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Flake8 E22X (#1607)

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* e221

* e225

* bump opendbc
pull/1611/head
Adeeb 5 years ago committed by GitHub
parent b08fff33a0
commit 6051061ff8
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24 changed files with 77 additions and 77 deletions
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  1. 2
      .pre-commit-config.yaml
  2. 2
      common/stat_live.py
  3. 4
      common/transformations/orientation.py
  4. 2
      opendbc
  5. 2
      selfdrive/camerad/test/frame_test.py
  6. 2
      selfdrive/car/chrysler/chryslercan.py
  7. 2
      selfdrive/car/ford/interface.py
  8. 2
      selfdrive/car/ford/radar_interface.py
  9. 2
      selfdrive/car/gm/gmcan.py
  10. 24
      selfdrive/car/gm/values.py
  11. 8
      selfdrive/car/honda/values.py
  12. 8
      selfdrive/car/mazda/mazdacan.py
  13. 4
      selfdrive/car/toyota/radar_interface.py
  14. 2
      selfdrive/config.py
  15. 6
      selfdrive/controls/lib/driver_monitor.py
  16. 2
      selfdrive/controls/lib/latcontrol_indi.py
  17. 2
      selfdrive/controls/lib/planner.py
  18. 44
      selfdrive/controls/tests/test_monitoring.py
  19. 8
      selfdrive/debug/mpc/live_lateral_mpc.py
  20. 2
      selfdrive/locationd/test/ubloxd.py
  21. 2
      selfdrive/test/longitudinal_maneuvers/plant.py
  22. 2
      selfdrive/test/process_replay/process_replay.py
  23. 6
      tools/carcontrols/joystick_test.py
  24. 14
      tools/replay/unlogger.py

2
.pre-commit-config.yaml
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@ -17,7 +17,7 @@ repos:
- id: flake8
exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
args:
- --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E221,E225,E226,E231,E241,E251,E261,E265,E266,E302,E303,E305,E402,E501,E502,E722,E741,W504
- --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E231,E241,E251,E261,E265,E266,E302,E303,E305,E402,E501,E502,E722,E741,W504
- --statistics
- repo: local
hooks:

2
common/stat_live.py
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@ -64,7 +64,7 @@ class RunningStatFilter():
_std_last = self.raw_stat.std()
self.raw_stat.push_data(new_data)
_delta_std = self.raw_stat.std() - _std_last
if _delta_std<=0:
if _delta_std <= 0:
self.filtered_stat.push_data(new_data)
else:
pass

4
common/transformations/orientation.py
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@ -124,8 +124,8 @@ def rot2euler(rots):
quats_from_rotations = rot2quat
quat_from_rot = rot2quat
rotations_from_quats = quat2rot
rot_from_quat= quat2rot
rot_from_quat= quat2rot
rot_from_quat = quat2rot
rot_from_quat = quat2rot
euler_from_rot = rot2euler
euler_from_quat = quat2euler
rot_from_euler = euler2rot

2
opendbc

@ -1 +1 @@
Subproject commit b15edbc1b5a68fd725ea45ba9442a6c9be875971
Subproject commit 73685b609d25cfc8f838d53f69cf78e136c612c2

2
selfdrive/camerad/test/frame_test.py
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@ -6,7 +6,7 @@ from PIL import ImageFont, ImageDraw, Image
font = ImageFont.truetype("arial", size=72)
def get_frame(idx):
img = np.zeros((874, 1164, 3), np.uint8)
img[100:400, 100:100+(idx % 10)* 100] = 255
img[100:400, 100:100+(idx % 10) * 100] = 255
# big number
im2 = Image.new("RGB", (200,200))

2
selfdrive/car/chrysler/chryslercan.py
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@ -16,7 +16,7 @@ def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_mo
lines = 1
alerts = 0
if hud_count < (1 *4): # first 3 seconds, 4Hz
if hud_count < (1 * 4): # first 3 seconds, 4Hz
alerts = 1
# CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
# had color = 1 and lines = 1 but trying 2017 hybrid style for now.

2
selfdrive/car/ford/interface.py
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@ -60,7 +60,7 @@ class CarInterface(CarInterfaceBase):
# events
events = self.create_common_events(ret)
if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
events.add(car.CarEvent.EventName.steerTempUnavailableMute)
ret.events = events.to_msg()

2
selfdrive/car/ford/radar_interface.py
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@ -50,7 +50,7 @@ class RadarInterface(RadarInterfaceBase):
if cpt['X_Rel'] > 0.00001:
self.validCnt[ii] += 1
else:
self.validCnt[ii] = max(self.validCnt[ii] -1, 0)
self.validCnt[ii] = max(self.validCnt[ii] - 1, 0)
#print ii, self.validCnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
# radar point only valid if there have been enough valid measurements

2
selfdrive/car/gm/gmcan.py
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@ -28,7 +28,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
}
dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
values["GasRegenChecksum"] = (((0xff -dat[1]) & 0xff) << 16) | \
values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \
(((0xff - dat[2]) & 0xff) << 8) | \
((0x100 - dat[3] - idx) & 0xff)

24
selfdrive/car/gm/values.py
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@ -11,24 +11,24 @@ class CAR:
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
class CruiseButtons:
INIT = 0
UNPRESS = 1
RES_ACCEL = 2
DECEL_SET = 3
MAIN = 5
CANCEL = 6
INIT = 0
UNPRESS = 1
RES_ACCEL = 2
DECEL_SET = 3
MAIN = 5
CANCEL = 6
class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
class CanBus:
POWERTRAIN = 0
OBSTACLE = 1
CHASSIS = 2
SW_GMLAN = 3
OBSTACLE = 1
CHASSIS = 2
SW_GMLAN = 3
def is_eps_status_ok(eps_status, car_fingerprint):
return eps_status in [0, 1]

8
selfdrive/car/honda/values.py
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@ -6,10 +6,10 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
# Car button codes
class CruiseButtons:
RES_ACCEL = 4
DECEL_SET = 3
CANCEL = 2
MAIN = 1
RES_ACCEL = 4
DECEL_SET = 3
CANCEL = 2
MAIN = 1
# See dbc files for info on values"
VISUAL_HUD = {

8
selfdrive/car/mazda/mazdacan.py
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@ -9,22 +9,22 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
b1 = int(lkas["BIT_1"])
ldw = int(lkas["LDW"])
er1= int(lkas["ERR_BIT_1"])
er1 = int(lkas["ERR_BIT_1"])
lnv = 0
er2= int(lkas["ERR_BIT_2"])
er2 = int(lkas["ERR_BIT_2"])
steering_angle = int(lkas["STEERING_ANGLE"])
b2 = int(lkas["ANGLE_ENABLED"])
tmp = steering_angle + 2048
ahi = tmp >> 10
amd = (tmp & 0x3FF) >> 2
amd = (tmp & 0x3FF) >> 2
amd = (amd >> 4) | (( amd & 0xF) << 4)
alo = (tmp & 0x3) << 2
ctr = frame % 16
# bytes: [ 1 ] [ 2 ] [ 3 ] [ 4 ]
csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
#bytes [ 5 ] [ 6 ] [ 7 ]
csum = csum - ahi - amd - alo - b2

4
selfdrive/car/toyota/radar_interface.py
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@ -78,12 +78,12 @@ class RadarInterface(RadarInterfaceBase):
if ii in self.RADAR_A_MSGS:
cpt = self.rcp.vl[ii]
if cpt['LONG_DIST'] >=255 or cpt['NEW_TRACK']:
if cpt['LONG_DIST'] >= 255 or cpt['NEW_TRACK']:
self.valid_cnt[ii] = 0 # reset counter
if cpt['VALID'] and cpt['LONG_DIST'] < 255:
self.valid_cnt[ii] += 1
else:
self.valid_cnt[ii] = max(self.valid_cnt[ii] -1, 0)
self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
score = self.rcp.vl[ii+16]['SCORE']
# print ii, self.valid_cnt[ii], score, cpt['VALID'], cpt['LONG_DIST'], cpt['LAT_DIST']

2
selfdrive/config.py
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@ -25,5 +25,5 @@ class UIParams:
lidar_car_x, lidar_car_y = lidar_x/2., lidar_y/1.1
car_hwidth = 1.7272/2 * lidar_zoom
car_front = 2.6924 * lidar_zoom
car_back = 1.8796 * lidar_zoom
car_back = 1.8796 * lidar_zoom
car_color = 110

6
selfdrive/controls/lib/driver_monitor.py
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@ -189,8 +189,8 @@ class DriverStatus():
# self.pose.roll_std = driver_state.faceOrientationStd[2]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < _POSESTD_THRESHOLD
self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb>_EYE_THRESHOLD)
self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb>_EYE_THRESHOLD)
self.blink.left_blink = driver_state.leftBlinkProb * (driver_state.leftEyeProb > _EYE_THRESHOLD)
self.blink.right_blink = driver_state.rightBlinkProb * (driver_state.rightEyeProb > _EYE_THRESHOLD)
self.face_detected = driver_state.faceProb > _FACE_THRESHOLD and \
abs(driver_state.facePosition[0]) <= 0.4 and abs(driver_state.facePosition[1]) <= 0.45
@ -200,7 +200,7 @@ class DriverStatus():
# update offseter
# only update when driver is actively driving the car above a certain speed
if self.face_detected and car_speed>_POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
if self.face_detected and car_speed > _POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)

2
selfdrive/controls/lib/latcontrol_indi.py
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@ -116,7 +116,7 @@ class LatControlINDI():
indi_log.delta = float(delta_u)
indi_log.output = float(self.output_steer)
check_saturation = (CS.vEgo> 10.) and not CS.steeringRateLimited and not CS.steeringPressed
check_saturation = (CS.vEgo > 10.) and not CS.steeringRateLimited and not CS.steeringPressed
indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
return float(self.output_steer), float(self.angle_steers_des), indi_log

2
selfdrive/controls/lib/planner.py
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@ -23,7 +23,7 @@ AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distract
# lookup tables VS speed to determine min and max accels in cruise
# make sure these accelerations are smaller than mpc limits
_A_CRUISE_MIN_V = [-1.0, -.8, -.67, -.5, -.30]
_A_CRUISE_MIN_V = [-1.0, -.8, -.67, -.5, -.30]
_A_CRUISE_MIN_BP = [ 0., 5., 10., 20., 40.]
# need fast accel at very low speed for stop and go

44
selfdrive/controls/tests/test_monitoring.py
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@ -77,29 +77,29 @@ class TestMonitoring(unittest.TestCase):
# 0. op engaged, driver is doing fine all the time
def test_fully_aware_driver(self):
events_output = run_DState_seq(always_attentive, always_false, always_true, always_false)[0]
self.assertTrue(np.sum([len(event) for event in events_output])==0)
self.assertTrue(np.sum([len(event) for event in events_output]) == 0)
# 1. op engaged, driver is distracted and does nothing
def test_fully_distracted_driver(self):
events_output, d_status = run_DState_seq(always_distracted, always_false, always_true, always_false)
self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL+\
self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL +\
((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL+\
self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL +\
((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_TIME+\
self.assertEqual(events_output[int((_DISTRACTED_TIME +\
((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted)
self.assertIs(type(d_status.awareness), float)
# 2. op engaged, no face detected the whole time, no action
def test_fully_invisible_driver(self):
events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)[0]
self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)])==0)
self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL+\
self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL +\
((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL+\
self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL +\
((_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertEqual(events_output[int((_AWARENESS_TIME+\
self.assertEqual(events_output[int((_AWARENESS_TIME +\
((_TEST_TIMESPAN-10-_AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)
# 3. op engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel
@ -111,11 +111,11 @@ class TestMonitoring(unittest.TestCase):
interaction_vector = [car_interaction_NOT_DETECTED] * int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \
[car_interaction_DETECTED] * (int(_TEST_TIMESPAN/DT_DMON)-int(_DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON))
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)])==0)
self.assertTrue(len(events_output[int(_DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)])==0)
self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)]) == 0)
# 4. op engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \
# driver dodges, and then touches wheel to no avail, disengages and reengages
@ -133,7 +133,7 @@ class TestMonitoring(unittest.TestCase):
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
self.assertEqual(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0], EventName.driverDistracted)
self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)])==0)
self.assertTrue(len(events_output[int((_DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0)
# 5. op engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears
# - both actions should clear the alert, but momentary appearence should not
@ -145,15 +145,15 @@ class TestMonitoring(unittest.TestCase):
ds_vector[int((2*_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*_INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
interaction_vector[int((_INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((_INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
events_output = run_DState_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)[0]
self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)])==0)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0)
if _visible_time == 1:
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0], EventName.preDriverUnresponsive)
elif _visible_time == 10:
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)])==0)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0)
else:
pass
@ -168,18 +168,18 @@ class TestMonitoring(unittest.TestCase):
interaction_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON)
op_vector[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON)
events_output = run_DState_seq(ds_vector, interaction_vector, op_vector, always_false)[0]
self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)])==0)
self.assertTrue(len(events_output[int(_INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0], EventName.driverUnresponsive)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0], EventName.driverUnresponsive)
self.assertEqual(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0], EventName.driverUnresponsive)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)])==0)
self.assertTrue(len(events_output[int((_INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0)
# 7. op not engaged, always distracted driver
# - dm should stay quiet when not engaged
def test_pure_dashcam_user(self):
events_output = run_DState_seq(always_distracted, always_false, always_false, always_false)[0]
self.assertTrue(np.sum([len(event) for event in events_output])==0)
self.assertTrue(np.sum([len(event) for event in events_output]) == 0)
# 8. op engaged, car stops at traffic light, down to orange, no action, then car starts moving
# - should only reach green when stopped, but continues counting down on launch
@ -201,9 +201,9 @@ class TestMonitoring(unittest.TestCase):
[msg_DISTRACTED_UNCERTAIN] * (int(_TEST_TIMESPAN/DT_DMON)-int((_DISTRACTED_SECONDS_TO_ORANGE+_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON))
interaction_vector = always_false[:]
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN-0.1)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)])==0)
self.assertTrue(len(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN+_DISTRACTED_SECONDS_TO_ORANGE-0.5)/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_TEST_TIMESPAN-5.)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
# 10. op engaged, model is somehow uncertain and driver is distracted
@ -212,7 +212,7 @@ class TestMonitoring(unittest.TestCase):
ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(_TEST_TIMESPAN/DT_DMON)
interaction_vector = always_false[:]
events_output = run_DState_seq(ds_vector, interaction_vector, always_true, always_false)[0]
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)])==0)
self.assertTrue(len(events_output[int(_UNCERTAIN_SECONDS_TO_GREEN*0.5/DT_DMON)]) == 0)
self.assertEqual(events_output[int((_UNCERTAIN_SECONDS_TO_GREEN)/DT_DMON)].names[0], EventName.driverMonitorLowAcc)
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.preDriverDistracted)
self.assertEqual(events_output[int((2.5*(_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL))/DT_DMON)].names[1], EventName.promptDriverDistracted)

8
selfdrive/debug/mpc/live_lateral_mpc.py
Unescape View File

@ -81,10 +81,10 @@ def mpc_vwr_thread(addr="127.0.0.1"):
lineP.set_ydata(path_x)
if lMpc is not None:
mpc_path_x = list(lMpc.liveMpc.x)[1:]
mpc_path_y = list(lMpc.liveMpc.y)[1:]
mpc_steer_angle = list(lMpc.liveMpc.delta)[1:]
mpc_psi = list(lMpc.liveMpc.psi)[1:]
mpc_path_x = list(lMpc.liveMpc.x)[1:]
mpc_path_y = list(lMpc.liveMpc.y)[1:]
mpc_steer_angle = list(lMpc.liveMpc.delta)[1:]
mpc_psi = list(lMpc.liveMpc.psi)[1:]
line1.set_xdata(mpc_path_y)
line1.set_ydata(mpc_path_x)

2
selfdrive/locationd/test/ubloxd.py
Unescape View File

@ -163,7 +163,7 @@ def gen_nav_data(msg, nav_frame_buffer):
# parse GPS ephem
gnssId = msg_meta_data['gnssId']
if gnssId == 0:
if gnssId == 0:
svId = msg_meta_data['svid']
subframeId = GET_FIELD_U(measurements[1]['dwrd'], 3, 8)
words = []

2
selfdrive/test/longitudinal_maneuvers/plant.py
Unescape View File

@ -163,7 +163,7 @@ class Plant():
Plant.live_params.close()
def speed_sensor(self, speed):
if speed<0.3:
if speed < 0.3:
return 0
else:
return speed * CV.MS_TO_KPH

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

@ -190,7 +190,7 @@ def calibration_rcv_callback(msg, CP, cfg, fsm):
# calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
# should_recv always true to increment frame
if msg.which() == 'carState':
if ((fsm.frame +1)% 25) == 0:
if ((fsm.frame + 1) % 25) == 0:
recv_socks = ["liveCalibration"]
else:
recv_socks = []

6
tools/carcontrols/joystick_test.py
Unescape View File

@ -2,8 +2,8 @@
import pygame # pylint: disable=import-error
# Define some colors
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
BLACK = ( 0, 0, 0)
WHITE = ( 255, 255, 255)
# This is a simple class that will help us print to the screen
# It has nothing to do with the joysticks, just outputting the
@ -55,7 +55,7 @@ while not done:
# EVENT PROCESSING STEP
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done=True # Flag that we are done so we exit this loop
done = True # Flag that we are done so we exit this loop
# Possible joystick actions: JOYAXISMOTION JOYBALLMOTION JOYBUTTONDOWN JOYBUTTONUP JOYHATMOTION
if event.type == pygame.JOYBUTTONDOWN:

14
tools/replay/unlogger.py
Unescape View File

@ -312,19 +312,19 @@ def keyboard_controller_thread(q, route_start_time):
kb = KBHit()
while 1:
c = kb.getch()
if c=='m': # Move forward by 1m
if c == 'm': # Move forward by 1m
q.send_pyobj(SeekRelativeTime(60))
elif c=='M': # Move backward by 1m
elif c == 'M': # Move backward by 1m
q.send_pyobj(SeekRelativeTime(-60))
elif c=='s': # Move forward by 10s
elif c == 's': # Move forward by 10s
q.send_pyobj(SeekRelativeTime(10))
elif c=='S': # Move backward by 10s
elif c == 'S': # Move backward by 10s
q.send_pyobj(SeekRelativeTime(-10))
elif c=='G': # Move backward by 10s
elif c == 'G': # Move backward by 10s
q.send_pyobj(SeekAbsoluteTime(0.))
elif c=="\x20": # Space bar.
elif c == "\x20": # Space bar.
q.send_pyobj(TogglePause())
elif c=="\n":
elif c == "\n":
try:
seek_time_input = input('time: ')
seek_time = absolute_time_str(seek_time_input, route_start_time)

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