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