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* tabs to spaces python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces * use the new except syntax python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax * make relative imports absolute python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports * Queue renamed to queue in python 3 Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules * replace dict.has_key() with in python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key * make dict views compatible with python 3 python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with [] Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version. * Explicitly use truncating division python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division python 3 treats / as float division. When we want the result to be an integer, use // * replace map() with list comprehension where a list result is needed. In python 3, map() returns an iterator. python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter * replace filter() with list comprehension In python 3, filter() returns an interatoooooooooooor. python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter * wrap zip() in list() where we need the result to be a list python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip * clean out some lint Removes these pylint warnings: ************* Module selfdrive.car.chrysler.chryslercan W: 15, 0: Unnecessary semicolon (unnecessary-semicolon) W: 16, 0: Unnecessary semicolon (unnecessary-semicolon) W: 25, 0: Unnecessary semicolon (unnecessary-semicolon) ************* Module common.dbc W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string) ************* Module selfdrive.car.gm.interface R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type) R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type) ************* Module selfdrive.updated R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
78 lines
2.0 KiB
Python
Executable File
78 lines
2.0 KiB
Python
Executable File
import sys
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import os
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from selfdrive.locationd.test.ublox import UBloxMessage
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from selfdrive.locationd.test.ubloxd import gen_solution, gen_raw, gen_nav_data
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from common import realtime
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def mkdirs_exists_ok(path):
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try:
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os.makedirs(path)
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except OSError:
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if not os.path.isdir(path):
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raise
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def parser_test(fn, prefix):
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nav_frame_buffer = {}
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nav_frame_buffer[0] = {}
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for i in xrange(1, 33):
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nav_frame_buffer[0][i] = {}
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if not os.path.exists(prefix):
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print('Prefix invalid')
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sys.exit(-1)
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with open(fn, 'rb') as f:
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i = 0
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saved_i = 0
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msg = UBloxMessage()
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while True:
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n = msg.needed_bytes()
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b = f.read(n)
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if not b:
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break
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msg.add(b)
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if msg.valid():
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i += 1
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if msg.name() == 'NAV_PVT':
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sol = gen_solution(msg)
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sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
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f1.write(sol.to_bytes())
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saved_i += 1
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elif msg.name() == 'RXM_RAW':
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raw = gen_raw(msg)
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raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
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f1.write(raw.to_bytes())
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saved_i += 1
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elif msg.name() == 'RXM_SFRBX':
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nav = gen_nav_data(msg, nav_frame_buffer)
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if nav is not None:
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nav.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
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f1.write(nav.to_bytes())
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saved_i += 1
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msg = UBloxMessage()
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msg.debug_level = 0
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print('Parsed {} msgs'.format(i))
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print('Generated {} cereal events'.format(saved_i))
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if __name__ == "__main__":
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if len(sys.argv) < 3:
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print('Format: ubloxd_py_test.py file_path prefix')
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sys.exit(0)
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fn = sys.argv[1]
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if not os.path.isfile(fn):
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print('File path invalid')
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sys.exit(0)
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prefix = sys.argv[2]
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mkdirs_exists_ok(prefix)
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parser_test(fn, prefix)
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