Restructure package (#622)

* Move around

* rename messaging to ipc

* More renames

* refactor visionipc ipc

* more movement

* compiles

* works well

* update workflow

* Update

* test fake

* fix names

* Fix test

* exclude library

* exclude from lint too

* Rm dir

* rm this wayu

* Try again

* mv logger

* delete old

* HAX

* Move logger down

* add warning abck

.github/workflows/tests.yml

@@ -40,8 +40,8 @@ jobs:
       run: |
         $RUN "export ${{ matrix.backend }}=1 && \
               scons ${{ matrix.flags }} -j$(nproc) && \
-              messaging/test_runner && \
-              visionipc/test_runner"
+              msgq/test_runner && \
+              msgq/visionipc/test_runner"
     - name: python tests
       run: $RUN_NAMED "${{ matrix.backend }}=1 coverage run -m unittest discover ."
     - name: Upload coverage

.pre-commit-config.yaml

@@ -1,3 +1,4 @@
+files: ^msgq/
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.6.0
@@ -21,7 +22,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(messaging/msgq_tests.cc|messaging/test_runner.cc)'
+        exclude: '^(msgq/msgq_tests.cc|msgq/test_runner.cc)'
         args:
         - --error-exitcode=1
         - --inline-suppr

Dockerfile

@@ -37,11 +37,11 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy
 
-WORKDIR /project/
+WORKDIR /project/msgq/
 RUN cd /tmp/ && \
     git clone -b v2.x --depth 1 https://github.com/catchorg/Catch2.git && \
     cd Catch2 && \
-    mv single_include/catch2/ /project/ && \
+    mv single_include/* /project/msgq/ && \
     cd .. \
     rm -rf Catch2
 
@@ -50,5 +50,5 @@ WORKDIR /project/msgq
 ENV PYTHONPATH=/project
 
 COPY . .
-RUN rm -rf .git && \
+RUN ls && rm -rf .git && \
     scons -c && scons -j$(nproc)

SConscript

@@ -1,27 +1,24 @@
 Import('env', 'envCython', 'arch', 'common')
 
 
-visionipc_dir = Dir('visionipc')
+visionipc_dir = Dir('msgq/visionipc')
 gen_dir = Dir('gen')
 
 
-# Build messaging
-
-
-messaging_objects = env.SharedObject([
-  'messaging/messaging.cc',
-  'messaging/event.cc',
-  'messaging/impl_zmq.cc',
-  'messaging/impl_msgq.cc',
-  'messaging/impl_fake.cc',
-  'messaging/msgq.cc',
+# Build msgq
+msgq_objects = env.SharedObject([
+  'msgq/ipc.cc',
+  'msgq/event.cc',
+  'msgq/impl_zmq.cc',
+  'msgq/impl_msgq.cc',
+  'msgq/impl_fake.cc',
+  'msgq/msgq.cc',
 ])
-messaging = env.Library('messaging', messaging_objects)
-messaging_python = envCython.Program('messaging/messaging_pyx.so', 'messaging/messaging_pyx.pyx', LIBS=envCython["LIBS"]+[messaging, "zmq", common])
-
+msgq = env.Library('msgq', msgq_objects)
+msgq_python = envCython.Program('msgq/ipc_pyx.so', 'msgq/ipc_pyx.pyx', LIBS=envCython["LIBS"]+[msgq, "zmq", common])
 
 # Build Vision IPC
-vipc_files = ['ipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
+vipc_files = ['visionipc.cc', 'visionipc_server.cc', 'visionipc_client.cc', 'visionbuf.cc']
 vipc_sources = [f'{visionipc_dir.abspath}/{f}' for f in vipc_files]
 
 if arch == "larch64":
@@ -29,12 +26,15 @@ if arch == "larch64":
 else:
   vipc_sources += [f'{visionipc_dir.abspath}/visionbuf_cl.cc']
 
