sensord: move to system/ (#27531)

* sensord: move to system/

* add gitignore to releaes files
old-commit-hash: 6f40f0d442

.gitignore

@@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld

Jenkinsfile

@@ -159,7 +159,7 @@ pipeline {
               ["test power draw", "python system/hardware/tici/test_power_draw.py"],
               ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
               ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
               ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
             ])
@@ -193,11 +193,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
             ])
           }
         }

SConstruct

@@ -427,7 +427,7 @@ SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/loggerd/SConscript'])
 
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
 

docs/c_docs.rst

@@ -83,7 +83,7 @@ common
 sensorsd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_sensord_sensors
+   :project: system_sensord_sensors
 
 boardd
 ^^^^^^

release/files_common

@@ -276,12 +276,13 @@ selfdrive/loggerd/uploader.py
 selfdrive/loggerd/deleter.py
 selfdrive/loggerd/xattr_cache.py
 
-selfdrive/sensord/SConscript
-selfdrive/sensord/sensors_qcom2.cc
-selfdrive/sensord/sensors/*.cc
-selfdrive/sensord/sensors/*.h
-selfdrive/sensord/sensord
-selfdrive/sensord/pigeond.py
+system/sensord/.gitignore
+system/sensord/SConscript
+system/sensord/sensors_qcom2.cc
+system/sensord/sensors/*.cc
+system/sensord/sensors/*.h
+system/sensord/sensord
+system/sensord/pigeond.py
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py

release/files_tici

@@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl
 
-selfdrive/sensord/rawgps/*
+system/sensord/rawgps/*
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64

selfdrive/locationd/locationd.h

@@ -14,7 +14,7 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2
 #define SENSOR_DECIMATION 10
 #include "selfdrive/locationd/models/live_kf.h"

selfdrive/manager/process_config.py

@@ -39,7 +39,7 @@ procs = [
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
   NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
   NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
-  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
+  NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
   NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@@ -50,12 +50,12 @@ procs = [
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
   PythonProcess("laikad", "selfdrive.locationd.laikad"),
-  PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
+  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
   NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
+  PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
   PythonProcess("plannerd", "selfdrive.controls.plannerd"),
   PythonProcess("radard", "selfdrive.controls.radard"),
   PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),

selfdrive/sensord/sensord

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:35a7b4ad9a5abb16a835a8c652c66bb541c6694d65bf0523e7b7f091206bf8af
-size 103

system/sensord/.gitignore

@@ -0,0 +1 @@
+_sensord

system/sensord/rawgps/rawgpsd.py

@@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set
 from laika.gps_time import GPSTime
 from system.hardware.tici.pins import GPIO
 from system.swaglog import cloudlog
-from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
+from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
                                               oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,

system/sensord/sensord

@@ -0,0 +1,4 @@
+#!/bin/sh
+cd "$(dirname "$0")"
+export LD_LIBRARY_PATH="/system/lib64:$LD_LIBRARY_PATH"
+exec ./_sensord

system/sensord/sensors/bmx055_accel.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_ACCEL_I2C_ADDR       0x18

system/sensord/sensors/bmx055_gyro.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_GYRO_I2C_ADDR        0x68

system/sensord/sensors/bmx055_magn.h

@@ -1,7 +1,7 @@
 #pragma once
 #include <tuple>
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_MAGN_I2C_ADDR        0x10

system/sensord/sensors/bmx055_temp.cc

@@ -2,7 +2,7 @@
 
 #include <cassert>
 
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_accel.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 

system/sensord/sensors/bmx055_temp.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 class BMX055_Temp : public I2CSensor {
   uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}

system/sensord/sensors/file_sensor.h

@@ -4,7 +4,7 @@
 #include <string>
 
 #include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "system/sensord/sensors/sensor.h"
 
 class FileSensor : public Sensor {
 protected:

system/sensord/sensors/i2c_sensor.h

@@ -8,8 +8,8 @@
 #include "common/gpio.h"
 
 #include "common/swaglog.h"
-#include "selfdrive/sensord/sensors/constants.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "system/sensord/sensors/constants.h"
+#include "system/sensord/sensors/sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb);
 int16_t read_16_bit(uint8_t lsb, uint8_t msb);

system/sensord/sensors/light_sensor.cc

@@ -3,7 +3,7 @@
 #include <string>
 
 #include "common/timing.h"
-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 
 LightSensor::LightSensor(std::string filename) : FileSensor(filename) {}
 

system/sensord/sensors/lsm6ds3_accel.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_ACCEL_I2C_ADDR       0x6A

system/sensord/sensors/lsm6ds3_gyro.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_GYRO_I2C_ADDR       0x6A

system/sensord/sensors/lsm6ds3_temp.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_TEMP_I2C_ADDR       0x6A

system/sensord/sensors/mmc5603nj_magn.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define MMC5603NJ_I2C_ADDR       0x30

system/sensord/sensors_qcom2.cc

@@ -12,17 +12,17 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/sensord/sensors/bmx055_gyro.h"
-#include "selfdrive/sensord/sensors/bmx055_magn.h"
-#include "selfdrive/sensord/sensors/bmx055_temp.h"
-#include "selfdrive/sensord/sensors/constants.h"
-#include "selfdrive/sensord/sensors/light_sensor.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_accel.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_temp.h"
-#include "selfdrive/sensord/sensors/mmc5603nj_magn.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "system/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_gyro.h"
+#include "system/sensord/sensors/bmx055_magn.h"
+#include "system/sensord/sensors/bmx055_temp.h"
+#include "system/sensord/sensors/constants.h"
+#include "system/sensord/sensors/light_sensor.h"
+#include "system/sensord/sensors/lsm6ds3_accel.h"
+#include "system/sensord/sensors/lsm6ds3_gyro.h"
+#include "system/sensord/sensors/lsm6ds3_temp.h"
+#include "system/sensord/sensors/mmc5603nj_magn.h"
+#include "system/sensord/sensors/sensor.h"
 
 #define I2C_BUS_IMU 1
 

tools/gpstest/test_gps.py

@@ -5,7 +5,7 @@ import struct
 
 from common.params import Params
 import cereal.messaging as messaging
-import selfdrive.sensord.pigeond as pd
+import system.sensord.pigeond as pd
 from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 

tools/gpstest/test_laikad.py

@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-import selfdrive.sensord.pigeond as pd
+import system.sensord.pigeond as pd
 
 from common.params import Params
 from system.hardware import TICI