|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[](##)|[](##)|
'
-VIDEO_ICON = '
'
+VIDEO_ICON = '\
+ '
COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
ARROW_SYMBOL = "➡️"
@@ -99,7 +100,8 @@ def print_car_info_diff(path):
if any(len(c) for c in changes.values()):
markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
- for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
+ for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"),
+ ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
if len(changes[category]):
markdown_builder.append(title)
if category not in ("detail",):
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
index d5199b2a9e..539b6fc51c 100755
--- a/selfdrive/debug/show_matching_cars.py
+++ b/selfdrive/debug/show_matching_cars.py
@@ -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}
+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
candidate_cars = all_legacy_fingerprint_cars()
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 0bb9aa5e54..51cd426315 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -18,9 +18,9 @@ SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_nam
UNKNOWN_BRAND = "unknown"
try:
- from xx.pipeline.c.CarState import migration
+ from xx.pipeline.lib.fingerprint import MIGRATION
except ImportError:
- migration = {}
+ MIGRATION = {}
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
@@ -78,7 +78,7 @@ if __name__ == "__main__":
break
live_fingerprint = CP.carFingerprint
- live_fingerprint = migration.get(live_fingerprint, live_fingerprint)
+ live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
if args.car is not None:
live_fingerprint = args.car
@@ -112,7 +112,8 @@ if __name__ == "__main__":
padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
for version in sorted(car_fw, key=lambda fw: fw.brand):
subaddr = None if version.subAddress == 0 else hex(version.subAddress)
- print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+ print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \
+ (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
print("Mismatches")
found = False
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index e990a46f12..7f8fd03b98 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -211,7 +211,8 @@ class Calibrator:
new_height = HEIGHT_INIT
self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE))
- self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
+ self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx],
+ new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE))
self.idx = (self.idx + 1) % BLOCK_SIZE
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 5d8641a91b..cbc1822e50 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -81,7 +81,8 @@ class Laikad:
valid_ephem_types: Valid ephemeris types to be used by AstroDog
save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
"""
- self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+ self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
+ clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
self.auto_fetch_navs = auto_fetch_navs
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 3faf4f8d4e..a5abf8514a 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -171,7 +171,8 @@ class CarKalman(KalmanFilter):
if P_initial is not None:
self.P_initial = P_initial
# init filter
- self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+ self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial,
+ dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index 1486023a0b..697f9b2364 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -33,7 +33,8 @@ class States():
ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer
# TODO the offset is likely a translation of the sensor, not a rotation of the camera
WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only)
- # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
+ # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables
+ # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
# From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
# Error-state has different slices because it is an ESKF
@@ -324,7 +325,8 @@ class LocKalman():
obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym])
obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym])
obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym])
- msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
+ msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N,
+ [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
else:
msckf_params = None
gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 1826ea4563..de1265f0d7 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -198,8 +198,10 @@ def main(sm=None, pm=None):
learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
x = learner.kf.x
- angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
- angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+ angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]),
+ angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
+ angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]),
+ angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
roll = clip(float(x[States.ROAD_ROLL]), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
roll_std = float(P[States.ROAD_ROLL])
# Account for the opposite signs of the yaw rates
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index 96f996413d..e3e8c3ca7c 100755
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -7,7 +7,8 @@ import numpy as np
import cereal.messaging as messaging
from cereal import log
from common.params import Params
-from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
+from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
+ MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
class TestCalibrationd(unittest.TestCase):
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index f151a51d10..2fd786875c 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -72,7 +72,7 @@ procs = [
# debug procs
NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
- PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
+ PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar),
]
managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index a2cddc2462..144920b354 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -212,7 +212,8 @@ class DriverStatus():
distracted_types.append(DistractedType.DISTRACTED_BLINK)
if self.ee1_calibrated:
- ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12
+ ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
+ * self.settings._EE_THRESH12
else:
ee1_dist = self.eev1 > self.settings._EE_THRESH11
# if self.ee2_calibrated:
@@ -263,14 +264,17 @@ class DriverStatus():
self.pose.yaw_std = driver_data.faceOrientationStd[1]
model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
- self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
- self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+ self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+ self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.eev1 = driver_data.notReadyProb[0]
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 or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
- driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+ 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)
# update offseter
@@ -306,7 +310,8 @@ class DriverStatus():
self._reset_awareness()
return
# only restore awareness when paying attention and alert is not red
- self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+ self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
+ (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
if self.awareness == 1.:
self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
# don't display alert banner when awareness is recovering and has cleared orange
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index f72b4a3aaa..497630f2ee 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -82,7 +82,8 @@ class TestMonitoring(unittest.TestCase):
events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
- ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
+ ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+ EventName.preDriverDistracted)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
@@ -94,7 +95,8 @@ class TestMonitoring(unittest.TestCase):
events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
- ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
+ ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+ EventName.preDriverUnresponsive)
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
@@ -125,10 +127,14 @@ class TestMonitoring(unittest.TestCase):
ds_vector = always_distracted[:]
interaction_vector = always_false[:]
op_vector = always_true[:]
- ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
- ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
- interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
- op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+ ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
+ = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+ ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
+ = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+ interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
+ = [True] * int(1/DT_DMON)
+ op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
+ = [False] * int(0.5/DT_DMON)
events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
@@ -141,7 +147,8 @@ class TestMonitoring(unittest.TestCase):
_visible_time = np.random.choice([0.5, 10])
ds_vector = always_no_face[:]*2
interaction_vector = always_false[:]*2
- 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)
+ 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, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
@@ -185,7 +192,8 @@ class TestMonitoring(unittest.TestCase):
standstill_vector = always_true[:]
standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
- self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted)
+ self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
+ EventName.preDriverDistracted)
self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
@@ -195,9 +203,12 @@ 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 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)
- self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+ 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)
+ self.assertTrue(EventName.driverUnresponsive in
+ events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
if __name__ == "__main__":
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index aa5682169f..520fa31147 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -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"
+ 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
lib.map_renderer_update_route(renderer, geometry.encode())
POSITIONS = [
diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py
index 5f4b9f1f35..3a7868aaa6 100755
--- a/selfdrive/test/openpilotci.py
+++ b/selfdrive/test/openpilotci.py
@@ -17,8 +17,9 @@ def get_sas_token():
sas_token = open(TOKEN_PATH).read().strip()
if sas_token is None:
- sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
- --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+ sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci \
+ --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') \
+ --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
return sas_token
diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py
index a9dbc71830..a872c310d7 100644
--- a/selfdrive/test/process_replay/__init__.py
+++ b/selfdrive/test/process_replay/__init__.py
@@ -1 +1,2 @@
-from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, replay_process, replay_process_with_name # noqa: F401
+from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \
+ replay_process, replay_process_with_name # noqa: F401
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index ddcc0b2fe8..19beb06d6d 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -323,7 +323,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
canmsgs = [msg for msg in msgs if msg.which() == "can"]
has_cached_cp = params.get("CarParamsCache") is not None
assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
- assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
+ assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+ "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes())
@@ -606,7 +607,8 @@ def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructRead
return custom_params
-def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader,
+ List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
if isinstance(name, str):
cfgs = [get_process_config(name)]
elif isinstance(name, Iterable):
@@ -660,7 +662,8 @@ def _replay_multi_process(
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}"
+ 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}"
assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 5afc55c406..d410ffd4fa 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -6,7 +6,8 @@ import capnp
from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
-from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, check_openpilot_enabled, get_custom_params_from_lr
+from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
+ check_openpilot_enabled, get_custom_params_from_lr
from selfdrive.test.update_ci_routes import upload_route
from tools.lib.route import Route
from tools.lib.framereader import FrameReader
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index 6b1be2d7ef..01dd553702 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -120,7 +120,8 @@ class TestPowerMonitoring(unittest.TestCase):
POWER_DRAW = 0 # To stop shutting down for other reasons
TEST_TIME = 350
VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
- with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+ with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \
+ pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
pm = PowerMonitoring()
pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
ignition = False
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index e76b202dba..572c205ec7 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -36,7 +36,8 @@ DISCONNECT_TIMEOUT = 5. # wait 5 seconds before going offroad after disconnect
PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML) # 1.5x the expected pandaState frequency
ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
+ 'network_metered', 'nvme_temps', 'modem_temps'])
# List of thermal bands. We will stay within this region as long as we are within the bounds.
# When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index 575584dd50..08cf0743d4 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -54,7 +54,8 @@ if __name__ == "__main__":
badge_svg.extend([f'