From 6013d733a3a68f3c7f423f8c164d073da3221ef3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 5 Apr 2022 15:00:35 -0700
Subject: [PATCH] add mpld3 python pacakge (#24138)

* add mpld3 python pacakge

* move to dev

* fix for new pylint
---
 Pipfile                                   |    1 +
 Pipfile.lock                              | 1092 +++++++++++----------
 selfdrive/car/interfaces.py               |    5 +-
 selfdrive/debug/internal/power_monitor.py |    2 +-
 selfdrive/test/test_onroad.py             |    8 +-
 5 files changed, 575 insertions(+), 533 deletions(-)

diff --git a/Pipfile b/Pipfile
index 0b035e3778..02e8c602d1 100644
--- a/Pipfile
+++ b/Pipfile
@@ -36,6 +36,7 @@ sphinx-rtd-theme = "*"
 breathe = "*"
 subprocess32 = "*"
 tenacity = "*"
+mpld3 = "*"
 
 [packages]
 atomicwrites = "*"
diff --git a/Pipfile.lock b/Pipfile.lock
index 7f59edcaf8..da2dae92aa 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "8655469995735262ee407a18208428533c1f08f0b09e1e93215abb488571976e"
+            "sha256": "7288746fb2afc988e4de2a7d1d3bc2fbef09ce65ca135b6762f3d722c156661b"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -18,11 +18,11 @@
     "default": {
         "astroid": {
             "hashes": [
-                "sha256:1efdf4e867d4d8ba4a9f6cf9ce07cd182c4c41de77f23814feb27ca93ca9d877",
-                "sha256:506daabe5edffb7e696ad82483ad0228245a9742ed7d2d8c9cdb31537decf9f6"
+                "sha256:8d0a30fe6481ce919f56690076eafbb2fb649142a89dc874f1ec0e7a011492d0",
+                "sha256:cc8cc0d2d916c42d0a7c476c57550a4557a083081976bf42a73414322a6411d9"
             ],
             "markers": "python_full_version >= '3.6.2'",
-            "version": "==2.9.3"
+            "version": "==2.11.2"
         },
         "atomicwrites": {
             "hashes": [
@@ -150,11 +150,11 @@
         },
         "click": {
             "hashes": [
-                "sha256:6a7a62563bbfabfda3a38f3023a1db4a35978c0abd76f6c9605ecd6554d6d9b1",
-                "sha256:8458d7b1287c5fb128c90e23381cf99dcde74beaf6c7ff6384ce84d6fe090adb"
+                "sha256:24e1a4a9ec5bf6299411369b208c1df2188d9eb8d916302fe6bf03faed227f1e",
+                "sha256:479707fe14d9ec9a0757618b7a100a0ae4c4e236fac5b7f80ca68028141a1a72"
             ],
-            "markers": "python_version >= '3.6'",
-            "version": "==8.0.4"
+            "markers": "python_version >= '3.7'",
+            "version": "==8.1.2"
         },
         "crcmod": {
             "hashes": [
@@ -168,29 +168,29 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:0a817b961b46894c5ca8a66b599c745b9a3d9f822725221f0e0fe49dc043a3a3",
-                "sha256:2d87cdcb378d3cfed944dac30596da1968f88fb96d7fc34fdae30a99054b2e31",
-                "sha256:30ee1eb3ebe1644d1c3f183d115a8c04e4e603ed6ce8e394ed39eea4a98469ac",
-                "sha256:391432971a66cfaf94b21c24ab465a4cc3e8bf4a939c1ca5c3e3a6e0abebdbcf",
-                "sha256:39bdf8e70eee6b1c7b289ec6e5d84d49a6bfa11f8b8646b5b3dfe41219153316",
-                "sha256:4caa4b893d8fad33cf1964d3e51842cd78ba87401ab1d2e44556826df849a8ca",
-                "sha256:53e5c1dc3d7a953de055d77bef2ff607ceef7a2aac0353b5d630ab67f7423638",
-                "sha256:596f3cd67e1b950bc372c33f1a28a0692080625592ea6392987dba7f09f17a94",
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-                "sha256:73bc2d3f2444bcfeac67dd130ff2ea598ea5f20b40e36d19821b4df8c9c5037b",
-                "sha256:74d6c7e80609c0f4c2434b97b80c7f8fdfaa072ca4baab7e239a15d6d70ed73a",
-                "sha256:7be0eec337359c155df191d6ae00a5e8bbb63933883f4f5dffc439dac5348c3f",
-                "sha256:94ae132f0e40fe48f310bba63f477f14a43116f05ddb69d6fa31e93f05848ae2",
-                "sha256:bb5829d027ff82aa872d76158919045a7c1e91fbf241aec32cb07956e9ebd3c9",
-                "sha256:ca238ceb7ba0bdf6ce88c1b74a87bffcee5afbfa1e41e173b1ceb095b39add46",
-                "sha256:ca28641954f767f9822c24e927ad894d45d5a1e501767599647259cbf030b903",
-                "sha256:e0344c14c9cb89e76eb6a060e67980c9e35b3f36691e15e1b7a9e58a0a6c6dc3",
-                "sha256:ebc15b1c22e55c4d5566e3ca4db8689470a0ca2babef8e3a9ee057a8b82ce4b1",
-                "sha256:ec63da4e7e4a5f924b90af42eddf20b698a70e58d86a72d943857c4c6045b3ee"
-            ],
-            "index": "pypi",
-            "version": "==36.0.1"
+                "sha256:0a3bf09bb0b7a2c93ce7b98cb107e9170a90c51a0162a20af1c61c765b90e60b",
+                "sha256:1f64a62b3b75e4005df19d3b5235abd43fa6358d5516cfc43d87aeba8d08dd51",
+                "sha256:32db5cc49c73f39aac27574522cecd0a4bb7384e71198bc65a0d23f901e89bb7",
+                "sha256:4881d09298cd0b669bb15b9cfe6166f16fc1277b4ed0d04a22f3d6430cb30f1d",
+                "sha256:4e2dddd38a5ba733be6a025a1475a9f45e4e41139d1321f412c6b360b19070b6",
+                "sha256:53e0285b49fd0ab6e604f4c5d9c5ddd98de77018542e88366923f152dbeb3c29",
+                "sha256:70f8f4f7bb2ac9f340655cbac89d68c527af5bb4387522a8413e841e3e6628c9",
+                "sha256:7b2d54e787a884ffc6e187262823b6feb06c338084bbe80d45166a1cb1c6c5bf",
+                "sha256:7be666cc4599b415f320839e36367b273db8501127b38316f3b9f22f17a0b815",
+                "sha256:8241cac0aae90b82d6b5c443b853723bcc66963970c67e56e71a2609dc4b5eaf",
+                "sha256:82740818f2f240a5da8dfb8943b360e4f24022b093207160c77cadade47d7c85",
+                "sha256:8897b7b7ec077c819187a123174b645eb680c13df68354ed99f9b40a50898f77",
+                "sha256:c2c5250ff0d36fd58550252f54915776940e4e866f38f3a7866d92b32a654b86",
+                "sha256:ca9f686517ec2c4a4ce930207f75c00bf03d94e5063cbc00a1dc42531511b7eb",
+                "sha256:d2b3d199647468d410994dbeb8cec5816fb74feb9368aedf300af709ef507e3e",
+                "sha256:da73d095f8590ad437cd5e9faf6628a218aa7c387e1fdf67b888b47ba56a17f0",
+                "sha256:e167b6b710c7f7bc54e67ef593f8731e1f45aa35f8a8a7b72d6e42ec76afd4b3",
+                "sha256:ea634401ca02367c1567f012317502ef3437522e2fc44a3ea1844de028fa4b84",
+                "sha256:ec6597aa85ce03f3e507566b8bcdf9da2227ec86c4266bd5e6ab4d9e0cc8dab2",
+                "sha256:f64b232348ee82f13aac22856515ce0195837f6968aeaa94a3d0353ea2ec06a6"
+            ],
+            "index": "pypi",
+            "version": "==36.0.2"
         },
         "cython": {
             "hashes": [
@@ -252,11 +252,11 @@
         },
         "flask": {
             "hashes": [
-                "sha256:59da8a3170004800a2837844bfa84d49b022550616070f7cb1a659682b2e7c9f",
-                "sha256:e1120c228ca2f553b470df4a5fa927ab66258467526069981b3eb0a91902687d"
+                "sha256:8a4cf32d904cf5621db9f0c9fbcd7efabf3003f22a04e4d0ce790c7137ec5264",
+                "sha256:a8c9bd3e558ec99646d177a9739c41df1ded0629480b4c8d2975412f3c9519c8"
             ],
             "index": "pypi",
-            "version": "==2.0.3"
+            "version": "==2.1.1"
         },
         "flatbuffers": {
             "hashes": [
@@ -314,19 +314,19 @@
         },
         "itsdangerous": {
             "hashes": [
-                "sha256:29285842166554469a56d427addc0843914172343784cb909695fdbe90a3e129",
-                "sha256:d848fcb8bc7d507c4546b448574e8a44fc4ea2ba84ebf8d783290d53e81992f5"
+                "sha256:2c2349112351b88699d8d4b6b075022c0808887cb7ad10069318a8b0bc88db44",
+                "sha256:5dbbc68b317e5e42f327f9021763545dc3fc3bfe22e6deb96aaf1fc38874156a"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==2.1.0"
+            "version": "==2.1.2"
         },
         "jinja2": {
             "hashes": [
-                "sha256:077ce6014f7b40d03b47d1f1ca4b0fc8328a692bd284016f806ed0eaca390ad8",
-                "sha256:611bb273cd68f3b993fabdc4064fc858c5b47a973cb5aa7999ec1ba405c87cd7"
+                "sha256:539835f51a74a69f41b848a9645dbdc35b4f20a3b601e2d9a7e22947b15ff119",
+                "sha256:640bed4bb501cbd17194b3cace1dc2126f5b619cf068a726b98192a0fde74ae9"
             ],
             "index": "pypi",
-            "version": "==3.0.3"
+            "version": "==3.1.1"
         },
         "json-rpc": {
             "hashes": [
@@ -391,49 +391,49 @@
         },
         "markupsafe": {
             "hashes": [
-                "sha256:023af8c54fe63530545f70dd2a2a7eed18d07a9a77b94e8bf1e2ff7f252db9a3",
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+                "sha256:e72591e9ecd94d7feb70c1cbd7be7b3ebea3f548870aa91e2732960fa4d57a37",
+                "sha256:e8c843bbcda3a2f1e3c2ab25913c80a3c5376cd00c6e8c4a86a89a28c8dc5452",
+                "sha256:efc1913fd2ca4f334418481c7e595c00aad186563bbc1ec76067848c7ca0a933",
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+                "sha256:fc7b548b17d238737688817ab67deebb30e8073c95749d55538ed473130ec0c7"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==2.1.0"
+            "version": "==2.1.1"
         },
         "mccabe": {
             "hashes": [
@@ -460,28 +460,29 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:03ae5850619abb34a879d5f2d4bb4dcd025d6d8fb72f5e461dae84edccfe129f",
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+            "version": "==1.22.3"
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@@ -516,59 +517,60 @@
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             "markers": "platform_system != 'Darwin'",
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@@ -580,35 +582,33 @@
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+                "sha256:fd7133b885e356fa4920ead8289bb45dc6f185a164e99e10279f33732ed5ce15"
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-            "markers": "python_version >= '3.5'",
-            "version": "==3.19.4"
+            "markers": "python_version >= '3.7'",
+            "version": "==3.20.0"
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         "psutil": {
             "hashes": [
@@ -736,11 +736,11 @@
         },
         "pylint": {
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@@ -773,10 +773,10 @@
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         "pytools": {
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-                "sha256:197aacf6e1f5d60c715b92438792acb7702aed59ebbfb147fa84eda780e54fee"
+                "sha256:5e824101880a246354756365880a65bb416f6a8cab6513b68fcbb48fba090fcb"
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-            "version": "==2022.1"
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@@ -888,11 +888,11 @@
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@@ -923,11 +923,11 @@
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@@ -947,11 +947,11 @@
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@@ -961,14 +961,6 @@
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@@ -979,11 +971,11 @@
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@@ -995,11 +987,11 @@
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@@ -1010,84 +1002,97 @@
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-            "version": "==1.13.3"
+            "version": "==1.14.0"
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+            "version": "==3.8.0"
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     "develop": {
@@ -1273,29 +1278,29 @@
         },
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@@ -1338,26 +1343,46 @@
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@@ -1369,11 +1394,11 @@
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         "fonttools": {
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         "hexdump": {
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@@ -1384,19 +1409,19 @@
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@@ -1439,61 +1464,60 @@
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@@ -1512,49 +1536,49 @@
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@@ -1613,31 +1637,43 @@
             "markers": "python_version >= '3.6'",
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@@ -1671,41 +1707,42 @@
         },
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@@ -1725,52 +1762,55 @@
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@@ -1797,11 +1837,11 @@
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@@ -1820,10 +1860,10 @@
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@@ -1930,11 +1970,11 @@
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         "pytest": {
             "hashes": [
-                "sha256:9ce3ff477af913ecf6321fe337b93a2c0dcf2a0a1439c43f5452112c1e4280db",
-                "sha256:e30905a0c131d3d94b89624a1cc5afec3e0ba2fbdb151867d8e0ebd49850f171"
+                "sha256:841132caef6b1ad17a9afde46dc4f6cfa59a05f9555aae5151f73bdf2820ca63",
+                "sha256:92f723789a8fdd7180b6b06483874feca4c48a5c76968e03bb3e7f806a1869ea"
             ],
             "index": "pypi",
-            "version": "==7.0.1"
+            "version": "==7.1.1"
         },
         "pytest-forked": {
             "hashes": [
@@ -1962,10 +2002,10 @@
         },
         "pytz": {
             "hashes": [
-                "sha256:3672058bc3453457b622aab7a1c3bfd5ab0bdae451512f6cf25f64ed37f5b87c",
-                "sha256:acad2d8b20a1af07d4e4c9d2e9285c5ed9104354062f275f3fcd88dcef4f1326"
+                "sha256:1e760e2fe6a8163bc0b3d9a19c4f84342afa0a2affebfaa84b01b978a02ecaa7",
+                "sha256:e68985985296d9a66a881eb3193b0906246245294a881e7c8afe623866ac6a5c"
             ],
-            "version": "==2021.3"
+            "version": "==2022.1"
         },
         "pyyaml": {
             "hashes": [
@@ -2074,11 +2114,11 @@
         },
         "sphinx": {
             "hashes": [
-                "sha256:5da895959511473857b6d0200f56865ed62c31e8f82dd338063b84ec022701fe",
-                "sha256:6caad9786055cb1fa22b4a365c1775816b876f91966481765d7d50e9f0dd35cc"
+                "sha256:7bf8ca9637a4ee15af412d1a1d9689fec70523a68ca9bb9127c2f3eeb344e2e6",
+                "sha256:ebf612653238bcc8f4359627a9b7ce44ede6fdd75d9d30f68255c7383d3a6226"
             ],
             "index": "pypi",
-            "version": "==4.4.0"
+            "version": "==4.5.0"
         },
         "sphinx-rtd-theme": {
             "hashes": [
@@ -2186,27 +2226,27 @@
         },
         "urllib3": {
             "hashes": [
-                "sha256:000ca7f471a233c2251c6c7023ee85305721bfdf18621ebff4fd17a8653427ed",
-                "sha256:0e7c33d9a63e7ddfcb86780aac87befc2fbddf46c58dbb487e0855f7ceec283c"
+                "sha256:44ece4d53fb1706f667c9bd1c648f5469a2ec925fcf3a776667042d645472c14",
+                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
             ],
             "index": "pypi",
-            "version": "==1.26.8"
+            "version": "==1.26.9"
         },
         "virtualenv": {
             "hashes": [
-                "sha256:01f5f80744d24a3743ce61858123488e91cb2dd1d3bdf92adaf1bba39ffdedf0",
-                "sha256:e7b34c9474e6476ee208c43a4d9ac1510b041c68347eabfe9a9ea0c86aa0a46b"
+                "sha256:1e8588f35e8b42c6ec6841a13c5e88239de1e6e4e4cedfd3916b306dc826ec66",
+                "sha256:8e5b402037287126e81ccde9432b95a8be5b19d36584f64957060a3488c11ca8"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==20.13.2"
+            "version": "==20.14.0"
         },
         "zipp": {
             "hashes": [
-                "sha256:9f50f446828eb9d45b267433fd3e9da8d801f614129124863f9c51ebceafb87d",
-                "sha256:b47250dd24f92b7dd6a0a8fc5244da14608f3ca90a5efcd37a3b1642fac9a375"
+                "sha256:56bf8aadb83c24db6c4b577e13de374ccfb67da2078beba1d037c17980bf43ad",
+                "sha256:c4f6e5bbf48e74f7a38e7cc5b0480ff42b0ae5178957d564d18932525d5cf099"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==3.7.0"
+            "version": "==3.8.0"
         }
     }
 }
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 34ca75cd48..ddf67e4d62 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -63,9 +63,8 @@ class CarInterfaceBase(ABC):
     # TODO: something with lateralPlan.curvatureRates
     return desired_angle * (v_ego**2)
 
-  @classmethod
-  def get_steer_feedforward_function(cls):
-    return cls.get_steer_feedforward_default
+  def get_steer_feedforward_function(self):
+    return self.get_steer_feedforward_default
 
   # returns a set of default params to avoid repetition in car specific params
   @staticmethod
diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py
index c995ef6ff2..09fb89835b 100755
--- a/selfdrive/debug/internal/power_monitor.py
+++ b/selfdrive/debug/internal/power_monitor.py
@@ -10,6 +10,7 @@ def average(avg, sample):
 
 
 if __name__ == '__main__':
+  start_time = datetime.now()
   try:
     if len(sys.argv) > 1 and sys.argv[1] == "--charge":
       print("not disabling charging")
@@ -22,7 +23,6 @@ if __name__ == '__main__':
     power_average = (0., 0)
     capacity_average = (0., 0)
     bat_temp_average = (0., 0)
-    start_time = datetime.now()
     while 1:
       with open("/sys/class/power_supply/bms/voltage_now") as f:
         voltage = int(f.read()) / 1e6   # volts
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f1f540dad1..d6d9f49bca 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -154,6 +154,7 @@ class TestOnroad(unittest.TestCase):
     os.system("pkill -9 -f athena")
 
     # start manager and run openpilot for a minute
+    proc = None
     try:
       manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
       proc = subprocess.Popen(["python", manager_path])
@@ -182,9 +183,10 @@ class TestOnroad(unittest.TestCase):
       cls.segments = cls.segments[:-1]
 
     finally:
-      proc.terminate()
-      if proc.wait(60) is None:
-        proc.kill()
+      if proc is not None:
+        proc.terminate()
+        if proc.wait(60) is None:
+          proc.kill()
 
     cls.lrs = [list(LogReader(os.path.join(str(s), "rlog.bz2"))) for s in cls.segments]