+print(f'Building Vision IPC with {vipc_sources}')
 vipc_objects = env.SharedObject(vipc_sources)
+print(f'Building Vision IPC with {vipc_objects}')
+
 visionipc = env.Library('visionipc', vipc_objects)
 
 
 vipc_frameworks = []
-vipc_libs = envCython["LIBS"] + [visionipc, messaging, common, "zmq"]
+vipc_libs = envCython["LIBS"] + [visionipc, msgq, common, "zmq"]
 if arch == "Darwin":
   vipc_frameworks.append('OpenCL')
 else:
@@ -43,9 +43,9 @@ envCython.Program(f'{visionipc_dir.abspath}/visionipc_pyx.so', f'{visionipc_dir.
                   LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
 
 if GetOption('extras'):
-  env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging, common])
-  env.Program('visionipc/test_runner',
-             ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
+  env.Program('msgq/test_runner', ['msgq/test_runner.cc', 'msgq/msgq_tests.cc'], LIBS=[msgq, common])
+  env.Program(f'{visionipc_dir.abspath}/test_runner',
+             [f'{visionipc_dir.abspath}/test_runner.cc', f'{visionipc_dir.abspath}/visionipc_tests.cc'],
               LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
 
-Export('visionipc', 'messaging', 'messaging_python')
+Export('visionipc', 'msgq', 'msgq_python')

SConstruct

@@ -11,7 +11,8 @@ if platform.system() == "Darwin":
 common = ''
 
 cpppath = [
-  f"#/../",
+  f"#/",
+  '#msgq/',
   '/usr/lib/include',
   '/opt/homebrew/include',
   sysconfig.get_paths()['include'],

messaging/.gitignore

@@ -1 +0,0 @@
-messaging_pyx.cpp

msgq/.gitignore

@@ -0,0 +1 @@
+ipc_pyx.cpp

msgq/__init__.py

@@ -1,12 +1,12 @@
 # must be built with scons
-from msgq.messaging.messaging_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.messaging.messaging_pyx import MultiplePublishersError, MessagingError
+from msgq.ipc_pyx import MultiplePublishersError, IpcError
 
 from typing import Optional, List
 
 assert MultiplePublishersError
-assert MessagingError
+assert IpcError
 assert toggle_fake_events
 assert set_fake_prefix
 assert get_fake_prefix

msgq/event.cc

@@ -13,7 +13,7 @@
 #include <sys/mman.h>
 #include <sys/stat.h>
 
-#include "msgq/messaging/event.h"
+#include "msgq/event.h"
 
 #ifndef __APPLE__
 #include <sys/eventfd.h>

msgq/impl_fake.cc

@@ -1,4 +1,4 @@
-#include "msgq/messaging/impl_fake.h"
+#include "msgq/impl_fake.h"
 
 void FakePoller::registerSocket(SubSocket *socket) {
   this->sockets.push_back(socket);

msgq/impl_fake.h

@@ -11,8 +11,8 @@
 #include <fcntl.h>
 #include <unistd.h>
 
-#include "msgq/messaging/messaging.h"
-#include "msgq/messaging/event.h"
+#include "msgq/ipc.h"
+#include "msgq/event.h"
 
 template<typename TSubSocket>
 class FakeSubSocket: public TSubSocket {

msgq/impl_msgq.cc

@@ -5,7 +5,7 @@
 #include <csignal>
 #include <cerrno>
 
-#include "msgq/messaging/impl_msgq.h"
+#include "msgq/impl_msgq.h"
 
 
 volatile sig_atomic_t msgq_do_exit = 0;

msgq/impl_msgq.h

@@ -3,8 +3,8 @@
 #include <string>
 #include <vector>
 
-#include "msgq/messaging/messaging.h"
-#include "msgq/messaging/msgq.h"
+#include "msgq/ipc.h"
+#include "msgq/msgq.h"
 
 #define MAX_POLLERS 128
 

msgq/impl_zmq.cc

@@ -5,7 +5,7 @@
 #include <cerrno>
 #include <unistd.h>
 
-#include "msgq/messaging/impl_zmq.h"
+#include "msgq/impl_zmq.h"
 
 //FIXME: This is a hack to get the port number from the socket name, might have collisions
 static int get_port(std::string endpoint) {

msgq/impl_zmq.h

@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>
 
-#include "msgq/messaging/messaging.h"
+#include "msgq/ipc.h"
 
 #define MAX_POLLERS 128
 

msgq/ipc.cc

@@ -1,10 +1,10 @@
 #include <cassert>
 #include <iostream>
 
-#include "msgq/messaging/messaging.h"
-#include "msgq/messaging/impl_zmq.h"
-#include "msgq/messaging/impl_msgq.h"
-#include "msgq/messaging/impl_fake.h"
+#include "msgq/ipc.h"
+#include "msgq/impl_zmq.h"
+#include "msgq/impl_msgq.h"
+#include "msgq/impl_fake.h"
 
 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;

msgq/ipc.pxd

@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool
 
 
-cdef extern from "msgq/messaging/impl_fake.h":
+cdef extern from "msgq/impl_fake.h":
   cdef cppclass Event:
     @staticmethod
     int wait_for_one(vector[Event], int) except +
@@ -34,7 +34,7 @@ cdef extern from "msgq/messaging/impl_fake.h":
     Event recv_ready()
 
 
-cdef extern from "msgq/messaging/messaging.h":
+cdef extern from "msgq/ipc.h":
   cdef cppclass Context:
     @staticmethod
     Context * create()

msgq/ipc_pyx.pyx

@@ -10,22 +10,22 @@ from libc.string cimport strerror
 from cython.operator import dereference
 
 
-from .messaging cimport Context as cppContext
-from .messaging cimport SubSocket as cppSubSocket
-from .messaging cimport PubSocket as cppPubSocket
-from .messaging cimport Poller as cppPoller
-from .messaging cimport Message as cppMessage
-from .messaging cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
+from .ipc cimport Context as cppContext
+from .ipc cimport SubSocket as cppSubSocket
+from .ipc cimport PubSocket as cppPubSocket
+from .ipc cimport Poller as cppPoller
+from .ipc cimport Message as cppMessage
+from .ipc cimport Event as cppEvent, SocketEventHandle as cppSocketEventHandle
 
 
-class MessagingError(Exception):
+class IpcError(Exception):
   def __init__(self, endpoint=None):
     suffix = f"with {endpoint.decode('utf-8')}" if endpoint else ""
     message = f"Messaging failure {suffix}: {strerror(errno.errno).decode('utf-8')}"
     super().__init__(message)
 
 
-class MultiplePublishersError(MessagingError):
+class MultiplePublishersError(IpcError):
   pass
 
 
@@ -170,7 +170,7 @@ cdef class SubSocket:
     self.is_owner = True
 
     if self.socket == NULL:
-      raise MessagingError
+      raise IpcError
 
   def __dealloc__(self):
     if self.is_owner:
@@ -190,7 +190,7 @@ cdef class SubSocket:
       if errno.errno == errno.EADDRINUSE:
         raise MultiplePublishersError(endpoint)
       else:
-        raise MessagingError(endpoint)
+        raise IpcError(endpoint)
 
   def setTimeout(self, int timeout):
     self.socket.setTimeout(timeout)
@@ -219,7 +219,7 @@ cdef class PubSocket:
   def __cinit__(self):
     self.socket = cppPubSocket.create()
     if self.socket == NULL:
-      raise MessagingError
+      raise IpcError
 
   def __dealloc__(self):
     del self.socket
@@ -231,7 +231,7 @@ cdef class PubSocket:
       if errno.errno == errno.EADDRINUSE:
         raise MultiplePublishersError(endpoint)
       else:
-        raise MessagingError(endpoint)
+        raise IpcError(endpoint)
 
   def send(self, bytes data):
     length = len(data)
@@ -241,7 +241,7 @@ cdef class PubSocket:
       if errno.errno == errno.EADDRINUSE:
         raise MultiplePublishersError
       else:
-        raise MessagingError
+        raise IpcError
 
   def all_readers_updated(self):
     return self.socket.all_readers_updated()

msgq/msgq.cc

@@ -23,7 +23,7 @@
 
 #include <stdio.h>
 
-#include "msgq/messaging/msgq.h"
+#include "msgq/msgq.h"
 
 void sigusr2_handler(int signal) {
   assert(signal == SIGUSR2);

msgq/msgq_tests.cc

@@ -1,5 +1,5 @@
 #include "catch2/catch.hpp"
-#include "msgq/messaging/msgq.h"
+#include "msgq/msgq.h"
 
 TEST_CASE("ALIGN")
 {

msgq/tests/test_fake.py

@@ -2,11 +2,10 @@ import os
 import unittest
 import multiprocessing
 import platform
+import msgq
 from parameterized import parameterized_class
 from typing import Optional
 
