manager: move to system/ (#32538)

* manager: move to system/

* one more

.github/workflows/selfdrive_tests.yaml

@@ -47,7 +47,7 @@ jobs:
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "python selfdrive/manager/build.py"
+        ${{ env.RUN }} "python system/manager/build.py"
     - name: Run tests
       timeout-minutes: 3
       run: |

Jenkinsfile

@@ -183,7 +183,7 @@ node {
         deviceStage("onroad", "tici-needs-can", [], [
           // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it
           //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"],
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["build openpilot", "cd system/manager && ./build.py"],
           ["check dirty", "release/check-dirty.sh"],
           ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"],
           ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"],
@@ -191,51 +191,51 @@ node {
       },
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
-          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test manager", "pytest system/manager/test/test_manager.py"],
         ])
       },
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["build openpilot", "cd system/manager && ./build.py"],
           ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
         ])
       },
       'camerad': {
         deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test camerad", "pytest system/camerad/test/test_camerad.py"],
           ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
         deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test camerad", "pytest system/camerad/test/test_camerad.py"],
           ["test exposure", "pytest system/camerad/test/test_exposure.py"],
         ])
       },
       'sensord': {
         deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
         deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["test sensord", "pytest system/sensord/tests/test_sensord.py"],
         ])
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd selfdrive/manager && ./build.py"],
+          ["build", "cd system/manager && ./build.py"],
           ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
       },
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
-          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["build openpilot", "cd system/manager && ./build.py"],
           ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
           ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
           ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],

conftest.py

@@ -5,7 +5,7 @@ import pytest
 import random
 
 from openpilot.common.prefix import OpenpilotPrefix
-from openpilot.selfdrive.manager import manager
+from openpilot.system.manager import manager
 from openpilot.system.hardware import TICI, HARDWARE
 
 

launch_chffrplus.sh

@@ -82,7 +82,7 @@ function launch {
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
   # start manager
-  cd selfdrive/manager
+  cd system/manager
   if [ ! -f $DIR/prebuilt ]; then
     ./build.py
   fi

release/build_release.sh

@@ -93,7 +93,7 @@ cd $SOURCE_DIR
 cp -pR -n --parents $TEST_FILES $BUILD_DIR/
 cd $BUILD_DIR
 RELEASE=1 selfdrive/test/test_onroad.py
-#selfdrive/manager/test/test_manager.py
+#system/manager/test/test_manager.py
 selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 

release/files_common

@@ -303,14 +303,8 @@ system/camerad/cameras/camera_common.cc
 system/camerad/sensors/*.h
 system/camerad/sensors/*.cc
 
-selfdrive/manager/__init__.py
-selfdrive/manager/build.py
-selfdrive/manager/helpers.py
-selfdrive/manager/manager.py
-selfdrive/manager/process_config.py
-selfdrive/manager/process.py
-selfdrive/manager/test/__init__.py
-selfdrive/manager/test/test_manager.py
+system/manager/__init__.py
+system/manager/**
 
 selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py

selfdrive/boardd/tests/test_pandad.py

@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.pins import GPIO
 

selfdrive/controls/tests/test_startup.py

@@ -9,7 +9,7 @@ from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
 from openpilot.selfdrive.controls.lib.events import EVENT_NAME
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 EventName = car.CarEvent.EventName
 Ecu = car.CarParams.Ecu

selfdrive/debug/cpu_usage_stat.py

@@ -24,7 +24,7 @@ import argparse
 import re
 from collections import defaultdict
 
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5

selfdrive/debug/cycle_alerts.py

@@ -8,7 +8,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.controls.lib.events import ET, Events
 from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 EventName = car.CarEvent.EventName
 

selfdrive/debug/uiview.py

@@ -3,7 +3,7 @@ import time
 
 from cereal import car, log, messaging
 from openpilot.common.params import Params
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":

selfdrive/locationd/test/test_locationd.py

@@ -10,7 +10,7 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.params import Params
 from openpilot.common.transformations.coordinates import ecef2geodetic
 
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 
 class TestLocationdProc:

selfdrive/modeld/tests/test_modeld.py

@@ -7,7 +7,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.car_helpers import write_car_param
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
 CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam

selfdrive/modeld/tests/timing/benchmark.py

@@ -6,7 +6,7 @@ import time
 import numpy as np
 
 import cereal.messaging as messaging
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 
 N = int(os.getenv("N", "5"))

selfdrive/navd/tests/test_navd.py

@@ -7,7 +7,7 @@ from parameterized import parameterized
 
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 
 class TestNavd:

selfdrive/test/helpers.py

@@ -9,7 +9,7 @@ from functools import wraps
 
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
 

selfdrive/test/process_replay/migration.py

@@ -4,7 +4,7 @@ from cereal import messaging
 from openpilot.selfdrive.car.fingerprints import MIGRATION
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 from openpilot.selfdrive.car.toyota.values import EPS_SCALE
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from panda import Panda
 
 

selfdrive/test/process_replay/process_replay.py

@@ -23,7 +23,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.car.car_helpers import get_car, interfaces
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from openpilot.selfdrive.test.process_replay.migration import migrate_all
 from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture

selfdrive/test/test_onroad.py

@@ -125,7 +125,7 @@ class TestOnroad:
     # start manager and run openpilot for a minute
     proc = None
     try:
-      manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
+      manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
       proc = subprocess.Popen(["python", manager_path])
 
       sm = messaging.SubMaster(['carState'])

selfdrive/test/test_time_to_onroad.py

@@ -17,7 +17,7 @@ EventName = car.CarEvent.EventName
 def test_time_to_onroad():
   # launch
   set_params_enabled()
-  manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
+  manager_path = os.path.join(BASEDIR, "system/manager/manager.py")
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()

system/athena/manage_athenad.py

@@ -4,7 +4,7 @@ import time
 from multiprocessing import Process
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.manager.process import launcher
+from openpilot.system.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.version import get_build_metadata

system/athena/tests/test_athenad_ping.py

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

system/camerad/snapshot/snapshot.py

@@ -11,7 +11,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.system.hardware import PC
 from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 
 VISION_STREAMS = {

system/camerad/test/test_camerad.py

@@ -8,7 +8,7 @@ from collections import defaultdict
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 TEST_TIMESPAN = 30
 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5,  # ARs use synced pulses for frame starts

system/hardware/tici/tests/test_power_draw.py

@@ -11,8 +11,8 @@ from cereal.services import SERVICE_LIST
 from openpilot.common.mock import mock_messages
 from openpilot.selfdrive.car.car_helpers import write_car_param
 from openpilot.system.hardware.tici.power_monitor import get_power
-from openpilot.selfdrive.manager.process_config import managed_processes
-from openpilot.selfdrive.manager.manager import manager_cleanup
+from openpilot.system.manager.process_config import managed_processes
+from openpilot.system.manager.manager import manager_cleanup
 
 SAMPLE_TIME = 8       # seconds to sample power
 MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples

system/loggerd/tests/test_encoder.py

@@ -14,7 +14,7 @@ from tqdm import trange
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import TICI
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogReader
 from openpilot.system.hardware.hw import Paths
 

system/loggerd/tests/test_loggerd.py

@@ -19,7 +19,7 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.version import get_version
 from openpilot.tools.lib.helpers import RE
 from openpilot.tools.lib.logreader import LogReader

system/manager/manager.py

@@ -11,9 +11,9 @@ import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
-from openpilot.selfdrive.manager.process import ensure_running
-from openpilot.selfdrive.manager.process_config import managed_processes
+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, terms_version, training_version

system/manager/process_config.py

@@ -3,7 +3,7 @@ import os
 from cereal import car
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
-from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 

system/manager/test/test_manager.py

@@ -8,9 +8,9 @@ from parameterized import parameterized
 
 from cereal import car
 from openpilot.common.params import Params
-import openpilot.selfdrive.manager.manager as manager
-from openpilot.selfdrive.manager.process import ensure_running
-from openpilot.selfdrive.manager.process_config import managed_processes
+import openpilot.system.manager.manager as manager
+from openpilot.system.manager.process import ensure_running
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"

system/qcomgpsd/tests/test_qcomgpsd.py

@@ -8,7 +8,7 @@ import subprocess
 
 import cereal.messaging as messaging
 from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 

system/sensord/tests/test_sensord.py

@@ -10,7 +10,7 @@ from cereal import log
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import get_irqs_for_action
 from openpilot.common.timeout import Timeout
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 BMX = {
   ('bmx055', 'acceleration'),

system/sensord/tests/ttff_test.py

@@ -4,7 +4,7 @@ import time
 import atexit
 
 from cereal import messaging
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 
 TIMEOUT = 10*60
 

system/tests/test_logmessaged.py

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

system/ubloxd/tests/test_pigeond.py

@@ -6,7 +6,7 @@ import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.gpio import gpio_read
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.manager.process_config import managed_processes
 from openpilot.system.hardware.tici.pins import GPIO
 
 

system/updated/tests/test_base.py

@@ -9,7 +9,7 @@ import time
 import pytest
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.manager.process import ManagerProcess
+from openpilot.system.manager.process import ManagerProcess
 from openpilot.selfdrive.test.helpers import processes_context
 
 

tools/sim/launch_openpilot.sh

@@ -18,4 +18,4 @@ SCRIPT_DIR=$(dirname "$0")
 OPENPILOT_DIR=$SCRIPT_DIR/../../
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py
+cd $OPENPILOT_DIR/system/manager && exec ./manager.py

tools/webcam/README.md

@@ -29,7 +29,7 @@ USE_WEBCAM=1 scons -j$(nproc)
 
 ## GO
 ```
-cd ~/openpilot/selfdrive/manager
+cd ~/openpilot/system/manager
 NOSENSOR=1 USE_WEBCAM=1 ./manager.py
 ```
 - Start the car, then the UI should show the road webcam's view