try first_party

.github/labeler.yaml

@@ -4,7 +4,7 @@ CI / testing:
 
 car:
   - changed-files:
-    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,opendbc_repo}'
+    - any-glob-to-all-files: '{openpilot/selfdrive/car/**,first_party/opendbc_repo}'
 
 simulation:
   - changed-files:

.github/workflows/model_review.yaml

@@ -32,7 +32,7 @@ jobs:
         run: |
           echo "content<<EOF" >> $GITHUB_OUTPUT
           echo "## Model Review" >> $GITHUB_OUTPUT
-          PYTHONPATH=${{ github.workspace }} MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          PYTHONPATH=${{ github.workspace }}:${{ github.workspace }}/first_party MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
           echo "EOF" >> $GITHUB_OUTPUT
 
       - name: Post model report comment

.github/workflows/repo-maintenance.yaml

@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
 
 env:
-  PYTHONPATH: ${{ github.workspace }}
+  PYTHONPATH: "${{ github.workspace }}:${{ github.workspace }}/first_party"
 
 jobs:
   package_updates:

.github/workflows/tests.yaml

@@ -19,7 +19,7 @@ concurrency:
 
 env:
   CI: 1
-  PYTHONPATH: ${{ github.workspace }}
+  PYTHONPATH: "${{ github.workspace }}:${{ github.workspace }}/first_party"
   PYTEST: pytest --continue-on-collection-errors --durations=0 -n logical
 
 jobs:
@@ -33,7 +33,7 @@ jobs:
       || fromJSON('["ubuntu-24.04"]') }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
-      PYTHONPATH: /tmp/releasepilot
+      PYTHONPATH: "/tmp/releasepilot:/tmp/releasepilot/first_party"
     steps:
     - uses: actions/checkout@v6
       with:

.github/workflows/ui_preview.yaml

@@ -103,7 +103,7 @@ jobs:
         if: github.event_name == 'pull_request_target'
         id: find_diff
         run: |
-          export PYTHONPATH=${{ github.workspace }}
+          export PYTHONPATH=${{ github.workspace }}:${{ github.workspace }}/first_party
           baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
 
           COMMENT=""

.gitmodules

@@ -1,18 +1,18 @@
 [submodule "panda"]
-  path = panda
+  path = first_party/panda
   url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc_repo
+  path = first_party/opendbc_repo
   url = ../../commaai/opendbc.git
 [submodule "msgq"]
-  path = msgq_repo
+  path = first_party/msgq_repo
   url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
-  path = rednose_repo
+  path = first_party/rednose_repo
   url = ../../commaai/rednose.git
 [submodule "teleoprtc_repo"]
-  path = teleoprtc_repo
+  path = first_party/teleoprtc_repo
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
-  path = tinygrad_repo
+  path = first_party/tinygrad_repo
   url = https://github.com/tinygrad/tinygrad.git

.vscode/launch.json

@@ -53,7 +53,7 @@
       "request": "attach",
       "pid": "${command:pickMyProcess}",
       "sourceMap": {
-        ".": "${workspaceFolder}/opendbc/safety"
+        ".": "${workspaceFolder}/first_party/opendbc/safety"
       },
       "initCommands": [
         "script import time; time.sleep(3)"
@@ -63,14 +63,14 @@
       "name": "Replay drive",
       "type": "debugpy",
       "request": "launch",
-      "program": "${workspaceFolder}/opendbc/safety/tests/safety_replay/replay_drive.py",
+      "program": "${workspaceFolder}/first_party/opendbc/safety/tests/safety_replay/replay_drive.py",
       "args": [
         "${input:replayArg}"
       ],
       "console": "integratedTerminal",
       "justMyCode": false,
       "env": {
-        "PYTHONPATH": "${workspaceFolder}"
+        "PYTHONPATH": "${workspaceFolder}:${workspaceFolder}/first_party"
       },
       "subProcess": true,
       "stopOnEntry": false

Jenkinsfile

@@ -65,6 +65,10 @@ fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
 
+# submodules now live under first_party/; add it to the path (set after sourcing
+# profiles since those reset PYTHONPATH to /data/pythonpath)
+export PYTHONPATH="/data/pythonpath:/data/pythonpath/first_party"
+
 cd ${env.TEST_DIR} || true
 time ${cmd}
 END"""
@@ -237,8 +241,8 @@ node {
       },
       'replay': {
         deviceStage("model-replay", "tizi-replay", ["UNSAFE=1"], [
-          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
-          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("build", "cd openpilot/system/manager && ./build.py", [diffPaths: ["openpilot/selfdrive/modeld/", "first_party/tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
+          step("model replay", "openpilot/selfdrive/test/process_replay/model_replay.py", [diffPaths: ["openpilot/selfdrive/modeld/", "first_party/tinygrad_repo", "openpilot/selfdrive/test/process_replay/model_replay.py"]]),
         ])
       },
       'tizi': {

SConstruct

@@ -91,7 +91,7 @@ def _libflags(target, source, env, for_signature):
 env = Environment(
   ENV={
     "PATH": os.environ['PATH'],
-    "PYTHONPATH": Dir("#").abspath,
+    "PYTHONPATH": Dir("#").abspath + os.pathsep + Dir("#first_party").abspath,
     "ACADOS_SOURCE_DIR": acados.DIR,
     "ACADOS_PYTHON_INTERFACE_PATH": acados.TEMPLATE_DIR,
     "TERA_PATH": acados.TERA_PATH
@@ -114,24 +114,25 @@ env = Environment(
   CPPPATH=[
     "#",
     "#openpilot",
-    "#msgq",
+    "#first_party",
+    "#first_party/msgq",
     "#openpilot/cereal/gen/cpp",
     acados_include_dirs,
     [x.INCLUDE_DIR for x in pkgs],
   ],
   LIBPATH=[
     "#openpilot/common",
-    "#msgq_repo",
+    "#first_party/msgq_repo",
     "#openpilot/selfdrive/pandad",
-    "#rednose/helpers",
+    "#first_party/rednose/helpers",
     [x.LIB_DIR for x in pkgs],
   ],
   RPATH=[],
   CYTHONCFILESUFFIX=".cpp",
   COMPILATIONDB_USE_ABSPATH=True,
-  REDNOSE_ROOT="#",
+  REDNOSE_ROOT="#first_party",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#first_party/rednose_repo/site_scons/site_tools"],
 )
 if arch != "larch64":
   env['_LIBFLAGS'] = _libflags
@@ -221,7 +222,7 @@ Export('common')
 # Enable swaglog include in submodules
 env_swaglog = env.Clone()
 env_swaglog['CXXFLAGS'].append('-DSWAGLOG="\\"common/swaglog.h\\""')
-SConscript(['msgq_repo/SConscript'], exports={'env': env_swaglog})
+SConscript(['first_party/msgq_repo/SConscript'], exports={'env': env_swaglog})
 
 SConscript(['openpilot/cereal/SConscript'])
 
@@ -231,10 +232,10 @@ Export('messaging')
 
 
 # Build other submodules
-SConscript(['panda/SConscript'])
+SConscript(['first_party/panda/SConscript'])
 
 # Build rednose library
-SConscript(['rednose/SConscript'])
+SConscript(['first_party/rednose/SConscript'])
 
 # Build system services
 SConscript([

launch_chffrplus.sh

@@ -68,7 +68,7 @@ function launch {
 
   # handle pythonpath
   ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
+  export PYTHONPATH="$PWD:$PWD/first_party"
 
   # hardware specific init
   if [ -f /AGNOS ]; then

openpilot/cereal/SConscript

@@ -5,11 +5,11 @@ gen_dir = Dir('gen')
 
 # Build cereal
 schema_files = ['log.capnp', 'deprecated.capnp', 'custom.capnp']
-car_capnp = '#opendbc_repo/opendbc/car/car.capnp'
+car_capnp = '#first_party/opendbc_repo/opendbc/car/car.capnp'
 all_output = schema_files + ['car.capnp']
 env.Command([f'gen/cpp/{s}.c++' for s in all_output] + [f'gen/cpp/{s}.h' for s in all_output],
             schema_files + [car_capnp],
-            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=opendbc_repo/opendbc/car --import-path=opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
+            f"capnpc --src-prefix={cereal_dir.path} --src-prefix=first_party/opendbc_repo/opendbc/car --import-path=first_party/opendbc_repo/opendbc/car $SOURCES -o c++:{gen_dir.path}/cpp/")
 
 cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in all_output])
 

