getting ready for Python 3 (#619)

* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces

* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax

* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports

* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules

* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key

* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.

* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //

* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter

* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter

* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip

* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)

selfdrive/controls/lib/latcontrol_helpers.py

@@ -59,7 +59,7 @@ def compute_path_pinv(l=50):
 
 
 def model_polyfit(points, path_pinv):
-  return np.dot(path_pinv, map(float, points))
+  return np.dot(path_pinv, [float(x) for x in points])
 
 
 def calc_desired_path(l_poly,

selfdrive/controls/lib/pathplanner.py

@@ -106,12 +106,12 @@ class PathPlanner(object):
     plan_send = messaging.new_message()
     plan_send.init('pathPlan')
     plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
-    plan_send.pathPlan.dPoly = map(float, self.MP.d_poly)
-    plan_send.pathPlan.cPoly = map(float, self.MP.c_poly)
+    plan_send.pathPlan.dPoly = [float(x) for x in self.MP.d_poly]
+    plan_send.pathPlan.cPoly = [float(x) for x in self.MP.c_poly]
     plan_send.pathPlan.cProb = float(self.MP.c_prob)
-    plan_send.pathPlan.lPoly = map(float, l_poly)
+    plan_send.pathPlan.lPoly = [float(x) for x in l_poly]
     plan_send.pathPlan.lProb = float(self.MP.l_prob)
-    plan_send.pathPlan.rPoly = map(float, r_poly)
+    plan_send.pathPlan.rPoly = [float(x) for x in r_poly]
     plan_send.pathPlan.rProb = float(self.MP.r_prob)
     plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
     plan_send.pathPlan.rateSteers = float(rate_desired)

selfdrive/controls/lib/planner.py

@@ -152,7 +152,7 @@ class Planner(object):
 
     # Calculate speed for normal cruise control
     if enabled:
-      accel_limits = map(float, calc_cruise_accel_limits(v_ego, following))
+      accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
       jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
       accel_limits = limit_accel_in_turns(v_ego, CS.carState.steeringAngle, accel_limits, self.CP)
 

selfdrive/controls/radard.py

@@ -226,7 +226,7 @@ def radard_thread(gctx=None):
       if VISION_POINT in ar_pts:
         print("vision", ar_pts[VISION_POINT])
 
-    idens = tracks.keys()
+    idens = list(tracks.keys())
     track_pts = np.array([tracks[iden].get_key_for_cluster() for iden in idens])
 
     # If we have multiple points, cluster them