the one true car.capnp (#38221)

* the one true car.capnp

* fix jotpluggler capnp import path

* bump to master

SConstruct

@@ -114,6 +114,7 @@ env = Environment(
   CPPPATH=[
     "#",
     "#msgq",
+    "#cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],

cereal/SConscript

@@ -4,12 +4,14 @@ cereal_dir = Dir('.')
 gen_dir = Dir('gen')
 
 # Build cereal
-schema_files = ['log.capnp', 'car.capnp', 'deprecated.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
+car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+all_output = schema_files + ['car.capnp']
+env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
+            schema_files + [car_capnp],
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
 
-cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
+cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
 
 # Build messaging
 services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')

cereal/__init__.py

@@ -4,8 +4,8 @@ from importlib.resources import as_file, files
 
 capnp.remove_import_hook()
 
-with as_file(files("cereal")) as fspath:
+with as_file(files("cereal")) as fspath, as_file(files("opendbc")) as opendbc_path:
   CEREAL_PATH = fspath.as_posix()
-  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+  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])
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"), imports=[opendbc_import_path])

cereal/car.capnp

@@ -1 +0,0 @@
-../opendbc_repo/opendbc/car/car.capnp

cereal/custom.capnp

@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0xb526ba661d550a59;

cereal/deprecated.capnp

@@ -1,4 +1,4 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
 @0x80ef1ec4889c2a63;

cereal/log.capnp

@@ -1,7 +1,7 @@
-using Cxx = import "./include/c++.capnp";
+using Cxx = import "/include/c++.capnp";
 $Cxx.namespace("cereal");
 
-using Car = import "car.capnp";
+using Car = import "/car.capnp";
 using Deprecated = import "deprecated.capnp";
 using Custom = import "custom.capnp";
 

cereal/messaging/tests/test_messaging.py

@@ -8,7 +8,8 @@ import time
 from openpilot.common.parameterized import parameterized
 import pytest
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 

selfdrive/car/car_specific.py

@@ -1,4 +1,5 @@
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.interfaces import MAX_CTRL_SPEED

selfdrive/car/card.py

@@ -5,7 +5,8 @@ import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper

selfdrive/car/cruise.py

@@ -1,7 +1,7 @@
 import math
 import numpy as np
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 
 

selfdrive/car/tests/test_car_interfaces.py

@@ -3,7 +3,7 @@ import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from openpilot.common.parameterized import parameterized
 
-from cereal import car
+from opendbc.car.structs import car
 from opendbc.car import DT_CTRL
 from opendbc.car.structs import CarParams
 from opendbc.car.tests.test_car_interfaces import get_fuzzy_car_interface

selfdrive/car/tests/test_cruise_speed.py

@@ -5,7 +5,7 @@ import numpy as np
 from openpilot.common.parameterized import parameterized_class
 from cereal import log
 from openpilot.selfdrive.car.cruise import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 

selfdrive/controls/controlsd.py

@@ -2,7 +2,8 @@
 import math
 from numbers import Number
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

selfdrive/controls/lib/longcontrol.py

@@ -1,5 +1,5 @@
 import numpy as np
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController

selfdrive/controls/plannerd.py

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

selfdrive/controls/radard.py

@@ -5,7 +5,8 @@ from collections import deque
 from typing import Any
 
 import capnp
-from cereal import messaging, log, car
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process

selfdrive/controls/tests/test_latcontrol.py

@@ -1,6 +1,7 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import car, log
+from 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
 from opendbc.car.toyota.values import CAR as TOYOTA

selfdrive/controls/tests/test_latcontrol_torque_buffer.py

@@ -1,6 +1,7 @@
 from openpilot.common.parameterized import parameterized
 
-from cereal import car, log
+from 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
 from opendbc.car.vehicle_model import VehicleModel

selfdrive/controls/tests/test_longcontrol.py

@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
 
 

selfdrive/controls/tests/test_torqued_lat_accel_offset.py

@@ -1,5 +1,6 @@
 import numpy as np
-from cereal import car, messaging
+from cereal import messaging
+from opendbc.car.structs import car
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
 from opendbc.car import structs
 from opendbc.car.lateral import get_friction, FRICTION_THRESHOLD

selfdrive/locationd/calibrationd.py

@@ -11,7 +11,8 @@ import capnp
 import numpy as np
 from typing import NoReturn
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.hardware import HARDWARE
 from openpilot.common.constants import CV

selfdrive/locationd/lagd.py

@@ -6,7 +6,8 @@ from collections import deque
 from functools import partial
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from cereal.services import SERVICE_LIST
 from openpilot.common.constants import CV
 from openpilot.common.params import Params

selfdrive/locationd/paramsd.py

@@ -4,7 +4,8 @@ import numpy as np
 import capnp
 
 import cereal.messaging as messaging
-from cereal import car, log
+from 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
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States

selfdrive/locationd/test/test_lagd.py

@@ -3,7 +3,8 @@ import numpy as np
 import time
 import pytest
 
-from cereal import messaging, log, car
+from 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
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams

selfdrive/locationd/test/test_torqued.py

@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.selfdrive.locationd.torqued import TorqueEstimator
 
 

selfdrive/locationd/torqued.py

@@ -4,7 +4,8 @@ import numpy as np
 from collections import deque, defaultdict
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from openpilot.common.constants import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL

selfdrive/modeld/modeld.py

@@ -6,7 +6,8 @@ import time
 import pickle
 import numpy as np
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from opendbc.car.car_helpers import get_demo_car_params

selfdrive/monitoring/policy.py

@@ -2,7 +2,8 @@ from collections import defaultdict
 from math import atan2, radians
 import numpy as np
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.realtime import DT_DMON
 from openpilot.common.filter_simple import FirstOrderFilter

selfdrive/pandad/tests/test_pandad_loopback.py

@@ -7,7 +7,8 @@ from collections import defaultdict
 from pprint import pprint
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from opendbc.car.can_definitions import CanData
 from openpilot.common.utils import retry
 from openpilot.common.params import Params

selfdrive/selfdrived/events.py

@@ -5,7 +5,8 @@ import os
 from enum import IntEnum
 from collections.abc import Callable
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from openpilot.common.constants import CV
 from openpilot.common.git import get_short_branch

selfdrive/selfdrived/helpers.py

@@ -1,7 +1,8 @@
 import math
 from enum import StrEnum, auto
 
-from cereal import car, messaging
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.helpers import Pose
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY

selfdrive/selfdrived/selfdrived.py

@@ -5,7 +5,8 @@ import threading
 
 import cereal.messaging as messaging
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
 

selfdrive/selfdrived/tests/test_alerts.py

@@ -4,7 +4,8 @@ import os
 import random
 from PIL import Image, ImageDraw, ImageFont
 
-from cereal import log, car
+from cereal import log
+from opendbc.car.structs import car
 from cereal.messaging import SubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params

selfdrive/test/process_replay/migration.py

@@ -5,7 +5,8 @@ import capnp
 import functools
 import traceback
 
-from cereal import messaging, car, log
+from 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
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags

selfdrive/test/process_replay/process_replay.py

@@ -15,7 +15,7 @@ import capnp
 from openpilot.common.hardware.hw import Paths
 
 import cereal.messaging as messaging
-from cereal import car
+from opendbc.car.structs import car
 from 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

selfdrive/ui/feedback/feedbackd.py

@@ -2,7 +2,7 @@
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.system.micd import SAMPLE_RATE, SAMPLE_BUFFER
 
 FEEDBACK_MAX_DURATION = 10.0

selfdrive/ui/mici/onroad/alert_renderer.py

@@ -5,7 +5,8 @@ import pyray as rl
 import random
 import string
 from dataclasses import dataclass
-from cereal import messaging, log, car
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 from openpilot.common.hardware import TICI

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -1,6 +1,7 @@
 import numpy as np
 import pyray as rl
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH

selfdrive/ui/mici/onroad/driver_camera_dialog.py

@@ -1,5 +1,6 @@
 import pyray as rl
-from cereal import car, log, messaging
+from cereal import log, messaging
+from opendbc.car.structs import car
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer

selfdrive/ui/mici/onroad/model_renderer.py

@@ -1,7 +1,8 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter

selfdrive/ui/onroad/model_renderer.py

@@ -1,7 +1,8 @@
 import colorsys
 import numpy as np
 import pyray as rl
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from dataclasses import dataclass, field
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params

selfdrive/ui/soundd.py

@@ -4,7 +4,8 @@ import time
 import wave
 
 
-from cereal import car, messaging
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import Ratekeeper