-import msgq.messaging as messaging
-
 WAIT_TIMEOUT = 5
 
 
@@ -14,7 +13,7 @@ WAIT_TIMEOUT = 5
 class TestEvents(unittest.TestCase):
 
   def test_mutation(self):
-    handle = messaging.fake_event_handle("carState")
+    handle = msgq.fake_event_handle("carState")
     event = handle.recv_called_event
 
     self.assertFalse(event.peek())
@@ -26,7 +25,7 @@ class TestEvents(unittest.TestCase):
     del event
 
   def test_wait(self):
-    handle = messaging.fake_event_handle("carState")
+    handle = msgq.fake_event_handle("carState")
     event = handle.recv_called_event
 
     event.set()
@@ -37,7 +36,7 @@ class TestEvents(unittest.TestCase):
       self.fail("event.wait() timed out")
 
   def test_wait_multiprocess(self):
-    handle = messaging.fake_event_handle("carState")
+    handle = msgq.fake_event_handle("carState")
     event = handle.recv_called_event
 
     def set_event_run():
@@ -54,7 +53,7 @@ class TestEvents(unittest.TestCase):
     p.kill()
 
   def test_wait_zero_timeout(self):
-    handle = messaging.fake_event_handle("carState")
+    handle = msgq.fake_event_handle("carState")
     event = handle.recv_called_event
 
     try:
@@ -71,18 +70,18 @@ class TestFakeSockets(unittest.TestCase):
   prefix: Optional[str] = None
 
   def setUp(self):
-    messaging.toggle_fake_events(True)
+    msgq.toggle_fake_events(True)
     if self.prefix is not None:
-      messaging.set_fake_prefix(self.prefix)
+      msgq.set_fake_prefix(self.prefix)
     else:
-      messaging.delete_fake_prefix()
+      msgq.delete_fake_prefix()
 
   def tearDown(self):
-    messaging.toggle_fake_events(False)
-    messaging.delete_fake_prefix()
+    msgq.toggle_fake_events(False)
+    msgq.delete_fake_prefix()
 
   def test_event_handle_init(self):
-    handle = messaging.fake_event_handle("controlsState", override=True)
+    handle = msgq.fake_event_handle("controlsState", override=True)
 
     self.assertFalse(handle.enabled)
     self.assertGreaterEqual(handle.recv_called_event.fd, 0)
@@ -90,9 +89,9 @@ class TestFakeSockets(unittest.TestCase):
 
   def test_non_managed_socket_state(self):
     # non managed socket should have zero state
-    _ = messaging.pub_sock("ubloxGnss")
+    _ = msgq.pub_sock("ubloxGnss")
 
-    handle = messaging.fake_event_handle("ubloxGnss", override=False)
+    handle = msgq.fake_event_handle("ubloxGnss", override=False)
 
     self.assertFalse(handle.enabled)
     self.assertEqual(handle.recv_called_event.fd, 0)
@@ -100,26 +99,26 @@ class TestFakeSockets(unittest.TestCase):
 
   def test_managed_socket_state(self):
     # managed socket should not change anything about the state
-    handle = messaging.fake_event_handle("ubloxGnss")
+    handle = msgq.fake_event_handle("ubloxGnss")
     handle.enabled = True
 
     expected_enabled = handle.enabled
     expected_recv_called_fd = handle.recv_called_event.fd
     expected_recv_ready_fd = handle.recv_ready_event.fd
 
-    _ = messaging.pub_sock("ubloxGnss")
+    _ = msgq.pub_sock("ubloxGnss")
 
     self.assertEqual(handle.enabled, expected_enabled)
     self.assertEqual(handle.recv_called_event.fd, expected_recv_called_fd)
     self.assertEqual(handle.recv_ready_event.fd, expected_recv_ready_fd)
 
   def test_sockets_enable_disable(self):
-    carState_handle = messaging.fake_event_handle("ubloxGnss", enable=True)
+    carState_handle = msgq.fake_event_handle("ubloxGnss", enable=True)
     recv_called = carState_handle.recv_called_event
     recv_ready = carState_handle.recv_ready_event
 
-    pub_sock = messaging.pub_sock("ubloxGnss")
-    sub_sock = messaging.sub_sock("ubloxGnss")
+    pub_sock = msgq.pub_sock("ubloxGnss")
+    sub_sock = msgq.sub_sock("ubloxGnss")
 
     try:
       carState_handle.enabled = True
@@ -139,8 +138,8 @@ class TestFakeSockets(unittest.TestCase):
 
   def test_synced_pub_sub(self):
     def daemon_repub_process_run():
-      pub_sock = messaging.pub_sock("ubloxGnss")
-      sub_sock = messaging.sub_sock("carState")
+      pub_sock = msgq.pub_sock("ubloxGnss")
+      sub_sock = msgq.sub_sock("carState")
 
       frame = -1
       while True:
@@ -153,15 +152,15 @@ class TestFakeSockets(unittest.TestCase):
         bts = frame.to_bytes(8, 'little')
         pub_sock.send(bts)
 
