move cereal/ into nested openpilot (#38220)

.gitignore

@@ -49,9 +49,9 @@ selfdrive/modeld/models/tg_input_devices.json
 # build artifacts
 docs_site/
 selfdrive/pandad/pandad
-cereal/services.h
-cereal/gen
-cereal/messaging/bridge
+openpilot/cereal/services.h
+openpilot/cereal/gen
+openpilot/cereal/messaging/bridge
 selfdrive/ui/translations/tmp
 selfdrive/car/tests/cars_dump
 system/camerad/camerad

RELEASES.md

@@ -1104,7 +1104,7 @@ Version 0.2.1  (2016-12-14)
 
 Version 0.2  (2016-12-12)
 =========================
- * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+ * Car/Radar abstraction layers have shipped, see openpilot/cereal/car.capnp
  * controlsd has been refactored
  * Shipped plant model and testing maneuvers
  * visiond exits more gracefully now

SConstruct

@@ -114,7 +114,7 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
-    "#cereal/gen/cpp",
+    "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
@@ -222,7 +222,7 @@ env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
 SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
 
-SConscript(['cereal/SConscript'])
+SConscript(['openpilot/cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
 messaging = [socketmaster, msgq, 'capnp', 'kj',]

common/hardware/base.h

@@ -5,7 +5,7 @@
 #include <map>
 #include <string>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 // no-op base hw class
 class HardwareNone {

common/hardware/base.py

@@ -2,7 +2,7 @@ import os
 from abc import abstractmethod, ABC
 from dataclasses import dataclass, fields
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.esim.base import LPABase
 
 NetworkType = log.DeviceState.NetworkType

common/hardware/pc/hardware.py

@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.hardware.base import HardwareBase
 
 class Pc(HardwareBase):

common/hardware/tici/hardware.py

@@ -7,7 +7,7 @@ import time
 from functools import cached_property, lru_cache
 from pathlib import Path
 
-from cereal import log
+from openpilot.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

common/mock/__init__.py

@@ -6,8 +6,8 @@ example in common/tests/test_mock.py
 
 import functools
 import threading
-from cereal.messaging import PubMaster
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.messaging import PubMaster
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.mock.generators import generate_livePose
 from openpilot.common.realtime import Ratekeeper
 

common/mock/generators.py

@@ -1,4 +1,4 @@
-from cereal import messaging
+from openpilot.cereal import messaging
 
 
 def generate_livePose():

common/params_keys.h

@@ -3,7 +3,7 @@
 #include <string>
 #include <unordered_map>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},

docs/CONTRIBUTING.md

@@ -68,6 +68,6 @@ A good pull request has all of the following:
 ### A guide for forks
 
 In order for your fork's data to be eligible for the training set:
-* **Your cereal messaging structs must be [compatible](../cereal#custom-forks)**
+* **Your cereal messaging structs must be [compatible](../openpilot/cereal#custom-forks)**
 * **The definitions of all the stock messaging structs must not change**: Do not change how any of the fields are set, including everything from `selfdriveState.enabled` to `carState.steeringAngleDeg`. Instead, create your own structs and set them however you'd like.
 * **Do not include cars that are not supported in upstream platforms**: Instead, create new opendbc platforms for cars that you'd like to support outside of upstream, even if it's just a trim-level difference.

docs/concepts/logs.md

@@ -8,7 +8,7 @@ For each segment, openpilot records the following log types:
 
 ## rlog.zst
 
-rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/openpilot/blob/master/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
+rlogs contain all the messages passed amongst openpilot's processes. See [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for a list of all the logged services. They're a zstd archive of the serialized [Cap’n Proto](https://capnproto.org/) messages.
 
 ## {f,e,d}camera.hevc
 
@@ -20,7 +20,7 @@ Each camera stream is H.265 encoded and written to its respective file.
 
 ## qlog.zst & qcamera.ts
 
-qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation.
+qlogs are a decimated subset of the rlogs. Check out [openpilot/cereal/services.py](https://github.com/commaai/openpilot/blob/master/openpilot/cereal/services.py) for the decimation.
 
 qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras.
 

openpilot/cereal/README.md

@@ -76,7 +76,7 @@ index 1209f3fd9..b189f58b6 100644
 Example
 ---
 ```python
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 # in subscriber
 sm = messaging.SubMaster(['sensorEvents'])

openpilot/cereal/__init__.py

@@ -4,7 +4,7 @@ from importlib.resources import as_file, files
 
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
+with as_file(files("openpilot.cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
   CEREAL_PATH = fspath.as_posix()
   opendbc_import_path = os.path.join(os.path.realpath(opendbc_path.as_posix()), 'car')
   log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"), imports=[opendbc_import_path])

openpilot/cereal/messaging/__init__.py

@@ -9,8 +9,8 @@ import time
 
 from typing import Optional, List, Union, Dict
 
-from cereal import log
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1

openpilot/cereal/messaging/bridge.cc

@@ -1,7 +1,7 @@
 #include <cassert>
 
-#include "cereal/messaging/msgq_to_zmq.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 ExitHandler do_exit;

openpilot/cereal/messaging/bridge_zmq.cc

@@ -1,4 +1,4 @@
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 #include <cassert>
 #include <cstring>

openpilot/cereal/messaging/messaging.h

@@ -8,7 +8,7 @@
 
 #include <capnp/serialize.h>
 
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "common/timing.h"
 #include "msgq/ipc.h"
 

openpilot/cereal/messaging/msgq_to_zmq.cc

@@ -1,8 +1,8 @@
-#include "cereal/messaging/msgq_to_zmq.h"
+#include "openpilot/cereal/messaging/msgq_to_zmq.h"
 
 #include <cassert>
 
-#include "cereal/services.h"
+#include "openpilot/cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;

openpilot/cereal/messaging/msgq_to_zmq.h

@@ -8,7 +8,7 @@
 #include <vector>
 
 #include "msgq/impl_msgq.h"
-#include "cereal/messaging/bridge_zmq.h"
+#include "openpilot/cereal/messaging/bridge_zmq.h"
 
 class MsgqToZmq {
 public:

openpilot/cereal/messaging/socketmaster.cc

@@ -3,8 +3,8 @@
 #include <string>
 #include <mutex>
 
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
+#include "openpilot/cereal/messaging/messaging.h"
 
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 

openpilot/cereal/messaging/tests/test_messaging.py

@@ -8,10 +8,10 @@ import time
 from openpilot.common.parameterized import parameterized
 import pytest
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 
 events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()]
 

openpilot/cereal/messaging/tests/test_pub_sub_master.py

@@ -2,11 +2,11 @@ import random
 import time
 from typing import Sized, cast
 
-import cereal.messaging as messaging
-from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:

openpilot/cereal/messaging/tests/test_services.py

@@ -3,8 +3,8 @@ import tempfile
 from typing import Dict
 from openpilot.common.parameterized import parameterized
 
-import cereal.services as services
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.services as services
+from openpilot.cereal.services import SERVICE_LIST
 
 
 class TestServices:

pyproject.toml

@@ -128,7 +128,7 @@ allow-direct-references = true
 
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=selfdrive/modeld -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/common --ignore=openpilot/selfdrive --ignore=openpilot/system --ignore=openpilot/tools --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ --ignore=selfdrive/modeld -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -145,7 +145,7 @@ testpaths = [
   "selfdrive",
   "system",
   "tools",
-  "cereal",
+  "openpilot/cereal",
 ]
 
 [tool.codespell]
@@ -153,7 +153,7 @@ quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
 ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite,ser"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
+skip = "../tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, *.pem, ./openpilot/cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
 # https://docs.astral.sh/ruff/configuration/#using-pyprojecttoml
 [tool.ruff]
@@ -179,7 +179,7 @@ lint.ignore = [
 ]
 line-length = 160
 exclude = [
-  "cereal",
+  "openpilot/cereal",
   "panda",
   "opendbc",
   "opendbc_repo",

release/pack.py

@@ -11,7 +11,7 @@ from pathlib import Path
 from openpilot.common.basedir import BASEDIR
 
 
-DIRS = ['cereal', 'openpilot']
+DIRS = ['openpilot']
 EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
 EXCLUDE = ['selfdrive/assets/training']
 INTERPRETER = '/usr/bin/env python3'

scripts/lint/lint.sh

@@ -14,7 +14,7 @@ cd $ROOT
 FAILED=0
 
 IGNORED_FILES="uv\.lock|docs\/CARS.md"
-IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
+IGNORED_DIRS="^msgq.*|^msgq_repo.*|^opendbc.*|^opendbc_repo.*|^cereal.*|^openpilot\/cereal.*|^panda.*|^rednose.*|^rednose_repo.*|^tinygrad.*|^tinygrad_repo.*|^teleoprtc.*|^teleoprtc_repo.*"
 
 function run() {
   shopt -s extglob

selfdrive/car/car_specific.py

@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces

selfdrive/car/card.py

@@ -3,9 +3,9 @@ import os
 import time
 import threading
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 
 from openpilot.common.params import Params

selfdrive/car/tests/test_cruise_speed.py

@@ -3,7 +3,7 @@ import itertools
 import numpy as np
 
 from openpilot.common.parameterized import parameterized_class
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from opendbc.car.structs import car
 from openpilot.common.constants import CV

selfdrive/car/tests/test_docs.py

@@ -1,4 +1,3 @@
-
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
 

selfdrive/car/tests/test_models.py

@@ -7,7 +7,6 @@ from collections import defaultdict, Counter
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from openpilot.common.parameterized import parameterized_class
-
 from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces

selfdrive/controls/controlsd.py

@@ -2,9 +2,9 @@
 import math
 from numbers import Number
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper

selfdrive/controls/lib/desire_helper.py

@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 

selfdrive/controls/lib/latcontrol_angle.py

@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
 # TODO This is speed dependent

selfdrive/controls/lib/latcontrol_curvature.py

@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.selfdrive.controls.lib.drive_helpers import MAX_CURVATURE

selfdrive/controls/lib/latcontrol_pid.py

@@ -1,6 +1,6 @@
 import math
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 

selfdrive/controls/lib/latcontrol_torque.py

@@ -2,7 +2,7 @@ import math
 import numpy as np
 from collections import deque
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.lateral import FRICTION_THRESHOLD, get_friction
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.filter_simple import FirstOrderFilter

selfdrive/controls/lib/ldw.py

@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.common.constants import CV
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -2,7 +2,7 @@
 import os
 import time
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog

selfdrive/controls/lib/longitudinal_planner.py

@@ -2,7 +2,7 @@
 import math
 import numpy as np
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter

selfdrive/controls/plannerd.py

@@ -5,7 +5,7 @@ from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 
 def main():

selfdrive/controls/radard.py

@@ -5,7 +5,7 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params

selfdrive/controls/tests/test_following_distance.py

@@ -2,7 +2,7 @@ import pytest
 import itertools
 from openpilot.common.parameterized import parameterized_class
 
-from cereal import log
+from openpilot.cereal import log
 
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver

selfdrive/controls/tests/test_latcontrol.py

@@ -1,6 +1,6 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.honda.values import CAR as HONDA

selfdrive/controls/tests/test_latcontrol_torque_buffer.py

@@ -1,6 +1,6 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.toyota.values import CAR as TOYOTA

selfdrive/controls/tests/test_leads.py

@@ -1,4 +1,4 @@
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.process_replay import replay_process_with_name

selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -1,5 +1,5 @@
 import numpy as np
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car import structs

selfdrive/locationd/calibrationd.py

@@ -11,9 +11,9 @@ import capnp
 import numpy as np
 from typing import NoReturn
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

selfdrive/locationd/helpers.py

@@ -2,7 +2,7 @@ import numpy as np
 from typing import Any
 from functools import cache
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 

selfdrive/locationd/lagd.py

@@ -5,10 +5,10 @@ import capnp
 from collections import deque
 from functools import partial
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.constants import CV
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process

selfdrive/locationd/locationd.py

@@ -6,8 +6,8 @@ import numpy as np
 from enum import Enum
 from collections import defaultdict
 
-from cereal import log, messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log, messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.common.realtime import config_realtime_process
 from openpilot.common.params import Params

selfdrive/locationd/paramsd.py

@@ -3,8 +3,8 @@ import os
 import numpy as np
 import capnp
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL

selfdrive/locationd/test/test_calibrationd.py

@@ -2,8 +2,8 @@ import random
 
 import numpy as np
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from openpilot.common.params import Params
 from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
                                                          MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD

selfdrive/locationd/test/test_lagd.py

@@ -3,7 +3,7 @@ import numpy as np
 import time
 import pytest
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
                                                BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, VERSION

selfdrive/locationd/test/test_paramsd.py

@@ -1,7 +1,7 @@
 import random
 import numpy as np
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from openpilot.selfdrive.locationd.paramsd import retrieve_initial_vehicle_params, migrate_cached_vehicle_params_if_needed
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE

selfdrive/locationd/torqued.py

@@ -3,8 +3,8 @@ import os
 import numpy as np
 from collections import deque, defaultdict
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params

selfdrive/modeld/dmonitoringmodeld.py

@@ -6,8 +6,8 @@ import time
 import pickle
 import numpy as np
 
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal import messaging
+from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.realtime import config_realtime_process

selfdrive/modeld/fill_model_msg.py

@@ -1,7 +1,7 @@
 import os
 import capnp
 import numpy as np
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')

selfdrive/modeld/modeld.py

@@ -5,10 +5,10 @@ from tinygrad.tensor import Tensor
 import time
 import pickle
 import numpy as np
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.messaging import PubMaster, SubMaster
+from openpilot.cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog

selfdrive/monitoring/dmonitoringd.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process
 from openpilot.selfdrive.monitoring.policy import DriverMonitoring

selfdrive/monitoring/policy.py

@@ -2,9 +2,9 @@ from collections import defaultdict
 from math import atan2, radians
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params

selfdrive/monitoring/test_monitoring.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_DMON
 from openpilot.selfdrive.monitoring.policy import DriverMonitoring, DRIVER_MONITOR_SETTINGS
 

selfdrive/pandad/panda.cc

@@ -6,7 +6,7 @@
 #include <stdexcept>
 #include <vector>
 
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 

selfdrive/pandad/panda.h

@@ -9,8 +9,8 @@
 #include <string>
 #include <vector>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/gen/cpp/log.capnp.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can.h"
 #include "selfdrive/pandad/panda_comms.h"

selfdrive/pandad/panda_safety.cc

@@ -1,5 +1,5 @@
 #include "selfdrive/pandad/pandad.h"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 
 void PandaSafety::configureSafetyMode(bool is_onroad) {

selfdrive/pandad/pandad.cc

@@ -8,9 +8,9 @@
 #include <thread>
 #include <utility>
 
-#include "cereal/gen/cpp/car.capnp.h"
-#include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
+#include "openpilot/cereal/gen/cpp/car.capnp.h"
+#include "openpilot/cereal/messaging/messaging.h"
+#include "openpilot/cereal/services.h"
 #include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"

selfdrive/pandad/pandad_api_impl.py

@@ -1,5 +1,5 @@
 import time
-from cereal import log
+from openpilot.cereal import log
 
 NO_TRAVERSAL_LIMIT = 2**64 - 1
 

selfdrive/pandad/tests/test_pandad.py

@@ -2,8 +2,8 @@ import os
 import pytest
 import time
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.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

selfdrive/pandad/tests/test_pandad_canprotocol.cc

@@ -4,7 +4,7 @@
 #include <climits>
 
 #include "catch2/catch.hpp"
-#include "cereal/messaging/messaging.h"
+#include "openpilot/cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/pandad/panda.h"
 

selfdrive/pandad/tests/test_pandad_loopback.py

@@ -6,8 +6,8 @@ import pytest
 from collections import defaultdict
 from pprint import pprint
 
-import cereal.messaging as messaging
-from cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from opendbc.car.can_definitions import CanData
 from openpilot.common.utils import retry

selfdrive/pandad/tests/test_pandad_spi.py

@@ -4,8 +4,8 @@ import numpy as np
 import pytest
 import random
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 

selfdrive/selfdrived/events.py

@@ -5,9 +5,9 @@ import os
 from enum import IntEnum
 from collections.abc import Callable
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch
 from openpilot.common.realtime import DT_CTRL
@@ -1101,7 +1101,7 @@ if HARDWARE.get_device_type() == 'mici':
 
 if __name__ == '__main__':
   # print all alerts by type and priority
-  from cereal.services import SERVICE_LIST
+  from openpilot.cereal.services import SERVICE_LIST
   from collections import defaultdict
 
   event_names = {v: k for k, v in EventName.schema.enumerants.items()}

selfdrive/selfdrived/helpers.py

@@ -1,7 +1,7 @@
 import math
 from enum import StrEnum, auto
 
-from cereal import messaging
+from openpilot.cereal import messaging
 from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.helpers import Pose

selfdrive/selfdrived/selfdrived.py

@@ -3,9 +3,9 @@ import os
 import time
 import threading
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 

selfdrive/selfdrived/state.py

@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.selfdrive.selfdrived.events import Events, ET
 from openpilot.common.realtime import DT_CTRL
 

selfdrive/selfdrived/tests/test_alerts.py

@@ -4,9 +4,9 @@ import os
 import random
 from PIL import Image, ImageDraw, ImageFont
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.structs import car
-from cereal.messaging import SubMaster
+from openpilot.cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.events import Alert, EVENTS, ET

selfdrive/selfdrived/tests/test_state_machine.py

@@ -1,4 +1,4 @@
-from cereal import log
+from openpilot.cereal import log
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.selfdrived.state import StateMachine, SOFT_DISABLE_TIME
 from openpilot.selfdrive.selfdrived.events import Events, ET, EVENTS, NormalPermanentAlert

selfdrive/test/fuzzy_generation.py

@@ -4,7 +4,7 @@ from typing import Any
 from collections.abc import Callable
 from functools import cache
 
-from cereal import log
+from openpilot.cereal import log
 
 DrawType = Callable[[st.SearchStrategy], Any]
 

selfdrive/test/helpers.py

@@ -7,7 +7,7 @@ import pytest
 
 from functools import wraps
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.version import training_version, terms_version

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -2,8 +2,8 @@
 import time
 import numpy as np
 
-from cereal import log
-import cereal.messaging as messaging
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
 from openpilot.common.realtime import Ratekeeper, DT_MDL
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.modeld.constants import ModelConstants

selfdrive/test/process_replay/diff_report.py

@@ -1,6 +1,5 @@
 import os
 from collections import defaultdict
-
 from opendbc.car.tests.car_diff import format_diff, format_numeric_diffs
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
 from openpilot.selfdrive.test.process_replay.process_replay import PROC_REPLAY_DIR

selfdrive/test/process_replay/migration.py

@@ -5,7 +5,7 @@ import capnp
 import functools
 import traceback
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from opendbc.car.structs import car
 from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags

selfdrive/test/process_replay/process_replay.py

@@ -14,9 +14,9 @@ from tqdm import tqdm
 import capnp
 from openpilot.common.hardware.hw import Paths
 
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from opendbc.car.structs import car
-from cereal.services import SERVICE_LIST
+from openpilot.cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.can_definitions import CanData
 from opendbc.car.car_helpers import get_car, interfaces

selfdrive/test/process_replay/test_fuzzy.py

@@ -4,7 +4,7 @@ from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
 from openpilot.common.parameterized import parameterized
 
-from cereal import log
+from openpilot.cereal import log
 from opendbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr

selfdrive/test/process_replay/test_processes.py

@@ -7,7 +7,6 @@ import traceback
 from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
-
 from opendbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url

selfdrive/test/test_onroad.py

@@ -10,9 +10,9 @@ from collections import Counter, defaultdict
 from pathlib import Path
 from openpilot.common.utils import tabulate
 
-from cereal import log
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+from openpilot.cereal import log
+import openpilot.cereal.messaging as messaging
+from openpilot.cereal.services import SERVICE_LIST
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params

selfdrive/test/test_power_draw.py

@@ -5,8 +5,8 @@ import numpy as np
 from dataclasses import dataclass
 from openpilot.common.utils import tabulate
 
-import cereal.messaging as messaging
-from cereal.services import SERVICE_LIST
+import openpilot.cereal.messaging as messaging
+from openpilot.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

selfdrive/test/update_ci_routes.py

@@ -6,7 +6,6 @@ import sys
 from collections.abc import Iterable
 
 from tqdm import tqdm
-
 from opendbc.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.tools.lib.azure_container import AzureContainer

selfdrive/ui/feedback/feedbackd.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from opendbc.car.structs import car

selfdrive/ui/layouts/main.py

@@ -1,6 +1,6 @@
 import pyray as rl
 from enum import IntEnum
-import cereal.messaging as messaging
+import openpilot.cereal.messaging as messaging
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
 from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH

selfdrive/ui/layouts/settings/device.py

@@ -1,7 +1,7 @@
 import os
 import math
 
-from cereal import messaging, log
+from openpilot.cereal import messaging, log
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog