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getting ready for Python 3 (#619)

Browse Source 
* 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)
This commit is contained in:
Drew Hintz
2019-05-02 11:08:59 -07:00
committed by rbiasini
parent 2f92d577f9
commit 9dae0bfac4
42 changed files with 114 additions and 116 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
common/dbc.py
View File

@@ -98,7 +98,7 @@ class dbc(object):
sgname = dat.group(2)
defvals = dat.group(3)
defvals = defvals.replace("?","\?") #escape sequence in C++
defvals = defvals.replace("?",r"\?") #escape sequence in C++
defvals = defvals.split('"')[:-1]
defs = defvals[1::2]
@@ -112,7 +112,7 @@ class dbc(object):
self.def_vals[ids].append((sgname, defvals))
for msg in self.msgs.viewvalues():
for msg in self.msgs.values():
msg[1].sort(key=lambda x: x.start_bit)
self.msg_name_to_address = {}

2
common/fingerprints.py
View File

@@ -61,4 +61,4 @@ def eliminate_incompatible_cars(msg, candidate_cars):
def all_known_cars():
"""Returns a list of all known car strings."""
return _FINGERPRINTS.keys()
return list(_FINGERPRINTS.keys())

4
common/sympy_helpers.py
View File

@@ -75,7 +75,7 @@ def sympy_into_c(sympy_functions):
routines.append(r)
[(c_name, c_code), (h_name, c_header)] = codegen.get_code_generator('C', 'ekf', 'C99').write(routines, "ekf")
c_code = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_code.split("\n")))
c_header = '\n'.join(filter(lambda x: len(x) > 0 and x[0] != '#', c_header.split("\n")))
c_code = '\n'.join(x for x in c_code.split("\n") if len(x) > 0 and x[0] != '#')
c_header = '\n'.join(x for x in c_header.split("\n") if len(x) > 0 and x[0] != '#')
return c_header, c_code

8
common/transformations/camera.py
View File

@@ -15,13 +15,13 @@ eon_intrinsics = np.array([
leon_dcam_intrinsics = np.array([
[650, 0, 816/2],
[ 0, 650, 612/2],
[650, 0, 816//2],
[ 0, 650, 612//2],
[ 0, 0, 1]])
eon_dcam_intrinsics = np.array([
[860, 0, 1152/2],
[ 0, 860, 864/2],
[860, 0, 1152//2],
[ 0, 860, 864//2],
[ 0, 0, 1]])
# aka 'K_inv' aka view_frame_from_camera_frame

6
common/transformations/model.py
View File

@@ -1,9 +1,9 @@
import numpy as np
from common.transformations.camera import eon_focal_length, \
vp_from_ke, \
get_view_frame_from_road_frame, \
FULL_FRAME_SIZE
vp_from_ke, \
get_view_frame_from_road_frame, \
FULL_FRAME_SIZE
# segnet

10
selfdrive/athena/athenad.py
View File

@@ -6,7 +6,7 @@ import time
import threading
import traceback
import zmq
import Queue
import six.moves.queue
from jsonrpc import JSONRPCResponseManager, dispatcher
from websocket import create_connection, WebSocketTimeoutException
@@ -21,8 +21,8 @@ ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
dispatcher["echo"] = lambda s: s
payload_queue = Queue.Queue()
response_queue = Queue.Queue()
payload_queue = six.moves.queue.Queue()
response_queue = six.moves.queue.Queue()
def handle_long_poll(ws):
end_event = threading.Event()
@@ -52,7 +52,7 @@ def jsonrpc_handler(end_event):
data = payload_queue.get(timeout=1)
response = JSONRPCResponseManager.handle(data, dispatcher)
response_queue.put_nowait(response)
except Queue.Empty:
except six.moves.queue.Empty:
pass
except Exception as e:
cloudlog.exception("athena jsonrpc handler failed")
@@ -87,7 +87,7 @@ def ws_send(ws, end_event):
try:
response = response_queue.get(timeout=1)
ws.send(response.json)
except Queue.Empty:
except six.moves.queue.Empty:
pass
except Exception:
traceback.print_exc()

11
selfdrive/boardd/boardd.py
View File

@@ -127,16 +127,13 @@ def boardd_mock_loop():
while 1:
tsc = messaging.drain_sock(logcan, wait_for_one=True)
snds = map(lambda x: can_capnp_to_can_list(x.can), tsc)
snd = []
for s in snds:
snd += s
snd = filter(lambda x: x[-1] <= 1, snd)
can_send_many(snd)
snds = [can_capnp_to_can_list(x.can) for x in tsc]
snds = [x for x in snds if x[-1] <= 1]
can_send_many(snds)
# recv @ 100hz
can_msgs = can_recv()
print("sent %d got %d" % (len(snd), len(can_msgs)))
print("sent %d got %d" % (len(snds), len(can_msgs)))
m = can_list_to_can_capnp(can_msgs)
sendcan.send(m.to_bytes())

2
selfdrive/can/packer.py
View File

@@ -20,7 +20,7 @@ class CANPacker(object):
def pack(self, addr, values, counter):
values_thing = []
for name, value in values.iteritems():
for name, value in values.items():
if name not in self.sig_names:
self.sig_names[name] = ffi.new("char[]", name)

2
selfdrive/can/parser.py
View File

@@ -58,7 +58,7 @@ class CANParser(object):
{
'address': msg_address,
'check_frequency': freq,
} for msg_address, freq in message_options.iteritems()])
} for msg_address, freq in message_options.items()])
self.can = libdbc.can_init(bus, dbc_name, len(message_options_c), message_options_c,
len(signal_options_c), signal_options_c, sendcan, tcp_addr)

4
selfdrive/can/process_dbc.py
View File

@@ -39,10 +39,10 @@ def main():
continue #skip output is newer than template and dbc
msgs = [(address, msg_name, msg_size, sorted(msg_sigs, key=lambda s: s.name not in ("COUNTER", "CHECKSUM"))) # process counter and checksums first
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.iteritems()) if msg_sigs]
for address, ((msg_name, msg_size), msg_sigs) in sorted(can_dbc.msgs.items()) if msg_sigs]
def_vals = {a: set(b) for a,b in can_dbc.def_vals.items()} #remove duplicates
def_vals = [(address, sig) for address, sig in sorted(def_vals.iteritems())]
def_vals = [(address, sig) for address, sig in sorted(def_vals.items())]
if can_dbc.name.startswith("honda") or can_dbc.name.startswith("acura"):
checksum_type = "honda"

6
selfdrive/car/chrysler/chryslercan.py
View File

@@ -12,8 +12,8 @@ def calc_checksum(data):
end_index = len(data)
index = 0
checksum = 0xFF
temp_chk = 0;
bit_sum = 0;
temp_chk = 0
bit_sum = 0
if(end_index <= index):
return False
for index in range(0, end_index):
@@ -22,7 +22,7 @@ def calc_checksum(data):
iterate = 8
while(iterate > 0):
iterate -= 1
bit_sum = curr & shift;
bit_sum = curr & shift
temp_chk = checksum & 0x80
if (bit_sum != 0):
bit_sum = 0x1C

2
selfdrive/car/chrysler/chryslercan_test.py
View File

@@ -1,4 +1,4 @@
import chryslercan
from selfdrive.car.chrysler import chryslercan
from selfdrive.can.packer import CANPacker
from cereal import car

