initialize all messages in 1 line (#1206)

old-commit-hash: 6ff881f789

selfdrive/athena/test.py

@@ -41,8 +41,7 @@ class TestAthenadMethods(unittest.TestCase):
       start = time.time()
 
       while time.time() - start < 1:
-        msg = messaging.new_message()
+        msg = messaging.new_message('thermal')
-        msg.init('thermal')
         pub_sock.send(msg.to_bytes())
         time.sleep(0.01)
 

selfdrive/boardd/tests/boardd_old.py

@@ -27,8 +27,7 @@ except Exception:
 
 # *** serialization functions ***
 def can_list_to_can_capnp(can_msgs, msgtype='can'):
-  dat = messaging.new_message()
+  dat = messaging.new_message(msgtype, len(can_msgs))
-  dat.init(msgtype, len(can_msgs))
   for i, can_msg in enumerate(can_msgs):
     if msgtype == 'sendcan':
       cc = dat.sendcan[i]
@@ -168,8 +167,7 @@ def boardd_loop(rate=100):
     # health packet @ 2hz
     if (rk.frame % (rate // 2)) == 0:
       health = can_health()
-      msg = messaging.new_message()
+      msg = messaging.new_message('health')
-      msg.init('health')
 
       # store the health to be logged
       msg.health.voltage = health['voltage']

selfdrive/camerad/test/frame_test.py

@@ -25,8 +25,7 @@ if __name__ == "__main__":
   idx = 0
   while 1:
     print("send %d" % idx)
-    dat = messaging.new_message()
+    dat = messaging.new_message('frame')
-    dat.init('frame')
     dat.valid = True
     dat.frame = {
       "frameId": idx,

selfdrive/controls/controlsd.py

@@ -347,8 +347,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
   force_decel = sm['dMonitoringState'].awarenessStatus < 0.
 
   # controlsState
-  dat = messaging.new_message()
+  dat = messaging.new_message('controlsState')
-  dat.init('controlsState')
   dat.valid = CS.canValid
   dat.controlsState = {
     "alertText1": AM.alert_text_1,
@@ -400,8 +399,7 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
   pm.send('controlsState', dat)
 
   # carState
-  cs_send = messaging.new_message()
+  cs_send = messaging.new_message('carState')
-  cs_send.init('carState')
   cs_send.valid = CS.canValid
   cs_send.carState = CS
   cs_send.carState.events = events
@@ -410,21 +408,18 @@ def data_send(sm, pm, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk
   # carEvents - logged every second or on change
   events_bytes = events_to_bytes(events)
   if (sm.frame % int(1. / DT_CTRL) == 0) or (events_bytes != events_prev):
-    ce_send = messaging.new_message()
+    ce_send = messaging.new_message('carEvents', len(events))
-    ce_send.init('carEvents', len(events))
     ce_send.carEvents = events
     pm.send('carEvents', ce_send)
 
   # carParams - logged every 50 seconds (> 1 per segment)
   if (sm.frame % int(50. / DT_CTRL) == 0):
-    cp_send = messaging.new_message()
+    cp_send = messaging.new_message('carParams')
-    cp_send.init('carParams')
     cp_send.carParams = CP
     pm.send('carParams', cp_send)
 
   # carControl
-  cc_send = messaging.new_message()
+  cc_send = messaging.new_message('carControl')
-  cc_send.init('carControl')
   cc_send.valid = CS.canValid
   cc_send.carControl = CC
   pm.send('carControl', cc_send)

selfdrive/controls/dmonitoringd.py

@@ -82,8 +82,7 @@ def dmonitoringd_thread(sm=None, pm=None):
       events = driver_status.update(events, driver_engaged, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
 
       # dMonitoringState packet
-      dat = messaging.new_message()
+      dat = messaging.new_message('dMonitoringState')
-      dat.init('dMonitoringState')
       dat.dMonitoringState = {
         "events": events,
         "faceDetected": driver_status.face_detected,

selfdrive/controls/gps_plannerd.py

@@ -283,8 +283,7 @@ def gps_planner_point_selection():
 
     cur_pos = log.ECEFPoint.new_message()
     cur_pos.x, cur_pos.y, cur_pos.z = map(float, cur_ecef)
-    m = messaging.new_message()
+    m = messaging.new_message('gpsPlannerPoints')
-    m.init('gpsPlannerPoints')
     m.gpsPlannerPoints.curPos = cur_pos
     m.gpsPlannerPoints.points = convert_ecef_to_capnp(active_points)
     m.gpsPlannerPoints.valid = len(active_points) > 10
@@ -293,8 +292,7 @@ def gps_planner_point_selection():
     m.gpsPlannerPoints.accelTarget = 0. if cur_track is None else float(cur_track['accel'])
     gps_planner_points.send(m.to_bytes())
 
