add openpilot prefix to imports (#29498)

* add openpilot prefix to imports

* more

* more

* fix docs

* fix linter

* bump submodules

* fix patched tests

* update dynamic imports

* debug

* Revert "debug"

This reverts commit db5e13b991.

* fix pm test
old-commit-hash: a9626f95b6

Dockerfile.openpilot

@@ -10,6 +10,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika

common/api/__init__.py

@@ -2,8 +2,8 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from system.version import get_version
+from openpilot.common.basedir import PERSIST
+from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 

common/basedir.py

@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 

common/kalman/simple_kalman.py

@@ -1,3 +1,3 @@
 # pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
+from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
 assert KF1D

common/kalman/tests/test_simple_kalman.py

@@ -3,8 +3,8 @@ import random
 import timeit
 import numpy as np
 
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
 
 
 class TestSimpleKalman(unittest.TestCase):
@@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase):
     setup = """
 import numpy as np
 
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
 
 dt = 0.01
 x0_0 = 0.0

common/params.py

@@ -1,4 +1,5 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \
+                                        put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName

common/realtime.py

@@ -7,7 +7,7 @@ from typing import Optional, List, Union
 
 from setproctitle import getproctitle
 
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 
 # time step for each process

common/spinner.py

@@ -1,6 +1,6 @@
 import os
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class Spinner():

common/tests/test_file_helpers.py

@@ -2,8 +2,8 @@ import os
 import unittest
 from uuid import uuid4
 
-from common.file_helpers import atomic_write_on_fs_tmp
-from common.file_helpers import atomic_write_in_dir
+from openpilot.common.file_helpers import atomic_write_on_fs_tmp
+from openpilot.common.file_helpers import atomic_write_in_dir
 
 
 class TestFileHelpers(unittest.TestCase):

common/tests/test_numpy_fast.py

@@ -1,7 +1,7 @@
 import numpy as np
 import unittest
 
-from common.numpy_fast import interp
+from openpilot.common.numpy_fast import interp
 
 
 class InterpTest(unittest.TestCase):

common/tests/test_params.py

@@ -6,7 +6,7 @@ import shutil
 import uuid
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
+from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):

common/text_window.py

@@ -2,7 +2,7 @@
 import os
 import time
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class TextWindow:

common/transformations/camera.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-import common.transformations.orientation as orient
+import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0

common/transformations/coordinates.py

@@ -1,8 +1,8 @@
 # pylint: skip-file
-from common.transformations.orientation import numpy_wrap
-from common.transformations.transformations import (ecef2geodetic_single,
+from openpilot.common.transformations.orientation import numpy_wrap
+from openpilot.common.transformations.transformations import (ecef2geodetic_single,
                                                     geodetic2ecef_single)
-from common.transformations.transformations import LocalCoord as LocalCoord_single
+from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single
 
 
 class LocalCoord(LocalCoord_single):

common/transformations/model.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-from common.transformations.camera import (FULL_FRAME_SIZE,
+from openpilot.common.transformations.camera import (FULL_FRAME_SIZE,
                                            get_view_frame_from_calib_frame)
 
 # segnet
@@ -61,8 +61,8 @@ medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(b
 ### This function mimics the update_calibration logic in modeld.cc
 ### Manually verified to give similar results to xx.uncommon.utils.transform_img
 def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
+  from openpilot.common.transformations.orientation import rot_from_euler
+  from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
   if tici and wide_cam:
     intrinsics = tici_ecam_intrinsics
@@ -85,8 +85,8 @@ def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
 