12
selfdrive/car/chrysler/radar_interface.py
View File

@@ -25,29 +25,29 @@ def _create_radard_can_parser():
# The factor and offset are applied by the dbc parsing library, so the
# default values should be after the factor/offset are applied.
signals = zip(['LONG_DIST'] * msg_n +
signals = list(zip(['LONG_DIST'] * msg_n +
['LAT_DIST'] * msg_n +
['REL_SPEED'] * msg_n,
RADAR_MSGS_C * 2 + # LONG_DIST, LAT_DIST
RADAR_MSGS_D, # REL_SPEED
[0] * msg_n + # LONG_DIST
[-1000] * msg_n + # LAT_DIST
[-146.278] * msg_n) # REL_SPEED set to 0, factor/offset to this
[-146.278] * msg_n)) # REL_SPEED set to 0, factor/offset to this
# TODO what are the checks actually used for?
# honda only checks the last message,
# toyota checks all the messages. Which do we want?
checks = zip(RADAR_MSGS_C +
checks = list(zip(RADAR_MSGS_C +
RADAR_MSGS_D,
[20]*msg_n + # 20Hz (0.05s)
[20]*msg_n) # 20Hz (0.05s)
[20]*msg_n)) # 20Hz (0.05s)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
def _address_to_track(address):
if address in RADAR_MSGS_C:
return (address - RADAR_MSGS_C[0]) / 2
return (address - RADAR_MSGS_C[0]) // 2
if address in RADAR_MSGS_D:
return (address - RADAR_MSGS_D[0]) / 2
return (address - RADAR_MSGS_D[0]) // 2
raise ValueError("radar received unexpected address %d" % address)
class RadarInterface(object):

8
selfdrive/car/ford/radar_interface.py
View File

@@ -14,10 +14,10 @@ RADAR_MSGS = range(0x500, 0x540)
def _create_radard_can_parser():
dbc_f = 'ford_fusion_2018_adas.dbc'
msg_n = len(RADAR_MSGS)
signals = zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n)
checks = zip(RADAR_MSGS, [20]*msg_n)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20]*msg_n))
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)

8
selfdrive/car/gm/carcontroller.py
View File

@@ -104,7 +104,7 @@ class CarController(object):
apply_steer = 0
self.apply_steer_last = apply_steer
idx = (frame / P.STEER_STEP) % 4
idx = (frame // P.STEER_STEP) % 4
if self.car_fingerprint in SUPERCRUISE_CARS:
can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
@@ -134,7 +134,7 @@ class CarController(object):
# Gas/regen and brakes - all at 25Hz
if (frame % 4) == 0:
idx = (frame / 4) % 4
idx = (frame // 4) % 4
at_full_stop = enabled and CS.standstill
near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
@@ -153,13 +153,13 @@ class CarController(object):
tt = sec_since_boot()
if frame % time_and_headlights_step == 0:
idx = (frame / time_and_headlights_step) % 4
idx = (frame // time_and_headlights_step) % 4
can_sends.append(gmcan.create_adas_time_status(canbus.obstacle, int((tt - self.start_time) * 60), idx))
can_sends.append(gmcan.create_adas_headlights_status(canbus.obstacle))
speed_and_accelerometer_step = 2
if frame % speed_and_accelerometer_step == 0:
idx = (frame / speed_and_accelerometer_step) % 4
idx = (frame // speed_and_accelerometer_step) % 4
can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))

14
selfdrive/car/gm/interface.py
View File

@@ -70,7 +70,7 @@ class CarInterface(object):
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
# kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 1607 + std_cargo
ret.mass = 1607. + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.69
ret.steerRatio = 15.7
@@ -80,7 +80,7 @@ class CarInterface(object):
elif candidate == CAR.MALIBU:
# supports stop and go, but initial engage must be above 18mph (which include conservatism)
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1496 + std_cargo
ret.mass = 1496. + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.83
ret.steerRatio = 15.8
@@ -89,7 +89,7 @@ class CarInterface(object):
elif candidate == CAR.HOLDEN_ASTRA:
# kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 1363 + std_cargo
ret.mass = 1363. + std_cargo
ret.wheelbase = 2.662
# Remaining parameters copied from Volt for now
ret.centerToFront = ret.wheelbase * 0.4
@@ -99,7 +99,7 @@ class CarInterface(object):
ret.steerRatioRear = 0.
elif candidate == CAR.ACADIA:
ret.minEnableSpeed = -1 # engage speed is decided by pcm
ret.minEnableSpeed = -1. # engage speed is decided by pcm
ret.mass = 4353. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.86
@@ -118,7 +118,7 @@ class CarInterface(object):
elif candidate == CAR.CADILLAC_ATS:
ret.minEnableSpeed = 18 * CV.MPH_TO_MS
ret.mass = 1601 + std_cargo
ret.mass = 1601. + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.gm
ret.wheelbase = 2.78
ret.steerRatio = 15.3
@@ -127,7 +127,7 @@ class CarInterface(object):
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1
ret.minEnableSpeed = -1.
# kg of standard extra cargo to count for driver, gas, etc...
ret.mass = 4016. * CV.LB_TO_KG + std_cargo
ret.safetyModel = car.CarParams.SafetyModels.cadillac
@@ -218,7 +218,7 @@ class CarInterface(object):
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brake = self.CS.user_brake / 0xd0
ret.brake = self.CS.user_brake // 0xd0
ret.brakePressed = self.CS.brake_pressed
# steering wheel

