Cleanup selfdrive/ includes (#20822)

* cleanup include path * continue * format includes * fix testraw.cc * remove include path from SConstruct * regroup * rebase master * almost done * apply review * rename FileReader.xx to filereader.xx * rename Unlogger.x->unlogger.x * rename FrameReader.xx -> framereader.xx * apply reviews * ui.h * continue * fix framebuffer.cc build error:mv util.h up * full path to msm_media_info * fix qcom2 camerad Co-authored-by: Comma Device <device@comma.ai>
2021-05-09 13:15:17 +08:00 · 2021-05-09 13:15:17 +08:00 · 7222d0f20d
parent 9c60d8a7cb
commit 7222d0f20d
169 changed files with 946 additions and 886 deletions
--- a/12
+++ b/12
@ -83,6 +83,9 @@ if arch == "aarch64" or arch == "larch64":
      "#phonelibs/libyuv/larch64/lib",
      "/usr/lib/aarch64-linux-gnu"
    ]
+    cpppath += [
+      "#selfdrive/camerad/include",
+    ]
    cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
    rpath = ["/usr/local/lib"]
@ -175,7 +178,6 @@ env = Environment(

  CPPPATH=cpppath + [
    "#",
-    "#selfdrive",
    "#phonelibs/catch2/include",
    "#phonelibs/bzip2",
    "#phonelibs/libyuv/include",
@ -191,14 +193,6 @@ env = Environment(
    "#phonelibs/nanovg",
    "#phonelibs/qrcode",
    "#phonelibs",
-    "#selfdrive/boardd",
-    "#selfdrive/common",
-    "#selfdrive/camerad",
-    "#selfdrive/camerad/include",
-    "#selfdrive/loggerd/include",
-    "#selfdrive/modeld",
-    "#selfdrive/sensord",
-    "#selfdrive/ui",
    "#cereal",
    "#cereal/messaging",
    "#cereal/visionipc",
--- a/installer/installer.c
+++ b/installer/installer.c
@ -1,23 +1,22 @@
+#include <assert.h>
+#include <math.h>
+#include <pthread.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
-#include <math.h>
-#include <unistd.h>
-#include <assert.h>
-#include <pthread.h>
-
-#include <sys/wait.h>
 #include <sys/stat.h>
+#include <sys/wait.h>
+#include <unistd.h>

-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
+#include <GLES3/gl3.h>

-#include "common/util.h"
-#include "common/mat.h"
-#include "common/glutil.h"
-#include "common/framebuffer.h"
-#include "common/spinner.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/glutil.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/spinner.h"
+#include "selfdrive/common/util.h"

 #ifndef BRAND
 #define BRAND openpilot
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@ -1,37 +1,33 @@
+#include <sys/stat.h>
+#include <sys/statvfs.h>
+#include <unistd.h>
+
+#include <cassert>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
-#include <cassert>
-
-#include <unistd.h>
-#include <sys/stat.h>
-#include <sys/statvfs.h>
-
-#include <string>
-#include <sstream>
 #include <fstream>
 #include <iostream>
-#include <mutex>
 #include <memory>
+#include <mutex>
+#include <sstream>
+#include <string>
 #include <thread>

 #include <curl/curl.h>
 #include <openssl/sha.h>
-
-#include <GLES3/gl3.h>
 #include <EGL/egl.h>
 #include <EGL/eglext.h>
-
+#include <GLES3/gl3.h>
 #include "nanovg.h"
 #define NANOVG_GLES3_IMPLEMENTATION
+#include "json11.hpp"
 #include "nanovg_gl.h"
 #include "nanovg_gl_utils.h"

-#include "json11.hpp"
-
-#include "common/framebuffer.h"
-#include "common/touch.h"
-#include "common/util.h"
+#include "selfdrive/common/framebuffer.h"
+#include "selfdrive/common/touch.h"
+#include "selfdrive/common/util.h"

 #define USER_AGENT "NEOSUpdater-0.2"

--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@ -1,36 +1,35 @@
-#include <stdio.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <sched.h>
 #include <errno.h>
+#include <sched.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
 #include <sys/cdefs.h>
-#include <sys/types.h>
 #include <sys/resource.h>
+#include <sys/types.h>
+#include <unistd.h>

-#include <ctime>
-#include <cassert>
-#include <iostream>
 #include <algorithm>
-#include <bitset>
-#include <thread>
 #include <atomic>
+#include <bitset>
+#include <cassert>
+#include <ctime>
+#include <iostream>
+#include <thread>
 #include <unordered_map>

 #include <libusb-1.0/libusb.h>

 #include "cereal/gen/cpp/car.capnp.h"
-
-#include "common/util.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "messaging.h"
-#include "locationd/ublox_msg.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
+#include "selfdrive/locationd/ublox_msg.h"

-#include "panda.h"
-#include "pigeon.h"
+#include "selfdrive/boardd/panda.h"
+#include "selfdrive/boardd/pigeon.h"

 #define MAX_IR_POWER 0.5f
 #define MIN_IR_POWER 0.0f
--- a/selfdrive/boardd/can_list_to_can_capnp.cc
+++ b/selfdrive/boardd/can_list_to_can_capnp.cc
@ -1,4 +1,4 @@
-#include "messaging.h"
+#include "cereal/messaging/messaging.h"

 typedef struct {
 	long address;
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@ -1,14 +1,16 @@
-#include <stdexcept>
-#include <cassert>
-#include <iostream>
-#include <vector>
+#include "selfdrive/boardd/panda.h"
+
 #include <unistd.h>

-#include "common/swaglog.h"
-#include "common/gpio.h"
-#include "common/util.h"
-#include "messaging.h"
-#include "panda.h"
+#include <cassert>
+#include <iostream>
+#include <stdexcept>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/gpio.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"

 Panda::Panda(){
  // init libusb
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@ -1,11 +1,13 @@
 #pragma once

-#include <ctime>
-#include <cstdint>
 #include <pthread.h>
+
+#include <atomic>
+#include <cstdint>
+#include <ctime>
 #include <mutex>
-#include <vector>
 #include <optional>
+#include <vector>

 #include <libusb-1.0/libusb.h>

--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@ -1,14 +1,15 @@
-#include <cassert>
-#include <unistd.h>
-#include <fcntl.h>
+#include "selfdrive/boardd/pigeon.h"
+
 #include <errno.h>
+#include <fcntl.h>
 #include <termios.h>
+#include <unistd.h>

-#include "common/swaglog.h"
-#include "common/gpio.h"
-#include "common/util.h"
+#include <cassert>

-#include "pigeon.h"
+#include "selfdrive/common/gpio.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"

 // Termios on macos doesn't define all baud rate constants
 #ifndef B460800
--- a/selfdrive/boardd/pigeon.h
+++ b/selfdrive/boardd/pigeon.h
@ -1,9 +1,11 @@
 #pragma once
-#include <string>
+
 #include <termios.h>

+#include <atomic>
+#include <string>

-#include "panda.h"
+#include "selfdrive/boardd/panda.h"

 class Pigeon {
 public:
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@ -1,31 +1,32 @@
-#include <thread>
-#include <chrono>
-#include <stdio.h>
+#include "selfdrive/camerad/cameras/camera_common.h"
+
 #include <assert.h>
+#include <stdio.h>
 #include <unistd.h>
+#include <chrono>
+#include <thread>

-#if defined(QCOM) && !defined(QCOM_REPLAY)
-#include "cameras/camera_qcom.h"
-#elif QCOM2
-#include "cameras/camera_qcom2.h"
-#elif WEBCAM
-#include "cameras/camera_webcam.h"
-#else
-#include "cameras/camera_frame_stream.h"
-#endif
-
-#include "camera_common.h"
-#include <libyuv.h>
+#include "libyuv.h"
 #include <jpeglib.h>

-#include "clutil.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "modeldata.h"
-#include "imgproc/utils.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"

+#if defined(QCOM) && !defined(QCOM_REPLAY)
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+#elif QCOM2
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+#elif WEBCAM
+#include "selfdrive/camerad/cameras/camera_webcam.h"
+#else
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"
+#endif
+
 static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b, const CameraState *s) {
  char args[4096];
  snprintf(args, sizeof(args),
--- a/selfdrive/camerad/cameras/camera_common.h
+++ b/selfdrive/camerad/cameras/camera_common.h
@ -1,20 +1,21 @@
 #pragma once

-#include <stdlib.h>
 #include <stdbool.h>
 #include <stdint.h>
+#include <stdlib.h>
+
 #include <memory>
 #include <thread>
-#include "common/mat.h"
-#include "common/swaglog.h"
-#include "common/queue.h"
-#include "visionbuf.h"
-#include "common/visionimg.h"
-#include "messaging.h"
-#include "transforms/rgb_to_yuv.h"

-#include "visionipc.h"
-#include "visionipc_server.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/queue.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/visionimg.h"

 #define CAMERA_ID_IMX298 0
 #define CAMERA_ID_IMX179 1
--- a/selfdrive/camerad/cameras/camera_frame_stream.cc
+++ b/selfdrive/camerad/cameras/camera_frame_stream.cc
@ -1,12 +1,12 @@
-#include "camera_frame_stream.h"
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"

 #include <unistd.h>
 #include <cassert>

 #include <capnp/dynamic.h>

-#include "messaging.h"
-#include "common/util.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"

 #define FRAME_WIDTH 1164
 #define FRAME_HEIGHT 874
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@ -1,32 +1,31 @@
-#include <stdio.h>
-#include <stdbool.h>
+#include "selfdrive/camerad/cameras/camera_qcom.h"
+
 #include <assert.h>
-#include <unistd.h>
 #include <fcntl.h>
 #include <math.h>
 #include <poll.h>
+#include <pthread.h>
+#include <stdbool.h>
+#include <stdio.h>
 #include <sys/ioctl.h>
-#include <atomic>
-#include <algorithm>
+#include <unistd.h>

-#include <linux/media.h>
+#include <algorithm>
+#include <atomic>

 #include <cutils/properties.h>
+#include <linux/media.h>

-#include <pthread.h>
-#include "msmb_isp.h"
-#include "msmb_ispif.h"
-#include "msmb_camera.h"
-#include "msm_cam_sensor.h"
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "common/params.h"
-#include "clutil.h"
-
-#include "sensor_i2c.h"
-#include "camera_qcom.h"
+#include "selfdrive/camerad/cameras/sensor_i2c.h"
+#include "selfdrive/camerad/include/msm_cam_sensor.h"
+#include "selfdrive/camerad/include/msmb_camera.h"
+#include "selfdrive/camerad/include/msmb_isp.h"
+#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

 // leeco actuator (DW9800W H-Bridge Driver IC)
 // from sniff
--- a/selfdrive/camerad/cameras/camera_qcom.h
+++ b/selfdrive/camerad/cameras/camera_qcom.h
@ -1,24 +1,22 @@
 #pragma once

-#include <stdint.h>
-#include <stdbool.h>
 #include <pthread.h>
-#include <memory>
+#include <stdbool.h>
+#include <stdint.h>
+
 #include <atomic>
-#include "messaging.h"
+#include <memory>

-#include "msmb_isp.h"
-#include "msmb_ispif.h"
-#include "msmb_camera.h"
-#include "msm_cam_sensor.h"
-
-#include "visionbuf.h"
-
-#include "common/mat.h"
-#include "common/util.h"
-#include "imgproc/utils.h"
-
-#include "camera_common.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionbuf.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+#include "selfdrive/camerad/include/msm_cam_sensor.h"
+#include "selfdrive/camerad/include/msmb_camera.h"
+#include "selfdrive/camerad/include/msmb_isp.h"
+#include "selfdrive/camerad/include/msmb_ispif.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/util.h"

 #define FRAME_BUF_COUNT 4
 #define METADATA_BUF_COUNT 4
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@ -1,4 +1,3 @@
-
 #include <stdio.h>
 #include <string.h>
 #include <errno.h>
@ -11,19 +10,17 @@
 #include <math.h>
 #include <atomic>

-#include "common/util.h"
-#include "common/swaglog.h"
-#include "camera_qcom2.h"
-
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
 #include "media/cam_isp_ife.h"
 #include "media/cam_sensor_cmn_header.h"
 #include "media/cam_sensor.h"
 #include "media/cam_sync.h"
-
 #include "sensor2_i2c.h"

+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
+
 #define FRAME_WIDTH  1928
 #define FRAME_HEIGHT 1208
 //#define FRAME_STRIDE 1936 // for 8 bit output
--- a/selfdrive/camerad/cameras/camera_qcom2.h
+++ b/selfdrive/camerad/cameras/camera_qcom2.h
@ -4,9 +4,10 @@
 #include <stdbool.h>
 #include <pthread.h>

-#include "common/util.h"
-#include "camera_common.h"
-#include "media/cam_req_mgr.h"
+#include <media/cam_req_mgr.h>
+
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/util.h"

 #define FRAME_BUF_COUNT 4

@ -21,7 +22,7 @@
 typedef struct CameraState {
  MultiCameraState *multi_cam_state;
  CameraInfo ci;
-  
+
  std::mutex exp_lock;
  float analog_gain_frac;
  uint16_t analog_gain;
--- a/selfdrive/camerad/cameras/camera_webcam.cc
+++ b/selfdrive/camerad/cameras/camera_webcam.cc
@ -1,23 +1,22 @@
-#include "camera_webcam.h"
+#include "selfdrive/camerad/cameras/camera_webcam.h"

-#include <unistd.h>
 #include <assert.h>
-#include <string.h>
 #include <pthread.h>
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/clutil.h"
-#include "common/swaglog.h"
+#include <string.h>
+#include <unistd.h>

 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wundefined-inline"
-#include <opencv2/opencv.hpp>
-#include <opencv2/highgui.hpp>
 #include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <opencv2/opencv.hpp>
 #include <opencv2/videoio.hpp>
 #pragma clang diagnostic pop

+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

 // id of the video capturing device
 const int ROAD_CAMERA_ID = getenv("ROADCAM_ID") ? atoi(getenv("ROADCAM_ID")) : 1;
--- a/selfdrive/camerad/cameras/camera_webcam.h
+++ b/selfdrive/camerad/cameras/camera_webcam.h
@ -8,7 +8,7 @@
 #include <CL/cl.h>
 #endif

-#include "camera_common.h"
+#include "selfdrive/camerad/cameras/camera_common.h"

 #define FRAME_BUF_COUNT 16

--- a/selfdrive/camerad/imgproc/utils.cc
+++ b/selfdrive/camerad/imgproc/utils.cc
@ -1,7 +1,9 @@
-#include "utils.h"
+#include "selfdrive/camerad/imgproc/utils.h"
+
 #include <assert.h>
 #include <stdio.h>
 #include <string.h>
+
 #include <algorithm>
 #include <cmath>

--- a/selfdrive/camerad/imgproc/utils.h
+++ b/selfdrive/camerad/imgproc/utils.h
@ -1,9 +1,11 @@
 #pragma once

-#include <stdint.h>
 #include <stddef.h>
+#include <stdint.h>
+
 #include <vector>
-#include "clutil.h"
+
+#include "selfdrive/common/clutil.h"

 #define NUM_SEGMENTS_X 8
 #define NUM_SEGMENTS_Y 6
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@ -1,29 +1,30 @@
-#include <thread>
-#include <stdio.h>
-#include <poll.h>
 #include <assert.h>
-#include <unistd.h>
+#include <poll.h>
+#include <stdio.h>
 #include <sys/socket.h>
+#include <unistd.h>
+
+#include <thread>
+
+#include "libyuv.h"
+
+#include "cereal/visionipc/visionipc_server.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/hardware/hw.h"

 #if defined(QCOM) && !defined(QCOM_REPLAY)
-#include "cameras/camera_qcom.h"
+#include "selfdrive/camerad/cameras/camera_qcom.h"
 #elif QCOM2
-#include "cameras/camera_qcom2.h"
+#include "selfdrive/camerad/cameras/camera_qcom2.h"
 #elif WEBCAM
-#include "cameras/camera_webcam.h"
+#include "selfdrive/camerad/cameras/camera_webcam.h"
 #else
-#include "cameras/camera_frame_stream.h"
+#include "selfdrive/camerad/cameras/camera_frame_stream.h"
 #endif

-#include <libyuv.h>
-
-#include "clutil.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "visionipc_server.h"
-#include "selfdrive/hardware/hw.h"
-
 ExitHandler do_exit;

 void party(cl_device_id device_id, cl_context context) {
--- a/selfdrive/camerad/test/ae_gray_test.cc
+++ b/selfdrive/camerad/test/ae_gray_test.cc
@ -1,11 +1,13 @@
 // unittest for set_exposure_target

+#include "ae_gray_test.h"
+
 #include <assert.h>
-#include <cstring>
+
 #include <cmath>
+#include <cstring>

 #include "selfdrive/camerad/cameras/camera_common.h"
-#include "selfdrive/camerad/test/ae_gray_test.h"

 void camera_autoexposure(CameraState *s, float grey_frac) {}

--- a/selfdrive/camerad/transforms/rgb_to_yuv.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.cc
@ -1,4 +1,5 @@
 #include "rgb_to_yuv.h"
+
 #include <assert.h>

 Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
--- a/selfdrive/camerad/transforms/rgb_to_yuv.h
+++ b/selfdrive/camerad/transforms/rgb_to_yuv.h
@ -1,6 +1,6 @@
 #pragma once

-#include "common/clutil.h"
+#include "selfdrive/common/clutil.h"

 class Rgb2Yuv {
 public:
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
@ -1,18 +1,19 @@
-#include <memory.h>
-#include <iostream>
+#include <fcntl.h>
 #include <getopt.h>
 #include <math.h>
-#include <fstream>
-#include <cstdlib>
-#include <vector>
-#include <string>
-#include <iomanip>
-#include <thread>
-#include <fcntl.h>
+#include <memory.h>
 #include <signal.h>
 #include <unistd.h>
+
 #include <cassert>
 #include <cstdint>
+#include <cstdlib>
+#include <fstream>
+#include <iomanip>
+#include <iostream>
+#include <string>
+#include <thread>
+#include <vector>

 #ifdef ANDROID

@ -26,13 +27,11 @@

 #endif

-#include <libyuv.h>
-
 #include <CL/cl.h>

-#include "clutil.h"
-#include "rgb_to_yuv.h"
-
+#include "libyuv.h"
+#include "selfdrive/camerad/transforms/rgb_to_yuv.h"
+#include "selfdrive/common/clutil.h"

 static inline double millis_since_boot() {
  struct timespec t;
--- a/selfdrive/clocksd/clocksd.cc
+++ b/selfdrive/clocksd/clocksd.cc
@ -1,8 +1,8 @@
-#include <stdio.h>
 #include <stdint.h>
-#include <unistd.h>
+#include <stdio.h>
 #include <sys/resource.h>
 #include <sys/time.h>
+#include <unistd.h>

 // Apple doesn't have timerfd
 #ifdef __APPLE__
@ -14,9 +14,9 @@
 #include <cassert>
 #include <chrono>

-#include "messaging.h"
-#include "common/timing.h"
-#include "common/util.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

 ExitHandler do_exit;

--- a/selfdrive/common/clutil.cc
+++ b/selfdrive/common/clutil.cc
@ -1,12 +1,15 @@
-#include "clutil.h"
+#include "selfdrive/common/clutil.h"
+
 #include <assert.h>
 #include <inttypes.h>
 #include <string.h>
 #include <sys/stat.h>
-#include <memory>
+
 #include <iostream>
+#include <memory>
 #include <vector>
-#include "util.h"
+
+#include "selfdrive/common/util.h"

 namespace {  // helper functions

--- a/selfdrive/common/framebuffer.cc
+++ b/selfdrive/common/framebuffer.cc
@ -1,15 +1,15 @@
-#include "framebuffer.h"
-#include "util.h"
+#include "selfdrive/common/framebuffer.h"
+
 #include <cstdio>
 #include <cassert>

+#include "selfdrive/common/util.h"
+
 #include <ui/DisplayInfo.h>

 #include <gui/ISurfaceComposer.h>
 #include <gui/Surface.h>
 #include <gui/SurfaceComposerClient.h>
-
-
 #include <GLES2/gl2.h>
 #include <EGL/eglext.h>

--- a/selfdrive/common/framebuffer.h
+++ b/selfdrive/common/framebuffer.h
@ -1,5 +1,7 @@
 #pragma once
+
 #include <cstdlib>
+
 #include "hardware/hwcomposer_defs.h"

 bool set_brightness(int brightness);
--- a/selfdrive/common/glutil.cc
+++ b/selfdrive/common/glutil.cc
@ -1,9 +1,10 @@
-#include <stdlib.h>
-#include <stdio.h>
-#include <assert.h>
-#include <string>
+#include "selfdrive/common/glutil.h"

-#include "glutil.h"
+#include <assert.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <string>

 static GLuint load_shader(GLenum shaderType, const char *src) {
  GLint status = 0, len = 0;
--- a/selfdrive/common/glutil.h
+++ b/selfdrive/common/glutil.h
@ -1,12 +1,13 @@
 #pragma once

-#ifdef __APPLE__
-  #include <OpenGL/gl3.h>
-#else
-  #include <GLES3/gl3.h>
-#endif
 #include <map>

+#ifdef __APPLE__
+#include <OpenGL/gl3.h>
+#else
+#include <GLES3/gl3.h>
+#endif
+
 class GLShader {
 public:
  GLShader(const char *vert_src, const char *frag_src);
--- a/selfdrive/common/gpio.cc
+++ b/selfdrive/common/gpio.cc
@ -1,8 +1,10 @@
-#include "gpio.h"
-#include "util.h"
+#include "selfdrive/common/gpio.h"
+
 #include <fcntl.h>
-#include <unistd.h>
 #include <string.h>
+#include <unistd.h>
+
+#include "selfdrive/common/util.h"

 // We assume that all pins have already been exported on boot,
 // and that we have permission to write to them.
--- a/selfdrive/common/i2c.cc
+++ b/selfdrive/common/i2c.cc
@ -1,12 +1,14 @@
-#include "i2c.h"
+#include "selfdrive/common/i2c.h"
+
+#include <fcntl.h>
+#include <stdio.h>
+#include <sys/ioctl.h>
+#include <unistd.h>

 #include <cassert>
-#include <unistd.h>
 #include <stdexcept>
-#include <stdio.h>
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include "common/swaglog.h"
+
+#include "selfdrive/common/swaglog.h"

 #define UNUSED(x) (void)(x)

--- a/selfdrive/common/modeldata.h
+++ b/selfdrive/common/modeldata.h
@ -19,7 +19,7 @@ const double X_IDXS[TRAJECTORY_SIZE] = { 0.    ,   0.1875,   0.75  ,   1.6875,

 #ifdef __cplusplus

-#include "common/mat.h"
+#include "selfdrive/common/mat.h"
 #include "selfdrive/hardware/hw.h"
 const mat3 fcam_intrinsic_matrix =
    Hardware::TICI() ? (mat3){{2648.0, 0.0, 1928.0 / 2,
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@ -1,22 +1,25 @@
-#include "common/params.h"
+#include "selfdrive/common/params.h"

 #ifndef _GNU_SOURCE
 #define _GNU_SOURCE
 #endif  // _GNU_SOURCE

+#include <dirent.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <unistd.h>
-#include <dirent.h>
+#include <string.h>
 #include <sys/file.h>
 #include <sys/stat.h>
-#include <mutex>
+#include <unistd.h>
+
 #include <csignal>
-#include <string.h>
+#include <mutex>
 #include <unordered_map>
-#include "common/util.h"
-#include "common/swaglog.h"
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
+
 // keep trying if x gets interrupted by a signal
 #define HANDLE_EINTR(x)                                       \
  ({                                                          \
--- a/selfdrive/common/params.h
+++ b/selfdrive/common/params.h
@ -1,9 +1,10 @@
 #pragma once

 #include <stddef.h>
+
 #include <map>
-#include <string>
 #include <sstream>
+#include <string>

 #define ERR_NO_VALUE -33

--- a/selfdrive/common/swaglog.cc
+++ b/selfdrive/common/swaglog.cc
@ -2,22 +2,22 @@
 #define _GNU_SOURCE
 #endif

-#include <string>
-#include <string.h>
-#include <assert.h>
-
-#include <mutex>
-#include <zmq.h>
-
-#include "json11.hpp"
-
-#include "common/util.h"
-#include "common/version.h"
-#include "selfdrive/hardware/hw.h"
 #include "swaglog.h"

+#include <assert.h>
+#include <string.h>
+#include <mutex>
+#include <string>
+
+#include <zmq.h>
+#include "json11.hpp"
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/version.h"
+#include "selfdrive/hardware/hw.h"
+
 class LogState {
-public:
+ public:
  LogState() = default;
  ~LogState();
  std::mutex lock;
--- a/selfdrive/common/timing.h
+++ b/selfdrive/common/timing.h
@ -1,5 +1,4 @@
-#ifndef COMMON_TIMING_H
-#define COMMON_TIMING_H
+#pragma once

 #include <stdint.h>
 #include <time.h>
@ -50,5 +49,3 @@ static inline uint64_t nanos_monotonic_raw() {
  clock_gettime(CLOCK_MONOTONIC_RAW, &t);
  return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
-
-#endif
--- a/selfdrive/common/touch.c
+++ b/selfdrive/common/touch.c
@ -1,14 +1,14 @@
+#include "selfdrive/common/touch.h"
+
+#include <assert.h>
+#include <dirent.h>
+#include <fcntl.h>
+#include <linux/input.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
-#include <assert.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <dirent.h>
 #include <sys/poll.h>
-#include <linux/input.h>
-
-#include "touch.h"
+#include <unistd.h>

 /* this macro is used to tell if "bit" is set in "array"
 * it selects a byte from the array, and does a boolean AND
--- a/selfdrive/common/util.cc
+++ b/selfdrive/common/util.cc
@ -1,7 +1,8 @@
-#include <errno.h>
-#include <sstream>
+#include "selfdrive/common/util.h"

-#include "common/util.h"
+#include <errno.h>
+
+#include <sstream>

 #ifdef __linux__
 #include <sys/prctl.h>
@ -10,7 +11,7 @@
 #define __USE_GNU
 #endif
 #include <sched.h>
-#endif // __linux__
+#endif  // __linux__

 void set_thread_name(const char* name) {
 #ifdef __linux__
--- a/selfdrive/common/util.h
+++ b/selfdrive/common/util.h
@ -1,19 +1,19 @@
 #pragma once

-#include <cstdio>
-#include <csignal>
-#include <cassert>
-#include <cstring>
-#include <unistd.h>
 #include <fcntl.h>
+#include <unistd.h>

-#include <string>
-#include <memory>
-#include <atomic>
-#include <fstream>
-#include <thread>
-#include <chrono>
 #include <algorithm>
+#include <atomic>
+#include <cassert>
+#include <chrono>
+#include <csignal>
+#include <cstdio>
+#include <cstring>
+#include <fstream>
+#include <memory>
+#include <string>
+#include <thread>

 #ifndef sighandler_t
 typedef void (*sighandler_t)(int sig);
--- a/selfdrive/common/visionimg.cc
+++ b/selfdrive/common/visionimg.cc
@ -1,11 +1,12 @@
+#include "selfdrive/common/visionimg.h"
+
 #include <cassert>
-#include "common/visionimg.h"

 #ifdef QCOM
+#include <gralloc_priv.h>
 #include <system/graphics.h>
 #include <ui/GraphicBuffer.h>
 #include <ui/PixelFormat.h>
-#include <gralloc_priv.h>
 #define GL_GLEXT_PROTOTYPES
 #include <GLES2/gl2ext.h>
 using namespace android;
--- a/selfdrive/common/visionimg.h
+++ b/selfdrive/common/visionimg.h
@ -3,9 +3,9 @@
 #include "visionbuf.h"

 #ifdef __APPLE__
-  #include <OpenGL/gl3.h>
+#include <OpenGL/gl3.h>
 #else
-  #include <GLES3/gl3.h>
+#include <GLES3/gl3.h>
 #endif

 #ifdef QCOM
--- a/selfdrive/common/watchdog.cc
+++ b/selfdrive/common/watchdog.cc
@ -1,10 +1,12 @@
-#include <string>
-#include <cstdint>
+#include "selfdrive/common/watchdog.h"
+
 #include <unistd.h>

