getting ready for Python 3 (#619)
* 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)
6 years ago
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from selfdrive.car.chrysler import chryslercan
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from selfdrive.can.packer import CANPacker
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from cereal import car
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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import unittest
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class TestChryslerCan(unittest.TestCase):
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def test_checksum(self):
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self.assertEqual(0x75, chryslercan.calc_checksum([0x01, 0x20]))
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self.assertEqual(0xcc, chryslercan.calc_checksum([0x14, 0, 0, 0, 0x20]))
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def test_hud(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x2a6, 0, '0100010100000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'park', False, False, 1, 0))
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self.assertEqual(
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[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'park', False, False, 5*4, 0))
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self.assertEqual(
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[0x2a6, 0, '0100010000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'park', False, False, 99999, 0))
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self.assertEqual(
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[0x2a6, 0, '0200060000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'drive', True, False, 99999, 0))
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self.assertEqual(
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[0x2a6, 0, '0264060000000000'.decode('hex'), 0],
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chryslercan.create_lkas_hud(
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packer,
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'drive', True, False, 99999, 0x64))
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def test_command(self):
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packer = CANPacker('chrysler_pacifica_2017_hybrid')
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self.assertEqual(
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[0x292, 0, '140000001086'.decode('hex'), 0],
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chryslercan.create_lkas_command(
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packer,
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0, True, 1))
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self.assertEqual(
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[0x292, 0, '040000008083'.decode('hex'), 0],
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chryslercan.create_lkas_command(
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packer,
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0, False, 8))
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if __name__ == '__main__':
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unittest.main()
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