
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 #define UNUSED(x) (void)(x)
 

common/modeldata.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <array>
-#include "selfdrive/common/mat.h"
+#include "common/mat.h"
 #include "selfdrive/hardware/hw.h"
 
 const int  TRAJECTORY_SIZE = 33;

common/params.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/common/params.h"
+#include "common/params.h"
 
 #include <dirent.h>
 #include <sys/file.h>
@@ -6,8 +6,8 @@
 #include <csignal>
 #include <unordered_map>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 namespace {

common/params_pyx.pyx

@@ -4,7 +4,7 @@ from libcpp cimport bool
 from libcpp.string cimport string
 import threading
 
-cdef extern from "selfdrive/common/params.h":
+cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START

common/statlog.cc

@@ -2,8 +2,8 @@
 #define _GNU_SOURCE
 #endif
 
-#include "selfdrive/common/statlog.h"
-#include "selfdrive/common/util.h"
+#include "common/statlog.h"
+#include "common/util.h"
 
 #include <stdio.h>
 #include <mutex>

common/swaglog.cc

@@ -2,7 +2,7 @@
 #define _GNU_SOURCE
 #endif
 
-#include "selfdrive/common/swaglog.h"
+#include "common/swaglog.h"
 
 #include <cassert>
 #include <cstring>
@@ -13,8 +13,8 @@
 #include <zmq.h>
 #include "json11.hpp"
 
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/version.h"
+#include "common/util.h"
+#include "common/version.h"
 #include "selfdrive/hardware/hw.h"
 
 class SwaglogState : public LogState {

common/swaglog.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/common/timing.h"
+#include "common/timing.h"
 
 #define CLOUDLOG_DEBUG 10
 #define CLOUDLOG_INFO 20

common/tests/.gitignore

@@ -0,0 +1,2 @@
+test_util
+test_swaglog

common/tests/test_swaglog.cc

@@ -4,9 +4,9 @@
 #include "catch2/catch.hpp"
 
 #include "json11.hpp"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/version.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "common/version.h"
 #include "selfdrive/hardware/hw.h"
 
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";

common/tests/test_util.cc

@@ -10,7 +10,7 @@
 
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 std::string random_bytes(int size) {
   std::random_device rd;

common/util.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 #include <sys/stat.h>
 #include <dirent.h>

common/visionimg.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/common/visionimg.h"
+#include "common/visionimg.h"
 
 #include <cassert>
 

common/watchdog.cc

@@ -1,6 +1,6 @@
-#include "selfdrive/common/watchdog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/watchdog.h"
+#include "common/timing.h"
+#include "common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 

docs/c_docs.rst

@@ -86,7 +86,7 @@ modeld
 common
 ^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_common
+   :project: common
 
 sensorsd
 ^^^^^^^^

release/build_devel.sh

@@ -58,7 +58,7 @@ rm -f panda/board/obj/panda.bin.signed
 # include source commit hash and build date in commit
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/selfdrive/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .

release/build_release.sh

@@ -41,8 +41,8 @@ cd $BUILD_DIR
 
 rm -f panda/board/obj/panda.bin.signed
 
-VERSION=$(cat selfdrive/common/version.h | awk -F[\"-]  '{print $2}')
-echo "#define COMMA_VERSION \"$VERSION-release\"" > selfdrive/common/version.h
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
+echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
 
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .

release/files_common

@@ -125,34 +125,34 @@ selfdrive/clocksd/clocksd.cc
 
 selfdrive/debug/*.py
 
-selfdrive/common/SConscript
-selfdrive/common/version.h
+common/SConscript
+common/version.h
 
-selfdrive/common/swaglog.h
-selfdrive/common/swaglog.cc
-selfdrive/common/statlog.h
-selfdrive/common/statlog.cc
-selfdrive/common/util.cc
-selfdrive/common/util.h
-selfdrive/common/queue.h
-selfdrive/common/clutil.cc
-selfdrive/common/clutil.h
-selfdrive/common/params.h
-selfdrive/common/params.cc
-selfdrive/common/watchdog.cc
-selfdrive/common/watchdog.h
+common/swaglog.h
+common/swaglog.cc
+common/statlog.h
+common/statlog.cc
+common/util.cc
+common/util.h
+common/queue.h
+common/clutil.cc
+common/clutil.h
+common/params.h
+common/params.cc
+common/watchdog.cc
+common/watchdog.h
 
