Using lgtm.com and fixing found alerts (#1452)

* lgtm in readme, and mac nui fixes

* call super inits in radars

* unused imports, dup lines

* more radars, more unused imports

* pass CP into RadarInterfaceBase

* more fixups

* unused imports

* delete unused lines

* ugh, new unused import

Co-authored-by: George Hotz <geohot@gmail.com>
old-commit-hash: 1295cfe06c

README.md

@@ -327,3 +327,6 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 ---
 
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+
+[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
+[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)

common/android.py

@@ -135,8 +135,6 @@ def get_network_strength(network_type):
   # from SignalStrength.java
   def get_lte_level(rsrp, rssnr):
     INT_MAX = 2147483647
-    lvl_rsrp = NetworkStrength.unknown
-    lvl_rssnr = NetworkStrength.unknown
     if rsrp == INT_MAX:
       lvl_rsrp = NetworkStrength.unknown
     elif rsrp >= -95:
@@ -174,7 +172,6 @@ def get_network_strength(network_type):
     return lvl
 
   def get_gsm_level(asu):
-    lvl = NetworkStrength.unknown
     if asu <= 2 or asu == 99:
       lvl = NetworkStrength.unknown
     elif asu >= 12:

common/url_file.py

@@ -1,14 +1,11 @@
 import os
-import sys
 import time
 import tempfile
 import threading
 import urllib.parse
 import pycurl
-import hashlib
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
-from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
 
 class URLFile(object):
   _tlocal = threading.local()

common/window.py

@@ -1,6 +1,5 @@
 import sys
 import pygame
-from pygame.locals import *
 
 class Window():
   def __init__(self, w, h, caption="window", double=False):

scripts/code_stats.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-import os, glob
+import os
 import ast
 import stat
 import subprocess

selfdrive/athena/manage_athenad.py

@@ -27,7 +27,7 @@ def main():
       proc.join()
       cloudlog.event("athenad exited", exitcode=proc.exitcode)
       time.sleep(5)
-  except:
+  except Exception:
     cloudlog.exception("manage_athenad.exception")
   finally:
     params.delete(ATHENA_MGR_PID_PARAM)

selfdrive/car/chrysler/radar_interface.py

@@ -48,8 +48,7 @@ def _address_to_track(address):
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    self.pts = {}
+    super().__init__(CP)
-    self.delay = 0  # Delay of radar  #TUNE
     self.rcp = _create_radar_can_parser()
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG

selfdrive/car/ford/radar_interface.py

@@ -19,13 +19,10 @@ def _create_radar_can_parser(car_fingerprint):
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
+    super().__init__(CP)
-    self.pts = {}
     self.validCnt = {key: 0 for key in RADAR_MSGS}
     self.track_id = 0
 
-    self.delay = 0  # Delay of radar
-
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.trigger_msg = 0x53f
     self.updated_messages = set()

selfdrive/car/gm/radar_interface.py

@@ -43,10 +43,7 @@ def create_radar_can_parser(car_fingerprint):
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
+    super().__init__(CP)
-    self.pts = {}
-
-    self.delay = 0  # Delay of radar
 
     self.rcp = create_radar_can_parser(CP.carFingerprint)
 

selfdrive/car/honda/radar_interface.py

@@ -20,8 +20,7 @@ def _create_nidec_can_parser():
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
+    super().__init__(CP)
-    self.pts = {}
     self.track_id = 0
     self.radar_fault = False
     self.radar_wrong_config = False

selfdrive/car/hyundai/radar_interface.py

@@ -24,9 +24,7 @@ def get_radar_can_parser(CP):
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
+    super().__init__(CP)
-    self.pts = {}
-    self.delay = 0  # Delay of radar
     self.rcp = get_radar_can_parser(CP)
     self.updated_messages = set()
     self.trigger_msg = 0x420

selfdrive/car/nissan/interface.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint

selfdrive/car/nissan/nissancan.py

@@ -1,6 +1,5 @@
 import copy
 import crcmod
-from selfdrive.car.nissan.values import CAR
 
