boardd is pandad (commaai#32628)

* boardd is pandad

* rename tests

Author: adeebshihadeh

.gitignore

@@ -40,8 +40,7 @@ compile_commands.json
 compare_runtime*.html
 
 persist
-board/obj/
-selfdrive/boardd/boardd
+selfdrive/pandad/pandad
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd

Jenkinsfile

@@ -192,7 +192,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@@ -202,7 +202,7 @@ node {
       'loopback': {
         deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
-          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
         ])
       },
       'camerad': {
@@ -236,9 +236,9 @@ node {
       'tizi': {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd system/manager && ./build.py"],
-          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-          ["test boardd spi", "pytest selfdrive/boardd/tests/test_boardd_spi.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
+          ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],

RELEASES.md

@@ -634,7 +634,7 @@ Version 0.5.13 (2019-05-31)
  * Reduce CPU utilization by 20% and improve stability
  * Temporarily remove mapd functionalities to improve stability
  * Add openpilot record-only mode for unsupported cars
- * Synchronize controlsd to boardd to reduce latency
+ * Synchronize controlsd to pandad to reduce latency
  * Remove panda support for Subaru giraffe
 
 Version 0.5.12 (2019-05-16)
@@ -970,7 +970,7 @@ Version 0.2.8  (2017-02-27)
 Version 0.2.7  (2017-02-08)
 ===========================
  * Better performance and pictures at night
- * Fix ptr alignment issue in boardd
+ * Fix ptr alignment issue in pandad
  * Fix brake error light, fix crash if too cold
 
 Version 0.2.6  (2017-01-31)
@@ -1002,7 +1002,7 @@ Version 0.2.2  (2017-01-10)
 Version 0.2.1  (2016-12-14)
 ===========================
  * Performance improvements, removal of more numpy
- * Fix boardd process priority
+ * Fix pandad process priority
  * Make counter timer reset on use of steering wheel
 
 Version 0.2  (2016-12-12)

SConstruct

@@ -226,7 +226,7 @@ env = Environment(
     "#cereal",
     "#third_party",
     "#opendbc/can",
-    "#selfdrive/boardd",
+    "#selfdrive/pandad",
     "#common",
     "#rednose/helpers",
   ],

common/realtime.py

@@ -23,7 +23,7 @@ class Priority:
   CTRL_LOW = 51 # plannerd & radard
 
   # CORE 3
-  # - boardd = 55
+  # - pandad = 55
   CTRL_HIGH = 53
 
 

docs/c_docs.rst

@@ -77,10 +77,10 @@ sensorsd
 .. autodoxygenindex::
    :project: system_sensord_sensors
 
-boardd
+pandad
 ^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_boardd
+   :project: selfdrive_pandad
 
 
 rednose

pyproject.toml

@@ -20,7 +20,7 @@ markers = [
 ]
 testpaths = [
   "common",
-  "selfdrive/boardd",
+  "selfdrive/pandad",
   "selfdrive/car",
   "selfdrive/controls",
   "selfdrive/locationd",

selfdrive/SConscript

@@ -1,4 +1,4 @@
-SConscript(['boardd/SConscript'])
+SConscript(['pandad/SConscript'])
 SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])

selfdrive/boardd/.gitignore

@@ -11,7 +11,7 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
@@ -153,7 +153,7 @@ def controls_update(self, CS: car.CarState, CC: car.CarControl):
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
-      # signal boardd to switch to car safety mode
+      # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
     if self.sm.all_alive(['carControl']):

selfdrive/boardd/tests/__init__.py

@@ -6,7 +6,7 @@
 from panda.python.uds import SERVICE_TYPE
 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.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.common.swaglog import cloudlog
 
 

selfdrive/car/card.py

@@ -85,7 +85,7 @@ class Request:
   auxiliary: bool = False
   # FW responses from these queries will not be used for fingerprinting
   logging: bool = False
-  # boardd toggles OBD multiplexing on/off as needed
+  # pandad toggles OBD multiplexing on/off as needed
   obd_multiplexing: bool = True
 
 

selfdrive/car/ecu_addrs.py

@@ -352,7 +352,7 @@ def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVe
   pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
 
-  # Set up params for boardd
+  # Set up params for pandad
   params = Params()
   params.remove("FirmwareQueryDone")
   params.put_bool("IsOnroad", False)

selfdrive/car/fw_query_definitions.py

@@ -4,7 +4,7 @@
 
 import cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 

selfdrive/car/fw_versions.py

@@ -279,7 +279,7 @@ def update_events(self, CS):
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
+      # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
       if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 

selfdrive/car/isotp_parallel_query.py

@@ -4,7 +4,7 @@
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.params import Params
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp
 from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
 from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
@@ -105,7 +105,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand):
 
   msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
   for _ in range(1000):
-    # card waits for boardd to echo back that it has changed the multiplexing mode
+    # card waits for pandad to echo back that it has changed the multiplexing mode
     if not params.get_bool("ObdMultiplexingChanged"):
       params.put_bool("ObdMultiplexingChanged", True)
 

selfdrive/controls/controlsd.py

@@ -12,11 +12,11 @@
 args = parser.parse_args()
 
 try:
-  check_output(["pidof", "boardd"])
-  print("boardd is running, please kill openpilot before running this script! (aborted)")
+  check_output(["pidof", "pandad"])
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
   sys.exit(1)
 except CalledProcessError as e:
-  if e.returncode != 1: # 1 == no process found (boardd not running)
+  if e.returncode != 1: # 1 == no process found (pandad not running)
     raise e
 
 panda = Panda()

selfdrive/controls/tests/test_startup.py

@@ -9,10 +9,10 @@
     Calculate minumium/maximum/accumulated_average cpu usage as long term inspections.
     Monitor multiple processes simuteneously.
   Sample usage:
-    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py boardd,ubloxd
-    ('Add monitored proc:', './boardd')
+    root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd
+    ('Add monitored proc:', './pandad')
     ('Add monitored proc:', 'python locationd/ubloxd.py')
-    boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
+    pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
     ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
 '''
 import psutil

selfdrive/debug/clear_dtc.py

@@ -4,7 +4,7 @@
 
 # Instructions:
 # - connect to a Panda
-# - run selfdrive/boardd/boardd
+# - run selfdrive/pandad/pandad
 # - launching this script
 #   Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint
 # - since some messages are published at low frequency, keep this script running for at least 30s,

selfdrive/debug/cpu_usage_stat.py

@@ -79,11 +79,11 @@ class ConfigValues(NamedTuple):
   args = parser.parse_args()
 
   try:
-    check_output(["pidof", "boardd"])
-    print("boardd is running, please kill openpilot before running this script! (aborted)")
+    check_output(["pidof", "pandad"])
+    print("pandad is running, please kill openpilot before running this script! (aborted)")
     sys.exit(1)
   except CalledProcessError as e:
-    if e.returncode != 1: # 1 == no process found (boardd not running)
+    if e.returncode != 1: # 1 == no process found (pandad not running)
       raise e
 
   confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip()

selfdrive/debug/get_fingerprint.py

@@ -13,11 +13,11 @@
 args = parser.parse_args()
 
 try:
-  check_output(["pidof", "boardd"])
-  print("boardd is running, please kill openpilot before running this script! (aborted)")
+  check_output(["pidof", "pandad"])
+  print("pandad is running, please kill openpilot before running this script! (aborted)")
   sys.exit(1)
 except CalledProcessError as e:
-  if e.returncode != 1: # 1 == no process found (boardd not running)
+  if e.returncode != 1: # 1 == no process found (pandad not running)
     raise e
 
 panda = Panda()

selfdrive/debug/hyundai_enable_radar_points.py

@@ -0,0 +1,3 @@
+pandad
+pandad_api_impl.cpp
+tests/test_pandad_usbprotocol

selfdrive/debug/read_dtc_status.py

@@ -3,9 +3,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging')
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
 panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
 
-env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
+env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
-envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
+envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
 if GetOption('extras'):
-  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
+  env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)

selfdrive/pandad/.gitignore

@@ -1,5 +1,5 @@
 # Cython, now uses scons to build
-from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.pandad.pandad_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/SConscript selfdrive/pandad/SConscript

@@ -1,5 +1,5 @@
 #include "cereal/messaging/messaging.h"
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;

selfdrive/boardd/boardd.py selfdrive/pandad/__init__.py

@@ -1,12 +1,12 @@
 #include <cassert>
 
-#include "selfdrive/boardd/boardd.h"
+#include "selfdrive/pandad/pandad.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
-  LOGW("starting boardd");
+  LOGW("starting pandad");
 
   if (!Hardware::PC()) {
     int err;
@@ -17,6 +17,6 @@ int main(int argc, char *argv[]) {
   }
 
   std::vector<std::string> serials(argv + 1, argv + argc);
-  boardd_main_thread(serials);
+  pandad_main_thread(serials);
   return 0;
 }

selfdrive/boardd/can_list_to_can_capnp.cc selfdrive/pandad/can_list_to_can_capnp.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 #include <unistd.h>
 

selfdrive/boardd/main.cc selfdrive/pandad/main.cc

@@ -13,7 +13,7 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #include "panda/board/health.h"
 #include "panda/board/can_definitions.h"
-#include "selfdrive/boardd/panda_comms.h"
+#include "selfdrive/pandad/panda_comms.h"
 
 #define USB_TX_SOFT_LIMIT   (0x100U)
 #define USBPACKET_MAX_SIZE  (0x40)

selfdrive/boardd/panda.cc selfdrive/pandad/panda.cc

@@ -1,4 +1,4 @@
-#include "selfdrive/boardd/panda.h"
+#include "selfdrive/pandad/panda.h"
 
 #include <cassert>
 #include <stdexcept>