-    carState_handle = messaging.fake_event_handle("carState", enable=True)
+    carState_handle = msgq.fake_event_handle("carState", enable=True)
     recv_called = carState_handle.recv_called_event
     recv_ready = carState_handle.recv_ready_event
 
     p = multiprocessing.Process(target=daemon_repub_process_run)
     p.start()
 
-    pub_sock = messaging.pub_sock("carState")
-    sub_sock = messaging.sub_sock("ubloxGnss")
+    pub_sock = msgq.pub_sock("carState")
+    sub_sock = msgq.sub_sock("ubloxGnss")
 
     try:
       for i in range(10):

msgq/tests/test_messaging.py

@@ -5,8 +5,7 @@ import threading
 import time
 import string
 import unittest
-
-import msgq.messaging as messaging
+import msgq
 
 
 def random_sock():
@@ -39,8 +38,8 @@ class TestPubSubSockets(unittest.TestCase):
 
   def test_pub_sub(self):
     sock = random_sock()
-    pub_sock = messaging.pub_sock(sock)
-    sub_sock = messaging.sub_sock(sock, conflate=False, timeout=None)
+    pub_sock = msgq.pub_sock(sock)
+    sub_sock = msgq.sub_sock(sock, conflate=False, timeout=None)
     zmq_sleep(3)
 
     for _ in range(1000):
@@ -51,11 +50,11 @@ class TestPubSubSockets(unittest.TestCase):
 
   def test_conflate(self):
     sock = random_sock()
-    pub_sock = messaging.pub_sock(sock)
+    pub_sock = msgq.pub_sock(sock)
     for conflate in [True, False]:
       for _ in range(10):
         num_msgs = random.randint(3, 10)
-        sub_sock = messaging.sub_sock(sock, conflate=conflate, timeout=None)
+        sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None)
         zmq_sleep()
 
         sent_msgs = []
@@ -64,7 +63,7 @@ class TestPubSubSockets(unittest.TestCase):
           pub_sock.send(msg)
           sent_msgs.append(msg)
         time.sleep(0.1)
-        recvd_msgs = messaging.drain_sock_raw(sub_sock)
+        recvd_msgs = msgq.drain_sock_raw(sub_sock)
         if conflate:
           self.assertEqual(len(recvd_msgs), 1)
         else:
@@ -75,7 +74,7 @@ class TestPubSubSockets(unittest.TestCase):
     sock = random_sock()
     for _ in range(10):
       timeout = random.randrange(200)
-      sub_sock = messaging.sub_sock(sock, timeout=timeout)
+      sub_sock = msgq.sub_sock(sock, timeout=timeout)
       zmq_sleep()
 
       start_time = time.monotonic()

msgq/tests/test_poller.py

@@ -1,16 +1,16 @@
 import unittest
 import time
-import msgq.messaging as messaging
+import msgq
 import concurrent.futures
 
 SERVICE_NAME = 'myService'
 
 def poller():
-  context = messaging.Context()
+  context = msgq.Context()
 
-  p = messaging.Poller()
+  p = msgq.Poller()
 
-  sub = messaging.SubSocket()
+  sub = msgq.SubSocket()
   sub.connect(context, SERVICE_NAME)
   p.registerSocket(sub)
 
@@ -22,9 +22,9 @@ def poller():
 
 class TestPoller(unittest.TestCase):
   def test_poll_once(self):
-    context = messaging.Context()
+    context = msgq.Context()
 
-    pub = messaging.PubSocket()
+    pub = msgq.PubSocket()
     pub.connect(context, SERVICE_NAME)
 
     with concurrent.futures.ThreadPoolExecutor() as e:
@@ -44,18 +44,18 @@ class TestPoller(unittest.TestCase):
     self.assertEqual(result, [b"a"])
 
   def test_poll_and_create_many_subscribers(self):
-    context = messaging.Context()
+    context = msgq.Context()
 
-    pub = messaging.PubSocket()
+    pub = msgq.PubSocket()
     pub.connect(context, SERVICE_NAME)
 
     with concurrent.futures.ThreadPoolExecutor() as e:
       poll = e.submit(poller)
 
       time.sleep(0.1)  # Slow joiner syndrome
-      c = messaging.Context()
+      c = msgq.Context()
       for _ in range(10):
-        messaging.SubSocket().connect(c, SERVICE_NAME)
+        msgq.SubSocket().connect(c, SERVICE_NAME)
 
       time.sleep(0.1)
 
@@ -71,13 +71,13 @@ class TestPoller(unittest.TestCase):
     self.assertEqual(result, [b"a"])
 
   def test_multiple_publishers_exception(self):
-    context = messaging.Context()
+    context = msgq.Context()
 
-    with self.assertRaises(messaging.MultiplePublishersError):
-      pub1 = messaging.PubSocket()
+    with self.assertRaises(msgq.MultiplePublishersError):
+      pub1 = msgq.PubSocket()
       pub1.connect(context, SERVICE_NAME)
 
-      pub2 = messaging.PubSocket()
+      pub2 = msgq.PubSocket()
       pub2.connect(context, SERVICE_NAME)
 
       pub1.send(b"a")
@@ -87,12 +87,12 @@ class TestPoller(unittest.TestCase):
     context.term()
 
   def test_multiple_messages(self):
-    context = messaging.Context()
+    context = msgq.Context()
 
-    pub = messaging.PubSocket()
+    pub = msgq.PubSocket()
     pub.connect(context, SERVICE_NAME)
 
-    sub = messaging.SubSocket()
+    sub = msgq.SubSocket()
     sub.connect(context, SERVICE_NAME)
 
     time.sleep(0.1)  # Slow joiner
@@ -119,12 +119,12 @@ class TestPoller(unittest.TestCase):
     context.term()
 
   def test_conflate(self):
-    context = messaging.Context()
+    context = msgq.Context()
 
-    pub = messaging.PubSocket()
+    pub = msgq.PubSocket()
     pub.connect(context, SERVICE_NAME)
 
-    sub = messaging.SubSocket()
+    sub = msgq.SubSocket()
     sub.connect(context, SERVICE_NAME, conflate=True)
 
     time.sleep(0.1)  # Slow joiner

msgq/visionipc/visionipc.cc

@@ -15,7 +15,7 @@
 #define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
 #endif
 
-#include "msgq/visionipc/ipc.h"
+#include "msgq/visionipc/visionipc.h"
 
 int ipc_connect(const char* socket_path) {
   int err;

msgq/visionipc/visionipc.h

@@ -3,6 +3,12 @@
 #include <cstdint>
 #include <cstddef>
 
+
+int ipc_connect(const char* socket_path);
+int ipc_bind(const char* socket_path);
+int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
+                          int *out_num_fds);
+
 constexpr int VISIONIPC_MAX_FDS = 128;
 
 struct VisionIpcBufExtra {

msgq/visionipc/visionipc_client.cc

@@ -4,11 +4,11 @@
 #include <thread>
 
 #include <unistd.h>
-#include "msgq/visionipc/ipc.h"
+#include "msgq/visionipc/visionipc.h"
 #include "msgq/visionipc/visionipc_client.h"
 #include "msgq/visionipc/visionipc_server.h"
-#include "msgq/logger/logger.h"
-#include "msgq/logger/logger.h"
+#include "logger/logger.h"
+#include "logger/logger.h"
 
 static int connect_to_vipc_server(const std::string &name, bool blocking) {
   const std::string ipc_path = get_ipc_path(name);

msgq/visionipc/visionipc_client.h

@@ -3,7 +3,7 @@
 #include <set>
 #include <string>
 
-#include "msgq/messaging/messaging.h"
+#include "msgq/ipc.h"
 #include "msgq/visionipc/visionbuf.h"
 
 

msgq/visionipc/visionipc_server.cc

@@ -8,10 +8,10 @@
 #include <sys/socket.h>
 #include <unistd.h>
 
-#include "msgq/messaging/messaging.h"
-#include "msgq/visionipc/ipc.h"
+#include "msgq/ipc.h"
+#include "msgq/visionipc/visionipc.h"
 #include "msgq/visionipc/visionipc_server.h"
-#include "msgq/logger/logger.h"
+#include "logger/logger.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type){
   if (messaging_use_zmq()){

msgq/visionipc/visionipc_server.h

@@ -5,7 +5,7 @@
 #include <atomic>
 #include <map>
 
-#include "msgq/messaging/messaging.h"
+#include "msgq/ipc.h"
 #include "msgq/visionipc/visionbuf.h"
 
 std::string get_endpoint_name(std::string name, VisionStreamType type);

visionipc/ipc.h

@@ -1,7 +0,0 @@
-#pragma once
-#include <cstddef>
-
-int ipc_connect(const char* socket_path);
-int ipc_bind(const char* socket_path);
-int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds,
-                          int *out_num_fds);