 ### This is old, just for debugging
 def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
+  from openpilot.common.transformations.orientation import rot_from_euler
+  from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
 
   def get_view_frame_from_road_frame(roll, pitch, yaw, height):

common/transformations/orientation.py

@@ -2,7 +2,7 @@
 import numpy as np
 from typing import Callable
 
-from common.transformations.transformations import (ecef_euler_from_ned_single,
+from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,
                                                     euler2rot_single,
                                                     ned_euler_from_ecef_single,

common/transformations/tests/test_coordinates.py

@@ -3,7 +3,7 @@
 import numpy as np
 import unittest
 
-import common.transformations.coordinates as coord
+import openpilot.common.transformations.coordinates as coord
 
 geodetic_positions = np.array([[37.7610403, -122.4778699, 115],
                                  [27.4840915, -68.5867592, 2380],

common/transformations/tests/test_orientation.py

@@ -3,7 +3,7 @@
 import numpy as np
 import unittest
 
-from common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
+from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
                                                ned_euler_from_ecef
 

common/transformations/transformations.pyx

@@ -1,20 +1,20 @@
 # distutils: language = c++
 # cython: language_level = 3
-from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from common.transformations.transformations cimport ECEF, NED, Geodetic
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
 
-from common.transformations.transformations cimport euler2quat as euler2quat_c
-from common.transformations.transformations cimport quat2euler as quat2euler_c
-from common.transformations.transformations cimport quat2rot as quat2rot_c
-from common.transformations.transformations cimport rot2quat as rot2quat_c
-from common.transformations.transformations cimport euler2rot as euler2rot_c
-from common.transformations.transformations cimport rot2euler as rot2euler_c
-from common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from common.transformations.transformations cimport LocalCoord_c
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
 import cython

docs/conf.py

@@ -17,8 +17,8 @@ import os
 import sys
 from os.path import exists
 
-from common.basedir import BASEDIR
-from system.version import get_version
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.version import get_version
 
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))

docs/docker/Dockerfile

@@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons

laika_repo

@@ -1 +1 @@
-Subproject commit ef21c612f4b0d68c790b4b1a6d637cd5fce7732e
+Subproject commit 65901a1e6c7c7940d8c97027d3edaca7d0132253

panda

@@ -1 +1 @@
-Subproject commit aed103d5372d1e5b3fb686d2aa8f111081b37fd0
+Subproject commit 57ec466a91d1e2d51b43d54417091a50f0c9dc78

release/files_common

@@ -15,6 +15,9 @@ docs/INTEGRATION.md
 docs/LIMITATIONS.md
 site_scons/site_tools/cython.py
 
+openpilot/__init__.py
+openpilot/**
+
 common/.gitignore
 common/__init__.py
 common/conversions.py

scripts/count_cars.py

@@ -2,7 +2,7 @@
 from collections import Counter
 from pprint import pprint
 
-from selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_info
 
 if __name__ == "__main__":
   cars = get_all_car_info()

scripts/disable-powersave.py

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

scripts/pyqt_demo.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 from PyQt5.QtWidgets import QApplication, QLabel  # pylint: disable=no-name-in-module, import-error
-from selfdrive.ui.qt.python_helpers import set_main_window
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
 
 
 if __name__ == "__main__":

scripts/waste.py

@@ -3,10 +3,10 @@ import os
 import time
 import numpy as np
 from multiprocessing import Process
-from setproctitle import setproctitle  # pylint: disable=no-name-in-module
+from setproctitle import setproctitle
 
 def waste(core):
-  os.sched_setaffinity(0, [core,])  # pylint: disable=no-member
+  os.sched_setaffinity(0, [core,])
 
   m1 = np.zeros((200, 200)) + 0.8
   m2 = np.zeros((200, 200)) + 1.2

selfdrive/athena/athenad.py

@@ -30,17 +30,17 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import service_list
-from common.api import Api
-from common.basedir import PERSIST
-from common.file_helpers import CallbackReader
-from common.params import Params
-from common.realtime import set_core_affinity
-from system.hardware import HARDWARE, PC, AGNOS
-from system.loggerd.config import ROOT
-from system.loggerd.xattr_cache import getxattr, setxattr
-from selfdrive.statsd import STATS_DIR
-from system.swaglog import SWAGLOG_DIR, cloudlog
-from system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.common.api import Api
+from openpilot.common.basedir import PERSIST
+from openpilot.common.file_helpers import CallbackReader
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_core_affinity
+from openpilot.system.hardware import HARDWARE, PC, AGNOS
+from openpilot.system.loggerd.config import ROOT
+from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+from openpilot.selfdrive.statsd import STATS_DIR
+from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
+from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -552,7 +552,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
-  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):

