openpilot v0.6.5 release

common/api/__init__.py

@@ -4,7 +4,7 @@ from datetime import datetime, timedelta
 
 from selfdrive.version import version
 
-class Api(object):
+class Api():
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
     with open('/persist/comma/id_rsa') as f:
@@ -27,7 +27,7 @@ class Api(object):
       'iat': now,
       'exp': now + timedelta(hours=1)
     }
-    return jwt.encode(payload, self.private_key, algorithm='RS256')
+    return jwt.encode(payload, self.private_key, algorithm='RS256').decode('utf8')
 
 def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   backend = "https://api.commadotai.com/"

common/cython_hacks.py

@@ -0,0 +1,23 @@
+import os
+import sysconfig
+from Cython.Distutils import build_ext
+
+def get_ext_filename_without_platform_suffix(filename):
+  name, ext = os.path.splitext(filename)
+  ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
+
+  if ext_suffix == ext:
+    return filename
+
+  ext_suffix = ext_suffix.replace(ext, '')
+  idx = name.find(ext_suffix)
+
+  if idx == -1:
+    return filename
+  else:
+    return name[:idx] + ext
+
+class BuildExtWithoutPlatformSuffix(build_ext):
+  def get_ext_filename(self, ext_name):
+    filename = super().get_ext_filename(ext_name)
+    return get_ext_filename_without_platform_suffix(filename)

common/dbc.py

@@ -17,10 +17,10 @@ DBCSignal = namedtuple(
                 "factor", "offset", "tmin", "tmax", "units"])
 
 
-class dbc(object):
+class dbc():
   def __init__(self, fn):
     self.name, _ = os.path.splitext(os.path.basename(fn))
-    with open(fn) as f:
+    with open(fn, encoding="ascii") as f:
       self.txt = f.readlines()
     self._warned_addresses = set()
 
@@ -41,7 +41,7 @@ class dbc(object):
     self.def_vals = defaultdict(list)
 
     # lookup to bit reverse each byte
-    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
+    self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in range(64)]
 
     for l in self.txt:
       l = l.strip()
@@ -213,7 +213,7 @@ class dbc(object):
     if debug:
       print(name)
 
-    st = x[2].ljust(8, '\x00')
+    st = x[2].ljust(8, b'\x00')
     le, be = None, None
 
     for s in msg[1]:

common/ffi_wrapper.py

@@ -9,7 +9,7 @@ def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=
   if libraries is None:
     libraries = []
 
-  cache = name + "_" + hashlib.sha1(c_code).hexdigest()
+  cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
   try:
     os.mkdir(tmpdir)
   except OSError:

common/file_helpers.py

@@ -32,7 +32,7 @@ def get_tmpdir_on_same_filesystem(path):
     return "/{}/runner/tmp".format(parts[1])
   return "/tmp"
 
-class AutoMoveTempdir(object):
+class AutoMoveTempdir():
   def __init__(self, target_path, temp_dir=None):
     self._target_path = target_path
     self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -52,7 +52,7 @@ class AutoMoveTempdir(object):
     else:
       shutil.rmtree(self._path)
 
-class NamedTemporaryDir(object):
+class NamedTemporaryDir():
   def __init__(self, temp_dir=None):
     self._path = tempfile.mkdtemp(dir=temp_dir)
 