-    m = messaging.new_message()
+    m = messaging.new_message('uiNavigationEvent')
-    m.init('uiNavigationEvent')
     m.uiNavigationEvent.status = state
     m.uiNavigationEvent.type = "none" if instruction is None else instruction['type']
     m.uiNavigationEvent.distanceTo = 0. if instruction is None else float(instruction['distance'])
@@ -345,8 +343,7 @@ def gps_planner_plan():
 
     valid = points.valid
 
-    m = messaging.new_message()
+    m = messaging.new_message('gpsPlannerPlan')
-    m.init('gpsPlannerPlan')
     m.gpsPlannerPlan.valid = valid
     m.gpsPlannerPlan.poly = poly
     m.gpsPlannerPlan.trackName = points.trackName

selfdrive/controls/lib/long_mpc.py

@@ -28,8 +28,7 @@ class LongitudinalMpc():
 
   def send_mpc_solution(self, pm, qp_iterations, calculation_time):
     qp_iterations = max(0, qp_iterations)
-    dat = messaging.new_message()
+    dat = messaging.new_message('liveLongitudinalMpc')
-    dat.init('liveLongitudinalMpc')
     dat.liveLongitudinalMpc.xEgo = list(self.mpc_solution[0].x_ego)
     dat.liveLongitudinalMpc.vEgo = list(self.mpc_solution[0].v_ego)
     dat.liveLongitudinalMpc.aEgo = list(self.mpc_solution[0].a_ego)

selfdrive/controls/lib/pathplanner.py

@@ -181,8 +181,7 @@ class PathPlanner():
       self.solution_invalid_cnt = 0
     plan_solution_valid = self.solution_invalid_cnt < 2
 
-    plan_send = messaging.new_message()
+    plan_send = messaging.new_message('pathPlan')
-    plan_send.init('pathPlan')
     plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'model'])
     plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
     plan_send.pathPlan.dPoly = [float(x) for x in self.LP.d_poly]
@@ -206,8 +205,7 @@ class PathPlanner():
     pm.send('pathPlan', plan_send)
 
     if LOG_MPC:
-      dat = messaging.new_message()
+      dat = messaging.new_message('liveMpc')
-      dat.init('liveMpc')
       dat.liveMpc.x = list(self.mpc_solution[0].x)
       dat.liveMpc.y = list(self.mpc_solution[0].y)
       dat.liveMpc.psi = list(self.mpc_solution[0].psi)

selfdrive/controls/lib/planner.py

@@ -214,8 +214,7 @@ class Planner():
     radar_can_error = car.RadarData.Error.canError in radar_errors
 
     # **** send the plan ****
-    plan_send = messaging.new_message()
+    plan_send = messaging.new_message('plan')
-    plan_send.init('plan')
 
     plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'radarState'])
 

selfdrive/controls/radard.py

@@ -163,8 +163,7 @@ class RadarD():
         self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau)
 
     # *** publish radarState ***
-    dat = messaging.new_message()
+    dat = messaging.new_message('radarState')
-    dat.init('radarState')
     dat.valid = sm.all_alive_and_valid(service_list=['controlsState', 'model'])
     dat.radarState.mdMonoTime = self.last_md_ts
     dat.radarState.canMonoTimes = list(rr.canMonoTimes)
@@ -223,8 +222,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     # *** publish tracks for UI debugging (keep last) ***
     tracks = RD.tracks
-    dat = messaging.new_message()
+    dat = messaging.new_message('liveTracks', len(tracks))
-    dat.init('liveTracks', len(tracks))
 
     for cnt, ids in enumerate(sorted(tracks.keys())):
       dat.liveTracks[cnt] = {

selfdrive/controls/tests/test_following_distance.py

@@ -46,8 +46,7 @@ def run_following_distance_simulation(v_lead, t_end=200.0):
                                         dt)
 
     # Setup CarState
-    CS = messaging.new_message()
+    CS = messaging.new_message('carState')
-    CS.init('carState')
     CS.carState.vEgo = v_ego
     CS.carState.aEgo = a_ego
 

selfdrive/debug/internal/cycle_alerts.py

@@ -28,8 +28,7 @@ def cycle_alerts(duration_millis, alerts=None):
             last_pop_millis = now_millis()
             print('sending {}'.format(str(alert)))
 