selfdrive/ui/tests/diff/replay_script.py

@@ -5,7 +5,8 @@ from dataclasses import dataclass
 
 import math
 
-from cereal import car, log, messaging
+from cereal import log, messaging
+from opendbc.car.structs import car
 from cereal.messaging import PubMaster
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params

selfdrive/ui/tests/test_feedbackd.py

@@ -1,6 +1,6 @@
 import pytest
 import cereal.messaging as messaging
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 

selfdrive/ui/tests/test_soundd.py

@@ -1,4 +1,4 @@
-from cereal import car
+from opendbc.car.structs import car
 from cereal import messaging
 from cereal.messaging import SubMaster, PubMaster
 from openpilot.selfdrive.ui.soundd import SELFDRIVE_STATE_TIMEOUT, check_selfdrive_timeout_alert

selfdrive/ui/ui_state.py

@@ -3,7 +3,8 @@ import time
 import threading
 from collections.abc import Callable
 from enum import Enum
-from cereal import messaging, car, log
+from cereal import messaging, log
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.common.realtime import drop_realtime

system/athena/athenad.py

@@ -28,7 +28,8 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                        create_connection)
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream

system/manager/process.py

@@ -9,7 +9,8 @@ from multiprocessing import Process
 
 from setproctitle import setproctitle
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR

system/manager/process_config.py

@@ -2,7 +2,7 @@ import os
 import operator
 import platform
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.common.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess

system/manager/test/test_manager.py

@@ -3,7 +3,7 @@ import pytest
 import signal
 import time
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 import openpilot.system.manager.manager as manager
 from openpilot.system.manager.process import ensure_running

tools/jotpluggler/SConscript

@@ -95,6 +95,8 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
     "generate_event_extractors.py",
     jot_env.Glob("#cereal/*.capnp"),
     jot_env.Glob("#cereal/include/*.capnp"),
+    "#opendbc_repo/opendbc/car/car.capnp",
+    "#opendbc_repo/opendbc/car/include/c++.capnp",
   ],
   generate_event_extractors,
 )

tools/jotpluggler/generate_event_extractors.py

@@ -321,7 +321,7 @@ if __name__ == "__main__":
   repo_root = Path(sys.argv[1]).resolve()
   output = Path(sys.argv[2])
   capnp.remove_import_hook()
-  log = capnp.load(str(repo_root / "cereal" / "log.capnp"))
+  log = capnp.load(str(repo_root / "cereal" / "log.capnp"), imports=[str(repo_root / "opendbc_repo" / "opendbc" / "car")])
   generated = Generator(log.Event.schema).generate()
   output.parent.mkdir(parents=True, exist_ok=True)
   output.write_text(generated)

tools/joystick/joystickd.py

@@ -3,7 +3,8 @@
 import math
 import numpy as np
 
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.params import Params

tools/lateral_maneuvers/generate_report.py

@@ -11,7 +11,7 @@ from pathlib import Path
 import matplotlib.pyplot as plt
 from openpilot.common.utils import tabulate
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LP_FILTER_CUTOFF_HZ
 from openpilot.tools.lib.logreader import LogReader

tools/lateral_maneuvers/lateral_maneuversd.py

@@ -2,7 +2,8 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params

tools/longitudinal_maneuvers/maneuversd.py

@@ -2,7 +2,8 @@
 import numpy as np
 from dataclasses import dataclass
 
-from cereal import messaging, car
+from cereal import messaging
+from opendbc.car.structs import car
 from openpilot.common.constants import CV
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.params import Params

tools/scripts/car/fw_versions.py

@@ -2,7 +2,7 @@
 import time
 import argparse
 import cereal.messaging as messaging
-from cereal import car
+from opendbc.car.structs import car
 from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import get_fw_versions, match_fw_to_car
 from opendbc.car.vin import get_vin

tools/scripts/cycle_alerts.py

@@ -2,7 +2,8 @@
 import time
 import random
 
-from cereal import car, log
+from cereal import log
+from opendbc.car.structs import car
 import cereal.messaging as messaging
 from opendbc.car.honda.interface import CarInterface
 from openpilot.common.realtime import DT_CTRL

tools/scripts/set_car_params.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import sys
 
-from cereal import car
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.logreader import LogReader

tools/scripts/uiview.py

@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 import time
 
-from cereal import car, log, messaging
+from cereal import log, messaging
+from opendbc.car.structs import car
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.common.hardware import HARDWARE