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 db5e13b9911cc74438bee123bc3430da6c31b24b.

* fix pm test
old-commit-hash: a9626f95b69af19306143fc4def02fb5769405d2

tools/bodyteleop/web.py

@@ -15,8 +15,8 @@ from aiohttp import web
 from aiortc import RTCPeerConnection, RTCSessionDescription
 
 import cereal.messaging as messaging
-from common.basedir import BASEDIR
-from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
 
 logger = logging.getLogger("pc")
 logging.basicConfig(level=logging.INFO)

tools/cabana/dbc/generate_dbc_json.py

@@ -2,7 +2,7 @@
 import argparse
 import json
 
-from selfdrive.car.car_helpers import get_interface_attr
+from openpilot.selfdrive.car.car_helpers import get_interface_attr
 
 
 def generate_dbc_json() -> str:

tools/camerastream/receive.py

@@ -4,7 +4,7 @@ import sys
 import numpy as np
 os.environ['ZMQ'] = '1'
 
-from common.window import Window
+from openpilot.common.window import Window
 import cereal.messaging as messaging
 
 # start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad'

tools/gpstest/rpc_server.py

@@ -7,9 +7,9 @@ from collections import defaultdict
 import rpyc # pylint: disable=import-error
 from rpyc.utils.server import ThreadedServer  # pylint: disable=import-error
 
-#from common.params import Params
+#from openpilot.common.params import Params
 import cereal.messaging as messaging
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 from laika.lib.coordinates import ecef2geodetic
 
 DELTA = 0.001

tools/gpstest/test_gps.py

@@ -3,11 +3,11 @@ import time
 import unittest
 import struct
 
-from common.params import Params
+from openpilot.common.params import Params
 import cereal.messaging as messaging
-import system.sensord.pigeond as pd
-from system.hardware import TICI
-from selfdrive.test.helpers import with_processes
+import openpilot.system.sensord.pigeond as pd
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.test.helpers import with_processes
 
 
 def read_events(service, duration_sec):

tools/gpstest/test_gps_qcom.py

@@ -3,10 +3,10 @@ import time
 import unittest
 import subprocess as sp
 
-from common.params import Params
-from system.hardware import TICI
+from openpilot.common.params import Params
+from openpilot.system.hardware import TICI
 import cereal.messaging as messaging
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 
 def exec_mmcli(cmd):

tools/gpstest/test_laikad.py

@@ -4,12 +4,12 @@ import time
 import unittest
 
 import cereal.messaging as messaging
-import system.sensord.pigeond as pd
+import openpilot.system.sensord.pigeond as pd
 
-from common.params import Params
-from system.hardware import TICI
-from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.helpers import with_processes
+from openpilot.common.params import Params
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.helpers import with_processes
 
 
 def wait_for_location(sm, timeout, con=10):

tools/joystick/joystickd.py

@@ -5,10 +5,10 @@ import threading
 from inputs import get_gamepad
 
 import cereal.messaging as messaging
-from common.realtime import Ratekeeper
-from common.numpy_fast import interp, clip
-from common.params import Params
-from tools.lib.kbhit import KBHit
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.numpy_fast import interp, clip
+from openpilot.common.params import Params
+from openpilot.tools.lib.kbhit import KBHit
 
 
 class Keyboard:

tools/latencylogger/latency_logger.py

@@ -8,7 +8,7 @@ import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
 
-from tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
 
 DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
 

tools/lib/README.md

@@ -3,8 +3,8 @@
 Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
 
 ```python
-from tools.lib.route import Route
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
 
 r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
 
@@ -37,8 +37,8 @@ for msg in lr:
 `MultiLogIterator` is similar to `LogReader`, but reads multiple logs. 
 
 ```python
-from tools.lib.route import Route
-from tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import MultiLogIterator
 
 # setup a MultiLogIterator to read all the logs in the route
 r = Route("a2a0ccea32023010|2023-07-27--13-01-19")

tools/lib/auth.py

@@ -29,8 +29,8 @@ from http.server import BaseHTTPRequestHandler, HTTPServer
 from typing import Any, Dict
 from urllib.parse import parse_qs, urlencode
 
-from tools.lib.api import APIError, CommaApi, UnauthorizedError
-from tools.lib.auth_config import set_token, get_token
+from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError
+from openpilot.tools.lib.auth_config import set_token, get_token
 
 PORT = 3000
 

tools/lib/auth_config.py

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

tools/lib/bootlog.py

@@ -3,9 +3,9 @@ import functools
 import re
 from typing import List, Optional
 
-from tools.lib.auth_config import get_token
-from tools.lib.api import CommaApi
-from tools.lib.helpers import RE, timestamp_to_datetime
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+from openpilot.tools.lib.helpers import RE, timestamp_to_datetime
 
 
 @functools.total_ordering

tools/lib/cache.py

@@ -1,6 +1,6 @@
 import os
 import urllib.parse
-from common.file_helpers import mkdirs_exists_ok
+from openpilot.common.file_helpers import mkdirs_exists_ok
 
 DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
 

tools/lib/filereader.py

@@ -1,5 +1,5 @@
 import os
-from tools.lib.url_file import URLFile
+from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 

tools/lib/framereader.py

@@ -13,11 +13,11 @@ import numpy as np
 from lru import LRU
 
 import _io
-from tools.lib.cache import cache_path_for_file_path
-from tools.lib.exceptions import DataUnreadableError
-from common.file_helpers import atomic_write_in_dir
+from openpilot.tools.lib.cache import cache_path_for_file_path
+from openpilot.tools.lib.exceptions import DataUnreadableError
+from openpilot.common.file_helpers import atomic_write_in_dir
 
-from tools.lib.filereader import FileReader
+from openpilot.tools.lib.filereader import FileReader
 
 HEVC_SLICE_B = 0
 HEVC_SLICE_P = 1

tools/lib/logreader.py

@@ -8,8 +8,8 @@ import warnings
 
 
 from cereal import log as capnp_log
-from tools.lib.filereader import FileReader
-from tools.lib.route import Route, SegmentName
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.route import Route, SegmentName
 
 # this is an iterator itself, and uses private variables from LogReader
 class MultiLogIterator:

tools/lib/route.py

@@ -5,9 +5,9 @@ from collections import defaultdict
 from itertools import chain
 from typing import Optional
 
-from tools.lib.auth_config import get_token
-from tools.lib.api import CommaApi
-from tools.lib.helpers import RE
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+from openpilot.tools.lib.helpers import RE
 
 QLOG_FILENAMES = ['qlog', 'qlog.bz2']
 QCAMERA_FILENAMES = ['qcamera.ts']

tools/lib/tests/test_caching.py

@@ -4,7 +4,7 @@ import shutil
 import unittest
 
 os.environ["COMMA_CACHE"] = "/tmp/__test_cache__"
-from tools.lib.url_file import URLFile, CACHE_DIR
+from openpilot.tools.lib.url_file import URLFile, CACHE_DIR
 
 
 class TestFileDownload(unittest.TestCase):

tools/lib/tests/test_readers.py

@@ -5,8 +5,8 @@ import tempfile
 
 from collections import defaultdict
 import numpy as np
-from tools.lib.framereader import FrameReader
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
 
 
 class TestReaders(unittest.TestCase):

tools/lib/tests/test_route_library.py

@@ -2,7 +2,7 @@
 import unittest
 from collections import namedtuple
 
-from tools.lib.route import SegmentName
+from openpilot.tools.lib.route import SegmentName
 
 class TestRouteLibrary(unittest.TestCase):
   def test_segment_name_formats(self):

tools/lib/url_file.py

@@ -9,7 +9,7 @@ import pycurl
 from hashlib import sha256
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
-from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
+from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K

tools/plotjuggler/juggle.py

@@ -10,11 +10,11 @@ import tempfile
 import requests
 import argparse
 
-from common.basedir import BASEDIR
-from selfdrive.test.openpilotci import get_url
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route, SegmentName
-from tools.lib.helpers import save_log
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentName
+from openpilot.tools.lib.helpers import save_log
 from urllib.parse import urlparse, parse_qs
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
@@ -129,7 +129,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No
   if dbc is None:
     for cp in [m for m in all_data if m.which() == 'carParams']:
       try:
-        DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
+        DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
         dbc = DBC[cp.carParams.carFingerprint]['pt']
       except Exception:
         pass

tools/plotjuggler/test_plotjuggler.py

@@ -6,9 +6,9 @@ import subprocess
 import time
 import unittest
 
-from common.basedir import BASEDIR
-from common.timeout import Timeout
-from tools.plotjuggler.juggle import install
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.timeout import Timeout
+from openpilot.tools.plotjuggler.juggle import install
 
 PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
 

tools/replay/can_replay.py

@@ -8,10 +8,10 @@ from tqdm import tqdm
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
-from selfdrive.boardd.boardd import can_capnp_to_can_list
-from tools.plotjuggler.juggle import load_segment
-from tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
+from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
+from openpilot.tools.plotjuggler.juggle import load_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
 from panda import Panda, PandaJungle
 
 def send_thread(s, flock):

tools/replay/lib/ui_helpers.py

@@ -7,10 +7,10 @@ import pygame  # pylint: disable=import-error
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
 
-from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
+from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
                                            tici_f_frame_size, tici_f_focal_length,
                                            get_view_frame_from_calib_frame)
-from selfdrive.controls.radard import RADAR_TO_CAMERA
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
 
 
 RED = (255, 0, 0)

tools/replay/ui.py

@@ -8,9 +8,9 @@ import numpy as np
 import pygame  # pylint: disable=import-error
 
 import cereal.messaging as messaging
-from common.numpy_fast import clip
-from common.basedir import BASEDIR
-from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
+from openpilot.common.numpy_fast import clip
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
                                          _INTRINSICS, BLACK, GREEN,
                                          YELLOW, Calibration,
                                          get_blank_lid_overlay, init_plots,

tools/replay/unlog_ci_segment.py

@@ -11,9 +11,9 @@ import tty
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from tools.lib.framereader import FrameReader
-from tools.lib.logreader import LogReader
-from selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.openpilotci import get_url
 
 IGNORE = ['initData', 'sentinel']
 

tools/scripts/fetch_image_from_route.py

@@ -8,8 +8,8 @@ if len(sys.argv) < 4:
 
 import requests
 from PIL import Image
-from tools.lib.auth_config import get_token
-from tools.lib.framereader import FrameReader
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.framereader import FrameReader
 
 jwt = get_token()
 

tools/scripts/save_ubloxraw_stream.py

@@ -2,9 +2,9 @@
 import argparse
 import os
 import sys
-from common.basedir import BASEDIR
-from tools.lib.logreader import MultiLogIterator
-from tools.lib.route import Route
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
 
 os.environ['BASEDIR'] = BASEDIR
 

tools/scripts/setup_ssh_keys.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import requests
-from common.params import Params
+from openpilot.common.params import Params
 import sys
 
 

tools/sim/Dockerfile.sim

@@ -14,6 +14,7 @@ RUN mkdir -p $HOME/openpilot
 
 COPY SConstruct $HOME/openpilot/
 
+COPY ./openpilot $HOME/openpilot/openpilot
 COPY ./body $HOME/openpilot/body
 COPY ./third_party $HOME/openpilot/third_party
 COPY ./site_scons $HOME/openpilot/site_scons
@@ -30,4 +31,4 @@ COPY ./tools $HOME/openpilot/tools
 WORKDIR $HOME/openpilot
 RUN scons --cache-readonly -j12
 
-RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"

tools/sim/bridge.py

@@ -16,13 +16,13 @@ import pyopencl.array as cl_array
 import cereal.messaging as messaging
 from cereal import log
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from common.basedir import BASEDIR
-from common.numpy_fast import clip
-from common.params import Params
-from common.realtime import DT_DMON, Ratekeeper
-from selfdrive.car.honda.values import CruiseButtons
-from selfdrive.test.helpers import set_params_enabled
-from tools.sim.lib.can import can_function
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_DMON, Ratekeeper
+from openpilot.selfdrive.car.honda.values import CruiseButtons
+from openpilot.selfdrive.test.helpers import set_params_enabled
+from openpilot.tools.sim.lib.can import can_function
 
 W, H = 1928, 1208
 REPEAT_COUNTER = 5
@@ -550,12 +550,12 @@ if __name__ == "__main__":
 
   if args.joystick:
     # start input poll for joystick
-    from tools.sim.lib.manual_ctrl import wheel_poll_thread
+    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
 
     wheel_poll_thread(q)
   else:
     # start input poll for keyboard
-    from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
+    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
 
     keyboard_poll_thread(q)
   p.join()

tools/sim/lib/can.py

@@ -2,8 +2,8 @@
 import cereal.messaging as messaging
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
-from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp  # pylint: disable=no-name-in-module,import-error
-from selfdrive.car import crc8_pedal
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp  # pylint: disable=no-name-in-module,import-error
+from openpilot.selfdrive.car import crc8_pedal
 
 packer = CANPacker("honda_civic_touring_2016_can_generated")
 rpacker = CANPacker("acura_ilx_2016_nidec")

tools/sim/tests/test_carla_integration.py

@@ -6,10 +6,10 @@ import os
 from multiprocessing import Queue
 
 from cereal import messaging
-from common.basedir import BASEDIR
-from selfdrive.manager.helpers import unblock_stdout
-from tools.sim import bridge
-from tools.sim.bridge import CarlaBridge
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.manager.helpers import unblock_stdout
+from openpilot.tools.sim import bridge
+from openpilot.tools.sim.bridge import CarlaBridge
 
 CI = "CI" in os.environ
 

tools/tuning/measure_steering_accuracy.py

@@ -8,7 +8,7 @@ import signal
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
 
 def sigint_handler(signal, frame):
   exit(0)

tools/webcam/front_mount_helper.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import numpy as np
 
-# copied from common.transformations/camera.py
+# copied from openpilot.common.transformations/camera.py
 eon_dcam_focal_length = 860.0  # pixels
 webcam_focal_length = 908.0  # pixels
 

tools/webcam/warp_vis.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import numpy as np
 
-# copied from common.transformations/camera.py
+# copied from openpilot.common.transformations/camera.py
 eon_focal_length = 910.0  # pixels
 eon_dcam_focal_length = 860.0  # pixels
 

tools/zookeeper/check_consumption.py

@@ -2,7 +2,7 @@
 
 import sys
 import time
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 # Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
 # Exit code: 0 -> passed

tools/zookeeper/disable.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()

tools/zookeeper/enable_and_wait.py

@@ -3,7 +3,7 @@ import os
 import sys
 import time
 from socket import gethostbyname, gaierror
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 def is_online(ip):
   try:

tools/zookeeper/ignition.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import sys
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 
 if __name__ == "__main__":

tools/zookeeper/power_monitor.py

@@ -3,9 +3,9 @@ import sys
 import time
 import datetime
 
-from common.realtime import Ratekeeper
-from common.filter_simple import FirstOrderFilter
-from tools.zookeeper import Zookeeper
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()

tools/zookeeper/test_zookeeper.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import time
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 
 if __name__ == "__main__":