-        dat = messaging.new_message()
+        dat = messaging.new_message('controlsState')
-        dat.init('controlsState')
 
         dat.controlsState.alertType = alert.alert_type
         dat.controlsState.alertText1 = alert.alert_text_1

selfdrive/debug/internal/messaging_benchmark.py

@@ -6,8 +6,7 @@ import cereal.messaging as messaging
 def init_message_bench(N=100000):
     t = time.time()
     for _ in range(N):
-        dat = messaging.new_message()
+        dat = messaging.new_message('controlsState')
-        dat.init('controlsState')
 
     dt = time.time() - t
     print("Init message %d its, %f s" % (N, dt))

selfdrive/debug/internal/mock_process/fake_UiNavigationEvent.py

@@ -9,8 +9,7 @@ def mock():
   traffic_events = messaging.pub_sock('uiNavigationEvent')
 
   while 1:
-    m = messaging.new_message()
+    m = messaging.new_message('uiNavigationEvent')
-    m.init('uiNavigationEvent')
     m.uiNavigationEvent.type = log.UiNavigationEvent.Type.mergeRight
     m.uiNavigationEvent.status = log.UiNavigationEvent.Status.active
     m.uiNavigationEvent.distanceTo = 100.

selfdrive/debug/internal/mock_process/fake_controls_state.py

@@ -12,8 +12,7 @@ if __name__ == "__main__":
 
   rk = Ratekeeper(100)
   while 1:
-    dat = messaging.new_message()
+    dat = messaging.new_message('controlsState')
-    dat.init('controlsState')
 
     dat.controlsState.vEgo = 25.
     dat.controlsState.enabled = True

selfdrive/debug/internal/mock_process/fake_fusion_state.py

@@ -15,8 +15,7 @@ def leadRange(start, end, step):
 def mock_lead():
   radarState = messaging.pub_sock('radarState')
   while 1:
-    m = messaging.new_message()
+    m = messaging.new_message('radarState')
-    m.init('radarState')
     m.radarState.leadOne.status = True
     for x in leadRange(3.0, 65.0, 0.005):
         m.radarState.leadOne.dRel = x

selfdrive/debug/internal/mock_process/fake_gps.py

@@ -29,8 +29,7 @@ if __name__ == '__main__':
 
     for point in cycle(path_stopped_5s_then_moving):
         print('sending gpsLocation from point: {}'.format(str(point)))
-        dat = messaging.new_message()
+        dat = messaging.new_message('gpsLocation')
-        dat.init('gpsLocation')
         dat.gpsLocation.latitude = point['lat']
         dat.gpsLocation.longitude = point['lng']
         dat.gpsLocation.speed = point['speed']

selfdrive/debug/internal/mock_process/fake_gps_external.py

@@ -11,8 +11,7 @@ if __name__ == '__main__':
     gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
 
     while True:
-        dat = messaging.new_message()
+        dat = messaging.new_message('gpsLocationExternal')
-        dat.init('gpsLocationExternal')
         dat.gpsLocationExternal.latitude = 37.6513687
         dat.gpsLocationExternal.longitude = -122.4535056
         dat.gpsLocationExternal.speed = 28.2

selfdrive/debug/internal/mock_process/fake_liveMpc.py

@@ -9,9 +9,8 @@ from cereal import log
 def mock_x():
   liveMpc = messaging.pub_sock('liveMpc')
   while 1:
-    m = messaging.new_message()
+    m = messaging.new_message('liveMpc')
     mx = []
-    m.init('liveMpc')
     for x in range(0, 100):
         mx.append(x*1.0)
         m.liveMpc.x = mx

selfdrive/debug/internal/mock_process/fake_trafficsignd.py

@@ -9,8 +9,7 @@ def mock():
   traffic_events = messaging.pub_sock('trafficEvents')
 
   while 1:
-    m = messaging.new_message()
+    m = messaging.new_message('trafficEvents', 1)
-    m.init('trafficEvents', 1)
     m.trafficEvents[0].type = log.TrafficEvent.Type.stopSign
     m.trafficEvents[0].resuming = False
     m.trafficEvents[0].distance = 100.

selfdrive/debug/internal/send_alert.py

@@ -10,8 +10,7 @@ if __name__ == "__main__":
   controls_state = messaging.pub_sock('controlsState')
 
   while 1:
-    dat = messaging.new_message()
+    dat = messaging.new_message('controlsState')
-    dat.init('controlsState')
 
     dat.controlsState.alertText1 = "alert text 1"
     dat.controlsState.alertText2 = "alert text 2"

selfdrive/debug/show_matching_cars.py

@@ -16,8 +16,7 @@ candidate_cars = all_known_cars()
 
 
 for addr, l in fingerprint.items():
-    dat = messaging.new_message()
+    dat = messaging.new_message('can', 1)
-    dat.init('can', 1)
 
     msg = dat.can[0]
     msg.address = addr

selfdrive/locationd/calibrationd.py

@@ -120,8 +120,7 @@ class Calibrator():
     calib = get_calib_from_vp(self.vp)
     extrinsic_matrix = get_view_frame_from_road_frame(0, calib[1], calib[2], model_height)
 
-    cal_send = messaging.new_message()
+    cal_send = messaging.new_message('liveCalibration')
-    cal_send.init('liveCalibration')
     cal_send.liveCalibration.calStatus = self.cal_status
     cal_send.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
     cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]

selfdrive/locationd/locationd.py

@@ -255,10 +255,9 @@ def locationd_thread(sm, pm, disabled_logs=[]):
 
     if localizer.filter_ready and sm.updated['gpsLocationExternal']:
       t = sm.logMonoTime['gpsLocationExternal']
-      msg = messaging.new_message()
+      msg = messaging.new_message('liveLocationKalman')
       msg.logMonoTime = t
 
-      msg.init('liveLocationKalman')
       msg.liveLocationKalman = localizer.liveLocationMsg(t * 1e-9)
       pm.send('liveLocationKalman', msg)
 

selfdrive/locationd/paramsd.py

@@ -81,10 +81,9 @@ def main(sm=None, pm=None):
     # TODO: Change KF to allow mass, etc to be inputs in predict step
 
     if sm.updated['carState']:
-      msg = messaging.new_message()
+      msg = messaging.new_message('liveParameters')
       msg.logMonoTime = sm.logMonoTime['carState']
 
-      msg.init('liveParameters')
       msg.liveParameters.valid = True  # TODO: Check if learned values are sane
       msg.liveParameters.posenetValid = True
       msg.liveParameters.sensorValid = True

selfdrive/loggerd/ethernetsniffer.py

@@ -8,8 +8,7 @@ def main():
   ethernetData = messaging.pub_sock('ethernetData')
 
   for ts, pkt in pcap.pcap('eth0'):
-    dat = messaging.new_message()
+    dat = messaging.new_message('ethernetData', 1)
-    dat.init('ethernetData', 1)
     dat.ethernetData[0].ts = ts
     dat.ethernetData[0].pkt = str(pkt)
     ethernetData.send(dat.to_bytes())

selfdrive/mapd/mapd.py

@@ -230,8 +230,7 @@ def mapsd_thread():
 
       query_lock.release()
 
-    dat = messaging.new_message()
+    dat = messaging.new_message('liveMapData')
-    dat.init('liveMapData')
 
     if last_gps is not None:
       dat.liveMapData.lastGps = last_gps

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -357,8 +357,7 @@ class Plant():
 
 
     # Fake sockets that controlsd subscribes to
-    live_parameters = messaging.new_message()
+    live_parameters = messaging.new_message('liveParameters')
-    live_parameters.init('liveParameters')
     live_parameters.liveParameters.valid = True
     live_parameters.liveParameters.sensorValid = True
     live_parameters.liveParameters.posenetValid = True
@@ -366,19 +365,16 @@ class Plant():
     live_parameters.liveParameters.stiffnessFactor = 1.0
     Plant.live_params.send(live_parameters.to_bytes())
 
-    driver_state = messaging.new_message()
+    driver_state = messaging.new_message('driverState')
-    driver_state.init('driverState')
     driver_state.driverState.faceOrientation = [0.] * 3
     driver_state.driverState.facePosition = [0.] * 2
     Plant.driverState.send(driver_state.to_bytes())
 
-    health = messaging.new_message()
+    health = messaging.new_message('health')
-    health.init('health')
     health.health.controlsAllowed = True
     Plant.health.send(health.to_bytes())
 
-    thermal = messaging.new_message()
+    thermal = messaging.new_message('thermal')
-    thermal.init('thermal')
     thermal.thermal.freeSpace = 1.
     thermal.thermal.batteryPercent = 100
     Plant.thermal.send(thermal.to_bytes())
@@ -386,10 +382,8 @@ class Plant():
     # ******** publish a fake model going straight and fake calibration ********
     # note that this is worst case for MPC, since model will delay long mpc by one time step
     if publish_model and self.frame % 5 == 0:
-      md = messaging.new_message()
+      md = messaging.new_message('model')
-      cal = messaging.new_message()
+      cal = messaging.new_message('liveCalibration')
-      md.init('model')
-      cal.init('liveCalibration')
       md.model.frameId = 0
       for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
         x.points = [0.0]*50

selfdrive/test/longitudinal_maneuvers/plant_ui.py

@@ -65,8 +65,7 @@ if __name__ == "__main__":
     else:
       cruise_buttons = 0
 