selfdrive/athena/manage_athenad.py

@@ -3,10 +3,10 @@
 import time
 from multiprocessing import Process
 
-from common.params import Params
-from selfdrive.manager.process import launcher
-from system.swaglog import cloudlog
-from system.version import get_version, is_dirty
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process import launcher
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.version import get_version, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 

selfdrive/athena/registration.py

@@ -6,13 +6,13 @@ from pathlib import Path
 from typing import Optional
 
 from datetime import datetime, timedelta
-from common.api import api_get
-from common.params import Params
-from common.spinner import Spinner
-from common.basedir import PERSIST
-from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from system.hardware import HARDWARE, PC
-from system.swaglog import cloudlog
+from openpilot.common.api import api_get
+from openpilot.common.params import Params
+from openpilot.common.spinner import Spinner
+from openpilot.common.basedir import PERSIST
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"

selfdrive/athena/tests/helpers.py

@@ -6,7 +6,7 @@ import time
 from functools import wraps
 from multiprocessing import Process
 
-from common.timeout import Timeout
+from openpilot.common.timeout import Timeout
 
 
 class MockResponse:

selfdrive/athena/tests/test_athenad.py

@@ -18,10 +18,10 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from system import swaglog
-from selfdrive.athena import athenad
-from selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
-from selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
+from openpilot.system import swaglog
+from openpilot.selfdrive.athena import athenad
+from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
 
 
@@ -351,7 +351,7 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertEqual(athenad.upload_queue.qsize(), 1)
     self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1))
 
-  @mock.patch('selfdrive.athena.athenad.create_connection')
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection')
   def test_startLocalProxy(self, mock_create_connection):
     end_event = threading.Event()
 

selfdrive/athena/tests/test_athenad_ping.py

@@ -6,11 +6,11 @@ import unittest
 from typing import Callable, cast, Optional
 from unittest.mock import MagicMock
 
-from common.params import Params
-from common.timeout import Timeout
-from selfdrive.athena import athenad
-from selfdrive.manager.helpers import write_onroad_params
-from system.hardware import TICI
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.athena import athenad
+from openpilot.selfdrive.manager.helpers import write_onroad_params
+from openpilot.system.hardware import TICI
 
 
 def wifi_radio(on: bool) -> None:

selfdrive/athena/tests/test_registration.py

@@ -7,9 +7,9 @@ from Crypto.PublicKey import RSA
 from pathlib import Path
 from unittest import mock
 
-from common.params import Params
-from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from selfdrive.athena.tests.helpers import MockResponse
+from openpilot.common.params import Params
+from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.selfdrive.athena.tests.helpers import MockResponse
 
 
 class TestRegistration(unittest.TestCase):
@@ -23,7 +23,7 @@ class TestRegistration(unittest.TestCase):
     os.mkdir(os.path.join(self.persist.name, "comma"))
     self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa"))
     self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub"))
-    self.persist_patcher = mock.patch("selfdrive.athena.registration.PERSIST", self.persist.name)
+    self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name)
     self.persist_patcher.start()
 
   def tearDown(self):
@@ -44,7 +44,7 @@ class TestRegistration(unittest.TestCase):
     self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       dongle = "DONGLE_ID_123"
       self.params.put("DongleId", dongle)
       self.assertEqual(register(), dongle)
@@ -52,7 +52,7 @@ class TestRegistration(unittest.TestCase):
 
   def test_no_keys(self):
     # missing pubkey
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       dongle = register()
       self.assertEqual(m.call_count, 0)
       self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
@@ -61,7 +61,7 @@ class TestRegistration(unittest.TestCase):
   def test_missing_cache(self):
     # keys exist but no dongle id
     self._generate_keys()
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       dongle = "DONGLE_ID_123"
       m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
       self.assertEqual(register(), dongle)
@@ -75,7 +75,7 @@ class TestRegistration(unittest.TestCase):
   def test_unregistered(self):
     # keys exist, but unregistered
     self._generate_keys()
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       m.return_value = MockResponse(None, 402)
       dongle = register()
       self.assertEqual(m.call_count, 1)

selfdrive/boardd/boardd.py

@@ -1,7 +1,7 @@
 # pylint: skip-file
 
 # Cython, now uses scons to build
-from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
 assert can_list_to_can_capnp
 
 def can_capnp_to_can_list(can, src_filter=None):

selfdrive/boardd/pandad.py

@@ -9,11 +9,11 @@ from typing import List, NoReturn
 from functools import cmp_to_key
 
 from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
-from common.basedir import BASEDIR
-from common.params import Params
-from selfdrive.boardd.set_time import set_time
-from system.hardware import HARDWARE
-from system.swaglog import cloudlog
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.boardd.set_time import set_time
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:

selfdrive/boardd/set_time.py

@@ -3,7 +3,7 @@ import os
 import datetime
 from panda import Panda
 
-from common.time import MIN_DATE
+from openpilot.common.time import MIN_DATE
 
 def set_time(logger):
   sys_time = datetime.datetime.today()

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -9,12 +9,12 @@ from pprint import pprint
 
 import cereal.messaging as messaging
 from cereal import car, log
-from common.params import Params
-from common.timeout import Timeout
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.car import make_can_msg
-from system.hardware import TICI
-from selfdrive.test.helpers import phone_only, with_processes
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
 class TestBoardd(unittest.TestCase):

selfdrive/boardd/tests/test_pandad.py

@@ -5,13 +5,13 @@ import unittest
 
 import cereal.messaging as messaging
 from cereal import log
-from common.gpio import gpio_set, gpio_init
-from common.params import Params
+from openpilot.common.gpio import gpio_set, gpio_init
+from openpilot.common.params import Params
 from panda import Panda, PandaDFU, PandaProtocolMismatch
-from selfdrive.test.helpers import phone_only
-from selfdrive.manager.process_config import managed_processes
-from system.hardware import HARDWARE
-from system.hardware.tici.pins import GPIO
+from openpilot.selfdrive.test.helpers import phone_only
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.tici.pins import GPIO
 
 HERE = os.path.dirname(os.path.realpath(__file__))
 

selfdrive/car/__init__.py

@@ -5,7 +5,7 @@ from typing import Dict, Optional
 import capnp
 
 from cereal import car
-from common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip, interp
 
 
 # kg of standard extra cargo to count for drive, gas, etc...

selfdrive/car/body/carcontroller.py

@@ -1,11 +1,11 @@
 import numpy as np
 
-from common.params import Params
-from common.realtime import DT_CTRL
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car.body import bodycan
-from selfdrive.car.body.values import SPEED_FROM_RPM
-from selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.car.body import bodycan
+from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
+from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
 MAX_TORQUE = 500

selfdrive/car/body/carstate.py

@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.body.values import DBC
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.body.values import DBC
 
 STARTUP_TICKS = 100
 

selfdrive/car/body/interface.py

@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from common.realtime import DT_CTRL
-from selfdrive.car import get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.body.values import SPEED_FROM_RPM
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod

selfdrive/car/body/radar_interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass

selfdrive/car/body/values.py

@@ -1,9 +1,9 @@
 from typing import Dict
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 

selfdrive/car/car_helpers.py

@@ -2,16 +2,16 @@ import os
 from typing import Callable, Dict, List, Optional, Tuple
 
 from cereal import car
-from common.params import Params
-from common.basedir import BASEDIR
-from system.version import is_comma_remote, is_tested_branch
-from selfdrive.car.interfaces import get_interface_attr
-from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
-from system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.version import is_comma_remote, is_tested_branch
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
+from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
+from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
+from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import gen_empty_fingerprint
 
 FRAME_FINGERPRINT = 100  # 1s
 
@@ -44,7 +44,7 @@ def get_one_can(logcan):
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
-    path = f'selfdrive.car.{brand_name}'
+    path = f'openpilot.selfdrive.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
 
     if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):

selfdrive/car/chrysler/carcontroller.py

@@ -1,8 +1,8 @@
 from opendbc.can.packer import CANPacker
-from common.realtime import DT_CTRL
-from selfdrive.car import apply_meas_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 
 
 class CarController:

selfdrive/car/chrysler/carstate.py

@@ -1,9 +1,9 @@
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):

selfdrive/car/chrysler/chryslercan.py

@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car.chrysler.values import RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert

selfdrive/car/chrysler/interface.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import get_safety_config
-from selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):

selfdrive/car/chrysler/radar_interface.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
 from cereal import car
-from selfdrive.car.interfaces import RadarInterfaceBase
-from selfdrive.car.chrysler.values import DBC
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.chrysler.values import DBC
 
 RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages

selfdrive/car/chrysler/values.py

@@ -5,9 +5,9 @@ from typing import Dict, List, Optional, Union
 
 from cereal import car
 from panda.python import uds
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 

selfdrive/car/disable_ecu.py

@@ -1,5 +1,5 @@
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from system.swaglog import cloudlog
+from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from openpilot.system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'

selfdrive/car/docs.py

@@ -8,10 +8,10 @@ from natsort import natsorted
 from typing import Dict, List
 
 from cereal import car
-from common.basedir import BASEDIR
-from selfdrive.car import gen_empty_fingerprint
-from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
-from selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
+from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 
 
 def get_all_footnotes() -> Dict[Enum, int]:

selfdrive/car/docs_definitions.py

@@ -6,7 +6,7 @@ from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union
 
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"

selfdrive/car/ecu_addrs.py

@@ -5,10 +5,10 @@ from typing import Optional, Set
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
-from selfdrive.car import make_can_msg
-from selfdrive.car.fw_query_definitions import EcuAddrBusType
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-from system.swaglog import cloudlog
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.system.swaglog import cloudlog
 
 
 def make_tester_present_msg(addr, bus, subaddr=None):

selfdrive/car/fingerprints.py

@@ -1,4 +1,4 @@
-from selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.interfaces import get_interface_attr
 
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)

selfdrive/car/ford/carcontroller.py

@@ -1,10 +1,10 @@
 from cereal import car
-from common.numpy_fast import clip
+from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_angle_limits
-from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
                                        create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
-from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert

selfdrive/car/ford/carstate.py

@@ -1,10 +1,10 @@
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.ford.fordcan import CanBus
-from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
 
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType

selfdrive/car/ford/fordcan.py

@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car import CanBusBase
+from openpilot.selfdrive.car import CanBusBase
 
 HUDControl = car.CarControl.HUDControl
 

selfdrive/car/ford/interface.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from common.conversions import Conversions as CV
-from selfdrive.car import get_safety_config
-from selfdrive.car.ford.fordcan import CanBus
-from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter

selfdrive/car/ford/radar_interface.py

@@ -2,10 +2,10 @@
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
-from common.conversions import Conversions as CV
-from selfdrive.car.ford.fordcan import CanBus
-from selfdrive.car.ford.values import DBC, RADAR
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import DBC, RADAR
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 

selfdrive/car/ford/values.py

@@ -4,10 +4,10 @@ from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import AngleRateLimit, dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
                                            Device
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 

selfdrive/car/fw_versions.py

@@ -6,13 +6,13 @@ import capnp
 
 import panda.python.uds as uds
 from cereal import car
-from common.params import Params
-from selfdrive.car.ecu_addrs import get_ecu_addrs
-from selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType
-from selfdrive.car.interfaces import get_interface_attr
-from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
+from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from openpilot.system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
@@ -338,7 +338,7 @@ if __name__ == "__main__":
   import time
   import argparse
   import cereal.messaging as messaging
-  from selfdrive.car.vin import get_vin
+  from openpilot.selfdrive.car.vin import get_vin
 