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 

selfdrive/car/toyota/radar_interface.py

@@ -30,11 +30,8 @@ def _create_radar_can_parser(car_fingerprint):
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
-    # radar
+    super().__init__(CP)
-    self.pts = {}
     self.track_id = 0
-
-    self.delay = 0  # Delay of radar
     self.radar_ts = CP.radarTimeStep
 
     if CP.carFingerprint in TSS2_CAR:

selfdrive/car/toyota/values.py

@@ -98,7 +98,7 @@ FINGERPRINTS = {
   },
   #2017 German Prius
   {
-    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296:8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8,740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1792: 8, 1767:4, 800: 8, 1863:8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996:8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
+    36: 8, 37: 8, 166: 8, 170: 8, 180: 8, 295: 8, 296:8, 426: 6, 452: 8, 466: 8, 467: 8, 550: 8, 552: 4, 560: 7, 562: 6, 581: 5, 608: 8, 610: 8, 614: 8, 643: 7, 658: 8, 713: 8,740: 5, 742: 8, 743: 8, 767:4, 800: 8, 810: 2, 814: 8, 829: 2, 830: 7, 835: 8, 836: 8, 845: 5, 863: 8, 869: 7, 870: 7, 871: 2, 898: 8, 900: 6, 902: 6, 905: 8, 913: 8, 918: 8, 921: 8, 933: 8, 944: 8, 945: 8, 950: 8, 951: 8, 953: 8, 955: 8, 956: 8, 971: 7, 975: 5, 993: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1005: 2, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1057: 8, 1059: 1, 1071: 8, 1077: 8, 1082: 8, 1083: 8, 1084: 8, 1085: 8, 1086: 8, 1114: 8, 1132: 8, 1161: 8, 1162: 8, 1163: 8, 1175: 8, 1227: 8, 1228: 8, 1235: 8, 1237: 8, 1264: 8, 1279: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1595: 8, 1777: 8, 1779: 8, 1792: 8, 1767:4, 1863:8, 1904: 8, 1912: 8, 1984: 8, 1988: 8, 1990: 8, 1992: 8, 1996:8, 1998: 8, 2002: 8, 2010: 8, 2015: 8, 2016: 8, 2018: 8, 2024: 8, 2026: 8, 2030: 8
   }],
   #Corolla w/ added Pedal Support (512L and 513L)
   CAR.COROLLA: [{
@@ -151,7 +151,7 @@ FINGERPRINTS = {
   },
   {
   # 2019 XSE
-    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 800: 8, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
+    36: 8, 37: 8, 170: 8, 180: 8, 186: 4, 426: 6, 452: 8, 464: 8, 466: 8, 467: 8, 544: 4, 550: 8, 552: 4, 562: 6, 608: 8, 610: 8, 643: 7, 658: 8, 705: 8, 728: 8, 740: 5, 761: 8, 764: 8, 767:4, 800: 8, 810: 2, 812: 8, 814: 8, 818: 8, 822: 8, 824: 8, 830: 7, 835: 8, 836: 8, 865: 8, 869: 7, 870: 7, 871: 2, 888: 8, 889: 8, 891: 8, 896: 8, 898: 8, 900: 6, 902: 6, 905: 8, 918: 8, 921: 8, 933: 8, 934: 8, 935: 8, 942: 8, 944: 8, 945: 8, 951: 8, 955: 8, 956: 8, 976: 1, 983: 8, 984: 8, 998: 5, 999: 7, 1000: 8, 1001: 8, 1002: 8, 1011: 8, 1014: 8, 1017: 8, 1020: 8, 1041: 8, 1042: 8, 1044: 8, 1056: 8, 1059: 1, 1076: 8, 1077: 8, 1082: 8, 1114: 8, 1161: 8, 1162: 8, 1163: 8, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1228: 8, 1235: 8, 1237: 8, 1263: 8, 1264: 8, 1279: 8, 1412: 8, 1541: 8, 1552: 8, 1553: 8, 1556: 8, 1557: 8, 1568: 8, 1570: 8, 1571: 8, 1572: 8, 1592: 8, 1594: 8, 1595: 8, 1649: 8, 1745: 8, 1779: 8, 1786: 8, 1787: 8, 1788: 8, 1789: 8, 1792: 8, 1767:4, 1808: 8, 1816: 8, 1872: 8, 1880: 8, 1904: 8, 1912: 8, 1937: 8, 1945: 8, 1953: 8, 1961: 8, 1968: 8, 1976: 8, 1990: 8, 1998: 8, 2015: 8, 2016: 8, 2024: 8
   }],
   CAR.CAMRYH: [
   #SE, LE and LE with Blindspot Monitor

selfdrive/crash.py

@@ -40,7 +40,7 @@ else:
     __excepthook__ = sys.excepthook
     def handle_exception(*exc_info):
       if exc_info[0] not in (KeyboardInterrupt, SystemExit):
-        capture_exception(exc_info=exc_info)
+        capture_exception()
       __excepthook__(*exc_info)
     sys.excepthook = handle_exception
 

selfdrive/debug/internal/measure_steering_accuracy.py

@@ -2,8 +2,7 @@
 import os
 import argparse
 import signal
-from collections import deque, defaultdict
+from collections import defaultdict
-from statistics import mean
 
 import cereal.messaging as messaging
 

selfdrive/debug/internal/measure_torque_time_to_max.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import sys
 import argparse
 import struct
 from collections import deque
@@ -8,7 +7,6 @@ from statistics import mean
 
 from cereal import log
 import cereal.messaging as messaging
-from cereal.services import service_list
 
 if __name__ == "__main__":
 

selfdrive/debug/mpc/tune_longitudinal.py

@@ -3,7 +3,6 @@ import numpy as np
 import matplotlib.pyplot as plt
 from selfdrive.controls.lib.longitudinal_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LONG
-import math
 
 # plot liongitudinal MPC trajectory by defining boundary conditions:
 # ego and lead vehicles state. Use this script to tune MPC costs
@@ -16,7 +15,7 @@ def RW(v_ego, v_l):
 
 def NORM_RW_ERROR(v_ego, v_l, p):
     return (RW(v_ego, v_l) + 4.0 - p)
-    return (RW(v_ego, v_l) + 4.0 - p) / (np.sqrt(v_ego + 0.5) + 0.1)
+    #return (RW(v_ego, v_l) + 4.0 - p) / (np.sqrt(v_ego + 0.5) + 0.1)
 
 
 v_ego = 20.0
@@ -36,7 +35,7 @@ a_lead_tau = 0.
 
 # a_lead_tau = 2.90729817665
 
-min_a_lead_tau = (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2)
+#min_a_lead_tau = (a_lead**2 * math.pi) / (2 * (v_lead + 0.01)**2)
 min_a_lead_tau = 0.0
 
 print(a_lead_tau, min_a_lead_tau)

selfdrive/debug/tuner.py

@@ -1,67 +0,0 @@
-#!/usr/bin/env python3
-"""
-This tool can be used to quickly changes the values in a JSON file used for tuning
-Keys like in vim:
- - h: decrease by 0.05
- - l: increase by 0.05
- - k: move pointer up
- - j: move pointer down
-"""
-
-import tty
-import sys
-import json
-import termios
-from collections import OrderedDict
-
-FILENAME = '/data/tuning.json'
-
-def read_tuning():
-  while True:
-    try:
-      return json.loads(open(FILENAME).read())
-    except:
-      pass
-
-def main():
-  dat = json.loads(open(FILENAME, 'r').read())
-  dat = OrderedDict(sorted(dat.items(), key=lambda i: i[0]))
-
-  cur = 0
-  while True:
-    sys.stdout.write("\x1Bc")
-
-    for i, (k, v) in enumerate(dat.items()):
-      prefix = "> " if cur == i else "  "
-      print((prefix + k).ljust(20) + "%.2f" % v)
-
-    key = sys.stdin.read(1)[0]
-
-    write = False
-    if key == "k":
-      cur = max(0, cur - 1)
-    elif key == "j":
-      cur = min(len(dat.keys()) - 1, cur + 1)
-    elif key == "l":
-      dat[dat.keys()[cur]] += 0.05
-      write = True
-    elif key == "h":
-      dat[dat.keys()[cur]] -= 0.05
-      write = True
-    elif key == "q":
-      break
-
-    if write:
-      open(FILENAME, 'w').write(json.dumps(dat))
-
-
-if __name__ == "__main__":
-  orig_settings = termios.tcgetattr(sys.stdin)
-  tty.setcbreak(sys.stdin)
-
-  try:
-    main()
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-  except:
-    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-    raise

selfdrive/locationd/locationd.py

@@ -182,7 +182,6 @@ class Localizer():
       initial_pose_ecef_quat = quat_from_euler(initial_pose_ecef)
       gps_speed = log.speed
       quat_uncertainty = 0.2**2
-      initial_pose_ecef_quat = quat_from_euler(initial_pose_ecef)
 
       initial_state = LiveKalman.initial_x
       initial_covs_diag = LiveKalman.initial_P_diag

selfdrive/loggerd/ethernetsniffer.py

@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
-import zmq
 import cereal.messaging as messaging
-from cereal.services import service_list
 import pcap
 
 def main():

selfdrive/modeld/visiontest.py

@@ -10,7 +10,7 @@ try:  # bacause this crashes somtimes when running pipeline
   subprocess.check_output(["make", "-C", _visiond_dir, "-f",
                          os.path.join(_visiond_dir, "visiontest.mk"),
                          _libvisiontest])
-except:
+except Exception:
   pass
 
 class VisionTest():

tools/lib/framereader.py

@@ -21,7 +21,6 @@ import subprocess
 from aenum import Enum
 from lru import LRU
 from functools import wraps
-from concurrent.futures import ThreadPoolExecutor, as_completed
 
 from tools.lib.cache import cache_path_for_file_path
 from tools.lib.exceptions import DataUnreadableError

tools/lib/logreader.py

@@ -4,10 +4,8 @@ import sys
 import json
 import bz2
 import tempfile
-import requests
 import subprocess
 import urllib.parse
-from aenum import Enum
 import capnp
 import numpy as np
 

tools/lib/mkvparse/mkvindex.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python
 # Copyright (c) 2016, Comma.ai, Inc.
 