4
selfdrive/car/gm/radar_interface.py
View File

@@ -25,7 +25,7 @@ def create_radard_can_parser(canbus, car_fingerprint):
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
# C1A-ARS3-A by Continental
radar_targets = range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS)
signals = zip(['FLRRNumValidTargets',
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
@@ -36,7 +36,7 @@ def create_radard_can_parser(canbus, car_fingerprint):
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS)
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
checks = []

6
selfdrive/car/honda/carcontroller.py
View File

@@ -133,7 +133,7 @@ class CarController(object):
# **** process the car messages ****
# *** compute control surfaces ***
BRAKE_MAX = 1024/4
BRAKE_MAX = 1024//4
if CS.CP.carFingerprint in (CAR.ACURA_ILX):
STEER_MAX = 0xF00
elif CS.CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX):
@@ -160,7 +160,7 @@ class CarController(object):
# Send dashboard UI commands.
if (frame % 10) == 0:
idx = (frame/10) % 4
idx = (frame//10) % 4
can_sends.extend(hondacan.create_ui_commands(self.packer, pcm_speed, hud, CS.CP.carFingerprint, idx))
if CS.CP.radarOffCan:
@@ -173,7 +173,7 @@ class CarController(object):
else:
# Send gas and brake commands.
if (frame % 2) == 0:
idx = frame / 2
idx = frame // 2
pump_on, self.last_pump_ts = brake_pump_hysteresys(apply_brake, self.apply_brake_last, self.last_pump_ts)
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx))

6
selfdrive/car/honda/radar_interface.py
View File

@@ -12,12 +12,12 @@ import selfdrive.messaging as messaging
def _create_nidec_can_parser():
dbc_f = 'acura_ilx_2016_nidec.dbc'
radar_messages = [0x400] + range(0x430, 0x43A) + range(0x440, 0x446)
signals = zip(['RADAR_STATE'] +
signals = list(zip(['RADAR_STATE'] +
['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
['REL_SPEED'] * 16,
[0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
checks = zip([0x445], [20])
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
checks = list(zip([0x445], [20]))
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)

2
selfdrive/car/subaru/subarucan.py
View File

@@ -13,7 +13,7 @@ def create_steering_control(packer, car_fingerprint, apply_steer, frame, steer_s
if car_fingerprint == CAR.IMPREZA:
#counts from 0 to 15 then back to 0 + 16 for enable bit
idx = ((frame / steer_step) % 16)
idx = ((frame // steer_step) % 16)
values = {
"Counter": idx,

8
selfdrive/car/toyota/carcontroller.py
View File

@@ -226,11 +226,11 @@ class CarController(object):
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_command(self.packer, apply_gas, frame/2))
can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera:
for addr in TARGET_IDS:
can_sends.append(create_video_target(frame/10, addr))
can_sends.append(create_video_target(frame//10, addr))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
@@ -257,11 +257,11 @@ class CarController(object):
if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars and not (ecu == ECU.CAM and forwarding_camera):
# special cases
if fr_step == 5 and ecu == ECU.CAM and bus == 1:
cnt = (((frame / 5) % 7) + 1) << 5
cnt = (((frame // 5) % 7) + 1) << 5
vl = chr(cnt) + vl
elif addr in (0x489, 0x48a) and bus == 0:
# add counter for those 2 messages (last 4 bits)
cnt = ((frame/100)%0xf) + 1
cnt = ((frame // 100) % 0xf) + 1
if addr == 0x48a:
# 0x48a has a 8 preceding the counter
cnt += 1 << 7

11
selfdrive/car/toyota/radar_interface.py
View File

@@ -19,12 +19,13 @@ def _create_radard_can_parser():
msg_a_n = len(RADAR_A_MSGS)
msg_b_n = len(RADAR_B_MSGS)
signals = zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
RADAR_A_MSGS * 5 + RADAR_B_MSGS,
[255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n)
signals = list(zip(
['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
RADAR_A_MSGS * 5 + RADAR_B_MSGS,
[255] * msg_a_n + [1] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_a_n + [0] * msg_b_n))
checks = zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n))
checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)

2
selfdrive/controls/lib/latcontrol_helpers.py
View File

@@ -59,7 +59,7 @@ def compute_path_pinv(l=50):
def model_polyfit(points, path_pinv):
return np.dot(path_pinv, map(float, points))
return np.dot(path_pinv, [float(x) for x in points])
def calc_desired_path(l_poly,

8
selfdrive/controls/lib/pathplanner.py
View File

@@ -106,12 +106,12 @@ class PathPlanner(object):
plan_send = messaging.new_message()
plan_send.init('pathPlan')
plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
plan_send.pathPlan.dPoly = map(float, self.MP.d_poly)
plan_send.pathPlan.cPoly = map(float, self.MP.c_poly)
plan_send.pathPlan.dPoly = [float(x) for x in self.MP.d_poly]
plan_send.pathPlan.cPoly = [float(x) for x in self.MP.c_poly]
plan_send.pathPlan.cProb = float(self.MP.c_prob)
plan_send.pathPlan.lPoly = map(float, l_poly)
plan_send.pathPlan.lPoly = [float(x) for x in l_poly]
plan_send.pathPlan.lProb = float(self.MP.l_prob)
plan_send.pathPlan.rPoly = map(float, r_poly)
plan_send.pathPlan.rPoly = [float(x) for x in r_poly]
plan_send.pathPlan.rProb = float(self.MP.r_prob)
plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
plan_send.pathPlan.rateSteers = float(rate_desired)

2
selfdrive/controls/lib/planner.py
View File

@@ -152,7 +152,7 @@ class Planner(object):
# Calculate speed for normal cruise control
if enabled:
accel_limits = map(float, calc_cruise_accel_limits(v_ego, following))
accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])] # TODO: make a separate lookup for jerk tuning
accel_limits = limit_accel_in_turns(v_ego, CS.carState.steeringAngle, accel_limits, self.CP)

2
selfdrive/controls/radard.py
View File

@@ -226,7 +226,7 @@ def radard_thread(gctx=None):
if VISION_POINT in ar_pts:
print("vision", ar_pts[VISION_POINT])
idens = tracks.keys()
idens = list(tracks.keys())
track_pts = np.array([tracks[iden].get_key_for_cluster() for iden in idens])
# If we have multiple points, cluster them

10
selfdrive/locationd/calibrationd.py
View File

@@ -23,7 +23,7 @@ VP_INIT = np.array([W/2., H/2.])
# These validity corners were chosen by looking at 1000
# and taking most extreme cases with some margin.
VP_VALIDITY_CORNERS = np.array([[W/2 - 150, 280], [W/2 + 150, 540]])
VP_VALIDITY_CORNERS = np.array([[W//2 - 150, 280], [W//2 + 150, 540]])
DEBUG = os.getenv("DEBUG") is not None
@@ -90,10 +90,10 @@ class Calibrator(object):
cal_send = messaging.new_message()
cal_send.init('liveCalibration')
cal_send.liveCalibration.calStatus = self.cal_status
cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 / INPUTS_NEEDED, 100)
cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten())
cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 // INPUTS_NEEDED, 100)
cal_send.liveCalibration.warpMatrix2 = [float(x) for x in warp_matrix.flatten()]
cal_send.liveCalibration.warpMatrixBig = [float(x) for x in warp_matrix_big.flatten()]
cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
livecalibration.send(cal_send.to_bytes())

6
selfdrive/locationd/kalman/loc_local_kf.py
View File

@@ -1,9 +1,9 @@
#!/usr/bin/env python
import numpy as np
import loc_local_model
from selfdrive.locationd.kalman import loc_local_model
from kalman_helpers import ObservationKind
from ekf_sym import EKF_sym
from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
from selfdrive.locationd.kalman.ekf_sym import EKF_sym

4
selfdrive/locationd/kalman/loc_local_model.py
View File

@@ -2,8 +2,8 @@ import numpy as np
import sympy as sp
import os
from kalman_helpers import ObservationKind
from ekf_sym import gen_code
from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
from selfdrive.locationd.kalman.ekf_sym import gen_code
def gen_model(name, dim_state):

4
selfdrive/locationd/test/ci_test.py
View File

@@ -5,8 +5,8 @@ import sys
import argparse
import tempfile
from ubloxd_py_test import parser_test
from ubloxd_regression_test import compare_results
from selfdrive.locationd.test.ubloxd_py_test import parser_test
from selfdrive.locationd.test.ubloxd_regression_test import compare_results
def mkdirs_exists_ok(path):

4
selfdrive/locationd/test/ublox.py
View File

@@ -184,7 +184,7 @@ class UBloxAttrDict(dict):
raise AttributeError(name)
def __setattr__(self, name, value):
if self.__dict__.has_key(name):
if name in self.__dict__:
# allow set on normal attributes
dict.__setattr__(self, name, value)
else:
@@ -256,7 +256,7 @@ class UBloxDescriptor:
break
if self.count_field == '_remaining':
count = len(buf) / struct.calcsize(self.format2)
count = len(buf) // struct.calcsize(self.format2)
if count == 0:
msg._unpacked = True

4
selfdrive/locationd/test/ubloxd.py
View File

@@ -1,7 +1,7 @@
#!/usr/bin/env python
import os
import serial
import ublox
from selfdrive.locationd.test import ublox
import time
import datetime
import struct
@@ -11,7 +11,7 @@ from common import realtime
import zmq
import selfdrive.messaging as messaging
from selfdrive.services import service_list
from ephemeris import EphemerisData, GET_FIELD_U
from selfdrive.locationd.test.ephemeris import EphemerisData, GET_FIELD_U
panda = os.getenv("PANDA") is not None # panda directly connected
grey = not (os.getenv("EVAL") is not None) # panda through boardd

4
selfdrive/locationd/test/ubloxd_easy.py
View File

@@ -1,8 +1,8 @@
#!/usr/bin/env python
import os
import ublox
from selfdrive.locationd.test import ublox
from common import realtime
from ubloxd import gen_raw, gen_solution
from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
import zmq
import selfdrive.messaging as messaging
from selfdrive.services import service_list

4
selfdrive/locationd/test/ubloxd_py_test.py
View File

@@ -1,8 +1,8 @@
import sys
import os
from ublox import UBloxMessage
from ubloxd import gen_solution, gen_raw, gen_nav_data
from selfdrive.locationd.test.ublox import UBloxMessage
from selfdrive.locationd.test.ubloxd import gen_solution, gen_raw, gen_nav_data
from common import realtime

2
selfdrive/manager.py
View File

@@ -391,7 +391,7 @@ def update_apks():
cloudlog.info("installed apks %s" % (str(installed), ))
for app in installed.iterkeys():
for app in installed.keys():
apk_path = os.path.join(BASEDIR, "apk/"+app+".apk")
if not os.path.exists(apk_path):

2
selfdrive/mapd/default_speeds_generator.py
View File

@@ -205,7 +205,7 @@ class Country(Region):
def jsonify(self):
ret_dict = {}
ret_dict[self.name] = {}
for r_name, region in self.regions.iteritems():
for r_name, region in self.regions.items():
ret_dict[self.name].update(region.jsonify())
ret_dict[self.name]['Default'] = self.rules
return ret_dict

