move HAL to common/hardware/ (#38202)

* move HAL to common/hardware/

* lint

* rm shim

.gitattributes

@@ -11,4 +11,4 @@
 *.wav filter=lfs diff=lfs merge=lfs -text
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
-system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+common/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text

Jenkinsfile

@@ -210,7 +210,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tizi-hardware", "tizi-common", ["UNSAFE=1"], [
           step("build", "cd system/manager && ./build.py"),
-          step("test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"),
+          step("test power draw", "pytest -s common/hardware/tici/tests/test_power_draw.py"),
           step("test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py", [diffPaths: ["system/loggerd/"]]),
           step("test manager", "pytest system/manager/test/test_manager.py"),
         ])
@@ -246,7 +246,7 @@ node {
           step("build openpilot", "cd system/manager && ./build.py"),
           step("test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"),
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
-          step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          step("test amp", "pytest common/hardware/tici/tests/test_amplifier.py"),
         ])
       },
 

common/api.py

@@ -2,7 +2,7 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')

common/esim/esim.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import argparse
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.esim.base import LPABase, Profile
 
 

common/hardware/__init__.py

@@ -1,9 +1,9 @@
 import os
 from typing import cast
 
-from openpilot.system.hardware.base import HardwareBase
-from openpilot.system.hardware.tici.hardware import Tici
-from openpilot.system.hardware.pc.hardware import Pc
+from openpilot.common.hardware.base import HardwareBase
+from openpilot.common.hardware.tici.hardware import Tici
+from openpilot.common.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')

common/hardware/hw.h

@@ -2,14 +2,14 @@
 
 #include <string>
 
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 #include "common/util.h"
 
 #if __TICI__
-#include "system/hardware/tici/hardware.h"
+#include "common/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
-#include "system/hardware/pc/hardware.h"
+#include "common/hardware/pc/hardware.h"
 #define Hardware HardwarePC
 #endif
 

common/hardware/hw.py

@@ -2,7 +2,7 @@ import os
 import platform
 from pathlib import Path
 
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 DEFAULT_DOWNLOAD_CACHE_ROOT = "/tmp/comma_download_cache"
 

common/hardware/pc/hardware.h

@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 
 class HardwarePC : public HardwareNone {
 public:

common/hardware/pc/hardware.py

@@ -1,5 +1,5 @@
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase
+from openpilot.common.hardware.base import HardwareBase
 
 class Pc(HardwareBase):
   def get_device_type(self):

common/hardware/tici/__init__.py

@@ -0,0 +1 @@
+

common/hardware/tici/agnos.json

@@ -0,0 +1,84 @@
+[
+  {
+    "name": "xbl",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
+    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
+    "size": 3282256,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
+  },
+  {
+    "name": "xbl_config",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
+    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
+  },
+  {
+    "name": "abl",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
+    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
+    "size": 274432,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
+    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
+    "size": 184364,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
+    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
+  },
+  {
+    "name": "boot",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
+    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
+    "size": 17487872,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true,
+    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
+  },
+  {
+    "name": "system",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
+    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
+    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+    "size": 4718592000,
+    "sparse": true,
+    "full_check": false,
+    "has_ab": true,
+    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
+    "alt": {
+      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
+      "size": 4718592000
+    }
+  }
+]

common/hardware/tici/hardware.h

@@ -7,7 +7,7 @@
 #include <algorithm>  // for std::clamp
 
 #include "common/util.h"
-#include "system/hardware/base.h"
+#include "common/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
 public:

common/hardware/tici/hardware.py

@@ -11,10 +11,10 @@ from cereal import log
 from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.common.esim.base import LPABase
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.common.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.common.esim.lpa import TiciLPA
-from openpilot.system.hardware.tici.pins import GPIO
-from openpilot.system.hardware.tici.amplifier import Amplifier
+from openpilot.common.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.amplifier import Amplifier
 