-#include "common/timing.h"
-#include "common/util.h"
-#include "common/watchdog.h"
+#include <cstdint>
+#include <string>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>

--- a/selfdrive/controls/lib/lateral_mpc/generator.cpp
+++ b/selfdrive/controls/lib/lateral_mpc/generator.cpp
@ -1,6 +1,6 @@
 #include <math.h>
 #include <acado_code_generation.hpp>
-#include "common/modeldata.h"
+#include "selfdrive/common/modeldata.h"

 #define deg2rad(d) (d/180.0*M_PI)

--- a/selfdrive/hardware/base.h
+++ b/selfdrive/hardware/base.h
@ -3,7 +3,6 @@
 #include <cstdlib>
 #include <fstream>

-
 // no-op base hw class
 class HardwareNone {
 public:
--- a/selfdrive/hardware/eon/hardware.h
+++ b/selfdrive/hardware/eon/hardware.h
@ -1,12 +1,12 @@
 #pragma once

-#include <cstdlib>
-#include <fstream>
-
 #include <gui/ISurfaceComposer.h>
 #include <gui/SurfaceComposerClient.h>
 #include <hardware/hwcomposer_defs.h>

+#include <cstdlib>
+#include <fstream>
+
 #include "selfdrive/common/util.h"
 #include "selfdrive/hardware/base.h"

--- a/selfdrive/hardware/tici/hardware.h
+++ b/selfdrive/hardware/tici/hardware.h
@ -3,8 +3,8 @@
 #include <cstdlib>
 #include <fstream>

-#include "selfdrive/common/util.h"
 #include "selfdrive/common/params.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/base.h"

 class HardwareTici : public HardwareNone {
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@ -1,21 +1,22 @@
 #pragma once

-#include <fstream>
-#include <string>
-#include <memory>
-
 #include <eigen3/Eigen/Dense>
+#include <fstream>
+#include <memory>
+#include <string>

-#include "messaging.h"
-#include "common/params.h"
-#include "common/util.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
+#include "cereal/messaging/messaging.h"
 #include "common/transformations/coordinates.hpp"
 #include "common/transformations/orientation.hpp"
-#include "selfdrive/sensord/sensors/constants.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

-#include "models/live_kf.h"
+#include "selfdrive/sensord/sensors/constants.h"
+#define VISION_DECIMATION 2
+#define SENSOR_DECIMATION 10
+#include "selfdrive/locationd/models/live_kf.h"

 #define POSENET_STD_HIST_HALF 20

--- a/selfdrive/locationd/ublox_msg.cc
+++ b/selfdrive/locationd/ublox_msg.cc
@ -1,16 +1,17 @@
+#include "ublox_msg.h"
+
+#include <unistd.h>
+
+#include <cassert>
+#include <chrono>
+#include <cmath>
 #include <cstdio>
 #include <cstdlib>
-#include <unistd.h>
-#include <cmath>
 #include <ctime>
-#include <chrono>
 #include <iostream>
-#include <cassert>
 #include <unordered_map>

-#include "common/swaglog.h"
-
-#include "ublox_msg.h"
+#include "selfdrive/common/swaglog.h"

 const double gpsPi = 3.1415926535898;
 #define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
--- a/selfdrive/locationd/ublox_msg.h
+++ b/selfdrive/locationd/ublox_msg.h
@ -1,13 +1,13 @@
 #pragma once

-#include <string>
 #include <cstdint>
 #include <memory>
+#include <string>
 #include <unordered_map>

-#include "messaging.h"
-#include "generated/ubx.h"
-#include "generated/gps.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/locationd/generated/gps.h"
+#include "selfdrive/locationd/generated/ubx.h"

 // protocol constants
 namespace ublox {
--- a/selfdrive/locationd/ubloxd.cc
+++ b/selfdrive/locationd/ubloxd.cc
@ -1,9 +1,9 @@
-#include "messaging.h"
-#include "common/util.h"
-#include "common/swaglog.h"
+#include <kaitai/kaitaistream.h>

-#include "ublox_msg.h"
-#include "kaitai/kaitaistream.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/locationd/ublox_msg.h"

 ExitHandler do_exit;
 using namespace ublox;
--- a/selfdrive/logcatd/logcatd_android.cc
+++ b/selfdrive/logcatd/logcatd_android.cc
@ -5,8 +5,8 @@
 #include <log/logger.h>
 #include <log/logprint.h>

-#include "common/util.h"
-#include "messaging.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"

 int main() {
  setpriority(PRIO_PROCESS, 0, -15);
--- a/selfdrive/logcatd/logcatd_systemd.cc
+++ b/selfdrive/logcatd/logcatd_systemd.cc
@ -1,15 +1,16 @@
-#include <iostream>
-#include <cassert>
-#include <csignal>
-#include <string>
-#include <map>
-
-#include "json11.hpp"
 #include <systemd/sd-journal.h>

-#include "common/timing.h"
-#include "common/util.h"
-#include "messaging.h"
+#include <cassert>
+#include <csignal>
+#include <iostream>
+#include <map>
+#include <string>
+
+#include "json11.hpp"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

 ExitHandler do_exit;
 int main(int argc, char *argv[]) {
--- a/selfdrive/loggerd/bootlog.cc
+++ b/selfdrive/loggerd/bootlog.cc
@ -1,8 +1,10 @@
 #include <assert.h>
+
 #include <string>
-#include "common/swaglog.h"
-#include "logger.h"
-#include "messaging.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/loggerd/logger.h"

 static kj::Array<capnp::word> build_boot_log() {
  MessageBuilder msg;
--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@ -1,28 +1,27 @@
+#include "selfdrive/loggerd/logger.h"
+
+#include <assert.h>
+#include <errno.h>
+#include <stdbool.h>
+#include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdint.h>
-#include <stdbool.h>
 #include <string.h>
-#include <assert.h>
-#include <time.h>
-#include <errno.h>
-#include <unistd.h>
 #include <sys/stat.h>
+#include <time.h>
+#include <unistd.h>

-#include <iostream>
 #include <fstream>
+#include <iostream>
 #include <streambuf>
 #ifdef QCOM
 #include <cutils/properties.h>
 #endif

-#include "common/swaglog.h"
-#include "common/params.h"
-#include "common/version.h"
-#include "messaging.h"
-#include "selfdrive/hardware/hw.h"
-#include "logger.h"
-
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/version.h"

 // ***** logging helpers *****

--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
@ -1,13 +1,17 @@
 #pragma once

-#include <stdio.h>
-#include <stdint.h>
 #include <pthread.h>
+#include <stdint.h>
+#include <stdio.h>
+
 #include <memory>
+
 #include <bzlib.h>
-#include <kj/array.h>
 #include <capnp/serialize.h>
-#include "common/util.h"
+#include <kj/array.h>
+
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/swaglog.h"
 #include "selfdrive/hardware/hw.h"

 const std::string LOG_ROOT =
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@ -1,41 +1,40 @@
-#include <cstdio>
-#include <cstdlib>
-#include <cstdint>
-#include <cassert>
-#include <unistd.h>
 #include <errno.h>
-#include <string.h>
+#include <ftw.h>
 #include <inttypes.h>
 #include <pthread.h>
+#include <string.h>
 #include <sys/resource.h>
+#include <unistd.h>

+#include <atomic>
+#include <cassert>
+#include <condition_variable>
+#include <cstdint>
+#include <cstdio>
+#include <cstdlib>
+#include <mutex>
+#include <random>
 #include <string>
 #include <thread>
-#include <mutex>
-#include <condition_variable>
-#include <atomic>
-#include <random>

-#include <ftw.h>
-
-#include "common/timing.h"
-#include "common/params.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-#include "camerad/cameras/camera_common.h"
-#include "logger.h"
-#include "messaging.h"
-#include "services.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/camerad/cameras/camera_common.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-#include "visionipc.h"
-#include "visionipc_client.h"

-#include "encoder.h"
+#include "selfdrive/loggerd/encoder.h"
+#include "selfdrive/loggerd/logger.h"
 #if defined(QCOM) || defined(QCOM2)
-#include "omx_encoder.h"
+#include "selfdrive/loggerd/omx_encoder.h"
 #define Encoder OmxEncoder
 #else
-#include "raw_logger.h"
+#include "selfdrive/loggerd/raw_logger.h"
 #define Encoder RawLogger
 #endif

--- a/selfdrive/loggerd/omx_encoder.cc
+++ b/selfdrive/loggerd/omx_encoder.cc
@ -1,25 +1,24 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"

+#include "selfdrive/loggerd/omx_encoder.h"
+
+#include <assert.h>
+#include <fcntl.h>
+#include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdbool.h>
-#include <unistd.h>
-#include <assert.h>
 #include <sys/stat.h>
-#include <fcntl.h>
+#include <unistd.h>

 #include <OMX_Component.h>
 #include <OMX_IndexExt.h>
-#include <OMX_VideoExt.h>
 #include <OMX_QCOMExtns.h>
+#include <OMX_VideoExt.h>
+#include "libyuv.h"

-#include <libyuv.h>
-#include <msm_media_info.h>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-#include "omx_encoder.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/loggerd/include/msm_media_info.h"

 // Check the OMX error code and assert if an error occurred.
 #define OMX_CHECK(_expr)          \
--- a/selfdrive/loggerd/omx_encoder.h
+++ b/selfdrive/loggerd/omx_encoder.h
@ -1,17 +1,18 @@
 #pragma once

-#include <stdio.h>
-#include <stdint.h>
 #include <stdbool.h>
-#include <vector>
-#include <OMX_Component.h>
+#include <stdint.h>
+#include <stdio.h>

+#include <vector>
+
+#include <OMX_Component.h>
 extern "C" {
-  #include <libavformat/avformat.h>
+#include <libavformat/avformat.h>
 }

-#include "encoder.h"
-#include "common/queue.h"
+#include "selfdrive/common/queue.h"
+#include "selfdrive/loggerd/encoder.h"

 // OmxEncoder, lossey codec using hardware hevc
 class OmxEncoder : public VideoEncoder {
--- a/selfdrive/loggerd/raw_logger.cc
+++ b/selfdrive/loggerd/raw_logger.cc
@ -1,24 +1,24 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"

-#include <cstdio>
-#include <cstdlib>
-#include <cassert>
+#include "selfdrive/loggerd/raw_logger.h"

 #include <fcntl.h>
 #include <unistd.h>

+#include <cassert>
+#include <cstdio>
+#include <cstdlib>
+
 #define __STDC_CONSTANT_MACROS

 extern "C" {
-#include <libavutil/imgutils.h>
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
 }

-#include "common/swaglog.h"
-#include "common/util.h"
-
-#include "raw_logger.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"

 RawLogger::RawLogger(const char* filename, int width, int height, int fps,
                     int bitrate, bool h265, bool downscale)
--- a/selfdrive/loggerd/raw_logger.h
+++ b/selfdrive/loggerd/raw_logger.h
@ -2,20 +2,19 @@

 #include <cstdio>
 #include <cstdlib>
-
 #include <string>
 #include <vector>

 extern "C" {
-#include <libavutil/imgutils.h>
 #include <libavcodec/avcodec.h>
 #include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
 }

-#include "encoder.h"
+#include "selfdrive/loggerd/encoder.h"

 class RawLogger : public VideoEncoder {
-public:
+ public:
  RawLogger(const char* filename, int width, int height, int fps,
            int bitrate, bool h265, bool downscale);
  ~RawLogger();
--- a/selfdrive/loggerd/tests/testraw.cc
+++ b/selfdrive/loggerd/tests/testraw.cc
@ -1,13 +1,13 @@
-#include <cstdio>
-#include <cstdlib>
 #include <unistd.h>
-
 #include <zmq.h>

-#include "common/visionipc.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "RawLogger.h"
+#include <cstdio>
+#include <cstdlib>
+
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/common/visionipc.h"
+#include "selfdrive/loggerd/raw_logger.h"

 int main() {
  int err;
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@ -1,16 +1,12 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <sys/resource.h>
+#include <limits.h>

-#include "visionipc_client.h"
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#include "models/dmonitoring.h"
-
-#ifndef PATH_MAX
-#include <linux/limits.h>
-#endif
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/dmonitoring.h"

 ExitHandler do_exit;

--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@ -1,16 +1,18 @@
 #include <stdio.h>
 #include <stdlib.h>
+
 #include <mutex>
+
 #include <eigen3/Eigen/Dense>

-#include "visionipc_client.h"
-#include "common/swaglog.h"
-#include "common/clutil.h"
-#include "common/util.h"
-#include "common/params.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"
 #include "selfdrive/hardware/hw.h"
-#include "models/driving.h"
-#include "messaging.h"
+#include "selfdrive/modeld/models/driving.h"

 ExitHandler do_exit;
 // globals
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@ -1,10 +1,13 @@
+#include "commonmodel.h"
+
 #include <assert.h>
 #include <math.h>
+
 #include <algorithm>
-#include "commonmodel.h"
-#include "common/clutil.h"
-#include "common/mat.h"
-#include "common/timing.h"
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/timing.h"

 void frame_init(ModelFrame* frame, int width, int height,
                      cl_device_id device_id, cl_context context) {
--- a/selfdrive/modeld/models/commonmodel.h
+++ b/selfdrive/modeld/models/commonmodel.h
@ -1,4 +1,8 @@
 #pragma once
+
+#include <float.h>
+#include <stdlib.h>
+
 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
@ -6,11 +10,9 @@
 #include <CL/cl.h>
 #endif

-#include <float.h>
-#include <stdlib.h>
-#include "common/mat.h"
-#include "transforms/transform.h"
-#include "transforms/loadyuv.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/modeld/transforms/loadyuv.h"
+#include "selfdrive/modeld/transforms/transform.h"

 const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;

--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@ -1,11 +1,13 @@
-#include <string.h>
-#include <libyuv.h>
-#include "selfdrive/hardware/hw.h"
-#include "dmonitoring.h"
-#include "common/mat.h"
-#include "common/timing.h"
-#include "common/params.h"
+#include "selfdrive/modeld/models/dmonitoring.h"

+#include <string.h>
+
+#include "libyuv.h"
+
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/hardware/hw.h"

 #define MODEL_WIDTH 320
 #define MODEL_HEIGHT 640
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@ -1,9 +1,11 @@
 #pragma once
+
 #include <vector>
-#include "common/util.h"
-#include "commonmodel.h"
-#include "runners/run.h"
-#include "messaging.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"

 #define OUTPUT_SIZE 38

--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@ -1,14 +1,16 @@

-#include <string.h>
+#include "driving.h"
+
 #include <assert.h>
 #include <fcntl.h>
+#include <string.h>
 #include <unistd.h>
+
 #include <eigen3/Eigen/Dense>

-#include "common/timing.h"
-#include "common/params.h"
-#include "driving.h"
-#include "clutil.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/params.h"
+#include "selfdrive/common/timing.h"

 constexpr int DESIRE_PRED_SIZE = 32;
 constexpr int OTHER_META_SIZE = 4;
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@ -5,15 +5,14 @@
 #define DESIRE
 #define TRAFFIC_CONVENTION

-#include "common/mat.h"
-#include "common/util.h"
-#include "common/modeldata.h"
-
-#include "commonmodel.h"
-#include "runners/run.h"
-
 #include <memory>
-#include "messaging.h"
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/mat.h"
+#include "selfdrive/common/modeldata.h"
+#include "selfdrive/common/util.h"
+#include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/runners/run.h"

 constexpr int DESIRE_LEN = 8;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@ -1,16 +1,18 @@
 #include "onnxmodel.h"
-#include <stdio.h>
-#include <string>
-#include <string.h>
+
 #include <poll.h>
 #include <signal.h>
-#include <unistd.h>
+#include <stdio.h>
 #include <stdlib.h>
-#include <stdexcept>
-#include "common/util.h"
-#include "common/swaglog.h"
-#include <cassert>
+#include <string.h>
+#include <unistd.h>

+#include <cassert>
+#include <stdexcept>
+#include <string>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"

 ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime) {
  output = _output;
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@ -1,8 +1,8 @@
-#ifndef ONNXMODEL_H
-#define ONNXMODEL_H
+#pragma once

 #include <stdlib.h>
-#include "runmodel.h"
+
+#include "selfdrive/modeld/runners/runmodel.h"

 class ONNXModel : public RunModel {
 public:
@ -32,5 +32,3 @@ private:
  int pipeout[2];
 };

-#endif
-
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@ -4,13 +4,13 @@
 #include "snpemodel.h"

 #if defined(QCOM) || defined(QCOM2)
-  #include "thneedmodel.h"
-  #define DefaultRunModel SNPEModel
+#include "thneedmodel.h"
+#define DefaultRunModel SNPEModel
 #else
-  #ifdef USE_ONNX_MODEL
-    #include "onnxmodel.h"
-    #define DefaultRunModel ONNXModel
-  #else
-    #define DefaultRunModel SNPEModel
-  #endif
+#ifdef USE_ONNX_MODEL
+#include "onnxmodel.h"
+#define DefaultRunModel ONNXModel
+#else
+#define DefaultRunModel SNPEModel
+#endif
 #endif
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@ -1,6 +1,4 @@
-#ifndef RUNMODEL_H
-#define RUNMODEL_H
-
+#pragma once
 class RunModel {
 public:
  virtual void addRecurrent(float *state, int state_size) {}
@ -9,5 +7,3 @@ public:
  virtual void execute(float *net_input_buf, int buf_size) {}
 };

-#endif
-
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@ -1,10 +1,13 @@
 #pragma clang diagnostic ignored "-Wexceptions"

-#include <cassert>
-#include <string.h>
+#include "selfdrive/modeld/runners/snpemodel.h"
+
 #include <stdlib.h>
-#include "common/util.h"
-#include "snpemodel.h"
+#include <string.h>
+
+#include <cassert>
+
+#include "selfdrive/common/util.h"

 void PrintErrorStringAndExit() {
  std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@ -1,15 +1,14 @@
-#ifndef SNPEMODEL_H
-#define SNPEMODEL_H
+#pragma once

-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
 #include <DlContainer/IDlContainer.hpp>
 #include <DlSystem/DlError.hpp>
 #include <DlSystem/ITensor.hpp>
 #include <DlSystem/ITensorFactory.hpp>
 #include <DlSystem/IUserBuffer.hpp>
 #include <DlSystem/IUserBufferFactory.hpp>
+#include <SNPE/SNPE.hpp>
+#include <SNPE/SNPEBuilder.hpp>
+#include <SNPE/SNPEFactory.hpp>

 #include "runmodel.h"

@ -18,7 +17,7 @@
 #define USE_DSP_RUNTIME 2

 #ifdef USE_THNEED
-#include "thneed/thneed.h"
+#include "selfdrive/modeld/thneed/thneed.h"
 #endif

 class SNPEModel : public RunModel {
@ -63,6 +62,3 @@ private:
  float *desire;
  std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
 };
-
-#endif
-
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@ -1,4 +1,5 @@
 #include "thneedmodel.h"
+
 #include <assert.h>

 ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ b/selfdrive/modeld/runners/thneedmodel.h
@ -1,7 +1,7 @@
 #pragma once

-#include "runmodel.h"
-#include "thneed/thneed.h"
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"

 class ThneedModel : public RunModel {
 public:
--- a/selfdrive/modeld/thneed/compile.cc
+++ b/selfdrive/modeld/thneed/compile.cc
@ -1,6 +1,7 @@
 #include <string.h>
-#include "thneed.h"
-#include "../runners/snpemodel.h"
+
+#include "selfdrive/modeld/runners/snpemodel.h"
+#include "selfdrive/modeld/thneed/thneed.h"

 #define TEMPORAL_SIZE 512
 #define DESIRE_LEN 8
--- a/selfdrive/modeld/thneed/serialize.cc
+++ b/selfdrive/modeld/thneed/serialize.cc
@ -1,7 +1,9 @@
-#include <set>
 #include <assert.h>
-#include "thneed.h"
+
+#include <set>
+
 #include "json11.hpp"
+#include "selfdrive/modeld/thneed/thneed.h"
 using namespace json11;

 extern map<cl_program, string> g_program_source;
--- a/selfdrive/modeld/thneed/thneed.cc
+++ b/selfdrive/modeld/thneed/thneed.cc
@ -1,13 +1,16 @@
-#include <cassert>
-#include <sys/mman.h>
+#include "selfdrive/modeld/thneed/thneed.h"
+
 #include <dlfcn.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/mman.h>
+
+#include <cassert>
 #include <map>
 #include <string>
-#include <string.h>
-#include <errno.h>
-#include "common/timing.h"
-#include "common/clutil.h"
-#include "thneed.h"
+
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/common/timing.h"

 //#define RUN_DISASSEMBLER
 //#define RUN_OPTIMIZER
--- a/selfdrive/modeld/thneed/thneed.h
+++ b/selfdrive/modeld/thneed/thneed.h
@ -1,16 +1,18 @@
 #pragma once

 #ifndef __user
-  #define __user __attribute__(())
+#define __user __attribute__(())
 #endif

-#include <stdlib.h>
+#include <CL/cl.h>
 #include <stdint.h>
-#include "include/msm_kgsl.h"
-#include <vector>
+#include <stdlib.h>
+
 #include <memory>
 #include <string>
-#include <CL/cl.h>
+#include <vector>
+
+#include "selfdrive/modeld/thneed/include/msm_kgsl.h"

 #define THNEED_RECORD 1
 #define THNEED_DEBUG 2
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@ -1,7 +1,8 @@
-#include <string.h>
-#include <assert.h>
 #include "loadyuv.h"

+#include <assert.h>
+#include <string.h>
+
 void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
  memset(s, 0, sizeof(*s));

--- a/selfdrive/modeld/transforms/loadyuv.h
+++ b/selfdrive/modeld/transforms/loadyuv.h
@ -2,7 +2,8 @@

 #include <inttypes.h>
 #include <stdbool.h>
-#include "clutil.h"
+
+#include "selfdrive/common/clutil.h"

 typedef struct {
  int width, height;
--- a/selfdrive/modeld/transforms/transform.cc
+++ b/selfdrive/modeld/transforms/transform.cc
@ -1,10 +1,10 @@
-#include <string.h>
-#include <assert.h>
-
-#include "clutil.h"
-
 #include "transform.h"

+#include <assert.h>
+#include <string.h>
+
+#include "selfdrive/common/clutil.h"
+
 void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
  memset(s, 0, sizeof(*s));

--- a/selfdrive/modeld/transforms/transform.h
+++ b/selfdrive/modeld/transforms/transform.h
@ -10,7 +10,7 @@
 #include <CL/cl.h>
 #endif

-#include "common/mat.h"
+#include "selfdrive/common/mat.h"

 typedef struct {
  cl_kernel krnl;
--- a/selfdrive/modeld/visiontest.c
+++ b/selfdrive/modeld/visiontest.c
@ -9,8 +9,8 @@
 #include <CL/cl.h>
 #endif

-#include "clutil.h"
-#include "transforms/transform.h"
+#include "selfdrive/common/clutil.h"
+#include "selfdrive/modeld/transforms/transform.h"

 typedef struct {
  int disable_model;
--- a/selfdrive/proclogd/proclogd.cc
+++ b/selfdrive/proclogd/proclogd.cc
@ -1,24 +1,22 @@
-#include <unistd.h>
 #include <dirent.h>
-#include <sys/time.h>
 #include <sys/resource.h>
+#include <sys/time.h>

+#include <algorithm>
+#include <cassert>
+#include <climits>
 #include <cstdio>
 #include <cstdlib>
-#include <climits>
-#include <cassert>
-#include <memory>
-#include <utility>
-#include <sstream>
 #include <fstream>
-#include <algorithm>
 #include <functional>
+#include <memory>
+#include <sstream>
 #include <unordered_map>
+#include <utility>

-#include "messaging.h"
-
-#include "common/timing.h"
-#include "common/util.h"
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/common/timing.h"
+#include "selfdrive/common/util.h"

 ExitHandler do_exit;

--- a/selfdrive/sensord/libdiag.h
+++ b/selfdrive/sensord/libdiag.h
@ -1,5 +1,4 @@
-#ifndef LIBDIAG_H
-#define LIBDIAG_H
+#pragma once

 #include <stdint.h>
 #include <stdbool.h>
@ -36,5 +35,3 @@ int diag_send_dci_async_req(int client_id, unsigned char buf[], int bytes, unsig
 #ifdef __cplusplus
 }
 #endif
-
-#endif
--- a/selfdrive/sensord/sensors/bmx055_accel.cc
+++ b/selfdrive/sensord/sensors/bmx055_accel.cc
@ -1,9 +1,9 @@
-#include <cassert>
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "bmx055_accel.h"

+#include <cassert>
+
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"

 BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}

--- a/selfdrive/sensord/sensors/bmx055_accel.h
+++ b/selfdrive/sensord/sensors/bmx055_accel.h
@ -1,6 +1,6 @@
 #pragma once

-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"

 // Address of the chip on the bus
 #define BMX055_ACCEL_I2C_ADDR       0x18
--- a/selfdrive/sensord/sensors/bmx055_gyro.cc
+++ b/selfdrive/sensord/sensors/bmx055_gyro.cc
@ -1,8 +1,9 @@
+#include "bmx055_gyro.h"
+
 #include <cassert>
 #include <cmath>
-#include "common/swaglog.h"

-#include "bmx055_gyro.h"
+#include "selfdrive/common/swaglog.h"

 #define DEG2RAD(x) ((x) * M_PI / 180.0)

--- a/selfdrive/sensord/sensors/bmx055_gyro.h
+++ b/selfdrive/sensord/sensors/bmx055_gyro.h
@ -1,6 +1,6 @@
 #pragma once

-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"

 // Address of the chip on the bus
 #define BMX055_GYRO_I2C_ADDR        0x68
--- a/selfdrive/sensord/sensors/bmx055_magn.cc
+++ b/selfdrive/sensord/sensors/bmx055_magn.cc
@ -1,12 +1,13 @@
-#include <cassert>
-#include <cstdio>
-#include <algorithm>
+#include "bmx055_magn.h"
+
 #include <unistd.h>

-#include "common/swaglog.h"
-#include "common/util.h"
+#include <algorithm>
+#include <cassert>
+#include <cstdio>

-#include "bmx055_magn.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/util.h"

 static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
  uint16_t process_comp_x0 = data_rhall;
--- a/selfdrive/sensord/sensors/bmx055_magn.h
+++ b/selfdrive/sensord/sensors/bmx055_magn.h
@ -1,7 +1,7 @@
 #pragma once
 #include <tuple>

-#include "sensors/i2c_sensor.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"

 // Address of the chip on the bus
 #define BMX055_MAGN_I2C_ADDR        0x10
--- a/selfdrive/sensord/sensors/bmx055_temp.cc
+++ b/selfdrive/sensord/sensors/bmx055_temp.cc
@ -1,10 +1,10 @@
-#include <cassert>
-#include "common/swaglog.h"
-#include "common/timing.h"
-
 #include "bmx055_temp.h"
-#include "bmx055_accel.h"

+#include <cassert>
+
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/common/swaglog.h"
+#include "selfdrive/common/timing.h"

 BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}

--- a/selfdrive/sensord/sensors/bmx055_temp.h
+++ b/selfdrive/sensord/sensors/bmx055_temp.h
@ -1,8 +1,7 @@
 #pragma once

-#include "sensors/i2c_sensor.h"
-#include "sensors/bmx055_accel.h"
-
+#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "selfdrive/sensord/sensors/i2c_sensor.h"

 class BMX055_Temp : public I2CSensor {
  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
--- a/selfdrive/sensord/sensors/file_sensor.cc
+++ b/selfdrive/sensord/sensors/file_sensor.cc
@ -1,8 +1,8 @@
+#include "file_sensor.h"
+
 #include <iostream>
 #include <string>

-#include "file_sensor.h"
-
 FileSensor::FileSensor(std::string filename) : file(filename) {
 }

--- a/selfdrive/sensord/sensors/file_sensor.h
+++ b/selfdrive/sensord/sensors/file_sensor.h
@ -4,8 +4,7 @@
 #include <string>

 #include "cereal/gen/cpp/log.capnp.h"
-#include "sensors/sensor.h"
-
+#include "selfdrive/sensord/sensors/sensor.h"

 class FileSensor : public Sensor {
 protected:
--- a/Show More
+++ b/Show More