Add type hints, small cleanups (#21080)
* improve tools.lib.kbhit and tools.sim.lib.keyboard_ctrl * unpack more efficiently * minor improvements * agnos.py match spec better * manual_ctrl test missing queue arg * fix incorrect type annotation * queues are generic * varname reuse resulting in incorrect type inference * bytes().hex() rather than bytes.hex(bytes()) * a bit of type hinting stuffpull/21120/head
Josh Smith
GitHub
parent
8220056252
commit
77321dbac4
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@ -3,6 +3,7 @@ import gc
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import os
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import time
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import multiprocessing
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from typing import Optional
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from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
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from selfdrive.hardware import PC, TICI
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@ -31,49 +32,49 @@ class Priority:
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CTRL_HIGH = 53
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def set_realtime_priority(level):
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def set_realtime_priority(level: int) -> None:
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if not PC:
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os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
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os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined]
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def set_core_affinity(core):
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def set_core_affinity(core: int) -> None:
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if not PC:
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os.sched_setaffinity(0, [core,])
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def config_realtime_process(core, priority):
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def config_realtime_process(core: int, priority: int) -> None:
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gc.disable()
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set_realtime_priority(priority)
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set_core_affinity(core)
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class Ratekeeper():
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def __init__(self, rate, print_delay_threshold=0.):
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class Ratekeeper:
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def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
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"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
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self._interval = 1. / rate
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self._next_frame_time = sec_since_boot() + self._interval
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self._print_delay_threshold = print_delay_threshold
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self._frame = 0
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self._remaining = 0
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self._remaining = 0.0
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self._process_name = multiprocessing.current_process().name
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@property
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def frame(self):
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def frame(self) -> int:
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return self._frame
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@property
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def remaining(self):
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def remaining(self) -> float:
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return self._remaining
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# Maintain loop rate by calling this at the end of each loop
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def keep_time(self):
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def keep_time(self) -> bool:
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lagged = self.monitor_time()
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if self._remaining > 0:
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time.sleep(self._remaining)
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return lagged
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# this only monitor the cumulative lag, but does not enforce a rate
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def monitor_time(self):
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def monitor_time(self) -> bool:
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lagged = False
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remaining = self._next_frame_time - sec_since_boot()
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self._next_frame_time += self._interval
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@ -1,6 +1,7 @@
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import time
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from collections import defaultdict
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from functools import partial
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from typing import Optional
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import cereal.messaging as messaging
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from selfdrive.swaglog import cloudlog
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@ -8,7 +9,7 @@ from selfdrive.boardd.boardd import can_list_to_can_capnp
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from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
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class IsoTpParallelQuery():
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class IsoTpParallelQuery:
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def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False):
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self.sendcan = sendcan
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self.logcan = logcan
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@ -103,7 +104,7 @@ class IsoTpParallelQuery():
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break
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for tx_addr, msg in msgs.items():
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dat = msg.recv()
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dat: Optional[bytes] = msg.recv()
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if not dat:
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continue
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@ -121,7 +122,7 @@ class IsoTpParallelQuery():
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request_done[tx_addr] = True
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else:
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request_done[tx_addr] = True
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cloudlog.warning(f"iso-tp query bad response: 0x{bytes.hex(dat)}")
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cloudlog.warning(f"iso-tp query bad response: 0x{dat.hex()}")
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if time.time() - start_time > timeout:
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break
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@ -5,7 +5,7 @@ from selfdrive.version import version
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import sentry_sdk
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from sentry_sdk.integrations.threading import ThreadingIntegration
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def capture_exception(*args, **kwargs):
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def capture_exception(*args, **kwargs) -> None:
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cloudlog.error("crash", exc_info=kwargs.get('exc_info', 1))
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try:
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@ -14,14 +14,14 @@ def capture_exception(*args, **kwargs):
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except Exception:
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cloudlog.exception("sentry exception")
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def bind_user(**kwargs):
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def bind_user(**kwargs) -> None:
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sentry_sdk.set_user(kwargs)
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def bind_extra(**kwargs):
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def bind_extra(**kwargs) -> None:
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for k, v in kwargs.items():
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sentry_sdk.set_tag(k, v)
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def init():
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def init() -> None:
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sentry_sdk.init("https://a8dc76b5bfb34908a601d67e2aa8bcf9@o33823.ingest.sentry.io/77924",
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default_integrations=False, integrations=[ThreadingIntegration(propagate_hub=True)],
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release=version)
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@ -6,12 +6,13 @@ import requests
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import struct
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import subprocess
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import os
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from typing import Generator
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from common.spinner import Spinner
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class StreamingDecompressor:
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def __init__(self, url):
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def __init__(self, url: str) -> None:
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self.buf = b""
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self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None})
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@ -20,7 +21,7 @@ class StreamingDecompressor:
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self.eof = False
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self.sha256 = hashlib.sha256()
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def read(self, length):
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def read(self, length: int) -> bytes:
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while len(self.buf) < length:
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self.req.raise_for_status()
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@ -38,8 +39,9 @@ class StreamingDecompressor:
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self.sha256.update(result)
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return result
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def unsparsify(f):
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SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
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def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
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# https://source.android.com/devices/bootloader/images#sparse-format
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magic = struct.unpack("I", f.read(4))[0]
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assert(magic == 0xed26ff3a)
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@ -48,20 +50,16 @@ def unsparsify(f):
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minor = struct.unpack("H", f.read(2))[0]
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assert(major == 1 and minor == 0)
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# Header sizes
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_ = struct.unpack("H", f.read(2))[0]
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_ = struct.unpack("H", f.read(2))[0]
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f.read(2) # file header size
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f.read(2) # chunk header size
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block_sz = struct.unpack("I", f.read(4))[0]
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_ = struct.unpack("I", f.read(4))[0]
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f.read(4) # total blocks
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num_chunks = struct.unpack("I", f.read(4))[0]
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_ = struct.unpack("I", f.read(4))[0]
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f.read(4) # crc checksum
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for _ in range(num_chunks):
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chunk_type = struct.unpack("H", f.read(2))[0]
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_ = struct.unpack("H", f.read(2))[0]
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out_blocks = struct.unpack("I", f.read(4))[0]
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_ = struct.unpack("I", f.read(4))[0]
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chunk_type, out_blocks = SPARSE_CHUNK_FMT.unpack(f.read(12))
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if chunk_type == 0xcac1: # Raw
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# TODO: yield in smaller chunks. Yielding only block_sz is too slow. Largest observed data chunk is 252 MB.
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@ -1,11 +1,13 @@
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#!/usr/bin/env python3
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import zmq
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from typing import NoReturn
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import cereal.messaging as messaging
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from common.logging_extra import SwagLogFileFormatter
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from selfdrive.swaglog import get_file_handler
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def main():
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def main() -> NoReturn:
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log_handler = get_file_handler()
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log_handler.setFormatter(SwagLogFileFormatter(None))
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log_level = 20 # logging.INFO
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@ -10,7 +10,7 @@ from selfdrive.swaglog import cloudlog
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PANDA_FW_FN = os.path.join(PANDA_BASEDIR, "board", "obj", "panda.bin.signed")
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def get_expected_signature():
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def get_expected_signature() -> bytes:
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try:
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return Panda.get_signature_from_firmware(PANDA_FW_FN)
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except Exception:
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@ -18,7 +18,7 @@ def get_expected_signature():
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return b""
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def update_panda():
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def update_panda() -> None:
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panda = None
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panda_dfu = None
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@ -81,7 +81,7 @@ def update_panda():
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panda.reset()
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def main():
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def main() -> None:
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update_panda()
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os.chdir(os.path.join(BASEDIR, "selfdrive/boardd"))
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@ -1,6 +1,8 @@
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#!/usr/bin/env python3
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import os
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import time
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from typing import NoReturn
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from common.realtime import set_core_affinity, set_realtime_priority
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# RT shield - ensure CPU 3 always remains available for RT processes
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@ -8,7 +10,7 @@ from common.realtime import set_core_affinity, set_realtime_priority
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# get scheduled onto CPU 3, but it's always preemptible by realtime
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# openpilot processes
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def main():
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def main() -> NoReturn:
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set_core_affinity(int(os.getenv("CORE", "3")))
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set_realtime_priority(1)
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@ -17,4 +19,3 @@ def main():
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if __name__ == "__main__":
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main()
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@ -150,7 +150,7 @@ class Plant():
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# lead car
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self.distance_lead, self.distance_lead_prev = distance_lead , distance_lead
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self.rk = Ratekeeper(rate, print_delay_threshold=100)
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self.rk = Ratekeeper(rate, print_delay_threshold=100.0)
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self.ts = 1./rate
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self.cp = get_car_can_parser()
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@ -4,40 +4,45 @@ import termios
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import atexit
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from select import select
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STDIN_FD = sys.stdin.fileno()
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class KBHit:
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def __init__(self):
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'''Creates a KBHit object that you can call to do various keyboard things.