common/fingerprints.py

@@ -1,62 +0,0 @@
-import os
-from common.basedir import BASEDIR
-
-def get_fingerprint_list():
-  # read all the folders in selfdrive/car and return a dict where:
-  # - keys are all the car models for which we have a fingerprint
-  # - values are lists dicts of messages that constitute the unique
-  #   CAN fingerprint of each car model and all its variants
-  fingerprints = {}
-  for car_folder in [x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]:
-    try:
-      car_name = car_folder.split('/')[-1]
-      values = __import__('selfdrive.car.%s.values' % car_name, fromlist=['FINGERPRINTS'])
-      if hasattr(values, 'FINGERPRINTS'):
-        car_fingerprints = values.FINGERPRINTS
-      else:
-        continue
-      for f, v in car_fingerprints.items():
-        fingerprints[f] = v
-    except (ImportError, IOError):
-      pass
-  return fingerprints
-
-
-_FINGERPRINTS = get_fingerprint_list()
-
-_DEBUG_ADDRESS = {1880: 8}   # reserved for debug purposes
-
-def is_valid_for_fingerprint(msg, car_fingerprint):
-  adr = msg.address
-  # ignore addresses that are more than 11 bits
-  return (adr in car_fingerprint and car_fingerprint[adr] == len(msg.dat)) or adr >= 0x800
-
-
-def eliminate_incompatible_cars(msg, candidate_cars):
-  """Removes cars that could not have sent msg.
-
-     Inputs:
-      msg: A cereal/log CanData message from the car.
-      candidate_cars: A list of cars to consider.
-
-     Returns:
-      A list containing the subset of candidate_cars that could have sent msg.
-  """
-  compatible_cars = []
-
-  for car_name in candidate_cars:
-    car_fingerprints = _FINGERPRINTS[car_name]
-
-    for fingerprint in car_fingerprints:
-      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
-
-      if is_valid_for_fingerprint(msg, fingerprint):
-        compatible_cars.append(car_name)
-        break
-
-  return compatible_cars
-
-
-def all_known_cars():
-  """Returns a list of all known car strings."""
-  return list(_FINGERPRINTS.keys())

common/kalman/Makefile

@@ -1,7 +1,7 @@
 all: simple_kalman_impl.so
 
 simple_kalman_impl.so: simple_kalman_impl.pyx simple_kalman_impl.pxd simple_kalman_setup.py
-	python2 simple_kalman_setup.py build_ext --inplace
+	python3 simple_kalman_setup.py build_ext --inplace
 	rm -rf build
 	rm simple_kalman_impl.c
 

common/kalman/simple_kalman.py

@@ -5,6 +5,6 @@ import subprocess
 kalman_dir = os.path.dirname(os.path.abspath(__file__))
 subprocess.check_call(["make", "simple_kalman_impl.so"], cwd=kalman_dir)
 
-from simple_kalman_impl import KF1D as KF1D
+from .simple_kalman_impl import KF1D as KF1D
 # Silence pyflakes
 assert KF1D

common/kalman/simple_kalman_impl.pyx

@@ -1,3 +1,4 @@
+# cython: language_level=3
 
 cdef class KF1D:
   def __init__(self, x0, A, C, K):
@@ -32,4 +33,4 @@ cdef class KF1D:
   @x.setter
   def x(self, x):
     self.x0_0 = x[0][0]
-    self.x1_0 = x[1][0]
+    self.x1_0 = x[1][0]

common/kalman/simple_kalman_setup.py

@@ -1,5 +1,9 @@
-from distutils.core import setup, Extension
+from distutils.core import Extension, setup  # pylint: disable=import-error,no-name-in-module
+
 from Cython.Build import cythonize
 
+from common.cython_hacks import BuildExtWithoutPlatformSuffix
+
 setup(name='Simple Kalman Implementation',
-      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))
+      cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
+      ext_modules=cythonize(Extension("simple_kalman_impl", ["simple_kalman_impl.pyx"])))

common/numpy_fast.py

@@ -12,7 +12,10 @@ def interp(x, xp, fp):
       hi += 1
     low = hi - 1
     return fp[-1] if hi == N and xv > xp[low] else (
-      fp[0] if hi == 0 else 
+      fp[0] if hi == 0 else
       (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
   return [get_interp(v) for v in x] if hasattr(
     x, '__iter__') else get_interp(x)
+
+def mean(x):
+  return sum(x) / len(x)

common/params.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 """ROS has a parameter server, we have files.
 
 The parameter store is a persistent key value store, implemented as a directory with a writer lock.
@@ -59,29 +59,38 @@ keys = {
   "ControlsParams": [TxType.PERSISTENT],
   "DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
   "DongleId": [TxType.PERSISTENT],
-  "GithubSshKeys": [TxType.PERSISTENT],
   "GitBranch": [TxType.PERSISTENT],
   "GitCommit": [TxType.PERSISTENT],
   "GitRemote": [TxType.PERSISTENT],
+  "GithubSshKeys": [TxType.PERSISTENT],
   "HasAcceptedTerms": [TxType.PERSISTENT],
+  "HasCompletedSetup": [TxType.PERSISTENT],
   "IsGeofenceEnabled": [TxType.PERSISTENT],
   "IsMetric": [TxType.PERSISTENT],
   "IsRHD": [TxType.PERSISTENT],
   "IsUpdateAvailable": [TxType.PERSISTENT],
   "IsUploadRawEnabled": [TxType.PERSISTENT],
   "IsUploadVideoOverCellularEnabled": [TxType.PERSISTENT],
+  "LastUpdateTime": [TxType.PERSISTENT],
   "LimitSetSpeed": [TxType.PERSISTENT],
   "LimitSetSpeedNeural": [TxType.PERSISTENT],
   "LiveParameters": [TxType.PERSISTENT],
   "LongitudinalControl": [TxType.PERSISTENT],
+  "OpenpilotEnabledToggle": [TxType.PERSISTENT],
   "Passive": [TxType.PERSISTENT],
   "RecordFront": [TxType.PERSISTENT],
+  "ReleaseNotes": [TxType.PERSISTENT],
   "ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
   "SpeedLimitOffset": [TxType.PERSISTENT],
   "SubscriberInfo": [TxType.PERSISTENT],
   "TermsVersion": [TxType.PERSISTENT],
   "TrainingVersion": [TxType.PERSISTENT],
+  "UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
   "Version": [TxType.PERSISTENT],
+  "Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+  "Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
+  "Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
 }
 
 
@@ -93,7 +102,7 @@ def fsync_dir(path):
     os.close(fd)
 
 
-class FileLock(object):
+class FileLock():
   def __init__(self, path, create):
     self._path = path
     self._create = create
@@ -109,7 +118,7 @@ class FileLock(object):
       self._fd = None
 
 
-class DBAccessor(object):
+class DBAccessor():
   def __init__(self, path):
     self._path = path
     self._vals = None
@@ -279,6 +288,9 @@ def read_db(params_path, key):
     return None
 
 def write_db(params_path, key, value):
+  if isinstance(value, str):
+    value = value.encode('utf8')
+
   prev_umask = os.umask(0)
   lock = FileLock(params_path+"/.lock", True)
   lock.acquire()
@@ -297,7 +309,7 @@ def write_db(params_path, key, value):
     os.umask(prev_umask)
     lock.release()
 
-class Params(object):
+class Params():
   def __init__(self, db='/data/params'):
     self.db = db
 
@@ -328,7 +340,7 @@ class Params(object):
     with self.transaction(write=True) as txn:
       txn.delete(key)
 
-  def get(self, key, block=False):
+  def get(self, key, block=False, encoding=None):
     if key not in keys:
       raise UnknownKeyName(key)
 
@@ -338,9 +350,21 @@ class Params(object):
         break
       # is polling really the best we can do?
       time.sleep(0.05)
+
+    if ret is not None and encoding is not None:
+      ret = ret.decode(encoding)
+
     return ret
 
   def put(self, key, dat):
+    """
+    Warning: This function blocks until the param is written to disk!
+    In very rare cases this can take over a second, and your code will hang.
+
+    Use the put_nonblocking helper function in time sensitive code, but
+    in general try to avoid writing params as much as possible.
+    """
+
     if key not in keys:
       raise UnknownKeyName(key)
 

common/profiler.py

@@ -1,6 +1,6 @@
 import time
 
-class Profiler(object):
+class Profiler():
   def __init__(self, enabled=False):
     self.enabled = enabled
     self.cp = {}

common/realtime.py

@@ -19,6 +19,7 @@ assert sec_since_boot
 DT_CTRL = 0.01  # controlsd
 DT_PLAN = 0.05  # mpc
 DT_MDL = 0.05  # model
+DT_RDR = 0.05  # radar
 DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager
 
@@ -43,7 +44,7 @@ def set_realtime_priority(level):
   return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
 
 
-class Ratekeeper(object):
+class Ratekeeper():
   def __init__(self, rate, print_delay_threshold=0.):
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate

common/spinner.py

@@ -0,0 +1,28 @@
+import os
+import subprocess
+from common.basedir import BASEDIR
+
+class Spinner():
+  def __enter__(self):
+    self.spinner_proc = subprocess.Popen(["./spinner"],
+                                         stdin=subprocess.PIPE,
+                                         cwd=os.path.join(BASEDIR, "selfdrive", "ui", "spinner"),
+                                         close_fds=True)
+    return self
+
+  def update(self, spinner_text):
+    self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
+    self.spinner_proc.stdin.flush()
+
+  def __exit__(self, type, value, traceback):
+    self.spinner_proc.stdin.close()
+    self.spinner_proc.terminate()
+
+
+
+if __name__ == "__main__":
+  import time
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5.0)
+

common/stat_live.py

@@ -11,7 +11,7 @@ class RunningStat():
       self.n = priors[2]
       self.M_last = self.M
       self.S_last = self.S
-      
+
     else:
       self.reset()
 
@@ -70,4 +70,4 @@ class RunningStatFilter():
       pass
       # self.filtered_stat.push_data(self.filtered_stat.mean())
 
-# class SequentialBayesian():
+# class SequentialBayesian():

common/sympy_helpers.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 import sympy as sp
 import numpy as np
 

common/transformations/camera.py

@@ -125,7 +125,7 @@ def img_from_device(pt_device):
 
 #TODO please use generic img transform below
 def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
-  import cv2
+  import cv2  # pylint: disable=no-name-in-module, import-error
 
   size = img.shape[:2]
   rot = orient.rot_from_euler(eulers)
@@ -138,8 +138,8 @@ def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
   warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
                                        warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
   if crop:
-    W_border = (size[1] - crop[0])/2
-    H_border = (size[0] - crop[1])/2
+    W_border = (size[1] - crop[0])//2
+    H_border = (size[0] - crop[1])//2
     outside_crop = (((warped_quadrangle[:,0] < W_border) |
                      (warped_quadrangle[:,0] >= size[1] - W_border)) &
                     ((warped_quadrangle[:,1] < H_border) |
@@ -183,7 +183,8 @@ def transform_img(base_img,
                  alpha=1.0,
                  beta=0,
                  blur=0):
-  import cv2
+  import cv2  # pylint: disable=no-name-in-module, import-error
+  cv2.setNumThreads(1)
 
   if yuv:
     base_img = cv2.cvtColor(base_img, cv2.COLOR_YUV2RGB_I420)
@@ -240,7 +241,7 @@ def transform_img(base_img,
 def yuv_crop(frame, output_size, center=None):
   # output_size in camera coordinates so u,v
   # center in array coordinates so row, column
-  import cv2
+  import cv2   # pylint: disable=no-name-in-module, import-error
   rgb = cv2.cvtColor(frame, cv2.COLOR_YUV2RGB_I420)
   if not center:
     center = (rgb.shape[0]/2, rgb.shape[1]/2)

common/transformations/coordinates.py

@@ -65,7 +65,7 @@ def ecef2geodetic(ecef, radians=False):
   geodetic = np.column_stack((lat, lon, h))
   return geodetic.reshape(input_shape)
 
-class LocalCoord(object):
+class LocalCoord():
   """
    Allows conversions to local frames. In this case NED.
    That is: North East Down from the start position in

common/transformations/orientation.py

@@ -29,7 +29,7 @@ def euler2quat(eulers):
        np.sin(gamma / 2) * np.sin(theta / 2) * np.cos(psi / 2)
 
   quats = array([q0, q1, q2, q3]).T
-  for i in xrange(len(quats)):
+  for i in range(len(quats)):
     if quats[i,0] < 0:
       quats[i] = -quats[i]
   return quats.reshape(output_shape)
@@ -99,7 +99,7 @@ def rot2quat(rots):
   K3[:, 3, 2] = K3[:, 2, 3]
   K3[:, 3, 3] = (rots[:, 0, 0] + rots[:, 1, 1] + rots[:, 2, 2]) / 3.0
   q = np.empty((len(rots), 4))
-  for i in xrange(len(rots)):
+  for i in range(len(rots)):
     _, eigvecs = linalg.eigh(K3[i].T)
     eigvecs = eigvecs[:,3:]
     q[i, 0] = eigvecs[-1]

common/vin.py

@@ -1,101 +0,0 @@
-#!/usr/bin/env python
-import selfdrive.messaging as messaging
-from selfdrive.boardd.boardd import can_list_to_can_capnp
-
-VIN_UNKNOWN = "0" * 17
-
-# sanity checks on response messages from vin query
-def is_vin_response_valid(can_dat, step, cnt):
-
-  can_dat = [ord(i) for i in can_dat]
-
-  if len(can_dat) != 8:
-    # ISO-TP meesages are all 8 bytes
-    return False
-
-  if step == 0:
-    # VIN does not fit in a single message and it's 20 bytes of data
-    if can_dat[0] != 0x10 or can_dat[1] != 0x14:
-       return False
-
-  if step == 1 and cnt == 0:
-    # first response after a CONTINUE query is sent
-    if can_dat[0] != 0x21:
-       return False
-
-  if step == 1 and cnt == 1:
-    # second response after a CONTINUE query is sent
-    if can_dat[0] != 0x22:
-       return False
-
-  return True
-
-
-class VinQuery():
-  def __init__(self, bus):
-    self.bus = bus
-    # works on standard 11-bit addresses for diagnostic. Tested on Toyota and Subaru;
-    # Honda uses the extended 29-bit addresses, and unfortunately only works from OBDII
-    self.query_ext_msgs = [[0x18DB33F1, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
-                           [0x18DA10f1, 0, '\x30'.ljust(8, "\x00"), bus]]
-    self.query_nor_msgs = [[0x7df, 0, '\x02\x09\x02'.ljust(8, "\x00"), bus],
-                           [0x7e0, 0, '\x30'.ljust(8, "\x00"), bus]]
-
-    self.cnts = [1, 2]  # number of messages to wait for at each iteration
-    self.step = 0
-    self.cnt = 0
-    self.responded = False
-    self.never_responded = True
-    self.dat = []
-    self.vin = VIN_UNKNOWN
-
-  def check_response(self, msg):
-    # have we got a VIN query response?
-    if msg.src == self.bus and msg.address in [0x18daf110, 0x7e8]:
-      self.never_responded = False
-      # basic sanity checks on ISO-TP response
-      if is_vin_response_valid(msg.dat, self.step, self.cnt):
-        self.dat += msg.dat[2:] if self.step == 0 else msg.dat[1:]
-        self.cnt += 1
-        if self.cnt == self.cnts[self.step]:
-          self.responded = True
-          self.step += 1
-
-  def send_query(self, sendcan):
-    # keep sending VIN qury if ECU isn't responsing.
-    # sendcan is probably not ready due to the zmq slow joiner syndrome
-    if self.never_responded or (self.responded and self.step < len(self.cnts)):
-      sendcan.send(can_list_to_can_capnp([self.query_ext_msgs[self.step]], msgtype='sendcan'))
-      sendcan.send(can_list_to_can_capnp([self.query_nor_msgs[self.step]], msgtype='sendcan'))
-      self.responded = False
-      self.cnt = 0
-
-  def get_vin(self):
-    # only report vin if procedure is finished
-    if self.step == len(self.cnts) and self.cnt == self.cnts[-1]:
-      self.vin = "".join(self.dat[3:])
-    return self.vin
-
-
-def get_vin(logcan, sendcan, bus, query_time=1.):
-  vin_query = VinQuery(bus)
-  frame = 0
-
-  # 1s max of VIN query time
-  while frame < query_time * 100:
-    a = messaging.recv_one(logcan)
-
-    for can in a.can:
-      vin_query.check_response(can)
-
-    vin_query.send_query(sendcan)
-    frame += 1
-
-  return vin_query.get_vin()
-
-
-if __name__ == "__main__":
-  from selfdrive.services import service_list
-  logcan = messaging.sub_sock(service_list['can'].port)
-  sendcan = messaging.pub_sock(service_list['sendcan'].port)
-  print get_vin(logcan, sendcan, 0)