openpilot v0.8.8 release

common/api/__init__.py

@@ -1,9 +1,12 @@
 import jwt
+import os
 import requests
 from datetime import datetime, timedelta
 from common.basedir import PERSIST
 from selfdrive.version import version
 
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
 class Api():
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
@@ -34,12 +37,10 @@ class Api():
     
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  backend = "https://api.commadotai.com/"
-
   headers = {}
   if access_token is not None:
     headers['Authorization'] = "JWT "+access_token
 
   headers['User-Agent'] = "openpilot-" + version
 
-  return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
+  return requests.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)

common/file_helpers.py

@@ -79,6 +79,25 @@ class NamedTemporaryDir():
     self.close()
 
 
+class CallbackReader:
+  """Wraps a file, but overrides the read method to also
+  call a callback function with the number of bytes read so far."""
+  def __init__(self, f, callback, *args):
+    self.f = f
+    self.callback = callback
+    self.cb_args = args
+    self.total_read = 0
+
+  def __getattr__(self, attr):
+    return getattr(self.f, attr)
+
+  def read(self, *args, **kwargs):
+    chunk = self.f.read(*args, **kwargs)
+    self.total_read += len(chunk)
+    self.callback(*self.cb_args, self.total_read)
+    return chunk
+
+
 def _get_fileobject_func(writer, temp_dir):
   def _get_fileobject():
     file_obj = writer.get_fileobject(dir=temp_dir)

common/filter_simple.py

@@ -1,9 +1,13 @@
-class FirstOrderFilter():
+class FirstOrderFilter:
   # first order filter
-  def __init__(self, x0, ts, dt):
-    self.k = (dt / ts) / (1. + dt / ts)
+  def __init__(self, x0, rc, dt):
     self.x = x0
+    self.dt = dt
+    self.update_alpha(rc)
+
+  def update_alpha(self, rc):
+    self.alpha = self.dt / (rc + self.dt)
 
   def update(self, x):
-    self.x = (1. - self.k) * self.x + self.k * x
+    self.x = (1. - self.alpha) * self.x + self.alpha * x
     return self.x

common/params_pxd.pxd

@@ -17,7 +17,7 @@ cdef extern from "selfdrive/common/params.h":
     ALL
 
   cdef cppclass Params:
-    Params(bool) nogil
+    Params() nogil
     Params(string) nogil
     string get(string, bool) nogil
     bool getBool(string) nogil

common/params_pyx.pyx

@@ -30,11 +30,11 @@ class UnknownKeyName(Exception):
 cdef class Params:
   cdef c_Params* p
 
-  def __cinit__(self, d=None, bool persistent_params=False):
+  def __cinit__(self, d=None):
     cdef string path
     if d is None:
       with nogil:
-        self.p = new c_Params(persistent_params)
+        self.p = new c_Params()
     else:
       path = <string>d.encode()
       with nogil: