openpilot v0.5.11 release

selfdrive/test/plant/maneuver.py

@@ -8,7 +8,7 @@ class Maneuver(object):
     # Was tempted to make a builder class
     self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
     self.speed = kwargs.get("initial_speed", 0.0)
-    self.lead_relevancy = kwargs.get("lead_relevancy", 0) 
+    self.lead_relevancy = kwargs.get("lead_relevancy", 0)
 
     self.grade_values = kwargs.get("grade_values", [0.0, 0.0])
     self.grade_breakpoints = kwargs.get("grade_breakpoints", [0.0, duration])
@@ -37,8 +37,8 @@ class Maneuver(object):
       while buttons_sorted and plant.current_time() >= buttons_sorted[0][1]:
         current_button = buttons_sorted[0][0]
         buttons_sorted = buttons_sorted[1:]
-        print "current button changed to", current_button
-    
+        print("current button changed to {0}".format(current_button))
+
       grade = np.interp(plant.current_time(), self.grade_breakpoints, self.grade_values)
       speed_lead = np.interp(plant.current_time(), self.speed_lead_breakpoints, self.speed_lead_values)
 
@@ -46,11 +46,11 @@ class Maneuver(object):
       if live100:
         last_live100 = live100[-1]
 
-      d_rel = distance_lead - distance if self.lead_relevancy else 200. 
-      v_rel = speed_lead - speed if self.lead_relevancy else 0. 
+      d_rel = distance_lead - distance if self.lead_relevancy else 200.
+      v_rel = speed_lead - speed if self.lead_relevancy else 0.
 
       if last_live100:
-        # print last_live100
+        # print(last_live100)
         #develop plots
         plot.add_data(
           time=plant.current_time(),
@@ -64,8 +64,8 @@ class Maneuver(object):
           jerk_factor=last_live100.jerkFactor,
           a_target=last_live100.aTarget,
           fcw=fcw)
-    
-    print "maneuver end"
+
+    print("maneuver end")
 
     return (None, plot)
 

selfdrive/test/plant/plant.py

@@ -208,7 +208,7 @@ class Plant(object):
 
     # print at 5hz
     if (self.rk.frame%(self.rate/5)) == 0:
-      print "%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel)
+      print("%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
 
     # ******** publish the car ********
     vls_tuple = namedtuple('vls', [

selfdrive/test/plant/plant_ui.py

@@ -75,7 +75,7 @@ if __name__ == "__main__":
 
     car_pts = map(pt_to_car, control_pts)
 
-    print car_pts
+    print(car_pts)
 
     car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
     md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
@@ -90,9 +90,9 @@ if __name__ == "__main__":
     cary += plant.speed * plant.ts * math.sin(heading)
 
     # positive steering angle = steering right
-    print plant.angle_steer
+    print(plant.angle_steer)
     heading += plant.angle_steer * plant.ts
-    print heading
+    print(heading)
 
     # draw my car
     display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))

selfdrive/test/test_fingerprints.py

@@ -53,16 +53,16 @@ for idx1, f1 in enumerate(fingerprints_flat):
   for idx2, f2 in enumerate(fingerprints_flat):
     if idx1 < idx2 and not check_fingerprint_consistency(f1, f2):
       valid = False
-      print "Those two fingerprints are inconsistent", car_names[idx1], car_names[idx2]
-      print ""
-      print ', '.join("%d: %d" % v for v in sorted(f1.items()))
-      print ""
-      print ', '.join("%d: %d" % v for v in sorted(f2.items()))
-      print ""
+      print("Those two fingerprints are inconsistent {0} {1}".format(car_names[idx1], car_names[idx2]))
+      print("")
+      print(', '.join("%d: %d" % v for v in sorted(f1.items())))
+      print("")
+      print(', '.join("%d: %d" % v for v in sorted(f2.items())))
+      print("")
 
-print "Found ", len(fingerprints_flat), " individual fingerprints"
+print("Found {0} individual fingerprints".format(len(fingerprints_flat)))
 if not valid or len(fingerprints_flat) == 0:
-  print "TEST FAILED"
+  print("TEST FAILED")
   sys.exit(1)
 else:
-  print "TEST SUCESSFUL"
+  print("TEST SUCESSFUL")

selfdrive/test/test_openpilot.py

@@ -63,25 +63,25 @@ def with_processes(processes):
 @phone_only
 @with_processes(['loggerd', 'logmessaged', 'tombstoned', 'proclogd', 'logcatd'])
 def test_logging():
-  print "LOGGING IS SET UP"
+  print("LOGGING IS SET UP")
   time.sleep(1.0)
 
 @phone_only
 @with_processes(['visiond'])
 def test_visiond():
-  print "VISIOND IS SET UP"
+  print("VISIOND IS SET UP")
   time.sleep(5.0)
 
 @phone_only
 @with_processes(['sensord'])
 def test_sensord():
-  print "SENSORS ARE SET UP"
+  print("SENSORS ARE SET UP")
   time.sleep(1.0)
 
 @phone_only
 @with_processes(['ui'])
 def test_ui():
-  print "RUNNING UI"
+  print("RUNNING UI")
   time.sleep(1.0)
 
 # will have one thing to upload if loggerd ran
@@ -89,5 +89,5 @@ def test_ui():
 @phone_only
 @with_processes(['uploader'])
 def test_uploader():
-  print "UPLOADER"
+  print("UPLOADER")
   time.sleep(10.0)