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def __init__(self) -> None:
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''' Creates a KBHit object that you can call to do various keyboard things.
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'''
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self.set_kbhit_terminal()
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def set_kbhit_terminal(self):
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def set_kbhit_terminal(self) -> None:
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''' Save old terminal settings for closure, remove ICANON & ECHO flags.
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'''
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# Save the terminal settings
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self.fd = sys.stdin.fileno()
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self.new_term = termios.tcgetattr(self.fd)
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self.old_term = termios.tcgetattr(self.fd)
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self.old_term = termios.tcgetattr(STDIN_FD)
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self.new_term = self.old_term.copy()
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# New terminal setting unbuffered
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self.new_term[3] = (self.new_term[3] & ~termios.ICANON & ~termios.ECHO)
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termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.new_term)
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self.new_term[3] &= ~(termios.ICANON | termios.ECHO) # type: ignore
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termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.new_term)
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# Support normal-terminal reset at exit
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atexit.register(self.set_normal_term)
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def set_normal_term(self):
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''' Resets to normal terminal. On Windows this is a no-op.
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def set_normal_term(self) -> None:
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''' Resets to normal terminal. On Windows this is a no-op.
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'''
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termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
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termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, self.old_term)
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def getch(self):
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@staticmethod
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def getch() -> str:
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''' Returns a keyboard character after kbhit() has been called.
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Should not be called in the same program as getarrow().
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'''
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return sys.stdin.read(1)
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def getarrow(self):
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@staticmethod
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def getarrow() -> int:
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''' Returns an arrow-key code after kbhit() has been called. Codes are
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0 : up
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1 : right
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@ -49,13 +54,13 @@ class KBHit:
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c = sys.stdin.read(3)[2]
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vals = [65, 67, 66, 68]
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return vals.index(ord(c.decode('utf-8')))
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return vals.index(ord(c))
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def kbhit(self):
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@staticmethod
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def kbhit():
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''' Returns True if keyboard character was hit, False otherwise.
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'''
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dr, _, _ = select([sys.stdin], [], [], 0)
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return dr != []
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return select([sys.stdin], [], [], 0)[0] != []
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# Test
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@ -69,7 +74,7 @@ if __name__ == "__main__":
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if kb.kbhit():
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c = kb.getch()
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if ord(c) == 27: # ESC
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if c == '\x1b': # ESC
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break
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print(c)
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@ -9,7 +9,7 @@ class _FrameReaderDict(dict):
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if cache_paths is None:
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cache_paths = {}
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if not isinstance(cache_paths, dict):
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cache_paths = {k: v for k, v in enumerate(cache_paths)}
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cache_paths = dict(enumerate(cache_paths))
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self._camera_paths = camera_paths
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self._cache_paths = cache_paths
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@ -63,7 +63,7 @@ if __name__ == "__main__":
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msg = messaging.recv_sock(s)
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#msg = messaging.recv_one_or_none(s)
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if msg is not None:
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x[i] = np.append(x[i], getattr(msg, 'logMonoTime') / float(1e9))
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x[i] = np.append(x[i], getattr(msg, 'logMonoTime') / 1e9)
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x[i] = np.delete(x[i], 0)
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y[i] = np.append(y[i], recursive_getattr(msg, subs_name[i]))
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y[i] = np.delete(y[i], 0)
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@ -248,9 +248,9 @@ def bridge(q):
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# 3. Send current carstate to op via can
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cruise_button = 0
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throttle_out = steer_out = brake_out = 0
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throttle_out = steer_out = brake_out = 0.0
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throttle_op = steer_op = brake_op = 0
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throttle_manual = steer_manual = brake_manual = 0
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throttle_manual = steer_manual = brake_manual = 0.0
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# --------------Step 1-------------------------------
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if not q.empty():
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@ -259,24 +259,24 @@ def bridge(q):
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if m[0] == "steer":
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steer_manual = float(m[1])
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is_openpilot_engaged = False
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if m[0] == "throttle":
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elif m[0] == "throttle":
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throttle_manual = float(m[1])
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is_openpilot_engaged = False
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if m[0] == "brake":
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elif m[0] == "brake":
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brake_manual = float(m[1])
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is_openpilot_engaged = False
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if m[0] == "reverse":
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elif m[0] == "reverse":
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#in_reverse = not in_reverse
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cruise_button = CruiseButtons.CANCEL
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is_openpilot_engaged = False
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if m[0] == "cruise":
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elif m[0] == "cruise":
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if m[1] == "down":
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cruise_button = CruiseButtons.DECEL_SET
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is_openpilot_engaged = True
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if m[1] == "up":
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elif m[1] == "up":
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cruise_button = CruiseButtons.RES_ACCEL
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is_openpilot_engaged = True
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if m[1] == "cancel":
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elif m[1] == "cancel":
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cruise_button = CruiseButtons.CANCEL
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is_openpilot_engaged = False
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@ -3,7 +3,7 @@ import termios
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import time
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from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
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ISTRIP, IXON, PARENB, VMIN, VTIME)
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from typing import Any
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from typing import NoReturn
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# Indexes for termios list.
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IFLAG = 0
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@ -14,55 +14,56 @@ ISPEED = 4
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OSPEED = 5
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CC = 6
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def getch():
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fd = sys.stdin.fileno()
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old_settings = termios.tcgetattr(fd)
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STDIN_FD = sys.stdin.fileno()
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def getch() -> str:
|
||||
old_settings = termios.tcgetattr(STDIN_FD)
|
||||
try:
|
||||
# set
|
||||
mode = termios.tcgetattr(fd)
|
||||
mode[IFLAG] = mode[IFLAG] & ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
|
||||
#mode[OFLAG] = mode[OFLAG] & ~(OPOST)
|
||||
mode[CFLAG] = mode[CFLAG] & ~(CSIZE | PARENB)
|
||||
mode[CFLAG] = mode[CFLAG] | CS8
|
||||
mode[LFLAG] = mode[LFLAG] & ~(ECHO | ICANON | IEXTEN)
|
||||
mode = old_settings.copy()
|
||||
mode[IFLAG] &= ~(BRKINT | ICRNL | INPCK | ISTRIP | IXON)
|
||||
#mode[OFLAG] &= ~(OPOST)
|
||||
mode[CFLAG] &= ~(CSIZE | PARENB)
|
||||
mode[CFLAG] |= CS8
|
||||
mode[LFLAG] &= ~(ECHO | ICANON | IEXTEN)
|
||||
mode[CC][VMIN] = 1
|
||||
mode[CC][VTIME] = 0
|
||||
termios.tcsetattr(fd, termios.TCSAFLUSH, mode)
|
||||
termios.tcsetattr(STDIN_FD, termios.TCSAFLUSH, mode)
|
||||
|
||||
ch = sys.stdin.read(1)
|
||||
finally:
|
||||
termios.tcsetattr(fd, termios.TCSADRAIN, old_settings)
|
||||
termios.tcsetattr(STDIN_FD, termios.TCSADRAIN, old_settings)
|
||||
return ch
|
||||
|
||||
def keyboard_poll_thread(q):
|
||||
def keyboard_poll_thread(q: 'Queue[str]') -> NoReturn:
|
||||
while True:
|
||||
c = getch()
|
||||
# print("got %s" % c)
|
||||
if c == '1':
|
||||
q.put(str("cruise_up"))
|
||||
if c == '2':
|
||||
q.put(str("cruise_down"))
|
||||
if c == '3':
|
||||
q.put(str("cruise_cancel"))
|
||||
if c == 'w':
|
||||
q.put(str("throttle_%f" % 1.0))
|
||||
if c == 'a':
|
||||
q.put(str("steer_%f" % 0.15))
|
||||
if c == 's':
|
||||
q.put(str("brake_%f" % 1.0))
|
||||
if c == 'd':
|
||||
q.put(str("steer_%f" % -0.15))
|
||||
if c == 'q':
|
||||
q.put("cruise_up")
|
||||
elif c == '2':
|
||||
q.put("cruise_down")
|
||||
elif c == '3':
|
||||
q.put("cruise_cancel")
|
||||
elif c == 'w':
|
||||
q.put("throttle_%f" % 1.0)
|
||||
elif c == 'a':
|
||||
q.put("steer_%f" % 0.15)
|
||||
elif c == 's':
|
||||
q.put("brake_%f" % 1.0)
|
||||
elif c == 'd':
|
||||
q.put("steer_%f" % -0.15)
|
||||
elif c == 'q':
|
||||
exit(0)
|
||||
|
||||
def test(q):
|
||||
while 1:
|
||||
print("hello")
|
||||
time.sleep(1.0)
|
||||
def test(q: 'Queue[str]') -> NoReturn:
|
||||
while True:
|
||||
print([q.get_nowait() for _ in range(q.qsize())] or None)
|
||||
time.sleep(0.25)
|
||||
|
||||
if __name__ == '__main__':
|
||||
from multiprocessing import Process, Queue
|
||||
q : Any = Queue()
|
||||
q: Queue[str] = Queue()
|
||||
p = Process(target=test, args=(q,))
|
||||
p.daemon = True
|
||||
p.start()
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@ import array
|
|||
import os
|
||||
import struct
|
||||
from fcntl import ioctl
|
||||
from typing import NoReturn
|
||||
|
||||
# Iterate over the joystick devices.
|
||||
print('Available devices:')
|
||||
|
|
@ -90,7 +91,7 @@ button_names = {
|
|||
axis_map = []
|
||||
button_map = []
|
||||
|
||||
def wheel_poll_thread(q):
|
||||
def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
|
||||
# Open the joystick device.
|
||||
fn = '/dev/input/js0'
|
||||
print('Opening %s...' % fn)
|
||||
|
|
@ -116,8 +117,8 @@ def wheel_poll_thread(q):
|
|||
buf = array.array('B', [0] * 0x40)
|
||||
ioctl(jsdev, 0x80406a32, buf) # JSIOCGAXMAP
|
||||
|
||||
for axis in buf[:num_axes]:
|
||||
axis_name = axis_names.get(axis, 'unknown(0x%02x)' % axis)
|
||||
for _axis in buf[:num_axes]:
|
||||
axis_name = axis_names.get(_axis, 'unknown(0x%02x)' % _axis)
|
||||
axis_map.append(axis_name)
|
||||
axis_states[axis_name] = 0.0
|
||||
|
||||
|
|
@ -143,7 +144,7 @@ def wheel_poll_thread(q):
|
|||
|
||||
while True:
|
||||
evbuf = jsdev.read(8)
|
||||
_, value, mtype, number = struct.unpack('IhBB', evbuf)
|
||||
value, mtype, number = struct.unpack('4xhBB', evbuf)
|
||||
# print(mtype, number, value)
|
||||
if mtype & 0x02: # wheel & paddles
|
||||
axis = axis_map[number]
|
||||
|
|
@ -152,38 +153,36 @@ def wheel_poll_thread(q):
|
|||
fvalue = value / 32767.0
|
||||
axis_states[axis] = fvalue
|
||||
normalized = (1 - fvalue) * 50
|
||||
q.put(str("throttle_%f" % normalized))
|
||||
q.put("throttle_%f" % normalized)
|
||||
|
||||
if axis == "rz": # brake
|
||||
elif axis == "rz": # brake
|
||||
fvalue = value / 32767.0
|
||||
axis_states[axis] = fvalue
|
||||
normalized = (1 - fvalue) * 50
|
||||
q.put(str("brake_%f" % normalized))
|
||||
q.put("brake_%f" % normalized)
|
||||
|
||||
if axis == "x": # steer angle
|
||||
elif axis == "x": # steer angle
|
||||
fvalue = value / 32767.0
|
||||
axis_states[axis] = fvalue
|
||||
normalized = fvalue
|
||||
q.put(str("steer_%f" % normalized))
|
||||
q.put("steer_%f" % normalized)
|
||||
|
||||
if mtype & 0x01: # buttons
|
||||
if number in [0, 19]: # X
|
||||
if value == 1: # press down
|
||||
q.put(str("cruise_down"))
|
||||
elif mtype & 0x01: # buttons
|
||||
if value == 1: # press down
|
||||
if number in [0, 19]: # X
|
||||
q.put("cruise_down")
|
||||
|
||||
if number in [3, 18]: # triangle
|
||||
if value == 1: # press down
|
||||
q.put(str("cruise_up"))
|
||||
elif number in [3, 18]: # triangle
|
||||
q.put("cruise_up")
|
||||
|
||||
if number in [1, 6]: # square
|
||||
if value == 1: # press down
|
||||
q.put(str("cruise_cancel"))
|
||||
elif number in [1, 6]: # square
|
||||
q.put("cruise_cancel")
|
||||
|
||||
if number in [10, 21]: # R3
|
||||
if value == 1: # press down
|
||||
q.put(str("reverse_switch"))
|
||||
elif number in [10, 21]: # R3
|
||||
q.put("reverse_switch")
|
||||
|
||||
if __name__ == '__main__':
|
||||
from multiprocessing import Process
|
||||
p = Process(target=wheel_poll_thread)
|
||||
from multiprocessing import Process, Queue
|
||||
q: Queue[str] = Queue()
|
||||
p = Process(target=wheel_poll_thread, args=(q,))
|
||||
p.start()
|
||||
|
|
|
|||
Loading…
Reference in New Issue