Move selfdrive/hardware/ to system/ (#24725)

* move hardware to system/

* fix mypy

Jenkinsfile

@@ -123,7 +123,7 @@ pipeline {
           steps {
             phone_steps("tici2", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python selfdrive/hardware/tici/test_power_draw.py"],
+              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
               ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.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"],

common/basedir.py

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

common/modeldata.h

@@ -2,7 +2,7 @@
 
 #include <array>
 #include "common/mat.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const int  TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;

common/params.cc

@@ -8,7 +8,7 @@
 
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 namespace {
 

common/realtime.py

@@ -8,7 +8,7 @@ from typing import Optional, List, Union
 from setproctitle import getproctitle  # pylint: disable=no-name-in-module
 
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 
 # time step for each process

common/swaglog.cc

@@ -15,7 +15,7 @@
 
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 class SwaglogState : public LogState {
  public:

common/tests/test_swaglog.cc

@@ -7,7 +7,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";

launch_chffrplus.sh

@@ -22,12 +22,12 @@ function agnos_init {
 
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/selfdrive/hardware/tici/agnos.py"
-    MANIFEST="$DIR/selfdrive/hardware/tici/agnos.json"
+    AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
+    MANIFEST="$DIR/system/hardware/tici/agnos.json"
     if $AGNOS_PY --verify $MANIFEST; then
       sudo reboot
     fi
-    $DIR/selfdrive/hardware/tici/updater $AGNOS_PY $MANIFEST
+    $DIR/system/hardware/tici/updater $AGNOS_PY $MANIFEST
   fi
 }
 

release/files_common

@@ -182,21 +182,21 @@ selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
-selfdrive/hardware/__init__.py
-selfdrive/hardware/base.h
-selfdrive/hardware/base.py
-selfdrive/hardware/hw.h
-selfdrive/hardware/tici/__init__.py
-selfdrive/hardware/tici/hardware.h
-selfdrive/hardware/tici/hardware.py
-selfdrive/hardware/tici/pins.py
-selfdrive/hardware/tici/agnos.py
-selfdrive/hardware/tici/agnos.json
-selfdrive/hardware/tici/amplifier.py
-selfdrive/hardware/tici/updater
-selfdrive/hardware/tici/iwlist.py
-selfdrive/hardware/pc/__init__.py
-selfdrive/hardware/pc/hardware.py
+system/hardware/__init__.py
+system/hardware/base.h
+system/hardware/base.py
+system/hardware/hw.h
+system/hardware/tici/__init__.py
+system/hardware/tici/hardware.h
+system/hardware/tici/hardware.py
+system/hardware/tici/pins.py
+system/hardware/tici/agnos.py
+system/hardware/tici/agnos.json
+system/hardware/tici/amplifier.py
+system/hardware/tici/updater
+system/hardware/tici/iwlist.py
+system/hardware/pc/__init__.py
+system/hardware/pc/hardware.py
 
 selfdrive/locationd/__init__.py
 selfdrive/locationd/.gitignore

scripts/disable-powersave.py

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

selfdrive/athena/athenad.py

@@ -32,7 +32,7 @@ from common.basedir import PERSIST
 from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
-from selfdrive.hardware import HARDWARE, PC, AGNOS
+from system.hardware import HARDWARE, PC, AGNOS
 from selfdrive.loggerd.config import ROOT
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR

selfdrive/athena/registration.py

@@ -11,7 +11,7 @@ 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 selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.swaglog import cloudlog
 
 

selfdrive/boardd/boardd.cc

@@ -27,7 +27,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/boardd/pigeon.h"
 

selfdrive/boardd/main.cc

@@ -3,7 +3,7 @@
 #include "selfdrive/boardd/boardd.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   LOGW("starting boardd");

selfdrive/boardd/pandad.py

@@ -10,7 +10,7 @@ from functools import cmp_to_key
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.swaglog import cloudlog
 
 

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -12,7 +12,7 @@ from common.spinner import Spinner
 from common.timeout import Timeout
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import make_can_msg
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import phone_only, with_processes
 
 

selfdrive/camerad/cameras/camera_common.cc

@@ -15,7 +15,7 @@
 #include "common/modeldata.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "msm_media_info.h"
 
 #ifdef QCOM2

selfdrive/camerad/cameras/camera_common.h

@@ -13,7 +13,7 @@
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1

selfdrive/camerad/main.cc

@@ -4,7 +4,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
   if (!Hardware::PC()) {

selfdrive/camerad/snapshot/snapshot.py

@@ -9,7 +9,7 @@ import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.params import Params
 from common.realtime import DT_MDL
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 

selfdrive/camerad/test/test_camerad.py

@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
 TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds

selfdrive/camerad/test/test_exposure.py

@@ -6,7 +6,7 @@ import numpy as np
 from selfdrive.test.helpers import with_processes
 from selfdrive.camerad.snapshot.snapshot import get_snapshots
 
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 
 TEST_TIME = 45
 REPEAT = 5

selfdrive/controls/controlsd.py

@@ -27,7 +27,7 @@ from selfdrive.controls.lib.events import Events, ET
 from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.manager.process_config import managed_processes
 
 SOFT_DISABLE_TIME = 3  # seconds

selfdrive/hardware

@@ -0,0 +1 @@
+../system/hardware/

selfdrive/loggerd/config.py

@@ -1,6 +1,6 @@
 import os
 from pathlib import Path
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if os.environ.get('LOG_ROOT', False):
   ROOT = os.environ['LOG_ROOT']

selfdrive/loggerd/logger.h

@@ -13,7 +13,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const std::string LOG_ROOT = Path::log_root();
 

selfdrive/loggerd/loggerd.h

@@ -20,7 +20,7 @@
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/loggerd/encoder/encoder.h"
 #include "selfdrive/loggerd/logger.h"

selfdrive/loggerd/tests/test_encoder.py

@@ -13,7 +13,7 @@ from tqdm import trange
 
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from tools.lib.logreader import LogReader

selfdrive/loggerd/uploader.py

@@ -15,7 +15,7 @@ import cereal.messaging as messaging
 from common.api import Api
 from common.params import Params
 from common.realtime import set_core_affinity
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog

selfdrive/manager/build.py

@@ -10,7 +10,7 @@ from pathlib import Path
 from common.basedir import BASEDIR
 from common.spinner import Spinner
 from common.text_window import TextWindow
-from selfdrive.hardware import AGNOS
+from system.hardware import AGNOS
 from selfdrive.swaglog import cloudlog, add_file_handler
 from selfdrive.version import is_dirty
 

selfdrive/manager/manager.py

@@ -13,7 +13,7 @@ from common.basedir import BASEDIR
 from common.params import Params, ParamKeyType
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.manager.helpers import unblock_stdout
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes

selfdrive/manager/process.py

@@ -17,7 +17,7 @@ from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
 from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from cereal import log
 
 WATCHDOG_FN = "/dev/shm/wd_"

selfdrive/manager/process_config.py

@@ -2,7 +2,7 @@ import os
 
 from cereal import car
 from common.params import Params
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None

selfdrive/manager/test/test_manager.py

@@ -5,7 +5,7 @@ import time
 import unittest
 
 import selfdrive.manager.manager as manager
-from selfdrive.hardware import AGNOS, HARDWARE
+from system.hardware import AGNOS, HARDWARE
 from selfdrive.manager.process import DaemonProcess
 from selfdrive.manager.process_config import managed_processes
 

selfdrive/modeld/modeld.cc

@@ -11,7 +11,7 @@
 #include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
 
 ExitHandler do_exit;

selfdrive/modeld/models/dmonitoring.cc

@@ -6,7 +6,7 @@
 #include "common/modeldata.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #include "selfdrive/modeld/models/dmonitoring.h"
 

selfdrive/modeld/thneed/compile.cc

@@ -3,7 +3,7 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 #include "selfdrive/modeld/thneed/thneed.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define TEMPORAL_SIZE 512
 #define DESIRE_LEN 8

selfdrive/sensord/test/test_sensord.py

@@ -4,7 +4,7 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-from selfdrive.hardware import TICI
+from system.hardware import TICI
 from selfdrive.test.helpers import with_processes
 
 TEST_TIMESPAN = 10

selfdrive/sentry.py

@@ -5,7 +5,7 @@ from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from common.params import Params
 from selfdrive.athena.registration import is_registered_device
-from selfdrive.hardware import HARDWARE, PC
+from system.hardware import HARDWARE, PC
 from selfdrive.swaglog import cloudlog
 from selfdrive.version import get_branch, get_commit, get_origin, get_version, \
                               is_comma_remote, is_dirty, is_tested_branch

selfdrive/statsd.py

@@ -10,7 +10,7 @@ from typing import NoReturn, Union, List, Dict
 from common.params import Params
 from cereal.messaging import SubMaster
 from selfdrive.swaglog import cloudlog
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from common.file_helpers import atomic_write_in_dir
 from selfdrive.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
 from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S

selfdrive/swaglog.py

@@ -7,7 +7,7 @@ from logging.handlers import BaseRotatingHandler
 import zmq
 
 from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 if PC:
   SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")

selfdrive/test/helpers.py

@@ -2,7 +2,7 @@ import os
 import time
 from functools import wraps
 
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.version import training_version, terms_version
 

selfdrive/test/process_replay/model_replay.py

@@ -11,7 +11,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
 from common.timeout import Timeout
 from common.transformations.camera import get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
-from selfdrive.hardware import PC
+from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs, save_log

selfdrive/test/process_replay/test_debayer.py

@@ -6,7 +6,7 @@ import numpy as np
 
 import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
 
-from selfdrive.hardware import PC, TICI
+from system.hardware import PC, TICI
 from common.basedir import BASEDIR
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.version import get_commit

selfdrive/thermald/power_monitoring.py

@@ -4,7 +4,7 @@ from typing import Optional
 from cereal import log
 from common.params import Params, put_nonblocking
 from common.realtime import sec_since_boot
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 from selfdrive.swaglog import cloudlog
 from selfdrive.statsd import statlog
 

selfdrive/thermald/thermald.py

@@ -17,7 +17,7 @@ from common.filter_simple import FirstOrderFilter
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.hardware import HARDWARE, TICI, AGNOS
+from system.hardware import HARDWARE, TICI, AGNOS
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
 from selfdrive.swaglog import cloudlog

selfdrive/timezoned.py

@@ -9,7 +9,7 @@ import requests
 from timezonefinder import TimezoneFinder
 
 from common.params import Params
-from selfdrive.hardware import AGNOS
+from system.hardware import AGNOS
 from selfdrive.swaglog import cloudlog
 
 

selfdrive/ui/main.cc

@@ -2,7 +2,7 @@
 
 #include <QApplication>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"

selfdrive/ui/qt/api.cc

@@ -14,7 +14,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 
 namespace CommaApi {

selfdrive/ui/qt/maps/map_helpers.cc

@@ -4,7 +4,7 @@
 #include <QJsonObject>
 
 #include "common/params.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 
 QString get_mapbox_token() {

selfdrive/ui/qt/offroad/settings.cc

@@ -14,7 +14,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"

selfdrive/ui/qt/qt_window.h

@@ -12,7 +12,7 @@
 #include <QPlatformSurfaceEvent>
 #endif
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 const QString ASSET_PATH = ":/";
 

selfdrive/ui/qt/setup/setup.cc

@@ -11,7 +11,7 @@
 #include <curl/curl.h>
 
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/offroad/networking.h"

selfdrive/ui/qt/setup/updater.cc

@@ -2,7 +2,7 @@
 #include <QTimer>
 #include <QVBoxLayout>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/setup/updater.h"

selfdrive/ui/qt/spinner.cc

@@ -10,7 +10,7 @@
 #include <QString>
 #include <QTransform>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 

selfdrive/ui/qt/text.cc

@@ -5,7 +5,7 @@
 #include <QVBoxLayout>
 #include <QWidget>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"

selfdrive/ui/qt/util.cc

@@ -6,7 +6,7 @@
 
 #include "common/params.h"
 #include "common/swaglog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 QString getVersion() {
   static QString version =  QString::fromStdString(Params().get("Version"));

selfdrive/ui/qt/widgets/input.cc

@@ -2,7 +2,7 @@
 
 #include <QPushButton>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"

selfdrive/ui/qt/widgets/offroad_alerts.cc

@@ -5,7 +5,7 @@
 #include <QJsonObject>
 
 #include "common/util.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
 AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) {

selfdrive/ui/qt/widgets/ssh_keys.h

@@ -2,7 +2,7 @@
 
 #include <QPushButton>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 // SSH enable toggle

selfdrive/ui/qt/window.cc

@@ -2,7 +2,7 @@
 
 #include <QFontDatabase>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout(this);

selfdrive/ui/replay/replay.cc

@@ -7,7 +7,7 @@
 #include "cereal/services.h"
 #include "common/params.h"
 #include "common/timing.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/replay/util.h"
 
 Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)

selfdrive/ui/replay/route.cc

@@ -9,7 +9,7 @@
 
 #include <array>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/replay/replay.h"
 #include "selfdrive/ui/replay/util.h"

selfdrive/ui/soundd/sound.h

@@ -2,7 +2,7 @@
 #include <QSoundEffect>
 #include <QString>
 
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 #include "selfdrive/ui/ui.h"
 
 const std::tuple<AudibleAlert, QString, int> sound_list[] = {

selfdrive/ui/tests/test_soundd.py

@@ -8,7 +8,7 @@ import cereal.messaging as messaging
 from selfdrive.test.helpers import phone_only, with_processes
 # TODO: rewrite for unittest
 from common.realtime import DT_CTRL
-from selfdrive.hardware import HARDWARE
+from system.hardware import HARDWARE
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 

selfdrive/ui/ui.cc

@@ -10,7 +10,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/watchdog.h"
-#include "selfdrive/hardware/hw.h"
+#include "system/hardware/hw.h"
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00

selfdrive/updated.py

@@ -37,7 +37,7 @@ from markdown_it import MarkdownIt
 
 from common.basedir import BASEDIR
 from common.params import Params
-from selfdrive.hardware import AGNOS, HARDWARE
+from system.hardware import AGNOS, HARDWARE
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.version import is_tested_branch
@@ -265,7 +265,7 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None:
 
 
 def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
-  from selfdrive.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
 
   cur_version = HARDWARE.get_os_version()
   updated_version = run(["bash", "-c", r"unset AGNOS_VERSION && source launch_env.sh && \
@@ -281,7 +281,7 @@ def handle_agnos_update(wait_helper: WaitTimeHelper) -> None:
   cloudlog.info(f"Beginning background installation for AGNOS {updated_version}")
   set_offroad_alert("Offroad_NeosUpdate", True)
 
-  manifest_path = os.path.join(OVERLAY_MERGED, "selfdrive/hardware/tici/agnos.json")
+  manifest_path = os.path.join(OVERLAY_MERGED, "system/hardware/tici/agnos.json")
   target_slot_number = get_target_slot_number()
   flash_agnos_update(manifest_path, target_slot_number, cloudlog)
   set_offroad_alert("Offroad_NeosUpdate", False)

system/hardware/__init__.py

@@ -1,9 +1,9 @@
 import os
 from typing import cast
 
-from selfdrive.hardware.base import HardwareBase
-from selfdrive.hardware.tici.hardware import Tici
-from selfdrive.hardware.pc.hardware import Pc
+from system.hardware.base import HardwareBase
+from system.hardware.tici.hardware import Tici
+from system.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI

system/hardware/hw.h

@@ -1,10 +1,10 @@
 #pragma once
 
-#include "selfdrive/hardware/base.h"
+#include "system/hardware/base.h"
 #include "common/util.h"
 
 #if QCOM2
-#include "selfdrive/hardware/tici/hardware.h"
+#include "system/hardware/tici/hardware.h"
 #define Hardware HardwareTici
 #else
 class HardwarePC : public HardwareNone {

system/hardware/pc/hardware.py

@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from selfdrive.hardware.base import HardwareBase, ThermalConfig
+from system.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength

system/hardware/tici/hardware.h

@@ -5,7 +5,7 @@
 
 #include "common/params.h"
 #include "common/util.h"
-#include "selfdrive/hardware/base.h"
+#include "system/hardware/base.h"
 
 class HardwareTici : public HardwareNone {
 public:

system/hardware/tici/hardware.py

@@ -9,10 +9,10 @@ from pathlib import Path
 
 from cereal import log
 from common.gpio import gpio_set, gpio_init
-from selfdrive.hardware.base import HardwareBase, ThermalConfig
-from selfdrive.hardware.tici import iwlist
-from selfdrive.hardware.tici.pins import GPIO
-from selfdrive.hardware.tici.amplifier import Amplifier
+from system.hardware.base import HardwareBase, ThermalConfig
+from system.hardware.tici import iwlist
+from system.hardware.tici.pins import GPIO
+from system.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'

system/hardware/tici/power_draw_test.py

@@ -2,8 +2,8 @@
 import os
 import time
 import numpy as np
-from selfdrive.hardware.tici.hardware import Tici
-from selfdrive.hardware.tici.pins import GPIO
+from system.hardware.tici.hardware import Tici
+from system.hardware.tici.pins import GPIO
 from common.gpio import gpio_init, gpio_set
 
 def read_power():

system/hardware/tici/precise_power_measure.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
-from selfdrive.hardware.tici.power_monitor import sample_power
+from system.hardware.tici.power_monitor import sample_power
 
 if __name__ == '__main__':
   print("measuring for 5 seconds")

system/hardware/tici/test_power_draw.py

@@ -4,8 +4,8 @@ import time
 import math
 from dataclasses import dataclass
 
-from selfdrive.hardware import HARDWARE, TICI
-from selfdrive.hardware.tici.power_monitor import get_power
+from system.hardware import HARDWARE, TICI
+from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
 

tools/lib/auth_config.py

@@ -1,7 +1,7 @@
 import json
 import os
 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.hardware import PC
+from system.hardware import PC
 
 
 class MissingAuthConfigError(Exception):