test: sync common utilities from master-dev #2066 (stage 1c)

openpilot/common/api/__init__.py

@@ -1,4 +1,4 @@
-from openpilot.common.api.comma_connect import CommaConnectApi
+from openpilot.common.api.comma_connect import API_HOST as API_HOST, CommaConnectApi
 
 
 class Api:

openpilot/common/constants.py

@@ -16,6 +16,10 @@ class CV:
   DEG_TO_RAD = np.pi / 180.
   RAD_TO_DEG = 1. / DEG_TO_RAD
 
+  # Length
+  METER_TO_FOOT = 3.28084
+  METER_TO_MILE = 1. / 1609.344
+
   # Mass
   LB_TO_KG = 0.453592
 

openpilot/common/esim/base.py

@@ -1,6 +1,8 @@
 from abc import ABC, abstractmethod
 from dataclasses import dataclass
 
+WEBBING_ICCID_PREFIX = "8985235"
+
 
 class LPAError(RuntimeError):
   pass
@@ -19,7 +21,7 @@ class Profile:
 
   @property
   def is_comma(self) -> bool:
-    return self.provider == 'Webbing' and self.iccid.startswith('8985235')
+    return self.provider == 'Webbing' and self.iccid.startswith(WEBBING_ICCID_PREFIX)
 
   @property
   def display_name(self) -> str:

openpilot/common/gpio.py

@@ -27,16 +27,6 @@ def gpio_read(pin: int) -> bool | None:
 
   return val
 
-def gpio_export(pin: int) -> None:
-  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
-    return
-
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
 @cache
 def get_irq_action(irq: int) -> list[str]:
   try:

openpilot/common/realtime.py

@@ -91,8 +91,13 @@ class Ratekeeper:
     self.avg_dt.add_value(self._last_monitor_time - prev)
 
     lagged = False
-    remaining = self._next_frame_time - time.monotonic()
-    self._next_frame_time += self._interval
+    now = time.monotonic()
+    remaining = self._next_frame_time - now
+    if remaining < -self._interval:
+      # more than a frame behind (e.g. a stall): resync instead of running catch-up frames back-to-back
+      self._next_frame_time = now + self._interval
+    else:
+      self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
       lagged = True

openpilot/common/utils.py

@@ -5,7 +5,6 @@ import contextlib
 import subprocess
 import time
 import functools
-from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
@@ -157,20 +156,6 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
     return default
 
 
-@contextlib.contextmanager
-def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
-  try:
-    yield proc
-  finally:
-    if proc.poll() is None:
-      proc.terminate()
-    try:
-      proc.wait(timeout=5)
-    except TimeoutExpired:
-      proc.kill()
-
-
 def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None):
   rows = [list(row) for row in tabular_data]
 

openpilot/common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.11.2"
+#define COMMA_VERSION "0.11.3"