openpilot/selfdrive/modeld/SConscript

@@ -20,7 +20,7 @@ chunker_file = File("#openpilot/common/file_chunker.py")
 lenv = env.Clone()
 
 tinygrad_root = env.Dir("#").abspath
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#first_party/tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root)
                   if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))]
 
 def estimate_pickle_max_size(onnx_size):
@@ -123,7 +123,7 @@ for cam_w, cam_h in CAMERA_CONFIGS:
   lenv.Command(dm_pkl_path, tinygrad_files + compile_dm_warp_script + compile_modeld_script + [tg_devices_node], cmd)
 
 def tg_compile(flags, model_name):
-  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#first_party/tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
   pkl = fn + "_tinygrad.pkl"
   onnx_path = fn + ".onnx"
@@ -133,7 +133,7 @@ def tg_compile(flags, model_name):
   return lenv.Command(
     chunk_targets,
     [onnx_path] + tinygrad_files + [Value(chunk_targets), chunker_file, tg_devices_node],
-    [f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
+    [f'{pythonpath_string} {flags} python3 {Dir("#first_party/tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl}',
      Action(do_chunk, "  [CHUNK] $TARGET")],
   )
 

openpilot/selfdrive/pandad/panda.cc

@@ -116,7 +116,7 @@ std::optional<std::string> Panda::get_serial() {
 bool Panda::up_to_date() {
   if (auto fw_sig = get_firmware_version()) {
     for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
-      auto content = util::read_file(std::string("../../../panda/board/obj/") + fn);
+      auto content = util::read_file(std::string("../../../first_party/panda/board/obj/") + fn);
       if (content.size() >= fw_sig->size() &&
           memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
         return true;

openpilot/selfdrive/test/scons_build_test.sh

@@ -11,7 +11,7 @@ cd $BASEDIR
 # helpful commands:
 # scons -Q --tree=derived
 
-cd $BASEDIR/opendbc_repo/
+cd $BASEDIR/first_party/opendbc_repo/
 scons --clean
 scons --no-cache --random
 if ! scons -q; then

openpilot/tools/cabana/SConscript

@@ -116,4 +116,4 @@ output_json_file = 'openpilot/tools/cabana/dbc/car_fingerprint_to_dbc.json'
 generate_dbc = cabana_env.Command('#' + output_json_file,
                                   ['dbc/generate_dbc_json.py'],
                                   "python3 openpilot/tools/cabana/dbc/generate_dbc_json.py --out " + output_json_file)
-cabana_env.Depends(generate_dbc, ["#openpilot/common", '#opendbc_repo', "#openpilot/cereal", "#msgq_repo"])
+cabana_env.Depends(generate_dbc, ["#openpilot/common", '#first_party/opendbc_repo', "#openpilot/cereal", "#first_party/msgq_repo"])

openpilot/tools/jotpluggler/SConscript

@@ -95,8 +95,8 @@ event_extractors = jot_env.Command("generated_event_extractors.h", [
     "generate_event_extractors.py",
     jot_env.Glob("#openpilot/cereal/*.capnp"),
     jot_env.Glob("#openpilot/cereal/include/*.capnp"),
-    "#opendbc_repo/opendbc/car/car.capnp",
-    "#opendbc_repo/opendbc/car/include/c++.capnp",
+    "#first_party/opendbc_repo/opendbc/car/car.capnp",
+    "#first_party/opendbc_repo/opendbc/car/include/c++.capnp",
   ],
   generate_event_extractors,
 )

openpilot/tools/jotpluggler/generate_event_extractors.py

@@ -321,7 +321,7 @@ def generate(self):
   repo_root = Path(sys.argv[1]).resolve()
   output = Path(sys.argv[2])
   capnp.remove_import_hook()
-  log = capnp.load(str(repo_root / "openpilot" / "cereal" / "log.capnp"), imports=[str(repo_root / "opendbc_repo" / "opendbc" / "car")])
+  log = capnp.load(str(repo_root / "openpilot" / "cereal" / "log.capnp"), imports=[str(repo_root / "first_party" / "opendbc_repo" / "opendbc" / "car")])
   generated = Generator(log.Event.schema).generate()
   output.parent.mkdir(parents=True, exist_ok=True)
   output.write_text(generated)