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')

selfdrive/car/gm/carcontroller.py

@@ -1,11 +1,11 @@
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import interp
-from common.realtime import DT_CTRL
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_driver_steer_torque_limits
-from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.gm import gmcan
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation

selfdrive/car/gm/carstate.py

@@ -1,11 +1,11 @@
 import copy
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import mean
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import mean
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation

selfdrive/car/gm/gmcan.py

@@ -1,5 +1,5 @@
-from selfdrive.car import make_can_msg
-from selfdrive.car.gm.values import CAR
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.gm.values import CAR
 
 
 def create_buttons(packer, bus, idx, button):

selfdrive/car/gm/interface.py

@@ -3,12 +3,12 @@ from cereal import car
 from math import fabs, exp
 from panda import Panda
 
-from common.conversions import Conversions as CV
-from selfdrive.car import create_button_event, get_safety_config
-from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
-from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
-from selfdrive.controls.lib.drive_helpers import get_friction
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
+from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName

selfdrive/car/gm/radar_interface.py

@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.gm.values import DBC, CanBus
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.gm.values import DBC, CanBus
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_HEADER_MSG = 1120
 SLOT_1_MSG = RADAR_HEADER_MSG + 1

selfdrive/car/gm/tests/test_gm.py

@@ -2,7 +2,7 @@
 from parameterized import parameterized
 import unittest
 
-from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET
+from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET
 
 CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
 

selfdrive/car/gm/values.py

@@ -5,8 +5,8 @@ from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 Ecu = car.CarParams.Ecu
 
 

selfdrive/car/honda/carcontroller.py

@@ -1,13 +1,13 @@
 from collections import namedtuple
 
 from cereal import car
-from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import create_gas_interceptor_command
-from selfdrive.car.honda import hondacan
-from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
-from selfdrive.controls.lib.drive_helpers import rate_limit
+from openpilot.selfdrive.car import create_gas_interceptor_command
+from openpilot.selfdrive.car.honda import hondacan
+from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState

selfdrive/car/honda/carstate.py

@@ -1,13 +1,15 @@
 from collections import defaultdict
 
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import interp
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
-from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
+from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \
+                                                 HONDA_BOSCH_RADARLESS
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
 

selfdrive/car/honda/hondacan.py

@@ -1,5 +1,5 @@
-from common.conversions import Conversions as CV
-from selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side

selfdrive/car/honda/interface.py

@@ -1,13 +1,13 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from common.conversions import Conversions as CV
-from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
                                                                                             HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
-from selfdrive.car import create_button_event, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.disable_ecu import disable_ecu
+from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 
 ButtonType = car.CarState.ButtonEvent.Type

selfdrive/car/honda/radar_interface.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import RadarInterfaceBase
-from selfdrive.car.honda.values import DBC
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.honda.values import DBC
 
 
 def _create_nidec_can_parser(car_fingerprint):

selfdrive/car/honda/tests/test_honda.py

@@ -2,7 +2,7 @@
 import re
 import unittest
 
-from selfdrive.car.honda.values import FW_VERSIONS
+from openpilot.selfdrive.car.honda.values import FW_VERSIONS
 
 HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
 

selfdrive/car/honda/values.py

@@ -3,11 +3,11 @@ from enum import Enum, IntFlag
 from typing import Dict, List, Optional, Union
 
