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CI: Pylint to ruff (#29294)

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* pylint to riff

* pylint to riff

* pylint to riff

* revert more

* undo exclude removal

* exclude tinygrad

* set line length

* pylint exclusions to ruff

* same excludes as old linter

* fix tools QA

* remove unrequired check

* revert linting third_party

* ignore e402
old-commit-hash: 7fdd9fc37c
beeps
Justin Newberry 2 years ago committed by GitHub
parent 7b677910df
commit 3ee0786de3
36 changed files with 98 additions and 112 deletions
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  1. 26
      .pre-commit-config.yaml
  2. 4
      poetry.lock
  3. 10
      pyproject.toml
  4. 2
      selfdrive/athena/tests/helpers.py
  5. 2
      selfdrive/car/body/carcontroller.py
  6. 2
      selfdrive/car/chrysler/values.py
  7. 2
      selfdrive/car/docs_definitions.py
  8. 2
      selfdrive/car/gm/values.py
  9. 5
      selfdrive/car/hyundai/values.py
  10. 2
      selfdrive/car/nissan/values.py
  11. 2
      selfdrive/car/tesla/values.py
  12. 2
      selfdrive/controls/lib/events.py
  13. 2
      selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
  14. 2
      selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
  15. 2
      selfdrive/debug/clear_dtc.py
  16. 7
      selfdrive/debug/dump.py
  17. 2
      selfdrive/debug/show_matching_cars.py
  18. 2
      selfdrive/locationd/models/loc_kf.py
  19. 6
      selfdrive/locationd/test/test_laikad.py
  20. 2
      selfdrive/modeld/runners/onnx_runner.py
  21. 3
      selfdrive/modeld/thneed/lib.py
  22. 2
      selfdrive/monitoring/driver_monitor.py
  23. 2
      selfdrive/monitoring/test_monitoring.py
  24. 2
      selfdrive/navd/map_renderer.py
  25. 16
      selfdrive/navd/tests/test_map_renderer.py
  26. 4
      selfdrive/test/process_replay/capture.py
  27. 4
      selfdrive/test/process_replay/migration.py
  28. 28
      selfdrive/test/process_replay/process_replay.py
  29. 2
      selfdrive/test/process_replay/regen.py
  30. 34
      selfdrive/test/process_replay/test_processes.py
  31. 14
      selfdrive/thermald/tests/test_power_monitoring.py
  32. 2
      selfdrive/updated.py
  33. 4
      system/sensord/pigeond.py
  34. 4
      system/sensord/rawgps/structs.py
  35. 2
      tools/plotjuggler/juggle.py
  36. 1
      tools/replay/can_replay.py

26
.pre-commit-config.yaml
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@ -34,31 +34,11 @@ repos:
types: [python]
args: ['--explicit-package-bases']
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/PyCQA/flake8
rev: 6.1.0
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.0.282
hooks:
- id: flake8
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
additional_dependencies: ['flake8-no-implicit-concat']
args:
- --indent-size=2
- --enable-extensions=NIC
- --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
- --statistics
- -j4
- repo: local
hooks:
- id: pylint
name: pylint
entry: pylint
language: system
types: [python]
- id: ruff
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
args:
- -j0
- -rn
- -sn
- --rcfile=.pylintrc
- repo: local
hooks:
- id: cppcheck

4
poetry.lock generated
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@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:4bdf2a7ffee6dd09d6532b7e2a2cd5d6af889658cfbbe0d02deac92e14be33e9
size 809997
oid sha256:36187dd8afc0afe0abdb6976b5d31bb07294ec91c96022b426e86a0484216d8e
size 792009

10
pyproject.toml
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@ -19,7 +19,6 @@ cffi = "*"
crcmod = "*"
cryptography = "*"
Cython = "*"
flake8 = "*"
Flask = "*"
future-fstrings = "*" # for acados
gunicorn = "*"
@ -92,7 +91,6 @@ pprofile = "*"
pre-commit = "*"
pycurl = "*"
pygame = "*"
pylint = "*"
pyprof2calltree = "*"
pytest = "*"
pytest-xdist = "*"
@ -161,6 +159,7 @@ PyMySQL = "~0.9"
pyproj = "*"
python-logstash = "*"
redis = "*"
ruff = "*"
s2sphere = "*"
scikit-image = "*"
scikit-learn = "*"
@ -186,3 +185,10 @@ opencv-python-headless = { url = "https://github.com/commaai/opencv-python-build
[build-system]
requires = ["poetry-core"]
build-backend = "poetry.core.masonry.api"
# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
[tool.ruff]
select = ["E", "F", "W"]
ignore = ["W292", "E741", "E402"]
line-length = 160
target-version="py311"

2
selfdrive/athena/tests/helpers.py
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@ -52,7 +52,7 @@ class MockApi():
class MockParams():
default_params = {
"DongleId": b"0000000000000000",
"GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # pylint: disable=C0301
"GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
"GithubUsername": b"commaci",
"GsmMetered": True,
"AthenadUploadQueue": '[]',

2
selfdrive/car/body/carcontroller.py
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@ -56,7 +56,7 @@ class CarController:
speed_error = speed_desired - speed_measured
if self.wheeled_body is None:
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
(speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)

2
selfdrive/car/chrysler/values.py
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@ -1,3 +1,4 @@
# ruff: noqa: E501
from enum import IntFlag
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Union
@ -93,7 +94,6 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
# For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
FINGERPRINTS = {
# pylint: disable=C0301
CAR.PACIFICA_2017_HYBRID: [{
168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
}],

2
selfdrive/car/docs_definitions.py
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@ -178,7 +178,7 @@ class CommonFootnote(Enum):
"the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
Column.LONGITUDINAL, docs_only=True)
EXP_LONG_DSU = CarFootnote(
"By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
"By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
"If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
"stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
Column.LONGITUDINAL)

2
selfdrive/car/gm/values.py
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@ -1,3 +1,4 @@
# ruff: noqa: E501
from collections import defaultdict
from dataclasses import dataclass
from enum import Enum
@ -142,7 +143,6 @@ class CanBus:
DROPPED = 192
FINGERPRINTS = {
# pylint: disable=C0301
CAR.HOLDEN_ASTRA: [
# Astra BK MY17, ASCM unplugged
{

5
selfdrive/car/hyundai/values.py
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@ -1,3 +1,4 @@
# ruff: noqa: E501
import re
from dataclasses import dataclass
from enum import Enum, IntFlag
@ -229,7 +230,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify
],
CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018
CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
CAR.KIA_OPTIMA_H: [
@ -284,7 +285,6 @@ class Buttons:
CANCEL = 4 # on newer models, this is a pause/resume button
FINGERPRINTS = {
# pylint: disable=C0301
CAR.ELANTRA: [{
66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
}],
@ -518,7 +518,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
# pylint: disable=C0301
CAR.HYUNDAI_GENESIS: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DH LKAS 1.1 -150210',

2
selfdrive/car/nissan/values.py
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@ -1,3 +1,4 @@
# ruff: noqa: E501
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Union
@ -45,7 +46,6 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
}
FINGERPRINTS = {
# pylint: disable=C0301
CAR.XTRAIL: [
{
2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8

2
selfdrive/car/tesla/values.py
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@ -1,3 +1,4 @@
# ruff: noqa: E501
from collections import namedtuple
from typing import Dict, List, Union
@ -22,7 +23,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
}
FINGERPRINTS = {
# pylint: disable=C0301
CAR.AP1_MODELS: [
{
1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4

2
selfdrive/controls/lib/events.py
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@ -724,7 +724,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
},
EventName.calibrationRecalibrating: {
ET.PERMANENT: calibration_incomplete_alert,
ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),

2
selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
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@ -10,7 +10,7 @@ from selfdrive.modeld.constants import T_IDXS
if __name__ == '__main__': # generating code
from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error
from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")

2
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@ -13,7 +13,7 @@ from selfdrive.controls.radard import _LEAD_ACCEL_TAU
if __name__ == '__main__': # generating code
from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
else:
from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython # pylint: disable=no-name-in-module, import-error
from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
from casadi import SX, vertcat

2
selfdrive/debug/clear_dtc.py
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@ -35,6 +35,6 @@ try:
except MessageTimeoutError:
# functional address isn't properly handled so a timeout occurs
if args.addr != 0x7DF:
pass
pass
print("")
print("you may need to power cycle your vehicle now")

7
selfdrive/debug/dump.py
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@ -3,14 +3,15 @@ import os
import sys
import argparse
import json
from hexdump import hexdump
import codecs
codecs.register_error("strict", codecs.backslashreplace_errors)
import cereal.messaging as messaging
from hexdump import hexdump
from cereal import log
import cereal.messaging as messaging
from cereal.services import service_list
codecs.register_error("strict", codecs.backslashreplace_errors)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')

2
selfdrive/debug/show_matching_cars.py
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@ -4,7 +4,7 @@ import cereal.messaging as messaging
# rav4 2019 and corolla tss2
fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # pylint: disable=C0301
fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
candidate_cars = all_legacy_fingerprint_cars()

2
selfdrive/locationd/models/loc_kf.py
Unescape View File

@ -372,7 +372,7 @@ class LocKalman():
self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
if self.N > 0:
x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking
x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment]
self.computer = LstSqComputer(generated_dir, N)
self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)]

6
selfdrive/locationd/test/test_laikad.py
Unescape View File

@ -111,7 +111,7 @@ class TestLaikad(unittest.TestCase):
laikad = Laikad()
laikad.fetch_navs(gpstime, block=False)
laikad.orbit_fetch_future.result(30)
# Get results and save orbits to laikad:
laikad.fetch_navs(gpstime, block=False)
ephem = laikad.astro_dog.navs['G01'][0]
@ -238,7 +238,7 @@ class TestLaikad(unittest.TestCase):
if len(out_msg.gnssMeasurements.ephemerisStatuses):
seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses])
seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses])
self.assertTrue(has_navs or has_polys)
self.assertTrue(has_fix)
self.assertTrue(seen_chip_eph or auto_fetch_navs)
@ -281,7 +281,7 @@ class TestLaikad(unittest.TestCase):
self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
self.assertIsNotNone(msg)
#TODO test cache with only orbits
#TODO test cache with only orbits
#with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
# # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
# laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()

2
selfdrive/modeld/runners/onnx_runner.py
Unescape View File

@ -8,7 +8,7 @@ from typing import Tuple, Dict, Union, Any
os.environ["OMP_NUM_THREADS"] = "4"
os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
import onnxruntime as ort # pylint: disable=import-error
import onnxruntime as ort
ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}

3
selfdrive/modeld/thneed/lib.py
Unescape View File

@ -1,4 +1,5 @@
import struct, json
import struct
import json
def load_thneed(fn):
with open(fn, "rb") as f:

2
selfdrive/monitoring/driver_monitor.py
Unescape View File

@ -272,7 +272,7 @@ class DriverStatus():
self.eev2 = driver_data.readyProb[0]
self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
self.driver_distraction_filter.update(self.driver_distracted)

2
selfdrive/monitoring/test_monitoring.py
Unescape View File

@ -203,7 +203,7 @@ class TestMonitoring(unittest.TestCase):
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
interaction_vector = always_false[:]
events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
self.assertTrue(EventName.preDriverUnresponsive in
self.assertTrue(EventName.preDriverUnresponsive in
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
self.assertTrue(EventName.promptDriverUnresponsive in
events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)

2
selfdrive/navd/map_renderer.py
Unescape View File

@ -74,7 +74,7 @@ if __name__ == "__main__":
renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
wait_ready(lib, renderer)
geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # pylint: disable=C0301
geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
lib.map_renderer_update_route(renderer, geometry.encode())
POSITIONS = [

16
selfdrive/navd/tests/test_map_renderer.py
Unescape View File

@ -30,7 +30,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
def setup(self):
if self.INTERNET_ACTIVE:
super().setup()
def handle(self):
if self.INTERNET_ACTIVE:
super().handle()
@ -38,7 +38,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
def finish(self):
if self.INTERNET_ACTIVE:
super().finish()
def do_GET(self):
url = f'https://api.mapbox.com{self.path}'
@ -50,7 +50,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
self.send_response(r.status_code)
self.end_headers()
self.wfile.write(r.content)
def log_message(self, *args: Any) -> None:
return
@ -62,13 +62,13 @@ class MapBoxInternetDisabledServer(threading.Thread):
def run(self):
self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
self.server.serve_forever()
def stop(self):
self.server.shutdown()
def disable_internet(self):
MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
def enable_internet(self):
MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
@ -110,7 +110,7 @@ class TestMapRenderer(unittest.TestCase):
assert self.vipc.connect(False)
self.vipc.recv()
def _run_test(self, expect_valid, location=LOCATION1):
starting_frame_id = None
@ -127,7 +127,7 @@ class TestMapRenderer(unittest.TestCase):
else:
prev_valid = self.sm.valid['mapRenderState']
prev_frame_id = self.sm['mapRenderState'].frameId
if starting_frame_id is None:
starting_frame_id = prev_frame_id
@ -172,7 +172,7 @@ class TestMapRenderer(unittest.TestCase):
self.server.disable_internet()
self._setup_test()
self._run_test(False)
def test_recover_from_no_internet(self):
self._setup_test()
self._run_test(True)

4
selfdrive/test/process_replay/capture.py
Unescape View File

@ -22,7 +22,7 @@ class FdRedirect:
def read(self) -> bytes:
with open(self.dest_fname, "rb") as f:
return f.read() or b""
def link(self) -> None:
os.dup2(self.dest_fd, self.source_fd)
@ -39,7 +39,7 @@ class ProcessOutputCapture:
@no_type_check # ipython classes have incompatible signatures
def link_with_current_proc(self) -> None:
try:
try:
# prevent ipykernel from redirecting stdout/stderr of python subprocesses
from ipykernel.iostream import OutStream
if isinstance(sys.stdout, OutStream):

4
selfdrive/test/process_replay/migration.py
Unescape View File

@ -20,13 +20,13 @@ def migrate_cameraStates(lr):
for msg in lr:
if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
continue
encode_index = getattr(msg, msg.which())
meta = meta_from_encode_index(msg.which())
assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
for msg in lr:
if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
all_msgs.append(msg)

28
selfdrive/test/process_replay/process_replay.py
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@ -52,7 +52,7 @@ class ReplayContext:
self.main_pub_drained = cfg.main_pub_drained
self.unlocked_pubs = cfg.unlocked_pubs
assert(len(self.pubs) != 0 or self.main_pub is not None)
def __enter__(self):
self.open()
@ -82,7 +82,7 @@ class ReplayContext:
@property
def all_recv_called_events(self):
return [man.recv_called_event for man in self.events.values()]
@property
def all_recv_ready_events(self):
return [man.recv_ready_event for man in self.events.values()]
@ -142,7 +142,7 @@ class ProcessContainer:
self.cnt = 0
self.pm: Optional[messaging.PubMaster] = None
self.sockets: Optional[List[messaging.SubSocket]] = None
self.rc: Optional[ReplayContext] = None
self.rc: Optional[ReplayContext] = None
self.vipc_server: Optional[VisionIpcServer] = None
self.capture: Optional[ProcessOutputCapture] = None
@ -199,8 +199,8 @@ class ProcessContainer:
self.process.start()
def start(
self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
fingerprint: Optional[str], capture_output: bool
):
with self.prefix as p:
@ -336,7 +336,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
def controlsd_rcv_callback(msg, cfg, frame):
# no sendcan until controlsd is initialized
if msg.which() != "can":
return False
return False
socks = [
s for s in cfg.subs if
@ -407,7 +407,7 @@ class FrequencyBasedRcvCallback:
if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
]
return bool(len(resp_sockets))
def controlsd_config_callback(params, cfg, lr):
controlsState = None
@ -437,7 +437,7 @@ def laikad_config_pubsub_callback(params, cfg, lr):
def locationd_config_pubsub_callback(params, cfg, lr):
ublox = params.get_bool("UbloxAvailable")
sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
cfg.pubs = set(cfg.pubs) - sub_keys
@ -495,7 +495,7 @@ CONFIGS = [
ProcessConfig(
proc_name="locationd",
pubs=[
"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
"cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
"liveCalibration", "carState", "carParams", "gpsLocation"
],
subs=["liveLocationKalman"],
@ -577,7 +577,7 @@ def get_process_config(name: str) -> ProcessConfig:
def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]:
"""
Use this to get custom params dict based on provided logs.
Use this to get custom params dict based on provided logs.
Useful when replaying following processes: calibrationd, paramsd, torqued
The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
"""
@ -620,7 +620,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReade
def replay_process(
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
) -> List[capnp._DynamicStructReader]:
@ -660,7 +660,7 @@ def _replay_multi_process(
for cfg in cfgs:
if len(cfg.vision_pubs) == 0:
continue
assert frs is not None, "frs must be provided when replaying process using vision streams"
assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
@ -722,7 +722,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
"DisengageOnAccelerator": True,
"DisableLogging": False,
}
if custom_params is not None:
params_dict.update(custom_params)
if lr is not None:
@ -769,7 +769,7 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str
else:
environ_dict["SKIP_FW_QUERY"] = ""
environ_dict["FINGERPRINT"] = ""
return environ_dict

2
selfdrive/test/process_replay/regen.py
Unescape View File

@ -16,7 +16,7 @@ from tools.lib.helpers import save_log
def regen_segment(
lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
) -> List[capnp._DynamicStructReader]:
if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):

34
selfdrive/test/process_replay/test_processes.py
Unescape View File

@ -41,23 +41,23 @@ source_segments = [
]
segments = [
("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
]
# dashcamOnly makes don't need to be tested until a full port is done

14
selfdrive/thermald/tests/test_power_monitoring.py
Unescape View File

@ -178,23 +178,23 @@ class TestPowerMonitoring(unittest.TestCase):
if i % 10 == 0:
self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
def test_delay_shutdown_time(self):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = 0
ignition = False
in_car = True
in_car = True
offroad_timestamp = ssb
started_seen = True
pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
self.assertFalse(pm.should_shutdown(ignition, in_car,
offroad_timestamp,
started_seen),
self.assertFalse(pm.should_shutdown(ignition, in_car,
offroad_timestamp,
started_seen),
f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
self.assertTrue(pm.should_shutdown(ignition, in_car,
offroad_timestamp,
self.assertTrue(pm.should_shutdown(ignition, in_car,
offroad_timestamp,
started_seen),
f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")

2
selfdrive/updated.py
Unescape View File

@ -444,7 +444,7 @@ def main() -> None:
if not system_time_valid():
wait_helper.sleep(60)
continue
update_failed_count += 1
# check for update

4
system/sensord/pigeond.py
Unescape View File

@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
# UBX-CFG-NAV5 (0x06 0x24)
pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # pylint: disable=C0301
pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
# UBX-CFG-ODO (0x06 0x1E)
pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # pylint: disable=C0301
pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
# UBX-CFG-NAV5 (0x06 0x24)
pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")

4
system/sensord/rawgps/structs.py
Unescape View File

@ -255,7 +255,7 @@ position_report = """
uint32 q_FltRawAlt; /* Raw height-above-ellipsoid altitude in meters as computed by WLS */
uint32 q_FltRawAltSigma; /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */
uint32 align_Flt[14];
uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted
uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted
uint32 q_FltHdop; /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */
uint32 q_FltVdop; /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */
uint8 u_EllipseConfidence; /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */
@ -276,7 +276,7 @@ position_report = """
uint8 u_TotalGloSvs; /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */
uint8 u_NumBdsSvsUsed; /* The number of BeiDou SVs used in the fix */
uint8 u_TotalBdsSvs; /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */
"""
""" # noqa: E501
def name_to_camelcase(nam):
ret = []

2
tools/plotjuggler/juggle.py
Unescape View File

@ -168,7 +168,7 @@ if __name__ == "__main__":
if not os.path.exists(PLOTJUGGLER_BIN):
print("PlotJuggler is missing. Downloading...")
install()
if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
print("PlotJuggler is out of date. Installing update...")
install()

1
tools/replay/can_replay.py
Unescape View File

@ -14,7 +14,6 @@ from tools.plotjuggler.juggle import load_segment
from tools.lib.logreader import logreader_from_route_or_segment
from panda import Panda, PandaJungle
def send_thread(s, flock):
if "Jungle" in str(type(s)):
if "FLASH" in os.environ:

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