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/locationd/calibrationd.py

@@ -23,7 +23,7 @@ VP_INIT = np.array([W/2., H/2.])
 
 # These validity corners were chosen by looking at 1000
 # and taking most extreme cases with some margin.
-VP_VALIDITY_CORNERS = np.array([[W/2 - 150, 280], [W/2 + 150, 540]])
+VP_VALIDITY_CORNERS = np.array([[W//2 - 150, 280], [W//2 + 150, 540]])
 DEBUG = os.getenv("DEBUG") is not None
 
 
@@ -90,10 +90,10 @@ class Calibrator(object):
     cal_send = messaging.new_message()
     cal_send.init('liveCalibration')
     cal_send.liveCalibration.calStatus = self.cal_status
-    cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 / INPUTS_NEEDED, 100)
-    cal_send.liveCalibration.warpMatrix2 = map(float, warp_matrix.flatten())
-    cal_send.liveCalibration.warpMatrixBig = map(float, warp_matrix_big.flatten())
-    cal_send.liveCalibration.extrinsicMatrix = map(float, extrinsic_matrix.flatten())
+    cal_send.liveCalibration.calPerc = min(len(self.vps) * 100 // INPUTS_NEEDED, 100)
+    cal_send.liveCalibration.warpMatrix2 = [float(x) for x in warp_matrix.flatten()]
+    cal_send.liveCalibration.warpMatrixBig = [float(x) for x in warp_matrix_big.flatten()]
+    cal_send.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
 
     livecalibration.send(cal_send.to_bytes())
 

selfdrive/locationd/kalman/loc_local_kf.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python
 import numpy as np
-import loc_local_model
+from selfdrive.locationd.kalman import loc_local_model
 
-from kalman_helpers import ObservationKind
-from ekf_sym import EKF_sym
+from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
+from selfdrive.locationd.kalman.ekf_sym import EKF_sym
 
 
 

selfdrive/locationd/kalman/loc_local_model.py

@@ -2,8 +2,8 @@ import numpy as np
 import sympy as sp
 import os
 
-from kalman_helpers import ObservationKind
-from ekf_sym import gen_code
+from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
+from selfdrive.locationd.kalman.ekf_sym import gen_code
 
 
 def gen_model(name, dim_state):

selfdrive/locationd/test/ci_test.py

@@ -5,8 +5,8 @@ import sys
 import argparse
 import tempfile
 
-from ubloxd_py_test import parser_test
-from ubloxd_regression_test import compare_results
+from selfdrive.locationd.test.ubloxd_py_test import parser_test
+from selfdrive.locationd.test.ubloxd_regression_test import compare_results
 
 
 def mkdirs_exists_ok(path):

selfdrive/locationd/test/ublox.py

@@ -184,7 +184,7 @@ class UBloxAttrDict(dict):
       raise AttributeError(name)
 
   def __setattr__(self, name, value):
-    if self.__dict__.has_key(name):
+    if name in self.__dict__:
       # allow set on normal attributes
       dict.__setattr__(self, name, value)
     else:
@@ -256,7 +256,7 @@ class UBloxDescriptor:
         break
 
     if self.count_field == '_remaining':
-      count = len(buf) / struct.calcsize(self.format2)
+      count = len(buf) // struct.calcsize(self.format2)
 
     if count == 0:
       msg._unpacked = True

selfdrive/locationd/test/ubloxd.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import os
 import serial
-import ublox
+from selfdrive.locationd.test import ublox
 import time
 import datetime
 import struct
@@ -11,7 +11,7 @@ from common import realtime
 import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
-from ephemeris import EphemerisData, GET_FIELD_U
+from selfdrive.locationd.test.ephemeris import EphemerisData, GET_FIELD_U
 
 panda = os.getenv("PANDA") is not None   # panda directly connected
 grey = not (os.getenv("EVAL") is not None)     # panda through boardd

selfdrive/locationd/test/ubloxd_easy.py

@@ -1,8 +1,8 @@
 #!/usr/bin/env python
 import os
-import ublox
+from selfdrive.locationd.test import ublox
 from common import realtime
-from ubloxd import gen_raw, gen_solution
+from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
 import zmq
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list

selfdrive/locationd/test/ubloxd_py_test.py

@@ -1,8 +1,8 @@
 import sys
 import os
 
-from ublox import UBloxMessage
-from ubloxd import gen_solution, gen_raw, gen_nav_data
+from selfdrive.locationd.test.ublox import UBloxMessage
+from selfdrive.locationd.test.ubloxd import gen_solution, gen_raw, gen_nav_data
 from common import realtime