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from panda.python import uds
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert

selfdrive/car/hyundai/carcontroller.py

@@ -1,12 +1,12 @@
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import clip
-from common.realtime import DT_CTRL
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
-from selfdrive.car.hyundai import hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.hyundaicanfd import CanBus
-from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState

selfdrive/car/hyundai/carstate.py

@@ -3,12 +3,13 @@ import copy
 import math
 
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.hyundaicanfd import CanBus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
-from selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
+                                                   CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames

selfdrive/car/hyundai/hyundaican.py

@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
+from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 

selfdrive/car/hyundai/hyundaicanfd.py

@@ -1,6 +1,6 @@
-from common.numpy_fast import clip
-from selfdrive.car import CanBusBase
-from selfdrive.car.hyundai.values import HyundaiFlags
+from openpilot.common.numpy_fast import clip
+from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
 
 class CanBus(CanBusBase):

selfdrive/car/hyundai/interface.py

@@ -1,15 +1,15 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.hyundaicanfd import CanBus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
                                          EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
                                          Buttons
-from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import create_button_event, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.disable_ecu import disable_ecu
+from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
+from openpilot.selfdrive.car import create_button_event, get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type

selfdrive/car/hyundai/radar_interface.py

@@ -3,8 +3,8 @@ import math
 
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import RadarInterfaceBase
-from selfdrive.car.hyundai.values import DBC
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.hyundai.values import DBC
 
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32

selfdrive/car/hyundai/tests/print_platform_codes.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -2,8 +2,8 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.fw_versions import build_fw_dict
-from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
+from openpilot.selfdrive.car.fw_versions import build_fw_dict
+from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                          EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
 

selfdrive/car/hyundai/values.py

@@ -6,10 +6,10 @@ from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
 from panda.python import uds
-from common.conversions import Conversions as CV
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 

selfdrive/car/interfaces.py

@@ -5,15 +5,15 @@ from abc import abstractmethod, ABC
 from typing import Any, Dict, Optional, Tuple, List, Callable
 
 from cereal import car
-from common.basedir import BASEDIR
-from common.conversions import Conversions as CV
-from common.kalman.simple_kalman import KF1D
-from common.numpy_fast import clip
-from common.realtime import DT_CTRL
-from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
-from selfdrive.controls.lib.events import Events
-from selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -441,7 +441,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo
   for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
     try:
       brand_name = car_folder.split('/')[-1]
-      brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr])
+      brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr])
       if hasattr(brand_values, attr) or not ignore_none:
         attr_data = getattr(brand_values, attr, None)
       else:

selfdrive/car/isotp_parallel_query.py

@@ -3,8 +3,8 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from system.swaglog import cloudlog
-from selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 

selfdrive/car/mazda/carcontroller.py

@@ -1,8 +1,8 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_driver_steer_torque_limits
-from selfdrive.car.mazda import mazdacan
-from selfdrive.car.mazda.values import CarControllerParams, Buttons
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.mazda import mazdacan
+from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 

selfdrive/car/mazda/carstate.py

@@ -1,9 +1,9 @@
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
 
 class CarState(CarStateBase):
   def __init__(self, CP):

selfdrive/car/mazda/interface.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from selfdrive.car import get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName

selfdrive/car/mazda/mazdacan.py

@@ -1,4 +1,4 @@
-from selfdrive.car.mazda.values import GEN1, Buttons
+from openpilot.selfdrive.car.mazda.values import GEN1, Buttons
 
 
 def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):

selfdrive/car/mazda/radar_interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass

selfdrive/car/mazda/values.py

@@ -2,9 +2,9 @@ from dataclasses import dataclass, field
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 

selfdrive/car/mock/interface.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from system.swaglog import cloudlog
+from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 # mocked car interface to work with chffrplus

selfdrive/car/mock/radar_interface.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass

selfdrive/car/mock/values.py

@@ -1,6 +1,6 @@
 from typing import Dict, List, Optional, Union
 
-from selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
 class CAR:

selfdrive/car/nissan/carcontroller.py

@@ -1,8 +1,8 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_std_steer_angle_limits
-from selfdrive.car.nissan import nissancan
-from selfdrive.car.nissan.values import CAR, CarControllerParams
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.nissan import nissancan
+from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert