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Update Python packages and pre-commit hooks (#30597)

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* Update Python packages and pre-commit hooks

* fix

---------

Co-authored-by: jnewb1 <jnewb1@users.noreply.github.com>
old-commit-hash: 46f3fdc090cef3b4b1b8bb4938ad68e1ca7cb280
This commit is contained in:
Adeeb Shihadeh
2024-01-05 15:17:49 -08:00
committed by GitHub
parent 25374edffd
commit 8d11c3b742
5 changed files with 14 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
.pre-commit-config.yaml
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@@ -39,10 +39,12 @@ repos:
entry: mypy
language: system
types: [python]
args: ['--explicit-package-bases', '--local-partial-types']
args:
- --local-partial-types
- --explicit-package-bases
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.1.6
rev: v0.1.9
hooks:
- id: ruff
exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -87,7 +89,7 @@ repos:
args:
- --lock
- repo: https://github.com/python-jsonschema/check-jsonschema
rev: 0.27.2
rev: 0.27.3
hooks:
- id: check-github-workflows
# - repo: local

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poetry.lock LFS generated
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11
selfdrive/athena/athenad.py
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@@ -637,6 +637,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket
while not (end_event.is_set() or global_end_event.is_set()):
try:
data = ws.recv()
if isinstance(data, str):
data = data.encode("utf-8")
local_sock.sendall(data)
except WebSocketTimeoutException:
pass
@@ -728,10 +730,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
if onroad != onroad_prev:
onroad_prev = onroad
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
if sock is not None:
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
if end_event.wait(5):
break

35
tools/webcam/front_mount_helper.py
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@@ -1,35 +0,0 @@
#!/usr/bin/env python
import numpy as np
# copied from openpilot.common.transformations/camera.py
eon_dcam_focal_length = 860.0 # pixels
webcam_focal_length = 908.0 # pixels
eon_dcam_intrinsics = np.array([
[eon_dcam_focal_length, 0, 1152/2.],
[ 0, eon_dcam_focal_length, 864/2.],
[ 0, 0, 1]])
webcam_intrinsics = np.array([
[webcam_focal_length, 0., 1280/2.],
[ 0., webcam_focal_length, 720/2.],
[ 0., 0., 1.]])
cam_id = 2
if __name__ == "__main__":
import cv2
trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
cap = cv2.VideoCapture(cam_id)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
while (True):
ret, img = cap.read()
if ret:
img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
img = img[:, -864//2:, :]
cv2.imshow('preview', img)
cv2.waitKey(10)

43
tools/webcam/warp_vis.py
View File

@@ -1,43 +0,0 @@
#!/usr/bin/env python
import numpy as np
# copied from openpilot.common.transformations/camera.py
eon_focal_length = 910.0 # pixels
eon_dcam_focal_length = 860.0 # pixels
webcam_focal_length = -908.0/1.5 # pixels
eon_intrinsics = np.array([
[eon_focal_length, 0., 1164/2.],
[ 0., eon_focal_length, 874/2.],
[ 0., 0., 1.]])
eon_dcam_intrinsics = np.array([
[eon_dcam_focal_length, 0, 1152/2.],
[ 0, eon_dcam_focal_length, 864/2.],
[ 0, 0, 1]])
webcam_intrinsics = np.array([
[webcam_focal_length, 0., 1280/2/1.5],
[ 0., webcam_focal_length, 720/2/1.5],
[ 0., 0., 1.]])
if __name__ == "__main__":
import cv2
trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics))
trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
cap = cv2.VideoCapture(1)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
while (True):
ret, img = cap.read()
if ret:
# img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
print(img.shape, end='\r')
cv2.imshow('preview', img)
cv2.waitKey(10)