 MODEM_STATE_PATH = "/dev/shm/modem"
 

common/hardware/tici/tests/__init__.py

@@ -0,0 +1 @@
+

common/hardware/tici/tests/test_amplifier.py

@@ -4,8 +4,8 @@ import random
 import subprocess
 
 from panda import Panda
-from openpilot.system.hardware import TICI, HARDWARE
-from openpilot.system.hardware.tici.amplifier import Amplifier
+from openpilot.common.hardware import TICI, HARDWARE
+from openpilot.common.hardware.tici.amplifier import Amplifier
 
 
 class TestAmplifier:

common/hardware/tici/tests/test_power_draw.py

@@ -10,7 +10,7 @@ from cereal.services import SERVICE_LIST
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.mock import mock_messages
 from openpilot.common.params import Params
-from openpilot.system.hardware.tici.power_monitor import get_power
+from openpilot.common.hardware.tici.power_monitor import get_power
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.manager.manager import manager_cleanup
 

common/params.cc

@@ -12,7 +12,7 @@
 #include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 namespace {
 

common/prefix.h

@@ -5,7 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 class OpenpilotPrefix {
 public:

common/prefix.py

@@ -5,9 +5,9 @@ import uuid
 
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.common.hardware import PC
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
   def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):

common/realtime.py

@@ -7,7 +7,7 @@ import time
 from setproctitle import getproctitle
 
 from openpilot.common.utils import MovingAverage
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 
 # time step for each process

common/swaglog.cc

@@ -13,7 +13,7 @@
 #include <stdarg.h>
 #include "json11/json11.hpp"
 #include "common/version.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 class SwaglogState {
 public:

common/swaglog.py

@@ -8,7 +8,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def get_file_handler():

common/tests/test_swaglog.cc

@@ -6,7 +6,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "json11/json11.hpp"
 
 std::string daemon_name = "testy";

conftest.py

@@ -5,7 +5,7 @@ import pytest
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.system.manager import manager
-from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.common.hardware import TICI, HARDWARE
 
 # these are heavy CI-only tests, invoked explicitly in .github/workflows/tests.yaml
 collect_ignore = [

launch_chffrplus.sh

@@ -19,12 +19,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    AGNOS_PY="$DIR/common/hardware/tici/agnos.py"
     MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/common/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 

scripts/disable-powersave.py

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

selfdrive/car/tests/test_models.py

@@ -20,7 +20,7 @@ from opendbc.safety.tests.libsafety import libsafety_py
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
-from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
+from openpilot.common.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 from openpilot.tools.lib.logreader import LogReader, LogsUnavailable, openpilotci_source, internal_source, comma_api_source
 from openpilot.tools.lib.route import SegmentName
 

selfdrive/locationd/calibrationd.py

@@ -13,7 +13,7 @@ from typing import NoReturn
 
 from cereal import log, car
 import cereal.messaging as messaging
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process

selfdrive/locationd/test/test_lagd.py

@@ -10,7 +10,7 @@ from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_c
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.common.params import Params
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 
 MAX_ERR_FRAMES = 1
 DT = 0.05

selfdrive/modeld/SConscript

@@ -79,7 +79,7 @@ compile_modeld_script = [
   File(f"{modeld_dir}/compile_modeld.py"),
   File(f"{modeld_dir}/get_model_metadata.py"),
   File("#system/camerad/cameras/nv12_info.py"),
-  File("#system/hardware/hw.py"),
+  File("#common/hardware/hw.py"),
 ]
 model_w, model_h = MEDMODEL_INPUT_SIZE
 frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ

selfdrive/modeld/compile_modeld.py

@@ -265,7 +265,7 @@ def _parse_size(s):
 
 def read_file_chunked_to_shm(path):
   from openpilot.common.file_chunker import read_file_chunked
-  from openpilot.system.hardware.hw import Paths
+  from openpilot.common.hardware.hw import Paths
   with tempfile.NamedTemporaryFile(prefix='compile_modeld_', dir=Paths.shm_path(), delete=False) as f:
     f.write(read_file_chunked(path))
     tmp_path = f.name

selfdrive/pandad/main.cc

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

selfdrive/pandad/pandad.cc

@@ -15,7 +15,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 
 #define MAX_IR_PANDA_VAL 50
 #define CUTOFF_IL 400

selfdrive/pandad/pandad.py

@@ -9,7 +9,7 @@ import subprocess
 from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 
 

selfdrive/pandad/tests/test_pandad.py

@@ -7,8 +7,8 @@ from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import HARDWARE
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware import HARDWARE
+from openpilot.common.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 

selfdrive/selfdrived/events.py

@@ -13,7 +13,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 from openpilot.selfdrive.ui.feedback.feedbackd import FEEDBACK_MAX_DURATION
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 AlertSize = log.SelfdriveState.AlertSize
 AlertStatus = log.SelfdriveState.AlertStatus

selfdrive/selfdrived/selfdrived.py

@@ -22,7 +22,7 @@ from openpilot.selfdrive.selfdrived.state import StateMachine
 from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
 
 from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ

selfdrive/test/process_replay/model_replay.py

@@ -12,7 +12,7 @@ import numpy as np
 from openpilot.common.utils import tabulate
 
 from openpilot.common.git import get_commit
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process

selfdrive/test/process_replay/process_replay.py

@@ -12,7 +12,7 @@ from typing import Any
 from collections.abc import Callable, Iterable
 from tqdm import tqdm
 import capnp
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 import cereal.messaging as messaging
 from cereal import car

selfdrive/test/test_onroad.py

@@ -18,7 +18,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import EVENTS, ET
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.log_time_series import msgs_to_time_series
 
@@ -68,7 +68,7 @@ PROCS = {
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,
   "system.qcomgpsd.qcomgpsd": 1.0,
-  "system.hardware.tici.modem": 10.0,
+  "common.hardware.tici.modem": 10.0,
 }
 
 TIMINGS = {

selfdrive/ui/installer/installer.cc

@@ -5,7 +5,7 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "raylib.h"
 
 int freshClone();

selfdrive/ui/mici/layouts/offroad_alerts.py

@@ -7,7 +7,7 @@ from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.common.realtime import drop_realtime
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -8,7 +8,7 @@ from dataclasses import dataclass
 from cereal import messaging, log, car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel

selfdrive/ui/mici/onroad/cameraview.py

@@ -4,7 +4,7 @@ import pyray as rl
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget

selfdrive/ui/onroad/alert_renderer.py

@@ -3,7 +3,7 @@ import pyray as rl
 from dataclasses import dataclass
 from cereal import messaging, log
 from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.text_measure import measure_text_cached

selfdrive/ui/onroad/cameraview.py

@@ -4,7 +4,7 @@ import pyray as rl
 
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
 from openpilot.system.ui.widgets import Widget

selfdrive/ui/soundd.py

@@ -12,7 +12,7 @@ from openpilot.common.utils import retry
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.system import micd
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)

selfdrive/ui/ui.py

@@ -3,7 +3,7 @@ import os
 import time
 
 from cereal import messaging
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.common.realtime import Priority, config_realtime_process, set_core_affinity
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.selfdrive.ui.layouts.main import MainLayout

selfdrive/ui/ui_state.py

@@ -10,7 +10,7 @@ from openpilot.common.realtime import drop_realtime
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.prime_state import PrimeState
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 
 BACKLIGHT_OFFROAD = 65 if HARDWARE.get_device_type() == "mici" else 50
 PARAM_UPDATE_TIME = 1 / 5.0

selfdrive/ui/widgets/offroad_alerts.py

@@ -4,7 +4,7 @@ from abc import ABC, abstractmethod
 from collections.abc import Callable
 from dataclasses import dataclass
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel

system/athena/athenad.py

@@ -35,11 +35,11 @@ from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')

system/athena/manage_athenad.py

@@ -6,7 +6,7 @@ from multiprocessing import Process
 from openpilot.common.params import Params
 from openpilot.system.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"

system/athena/registration.py

@@ -10,8 +10,8 @@ from openpilot.common.api import api_get, get_key_pair
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware import HARDWARE, PC
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 
 

system/athena/tests/test_athenad.py

@@ -22,7 +22,7 @@ from openpilot.system.athena import athenad
 from openpilot.system.athena.athenad import MAX_RETRY_COUNT, UPLOAD_SESS, dispatcher
 from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket
 from openpilot.selfdrive.test.helpers import http_server_context
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def seed_athena_server(host, port):

system/athena/tests/test_athenad_ping.py

@@ -8,7 +8,7 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.athena import athenad
 from openpilot.system.manager.helpers import write_onroad_params
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 
 TIMEOUT_TOLERANCE = 20  # seconds
 

system/athena/tests/test_registration.py

@@ -5,7 +5,7 @@ from pathlib import Path
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.system.athena.tests.helpers import MockResponse
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 class TestRegistration:

system/camerad/snapshot.py

@@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
-from openpilot.system.hardware import PC
+from openpilot.common.hardware import PC
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.manager.process_config import managed_processes
 

system/hardware/fan_controller.py

@@ -2,7 +2,7 @@
 import numpy as np
 
 from openpilot.common.pid import PIDController
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 # raise fan setpoint on tici/tizi to reduce noise
 # after raising LMH threshold in AGNOS 18.1 to prevent CPU throttling

system/hardware/hardwared.py

@@ -17,7 +17,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_HW
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
-from openpilot.system.hardware import HARDWARE, TICI, PC
+from openpilot.common.hardware import HARDWARE, TICI, PC
 from openpilot.system.loggerd.config import get_available_percent
 from openpilot.system.statsd import statlog
 from openpilot.common.swaglog import cloudlog

system/hardware/power_monitoring.py

@@ -2,7 +2,7 @@ import time
 import threading
 
 from openpilot.common.params import Params
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.statsd import statlog
 

system/hardware/tici/agnos.json

@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb.img.xz",
-    "hash": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
-    "hash_raw": "e8acf2a9cc7f0ce84cb803bfea9477f765c0d7b4daf26048e59651b9e6a7bfbb",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "bea7f1a24428c3ededf672fa4fc78baf180cfbd8aafb77c974655b38517283e3"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85.img.xz",
-    "hash": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
-    "hash_raw": "758552ecf92b5569677197783bf0ccb73d7f961685308e45d3276ac9dd974f85",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "fb18cde08a98a168961ecd357e92474823046752b94e112f59fe51a6acd7197d"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c.img.xz",
-    "hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "hash_raw": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c",
-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b6fba807b9bcd66a31f2afb0eba5163ec239693ad32e2e4200f6c356adfe098c"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1.img.xz",
-    "hash": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
-    "hash_raw": "78b2287ca219a0811b3004c523fa0f4749e4d1fd92be3aba61699305b7943ad1",
-    "size": 184364,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "6c9135446bd3fc075fcee59b887a12e49029ab1f98ed8d6d1e32c73569d47de3"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc.img.xz",
-    "hash": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
-    "hash_raw": "f71df3a86958c093ba3969254c4db025187eef9385427f1ade946742939b43cc",
-    "size": 40336,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "2a67971602012c1b43544964709da13c322786b456a8e78568b117e8b1540ce3"
-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8.img.xz",
-    "hash": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "hash_raw": "8806802b195a5b1396a3ae8dd92a8b7711dc522f6aceafd820e871bae5c8a6d8",
-    "size": 17487872,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "edca8bee1531e66953d107eeceeed2dc7b3ca46417e49d55508f94e58bf95db8"
-  },
-  {
-    "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img.xz",
-    "hash": "78acfe16a7b62a3a91fc7a81f40a693e4468cec1c69df7d0b1e550aacc646113",
-    "hash_raw": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-    "size": 4718592000,
-    "sparse": true,
-    "full_check": false,
-    "has_ab": true,
-    "ondevice_hash": "743142c5a898f27b2a1029cca42c8a5d5d1fc0096414422b850fe84c8d0b8342",
-    "alt": {
-      "hash": "ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-ef0d879302cb29e72110e9c8d3f947c830fd7d37c8192744fc9dbea1af78501f.img",
-      "size": 4718592000
-    }
-  }
-]

system/hardware/tici/agnos.json

@@ -0,0 +1 @@
+../../../common/hardware/tici/agnos.json

system/loggerd/config.py

@@ -1,5 +1,5 @@
 import os
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 CAMERA_FPS = 20

system/loggerd/deleter.py

@@ -2,7 +2,7 @@
 import os
 import shutil
 import threading
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.config import get_available_bytes, get_available_percent
 from openpilot.system.loggerd.uploader import listdir_by_creation

system/loggerd/logger.h

@@ -6,7 +6,7 @@
 
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "system/loggerd/zstd_writer.h"
 
 constexpr int LOG_COMPRESSION_LEVEL = 10;

system/loggerd/loggerd.h

@@ -6,7 +6,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/services.h"
 #include "msgq/visionipc/visionipc_client.h"
-#include "system/hardware/hw.h"
+#include "common/hardware/hw.h"
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"

system/loggerd/tests/loggerd_tests_common.py

@@ -6,7 +6,7 @@ from pathlib import Path
 import openpilot.system.loggerd.deleter as deleter
 import openpilot.system.loggerd.uploader as uploader
 from openpilot.common.params import Params
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 

system/loggerd/tests/test_encoder.py

@@ -12,10 +12,10 @@ from tqdm import trange
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572

system/loggerd/tests/test_loggerd.py

@@ -15,8 +15,8 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware.hw import Paths
+from openpilot.common.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes

system/loggerd/tests/test_uploader.py

@@ -4,7 +4,7 @@ import threading
 import logging
 import json
 from pathlib import Path
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE

system/loggerd/uploader.py

@@ -15,7 +15,7 @@ from openpilot.common.api import Api
 from openpilot.common.utils import get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 

system/logmessaged.py

@@ -4,7 +4,7 @@ from typing import NoReturn
 
 import cereal.messaging as messaging
 from openpilot.common.logging_extra import SwagLogFileFormatter
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import get_file_handler
 
 

system/manager/build.py

@@ -6,7 +6,7 @@ import subprocess
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.spinner import Spinner
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, AGNOS
+from openpilot.common.hardware import HARDWARE, AGNOS
 
 def build() -> None:
   spinner = Spinner()

system/manager/manager.py

@@ -12,14 +12,14 @@ import openpilot.system.sentry as sentry
 from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 
 
 def manager_init() -> None:

system/manager/process_config.py

@@ -4,7 +4,7 @@ import platform
 
 from cereal import car
 from openpilot.common.params import Params
-from openpilot.system.hardware import PC, TICI
+from openpilot.common.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
@@ -112,7 +112,7 @@ procs = [
   PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
   PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
   PythonProcess("hardwared", "system.hardware.hardwared", always_run),
-  PythonProcess("modem", "system.hardware.tici.modem", always_run, enabled=TICI),
+  PythonProcess("modem", "common.hardware.tici.modem", always_run, enabled=TICI),
   PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),
   PythonProcess("updated", "system.updated.updated", only_offroad, enabled=not PC),
   PythonProcess("uploader", "system.loggerd.uploader", always_run),

system/manager/test/test_manager.py

@@ -8,7 +8,7 @@ from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes, procs
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 

system/qcomgpsd/nmeaport.py

@@ -119,7 +119,7 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
 
 def main() -> NoReturn:
   from openpilot.common.gpio import gpio_init, gpio_set
-  from openpilot.system.hardware.tici.pins import GPIO
+  from openpilot.common.hardware.tici.pins import GPIO
   from openpilot.system.qcomgpsd.qcomgpsd import at_cmd
 
   try:

system/qcomgpsd/qcomgpsd.py

@@ -16,7 +16,7 @@ import cereal.messaging as messaging
 from openpilot.common.gpio import gpio_init, gpio_set
 from openpilot.common.utils import retry
 from openpilot.common.time_helpers import system_time_valid
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.pins import GPIO
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist,

system/sentry.py

@@ -5,7 +5,7 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from openpilot.common.params import Params
 from openpilot.system.athena.registration import is_registered_device
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version
 

system/statsd.py

@@ -10,9 +10,9 @@ from typing import NoReturn
 
 from openpilot.common.params import Params
 from cereal.messaging import SubMaster
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.hardware import HARDWARE
 from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S

system/tests/test_logmessaged.py

@@ -4,7 +4,7 @@ import time
 
 import cereal.messaging as messaging
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog, ipchandler
 
 

system/tombstoned.py

@@ -10,7 +10,7 @@ import glob
 from typing import NoReturn
 
 import openpilot.system.sentry as sentry
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
 

system/ubloxd/pigeond.py

@@ -12,9 +12,9 @@ from cereal import messaging
 from openpilot.common.time_helpers import system_time_valid
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from openpilot.common.gpio import gpio_init, gpio_set
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.pins import GPIO
 
 UBLOX_TTY = "/dev/ttyHS0"
 

system/ubloxd/tests/test_pigeond.py

@@ -6,7 +6,7 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.hardware.tici.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS

system/ui/lib/application.py

@@ -18,7 +18,7 @@ from pathlib import Path
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import HARDWARE, PC
+from openpilot.common.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.multilang import multilang
 from openpilot.common.realtime import Ratekeeper
 

system/ui/lib/scroll_panel2.py

@@ -5,7 +5,7 @@ from collections.abc import Callable
 from enum import Enum
 from typing import cast
 from openpilot.system.ui.lib.application import gui_app, MouseEvent
-from openpilot.system.hardware import TICI
+from openpilot.common.hardware import TICI
 from collections import deque
 
 MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state