-    md = messaging.new_message()
+    md = messaging.new_message('model')
-    md.init('model')
     md.model.frameId = 0
     for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
       x.points = [0.0]*50

selfdrive/test/process_replay/process_replay.py

@@ -61,8 +61,7 @@ class FakeSocket:
 class DumbSocket:
   def __init__(self, s=None):
     if s is not None:
-      dat = messaging.new_message()
+      dat = messaging.new_message(s)
-      dat.init(s)
       self.data = dat.to_bytes()
 
   def receive(self, non_blocking=False):
@@ -108,11 +107,10 @@ class FakePubMaster(messaging.PubMaster):
     self.sock = {}
     self.last_updated = None
     for s in services:
-      data = messaging.new_message()
       try:
-        data.init(s)
+        data = messaging.new_message(s)
       except:
-        data.init(s, 0)
+        data = messaging.new_message(s, 0)
       self.data[s] = data.as_reader()
       self.sock[s] = DumbSocket()
     self.send_called = threading.Event()

selfdrive/thermald.py

@@ -45,8 +45,7 @@ def read_tz(x, clip=True):
   return ret
 
 def read_thermal():
-  dat = messaging.new_message()
+  dat = messaging.new_message('thermal')
-  dat.init('thermal')
   dat.thermal.cpu0 = read_tz(5)
   dat.thermal.cpu1 = read_tz(7)
   dat.thermal.cpu2 = read_tz(10)

tools/carcontrols/debug_controls.py

@@ -84,14 +84,12 @@ def steer_thread():
     sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
 
     # broadcast carState
-    cs_send = messaging.new_message()
+    cs_send = messaging.new_message('carState')
-    cs_send.init('carState')
     cs_send.carState = copy(CS)
     carstate.send(cs_send.to_bytes())
 
     # broadcast carControl
-    cc_send = messaging.new_message()
+    cc_send = messaging.new_message('carControl')
-    cc_send.init('carControl')
     cc_send.carControl = copy(CC)
     carcontrol.send(cc_send.to_bytes())
 

tools/carcontrols/joystickd.py

@@ -55,8 +55,7 @@ def joystick_thread():
     for b in range(joystick.get_numbuttons()):
       buttons.append(bool(joystick.get_button(b)))
 
-    dat = messaging.new_message()
+    dat = messaging.new_message('testJoystick')
-    dat.init('testJoystick')
     dat.testJoystick.axes = axes
     dat.testJoystick.buttons = buttons
     joystick_sock.send(dat.to_bytes())

tools/sim/bridge.py

@@ -30,8 +30,7 @@ def cam_callback(image):
   img = np.reshape(img, (H, W, 4))
   img = img[:, :, [0,1,2]].copy()
 
-  dat = messaging.new_message()
+  dat = messaging.new_message('frame')
-  dat.init('frame')
   dat.frame = {
     "frameId": image.frame,
     "image": img.tostring(),
@@ -42,8 +41,7 @@ def cam_callback(image):
 def imu_callback(imu):
   #print(imu, imu.accelerometer)
 
-  dat = messaging.new_message()
+  dat = messaging.new_message('sensorEvents', 2)
-  dat.init('sensorEvents', 2)
   dat.sensorEvents[0].sensor = 4
   dat.sensorEvents[0].type = 0x10
   dat.sensorEvents[0].init('acceleration')
@@ -59,8 +57,7 @@ def health_function():
   pm = messaging.PubMaster(['health'])
   rk = Ratekeeper(1.0)
   while 1:
-    dat = messaging.new_message()
+    dat = messaging.new_message('health')
-    dat.init('health')
     dat.valid = True
     dat.health = {
       'ignitionLine': True,
@@ -73,8 +70,7 @@ def health_function():
 def fake_driver_monitoring():
   pm = messaging.PubMaster(['driverState'])
   while 1:
-    dat = messaging.new_message()
+    dat = messaging.new_message('driverState')
-    dat.init('driverState')
     dat.driverState.faceProb = 1.0
     pm.send('driverState', dat)
     time.sleep(0.1)

tools/streamer/streamerd.py

@@ -67,8 +67,7 @@ def receiver_thread():
     #print 'ms to make yuv:', (t1-t2)*1000
     #print 'tsEof:', ts
 
-    dat = messaging.new_message()
+    dat = messaging.new_message('frame')
-    dat.init('frame')
     dat.frame.image = yuv_img
     dat.frame.timestampEof = ts
     dat.frame.transform = map(float, list(np.eye(3).flatten()))