Add type hints, small cleanups (#21080)

* improve tools.lib.kbhit and tools.sim.lib.keyboard_ctrl

* unpack more efficiently

* minor improvements

* agnos.py match spec better

* manual_ctrl test missing queue arg

* fix incorrect type annotation

* queues are generic

* varname reuse resulting in incorrect type inference

* bytes().hex() rather than bytes.hex(bytes())

* a bit of type hinting stuff
old-commit-hash: 77321dbac4ebfedf9cb5e9085e16055346299749

tools/sim/bridge.py

@@ -248,9 +248,9 @@ def bridge(q):
     # 3. Send current carstate to op via can
 
     cruise_button = 0
-    throttle_out = steer_out = brake_out = 0
+    throttle_out = steer_out = brake_out = 0.0
     throttle_op = steer_op = brake_op = 0
-    throttle_manual = steer_manual = brake_manual = 0
+    throttle_manual = steer_manual = brake_manual = 0.0
 
     # --------------Step 1-------------------------------
     if not q.empty():
@@ -259,24 +259,24 @@ def bridge(q):
       if m[0] == "steer":
         steer_manual = float(m[1])
         is_openpilot_engaged = False
-      if m[0] == "throttle":
+      elif m[0] == "throttle":
         throttle_manual = float(m[1])
         is_openpilot_engaged = False
-      if m[0] == "brake":
+      elif m[0] == "brake":
         brake_manual = float(m[1])
         is_openpilot_engaged = False
-      if m[0] == "reverse":
+      elif m[0] == "reverse":
         #in_reverse = not in_reverse
         cruise_button = CruiseButtons.CANCEL
         is_openpilot_engaged = False
-      if m[0] == "cruise":
+      elif m[0] == "cruise":
         if m[1] == "down":
           cruise_button = CruiseButtons.DECEL_SET
           is_openpilot_engaged = True
-        if m[1] == "up":
+        elif m[1] == "up":
           cruise_button = CruiseButtons.RES_ACCEL
           is_openpilot_engaged = True
-        if m[1] == "cancel":
+        elif m[1] == "cancel":
           cruise_button = CruiseButtons.CANCEL
           is_openpilot_engaged = False
 

tools/sim/lib/keyboard_ctrl.py

@@ -3,7 +3,7 @@ import termios
 import time
 from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
                      ISTRIP, IXON, PARENB, VMIN, VTIME)
-from typing import Any
+from typing import NoReturn
 
 # Indexes for termios list.
 IFLAG = 0
@@ -14,55 +14,56 @@ ISPEED = 4
 OSPEED = 5
 CC = 6
 
-def getch():
-  fd = sys.stdin.fileno()
-  old_settings = termios.tcgetattr(fd)
+STDIN_FD = sys.stdin.fileno()
+
+def getch() -> str:
+  old_settings = termios.tcgetattr(STDIN_FD)
   try:
     # set
-    mode = termios.tcgetattr(fd)
-    mode[IFLAG] = mode[IFLAG] & ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
-    #mode[OFLAG] = mode[OFLAG] & ~(OPOST)
-    mode[CFLAG] = mode[CFLAG] & ~(CSIZE | PARENB)
-    mode[CFLAG] = mode[CFLAG] | CS8
-    mode[LFLAG] = mode[LFLAG] & ~(ECHO | ICANON | IEXTEN)
+    mode = old_settings.copy()
+    mode[IFLAG] &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
+    #mode[OFLAG] &= ~(OPOST)
+    mode[CFLAG] &= ~(CSIZE | PARENB)
+    mode[CFLAG] |= CS8
+    mode[LFLAG] &= ~(ECHO | ICANON | IEXTEN)
     mode[CC][VMIN] = 1
     mode[CC][VTIME] = 0
-    termios.tcsetattr(fd, termios.TCSAFLUSH, mode)
+    termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, mode)
 
     ch = sys.stdin.read(1)
   finally:
-    termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
+    termios.tcsetattr(STDIN_FD, termios.TCSADRAIN, old_settings)
   return ch
 
-def keyboard_poll_thread(q):
+def keyboard_poll_thread(q: 'Queue[str]') -> NoReturn:
   while True:
     c = getch()
     # print("got %s" % c)
     if c == '1':
-      q.put(str("cruise_up"))
-    if c == '2':
-      q.put(str("cruise_down"))
-    if c == '3':
-      q.put(str("cruise_cancel"))
-    if c == 'w':
-      q.put(str("throttle_%f" % 1.0))
-    if c == 'a':
-      q.put(str("steer_%f" % 0.15))
-    if c == 's':
-      q.put(str("brake_%f" % 1.0))
-    if c == 'd':
-      q.put(str("steer_%f" % -0.15))
-    if c == 'q':
+      q.put("cruise_up")
+    elif c == '2':
+      q.put("cruise_down")
+    elif c == '3':
+      q.put("cruise_cancel")
+    elif c == 'w':
+      q.put("throttle_%f" % 1.0)
+    elif c == 'a':
+      q.put("steer_%f" % 0.15)
+    elif c == 's':
+      q.put("brake_%f" % 1.0)
+    elif c == 'd':
+      q.put("steer_%f" % -0.15)
+    elif c == 'q':
       exit(0)
 
-def test(q):
-  while 1:
-    print("hello")
-    time.sleep(1.0)
+def test(q: 'Queue[str]') -> NoReturn:
+  while True:
+    print([q.get_nowait() for _ in range(q.qsize())] or None)
+    time.sleep(0.25)
 
 if __name__ == '__main__':
   from multiprocessing import Process, Queue
-  q : Any = Queue()
+  q: Queue[str] = Queue()
   p = Process(target=test, args=(q,))
   p.daemon = True
   p.start()

tools/sim/lib/manual_ctrl.py

@@ -4,6 +4,7 @@ import array
 import os
 import struct
 from fcntl import ioctl
+from typing import NoReturn
 
 # Iterate over the joystick devices.
 print('Available devices:')
@@ -90,7 +91,7 @@ button_names = {
 axis_map = []
 button_map = []
 
-def wheel_poll_thread(q):
+def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
   # Open the joystick device.
   fn = '/dev/input/js0'
   print('Opening %s...' % fn)
@@ -116,8 +117,8 @@ def wheel_poll_thread(q):
   buf = array.array('B', [0] * 0x40)
   ioctl(jsdev, 0x80406a32, buf)  # JSIOCGAXMAP
 
-  for axis in buf[:num_axes]:
-      axis_name = axis_names.get(axis, 'unknown(0x%02x)' % axis)
+  for _axis in buf[:num_axes]:
+      axis_name = axis_names.get(_axis, 'unknown(0x%02x)' % _axis)
       axis_map.append(axis_name)
       axis_states[axis_name] = 0.0
 
@@ -143,7 +144,7 @@ def wheel_poll_thread(q):
 
   while True:
     evbuf = jsdev.read(8)
-    _, value, mtype, number = struct.unpack('IhBB', evbuf)
+    value, mtype, number = struct.unpack('4xhBB', evbuf)
     # print(mtype, number, value)
     if mtype & 0x02:  # wheel & paddles
       axis = axis_map[number]
@@ -152,38 +153,36 @@ def wheel_poll_thread(q):
         fvalue = value / 32767.0
         axis_states[axis] = fvalue
         normalized = (1 - fvalue) * 50
-        q.put(str("throttle_%f" % normalized))
+        q.put("throttle_%f" % normalized)
 
-      if axis == "rz":  # brake
+      elif axis == "rz":  # brake
         fvalue = value / 32767.0
         axis_states[axis] = fvalue
         normalized = (1 - fvalue) * 50
-        q.put(str("brake_%f" % normalized))
+        q.put("brake_%f" % normalized)
 
-      if axis == "x":  # steer angle
+      elif axis == "x":  # steer angle
         fvalue = value / 32767.0
         axis_states[axis] = fvalue
         normalized = fvalue
-        q.put(str("steer_%f" % normalized))
+        q.put("steer_%f" % normalized)
 
-    if mtype & 0x01:  # buttons
-      if number in [0, 19]:  # X
-        if value == 1:  # press down
-          q.put(str("cruise_down"))
+    elif mtype & 0x01:  # buttons
+      if value == 1: # press down
+        if number in [0, 19]:  # X
+          q.put("cruise_down")
 
-      if number in [3, 18]:  # triangle
-        if value == 1:  # press down
-          q.put(str("cruise_up"))
+        elif number in [3, 18]:  # triangle
+          q.put("cruise_up")
 
-      if number in [1, 6]:  # square
-        if value == 1:  # press down
-          q.put(str("cruise_cancel"))
+        elif number in [1, 6]:  # square
+          q.put("cruise_cancel")
 
-      if number in [10, 21]:  # R3
-        if value == 1:  # press down
-          q.put(str("reverse_switch"))
+        elif number in [10, 21]:  # R3
+          q.put("reverse_switch")
 
 if __name__ == '__main__':
-  from multiprocessing import Process
-  p = Process(target=wheel_poll_thread)
+  from multiprocessing import Process, Queue
+  q: Queue[str] = Queue()
+  p = Process(target=wheel_poll_thread, args=(q,))
   p.start()