-selfdrive/common/modeldata.h
-selfdrive/common/mat.h
-selfdrive/common/timing.h
+common/modeldata.h
+common/mat.h
+common/timing.h
 
-selfdrive/common/visionimg.cc
-selfdrive/common/visionimg.h
+common/visionimg.cc
+common/visionimg.h
 
-selfdrive/common/gpio.cc
-selfdrive/common/gpio.h
-selfdrive/common/i2c.cc
-selfdrive/common/i2c.h
+common/gpio.cc
+common/gpio.h
+common/i2c.cc
+common/i2c.h
 
 
 selfdrive/controls/__init__.py

scripts/waste.c

@@ -11,7 +11,7 @@
 #include <pthread.h>
 #include <arm_neon.h>
 #include <sys/sysinfo.h>
-#include "../selfdrive/common/timing.h"
+#include "../common/timing.h"
 
 int get_nprocs(void);
 double *ttime, *oout;

selfdrive/boardd/boardd.cc

@@ -23,10 +23,10 @@
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 #include "selfdrive/boardd/pigeon.h"

selfdrive/boardd/main.cc

@@ -1,8 +1,8 @@
 #include <cassert>
 
 #include "selfdrive/boardd/boardd.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 int main(int argc, char *argv[]) {

selfdrive/boardd/panda.cc

@@ -8,9 +8,9 @@
 
 #include "cereal/messaging/messaging.h"
 #include "panda/board/dlc_to_len.h"
-#include "selfdrive/common/gpio.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/gpio.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 static int init_usb_ctx(libusb_context **context) {
   assert(context != nullptr);

selfdrive/boardd/pigeon.cc

@@ -8,9 +8,9 @@
 #include <cerrno>
 #include <optional>
 
-#include "selfdrive/common/gpio.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/gpio.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/locationd/ublox_msg.h"
 
 // Termios on macos doesn't define all baud rate constants

selfdrive/camerad/cameras/camera_common.cc

@@ -11,10 +11,10 @@
 #include <jpeglib.h>
 
 #include "selfdrive/camerad/imgproc/utils.h"
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/modeldata.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/clutil.h"
+#include "common/modeldata.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 #if QCOM2

selfdrive/camerad/cameras/camera_common.h

@@ -10,10 +10,10 @@
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
 #include "selfdrive/camerad/transforms/rgb_to_yuv.h"
-#include "selfdrive/common/mat.h"
-#include "selfdrive/common/queue.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/visionimg.h"
+#include "common/mat.h"
+#include "common/queue.h"
+#include "common/swaglog.h"
+#include "common/visionimg.h"
 #include "selfdrive/hardware/hw.h"
 
 #define CAMERA_ID_IMX298 0

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -19,7 +19,7 @@
 #include "media/cam_sensor.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sync.h"
-#include "selfdrive/common/swaglog.h"
+#include "common/swaglog.h"
 #include "selfdrive/camerad/cameras/sensor2_i2c.h"
 
 // For debugging:

selfdrive/camerad/cameras/camera_qcom2.h

@@ -7,7 +7,7 @@
 #include <media/cam_req_mgr.h>
 
 #include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 #define FRAME_BUF_COUNT 4
 

selfdrive/camerad/cameras/camera_replay.cc

@@ -3,8 +3,8 @@
 #include <cassert>
 #include <thread>
 
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/util.h"
+#include "common/clutil.h"
+#include "common/util.h"
 
 extern ExitHandler do_exit;
 

selfdrive/camerad/cameras/camera_webcam.cc

@@ -13,10 +13,10 @@
 #include <opencv2/videoio.hpp>
 #pragma clang diagnostic pop
 
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/clutil.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
 
 // id of the video capturing device
 const int ROAD_CAMERA_ID = util::getenv("ROADCAM_ID", 1);

selfdrive/camerad/imgproc/utils.h

@@ -4,7 +4,7 @@
 #include <cstdint>
 #include <vector>
 
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 #define NUM_SEGMENTS_X 8
 #define NUM_SEGMENTS_Y 6

selfdrive/camerad/main.cc

@@ -2,8 +2,8 @@
 
 #include <cassert>
 
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/util.h"
+#include "common/params.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 int main(int argc, char *argv[]) {

selfdrive/camerad/test/ae_gray_test.cc

@@ -7,7 +7,7 @@
 #include <cmath>
 #include <cstring>
 
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
 
 // needed by camera_common.cc

selfdrive/camerad/transforms/rgb_to_yuv.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 class Rgb2Yuv {
 public:

selfdrive/camerad/transforms/rgb_to_yuv_test.cc

@@ -31,7 +31,7 @@
 
 #include "libyuv.h"
 #include "selfdrive/camerad/transforms/rgb_to_yuv.h"
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 static inline double millis_since_boot() {
   struct timespec t;

selfdrive/clocksd/clocksd.cc

@@ -16,8 +16,8 @@
 #include <chrono>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/timing.h"
+#include "common/util.h"
 
 ExitHandler do_exit;
 

selfdrive/common/SConscript

@@ -1,35 +0,0 @@
-Import('env', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
-
-common_libs = [
-  'params.cc',
-  'statlog.cc',
-  'swaglog.cc',
-  'util.cc',
-  'gpio.cc',
-  'i2c.cc',
-  'watchdog.cc',
-]
-
-_common = fxn('common', common_libs, LIBS="json11")
-
-files = [
-  'clutil.cc',
-  'visionimg.cc',
-]
-
-if arch == "larch64":
-  _gpu_libs = ["GLESv2"]
-else:
-  _gpu_libs = ["GL"]
-
-_gpucommon = fxn('gpucommon', files, LIBS=_gpu_libs)
-Export('_common', '_gpucommon', '_gpu_libs')
-
-if GetOption('test'):
-  env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common])
-  env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread'])

selfdrive/hardware/hw.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include "selfdrive/hardware/base.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 
 #if QCOM2
 #include "selfdrive/hardware/tici/hardware.h"

selfdrive/hardware/tici/hardware.h

@@ -3,8 +3,8 @@
 #include <cstdlib>
 #include <fstream>
 
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/util.h"
+#include "common/params.h"
+#include "common/util.h"
 #include "selfdrive/hardware/base.h"
 
 class HardwareTici : public HardwareNone {

selfdrive/locationd/locationd.h

@@ -8,10 +8,10 @@
 #include "cereal/messaging/messaging.h"
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
 
 #include "selfdrive/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2

selfdrive/locationd/ublox_msg.cc

@@ -10,7 +10,7 @@
 #include <ctime>
 #include <unordered_map>
 
-#include "selfdrive/common/swaglog.h"
+#include "common/swaglog.h"
 
 const double gpsPi = 3.1415926535898;
 #define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])

selfdrive/locationd/ublox_msg.h

@@ -8,7 +8,7 @@
 #include <ctime>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 #include "selfdrive/locationd/generated/gps.h"
 #include "selfdrive/locationd/generated/ubx.h"
 

selfdrive/locationd/ubloxd.cc

@@ -3,8 +3,8 @@
 #include <kaitai/kaitaistream.h>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/locationd/ublox_msg.h"
 
 ExitHandler do_exit;

selfdrive/logcatd/logcatd_systemd.cc

@@ -8,8 +8,8 @@
 #include "json11.hpp"
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/timing.h"
+#include "common/util.h"
 
 ExitHandler do_exit;
 int main(int argc, char *argv[]) {

selfdrive/loggerd/bootlog.cc

@@ -2,7 +2,7 @@
 #include <string>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/swaglog.h"
+#include "common/swaglog.h"
 #include "selfdrive/loggerd/logger.h"
 
 

selfdrive/loggerd/encoder/encoder.h

@@ -6,7 +6,7 @@
 
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc.h"
-#include "selfdrive/common/queue.h"
+#include "common/queue.h"
 #include "selfdrive/loggerd/video_writer.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
 

selfdrive/loggerd/encoder/ffmpeg_encoder.cc

@@ -19,8 +19,8 @@ extern "C" {
 #include <libavutil/imgutils.h>
 }
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 

selfdrive/loggerd/encoder/v4l_encoder.cc

@@ -3,8 +3,8 @@
 #include <poll.h>
 
 #include "selfdrive/loggerd/encoder/v4l_encoder.h"
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/timing.h"
+#include "common/util.h"
+#include "common/timing.h"
 
 #include "libyuv.h"
 #include "msm_media_info.h"

selfdrive/loggerd/encoder/v4l_encoder.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/common/queue.h"
+#include "common/queue.h"
 #include "selfdrive/loggerd/encoder/encoder.h"
 
 #define BUF_IN_COUNT 7

selfdrive/loggerd/logger.cc

@@ -15,9 +15,9 @@
 #include <iostream>
 #include <streambuf>
 
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/version.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/version.h"
 
 // ***** logging helpers *****
 

selfdrive/loggerd/logger.h

@@ -11,8 +11,8 @@
 #include <kj/array.h>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/swaglog.h"
+#include "common/util.h"
+#include "common/swaglog.h"
 #include "selfdrive/hardware/hw.h"
 
 const std::string LOG_ROOT = Path::log_root();

selfdrive/loggerd/loggerd.h

@@ -16,10 +16,10 @@
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_client.h"
 #include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 
 #include "selfdrive/loggerd/encoder/encoder.h"

selfdrive/loggerd/tests/test_logger.cc

@@ -7,7 +7,7 @@
 
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 #include "selfdrive/loggerd/logger.h"
 #include "selfdrive/ui/replay/util.h"
 

selfdrive/loggerd/video_writer.cc

@@ -2,8 +2,8 @@
 #include <cstdlib>
 
 #include "selfdrive/loggerd/video_writer.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec)
   : remuxing(remuxing) {

selfdrive/modeld/dmonitoringmodeld.cc

@@ -5,8 +5,8 @@
 #include <cstdlib>
 
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/modeld/models/dmonitoring.h"
 
 ExitHandler do_exit;

selfdrive/modeld/modeld.cc

@@ -7,10 +7,10 @@
 
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/clutil.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 #include "selfdrive/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
 

selfdrive/modeld/models/commonmodel.cc

@@ -5,9 +5,9 @@
 #include <cmath>
 #include <cstring>
 
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/mat.h"
-#include "selfdrive/common/timing.h"
+#include "common/clutil.h"
+#include "common/mat.h"
+#include "common/timing.h"
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
   input_frames = std::make_unique<float[]>(buf_size);

selfdrive/modeld/models/commonmodel.h

@@ -12,7 +12,7 @@
 #include <CL/cl.h>
 #endif
 
-#include "selfdrive/common/mat.h"
+#include "common/mat.h"
 #include "selfdrive/modeld/transforms/loadyuv.h"
 #include "selfdrive/modeld/transforms/transform.h"
 

selfdrive/modeld/models/dmonitoring.cc

@@ -2,10 +2,10 @@
 
 #include "libyuv.h"
 
-#include "selfdrive/common/mat.h"
-#include "selfdrive/common/modeldata.h"
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/timing.h"
+#include "common/mat.h"
+#include "common/modeldata.h"
+#include "common/params.h"
+#include "common/timing.h"
 #include "selfdrive/hardware/hw.h"
 
 #include "selfdrive/modeld/models/dmonitoring.h"

selfdrive/modeld/models/dmonitoring.h

@@ -3,7 +3,7 @@
 #include <vector>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 #include "selfdrive/modeld/models/commonmodel.h"
 #include "selfdrive/modeld/runners/run.h"
 

selfdrive/modeld/models/driving.cc

@@ -8,10 +8,10 @@
 
 #include <eigen3/Eigen/Dense>
 
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/params.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/swaglog.h"
+#include "common/clutil.h"
+#include "common/params.h"
+#include "common/timing.h"
+#include "common/swaglog.h"
 
 constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
 constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;

selfdrive/modeld/models/driving.h

@@ -10,9 +10,9 @@
 
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc_client.h"
-#include "selfdrive/common/mat.h"
-#include "selfdrive/common/modeldata.h"
-#include "selfdrive/common/util.h"
+#include "common/mat.h"
+#include "common/modeldata.h"
+#include "common/util.h"
 #include "selfdrive/modeld/models/commonmodel.h"
 #include "selfdrive/modeld/runners/run.h"
 

selfdrive/modeld/runners/onnxmodel.cc

@@ -11,8 +11,8 @@
 #include <stdexcept>
 #include <string>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra) {
   LOGD("loading model %s", path);

selfdrive/modeld/runners/snpemodel.cc

@@ -6,8 +6,8 @@
 #include <cstdlib>
 #include <cstring>
 
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/timing.h"
+#include "common/util.h"
+#include "common/timing.h"
 
 void PrintErrorStringAndExit() {
   std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;

selfdrive/modeld/thneed/optimizer.cc

@@ -4,8 +4,8 @@
 #include <assert.h>
 #include "thneed.h"
 
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/clutil.h"
+#include "common/util.h"
+#include "common/clutil.h"
 
 extern map<cl_program, string> g_program_source;
 

selfdrive/modeld/thneed/serialize.cc

@@ -2,8 +2,8 @@
 #include <set>
 
 #include "json11.hpp"
-#include "selfdrive/common/util.h"
-#include "selfdrive/common/clutil.h"
+#include "common/util.h"
+#include "common/clutil.h"
 #include "selfdrive/modeld/thneed/thneed.h"
 using namespace json11;
 

selfdrive/modeld/thneed/thneed.cc

@@ -9,8 +9,8 @@
 #include <map>
 #include <string>
 
-#include "selfdrive/common/clutil.h"
-#include "selfdrive/common/timing.h"
+#include "common/clutil.h"
+#include "common/timing.h"
 
 Thneed *g_thneed = NULL;
 int g_fd = -1;

selfdrive/modeld/transforms/loadyuv.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 typedef struct {
   int width, height;

selfdrive/modeld/transforms/transform.cc

@@ -3,7 +3,7 @@
 #include <cassert>
 #include <cstring>
 
-#include "selfdrive/common/clutil.h"
+#include "common/clutil.h"
 
 void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
   memset(s, 0, sizeof(*s));

selfdrive/modeld/transforms/transform.h

@@ -7,7 +7,7 @@
 #include <CL/cl.h>
 #endif
 
-#include "selfdrive/common/mat.h"
+#include "common/mat.h"
 
 typedef struct {
   cl_kernel krnl;

selfdrive/proclogd/main.cc

@@ -1,7 +1,7 @@
 
 #include <sys/resource.h>
 
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 #include "selfdrive/proclogd/proclog.h"
 
 ExitHandler do_exit;

selfdrive/proclogd/proclog.cc

@@ -7,8 +7,8 @@
 #include <iterator>
 #include <sstream>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 namespace Parser {
 

selfdrive/proclogd/tests/test_proclog.cc

@@ -1,6 +1,6 @@
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
-#include "selfdrive/common/util.h"
+#include "common/util.h"
 #include "selfdrive/proclogd/proclog.h"
 
 const std::string allowed_states = "RSDTZtWXxKWPI";

selfdrive/sensord/sensors/bmx055_accel.cc

@@ -2,8 +2,8 @@
 
 #include <cassert>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
 
 BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
 

selfdrive/sensord/sensors/bmx055_gyro.cc

@@ -3,7 +3,7 @@
 #include <cassert>
 #include <cmath>
 
-#include "selfdrive/common/swaglog.h"
+#include "common/swaglog.h"
 
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 

selfdrive/sensord/sensors/bmx055_magn.cc

@@ -6,8 +6,8 @@
 #include <cassert>
 #include <cstdio>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/util.h"
+#include "common/swaglog.h"
+#include "common/util.h"
 
 static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
   uint16_t process_comp_x0 = data_rhall;

selfdrive/sensord/sensors/bmx055_temp.cc

@@ -3,8 +3,8 @@
 #include <cassert>
 
 #include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
 
 BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
 

selfdrive/sensord/sensors/i2c_sensor.h

@@ -3,7 +3,7 @@
 #include <cstdint>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/common/i2c.h"
+#include "common/i2c.h"
 #include "selfdrive/sensord/sensors/constants.h"
 #include "selfdrive/sensord/sensors/sensor.h"
 

selfdrive/sensord/sensors/light_sensor.cc

@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include "selfdrive/common/timing.h"
+#include "common/timing.h"
 #include "selfdrive/sensord/sensors/constants.h"
 
 void LightSensor::get_event(cereal::SensorEventData::Builder &event) {

selfdrive/sensord/sensors/lsm6ds3_accel.cc

@@ -2,8 +2,8 @@
 
 #include <cassert>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
 
 LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {}
 

selfdrive/sensord/sensors/lsm6ds3_gyro.cc

@@ -3,8 +3,8 @@
 #include <cassert>
 #include <cmath>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
 
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 

selfdrive/sensord/sensors/lsm6ds3_temp.cc

@@ -2,8 +2,8 @@
 
 #include <cassert>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
 
 LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
 

selfdrive/sensord/sensors/mmc5603nj_magn.cc

@@ -2,8 +2,8 @@
 
 #include <cassert>
 
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
 
 MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
 

selfdrive/sensord/sensors_qcom2.cc

@@ -5,10 +5,10 @@
 #include <vector>
 
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/common/i2c.h"
-#include "selfdrive/common/swaglog.h"
-#include "selfdrive/common/timing.h"
-#include "selfdrive/common/util.h"
+#include "common/i2c.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
 #include "selfdrive/sensord/sensors/bmx055_accel.h"
 #include "selfdrive/sensord/sensors/bmx055_gyro.h"
 #include "selfdrive/sensord/sensors/bmx055_magn.h"