10
selfdrive/mapd/mapd.py
View File

@@ -17,7 +17,7 @@ except ImportError as e:
os.execv(sys.executable, args)
DEFAULT_SPEEDS_BY_REGION_JSON_FILE = BASEDIR + "/selfdrive/mapd/default_speeds_by_region.json"
import default_speeds_generator
from selfdrive.mapd import default_speeds_generator
default_speeds_generator.main(DEFAULT_SPEEDS_BY_REGION_JSON_FILE)
import os
@@ -33,7 +33,7 @@ from common.params import Params
from common.transformations.coordinates import geodetic2ecef
from selfdrive.services import service_list
import selfdrive.messaging as messaging
from mapd_helpers import MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
from selfdrive.mapd.mapd_helpers import MAPS_LOOKAHEAD_DISTANCE, Way, circle_through_points
import selfdrive.crash as crash
from selfdrive.version import version, dirty
@@ -176,7 +176,7 @@ def mapsd_thread():
xs = pnts[:, 0]
ys = pnts[:, 1]
road_points = map(float, xs), map(float, ys)
road_points = [float(x) for x in xs], [float(y) for y in ys]
if speed < 10:
curvature_valid = False
@@ -266,8 +266,8 @@ def mapsd_thread():
if road_points is not None:
dat.liveMapData.roadX, dat.liveMapData.roadY = road_points
if curvature is not None:
dat.liveMapData.roadCurvatureX = map(float, dists)
dat.liveMapData.roadCurvature = map(float, curvature)
dat.liveMapData.roadCurvatureX = [float(x) for x in dists]
dat.liveMapData.roadCurvature = [float(x) for x in curvature]
dat.liveMapData.mapValid = map_valid

4
selfdrive/mapd/mapd_helpers.py
View File

@@ -91,7 +91,7 @@ def geocode_maxspeed(tags, location_info):
rule_valid = all(
tag_name in tags
and tags[tag_name] == value
for tag_name, value in rule['tags'].iteritems()
for tag_name, value in rule['tags'].items()
)
if rule_valid:
max_speed = rule['speed']
@@ -102,7 +102,7 @@ def geocode_maxspeed(tags, location_info):
rule_valid = all(
tag_name in tags
and tags[tag_name] == value
for tag_name, value in rule['tags'].iteritems()
for tag_name, value in rule['tags'].items()
)
if rule_valid:
max_speed = rule['speed']

4
selfdrive/test/plant/maneuver.py
View File

@@ -1,5 +1,5 @@
from maneuverplots import ManeuverPlot
from plant import Plant
from selfdrive.test.plant.maneuverplots import ManeuverPlot
from selfdrive.test.plant.plant import Plant
import numpy as np

2
selfdrive/test/plant/plant.py
View File

@@ -207,7 +207,7 @@ class Plant(object):
lateral_pos_rel = 0.
# print at 5hz
if (self.rk.frame%(self.rate/5)) == 0:
if (self.rk.frame % (self.rate//5)) == 0:
print("%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
# ******** publish the car ********

6
selfdrive/test/plant/plant_ui.py
View File

@@ -1,6 +1,6 @@
#!/usr/bin/env python
import pygame # pylint: disable=import-error
from plant import Plant
from selfdrive.test.plant.plant import Plant
from selfdrive.car.honda.values import CruiseButtons
import numpy as np
import selfdrive.messaging as messaging
@@ -41,7 +41,7 @@ if __name__ == "__main__":
plant = Plant(100, distance_lead = 40.0)
control_offset = 2.0
control_pts = zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10)
control_pts = list(zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10))
def pt_to_car(pt):
x,y = pt
@@ -73,7 +73,7 @@ if __name__ == "__main__":
x.prob = 0.0
x.std = 1.0
car_pts = map(pt_to_car, control_pts)
car_pts = [pt_to_car(pt) for pt in control_pts]
print(car_pts)

6
selfdrive/updated.py
View File

@@ -10,15 +10,15 @@ NICE_LOW_PRIORITY = ["nice", "-n", "19"]
def main(gctx=None):
while True:
# try network
r = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
if r:
ping_failed = subprocess.call(["ping", "-W", "4", "-c", "1", "8.8.8.8"])
if ping_failed:
time.sleep(60)
continue
# download application update
try:
r = subprocess.check_output(NICE_LOW_PRIORITY + ["git", "fetch"], stderr=subprocess.STDOUT)
except subprocess.CalledProcessError, e:
except subprocess.CalledProcessError as e:
cloudlog.event("git fetch failed",
cmd=e.cmd,
output=e.output,