openpilot/tools/op.sh

@@ -281,7 +281,7 @@ function op_script() {
   op_before_cmd
 
   case $1 in
-    som-debug )  op_run_command panda/scripts/som_debug.sh "${@:2}" ;;
+    som-debug )  op_run_command first_party/panda/scripts/som_debug.sh "${@:2}" ;;
     * )
       echo -e "Unknown script '$1'. Available scripts:"
       echo -e "  ${BOLD}som-debug${NC}    SOM serial debug console via panda"

openpilot/tools/plotjuggler/juggle.py

@@ -95,7 +95,7 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
       with open(os.path.join(tmp_cereal, schema), "w") as dst:
         dst.write(contents)
     os.symlink(os.path.join(BASEDIR, "openpilot", "cereal", "include"), os.path.join(tmp_cereal, "include"), target_is_directory=True)
-    os.symlink(os.path.join(BASEDIR, "opendbc_repo", "opendbc", "car", "car.capnp"), os.path.join(tmp_cereal, "car.capnp"))
+    os.symlink(os.path.join(BASEDIR, "first_party", "opendbc_repo", "opendbc", "car", "car.capnp"), os.path.join(tmp_cereal, "car.capnp"))
     env["BASEDIR"] = schema_root
     subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 

pyproject.toml

@@ -123,13 +123,15 @@ build-backend = "hatchling.build"
 [tool.hatch.build.targets.wheel]
 packages = [
   "openpilot",
-  "msgq",
-  "opendbc",
-  "panda",
-  "rednose",
-  "teleoprtc",
-  "tinygrad",
+  "first_party/msgq",
+  "first_party/opendbc",
+  "first_party/panda",
+  "first_party/rednose",
+  "first_party/teleoprtc",
+  "first_party/tinygrad",
 ]
+# submodules live under first_party/; add it to the editable install's import path
+dev-mode-dirs = [ ".", "first_party" ]
 
 [tool.hatch.metadata]
 allow-direct-references = true

release/build_release.sh

@@ -38,24 +38,24 @@ cp -pR --parents $(./release/release_files.py) $BUILD_DIR/
 # in the directory
 cd $BUILD_DIR
 
-rm -f panda/board/obj/panda.bin.signed
-rm -f panda/board/obj/panda_h7.bin.signed
+rm -f first_party/panda/board/obj/panda.bin.signed
+rm -f first_party/panda/board/obj/panda_h7.bin.signed
 
 VERSION=$(cat openpilot/common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
 
 # Build
-export PYTHONPATH="$BUILD_DIR"
+export PYTHONPATH="$BUILD_DIR:$BUILD_DIR/first_party"
 scons
 
 if [ -z "$PANDA_DEBUG_BUILD" ]; then
   # release panda fw
-  CERT=/data/pandaextra/certs/release RELEASE=1 scons panda/
+  CERT=/data/pandaextra/certs/release RELEASE=1 scons first_party/panda/
 else
   # build with ALLOW_DEBUG=1 to enable features like experimental longitudinal
-  scons panda/
+  scons first_party/panda/
 fi
 
 # Ensure no submodules in release

release/build_stripped.sh

@@ -43,7 +43,7 @@ cp -pR --parents $(./release/release_files.py) $TARGET_DIR/
 # in the directory
 cd $TARGET_DIR
 rm -rf .git/modules/
-rm -f panda/board/obj/panda.bin.signed
+rm -f first_party/panda/board/obj/panda.bin.signed
 
 find openpilot/selfdrive/modeld/models -name '*.onnx' -size +95M -exec ./openpilot/common/file_chunker.py {} \;
 

release/check-submodules.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 while read hash submodule ref; do
-  if [ "$submodule" = "tinygrad_repo" ]; then
+  if [ "$submodule" = "first_party/tinygrad_repo" ]; then
     echo "Skipping $submodule"
     continue
   fi

scripts/docs.py

@@ -14,6 +14,7 @@
 DOCS_DIR = REPO_ROOT / "docs"
 SITE_DIR = REPO_ROOT / "docs_site"
 sys.path.insert(0, str(REPO_ROOT))
+sys.path.insert(0, str(REPO_ROOT / "first_party"))
 # Local docs build helpers live under docs/ so they stay near the content
 # source. The wrapper prunes them from docs_site/ after build.
 sys.path.insert(0, str(DOCS_DIR))