-import sys
 import re
 import binascii
 
@@ -64,24 +63,3 @@ def simple_gen(of, config_record, w, h, framedata):
     # + ebml_element(0xA7, ben(0)) # Position, uint
     + ''.join(blocks)))
 
-if __name__ == "__main__":
-  import random
-
-  if len(sys.argv) != 2:
-    print("usage: %s mkvpath" % sys.argv[0])
-  with open(sys.argv[1], "rb") as f:
-    cr, index = mkvindex(f)
-
-  # cr = "280000003002000030010000010018004646563100cb070000000000000000000000000000000000".decode("hex")
-
-  def geti(i):
-    pos, length = index[i]
-    with open(sys.argv[1], "rb") as f:
-      f.seek(pos)
-      return f.read(length)
-
-  dats = [geti(random.randrange(200)) for _ in xrange(30)]
-
-  with open("tmpout.mkv", "wb") as of:
-    simple_gen(of, cr, dats)
-

tools/livedm/livedm.py

@@ -23,7 +23,7 @@ if __name__ == "__main__":
   poller = messaging.Poller()
 
   m = 'driverMonitoring'
-  sock = messaging.sub_sock(m, poller, addr=args.addr)
+  messaging.sub_sock(m, poller, addr=args.addr)
 
   pygame.init()
   pygame.display.set_caption('livedm')

tools/nui/.gitignore

@@ -6,4 +6,5 @@ moc_*
 .qmake.stash
 nui.app/*
 routes.json
+_nui.app
 

tools/nui/Unlogger.cpp

@@ -15,7 +15,11 @@
 
 static inline uint64_t nanos_since_boot() {
   struct timespec t;
+  #ifdef __APPLE__
+    clock_gettime(CLOCK_REALTIME, &t);
+  #else
     clock_gettime(CLOCK_BOOTTIME, &t);
+  #endif
   return t.tv_sec * 1000000000ULL + t.tv_nsec;
 }
 

tools/replay/camera.py

@@ -6,18 +6,11 @@ os.environ['BASEDIR'] = BASEDIR
 SCALE = float(os.getenv("SCALE", 1.0))
 
 import argparse
-import zmq
 import pygame
 import numpy as np
 import cv2
 import sys
-import traceback
-from collections import namedtuple
-from cereal import car
-from common.params import Params
 from tools.lib.lazy_property import lazy_property
-from cereal.messaging import sub_sock, recv_one_or_none, recv_one
-from cereal.services import service_list
 import cereal.messaging as messaging
 
 _BB_OFFSET = 0, 0
@@ -33,8 +26,6 @@ def pygame_modules_have_loaded():
 
 
 def ui_thread(addr, frame_address):
-  context = zmq.Context.instance()
-
   pygame.init()
   pygame.font.init()
   assert pygame_modules_have_loaded()

tools/replay/lib/ui_helpers.py

@@ -1,4 +1,3 @@
-import platform
 from collections import namedtuple
 
 import matplotlib

tools/sim/bridge.py

@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
-import carla
+import time
-import os
-import time, termios, tty, sys
 import math
 import atexit
 import numpy as np
@@ -9,7 +7,6 @@ import threading
 import random
 import cereal.messaging as messaging
 import argparse
-import queue
 from common.params import Params
 from common.realtime import Ratekeeper
 from lib.can import can_function, sendcan_function

tools/sim/lib/can.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import time
 import cereal.messaging as messaging
 from opendbc.can.parser import CANParser
 from opendbc.can.packer import CANPacker
@@ -92,13 +91,3 @@ def sendcan_function(sendcan):
 
   return (gas, brake, steer_torque)
 
-if __name__ == "__main__":
-  pm = messaging.PubMaster(['can'])
-  sendcan = messaging.sub_sock('sendcan')
-  idx = 0
-  while 1:
-    sendcan_function(sendcan)
-    can_function(pm, 10.0, idx)
-    time.sleep(0.01)
-    idx += 1
-