common package

Subpackages

• common.api package
  • Module contents
    • Api
      • Api.get()
      • Api.get_token()
      • Api.post()
      • Api.request()
    • api_get()
• common.kalman package
  • Submodules
  • common.kalman.simple_kalman module
  • common.kalman.simple_kalman_impl module
    • KF1D
      • KF1D.A0_0
      • KF1D.A0_1
      • KF1D.A1_0
      • KF1D.A1_1
      • KF1D.A_K_0
      • KF1D.A_K_1
      • KF1D.A_K_2
      • KF1D.A_K_3
      • KF1D.C0_0
      • KF1D.C0_1
      • KF1D.K0_0
      • KF1D.K1_0
      • KF1D.update()
      • KF1D.x
      • KF1D.x0_0
      • KF1D.x1_0
  • common.kalman.simple_kalman_old module
    • KF1D
      • KF1D.update()
  • Module contents
• common.transformations package
  • Submodules
  • common.transformations.camera module
    • denormalize()
    • device_from_ecef()
    • get_calib_from_vp()
    • get_view_frame_from_calib_frame()
    • get_view_frame_from_road_frame()
    • img_from_device()
    • normalize()
    • roll_from_ke()
    • vp_from_ke()
  • common.transformations.coordinates module
    • LocalCoord
      • LocalCoord.ecef2ned()
      • LocalCoord.geodetic2ned()
      • LocalCoord.ned2ecef()
      • LocalCoord.ned2geodetic()
  • common.transformations.model module
    • get_segnet_frame_from_camera_frame()
    • get_warp_matrix()
    • get_warp_matrix_old()
  • common.transformations.orientation module
    • ecef_euler_from_ned()
    • euler2quat()
    • euler2rot()
    • euler_from_quat()
    • euler_from_rot()
    • ned_euler_from_ecef()
    • numpy_wrap()
    • quat2euler()
    • quat2rot()
    • quat_from_euler()
    • quat_from_rot()
    • quats_from_rotations()
    • rot2euler()
    • rot2quat()
    • rot_from_euler()
    • rot_from_quat()
    • rotations_from_quats()
  • common.transformations.transformations module
    • LocalCoord
      • LocalCoord.ecef2ned_matrix
      • LocalCoord.ecef2ned_single()
      • LocalCoord.ecef_from_ned_matrix
      • LocalCoord.from_ecef()
      • LocalCoord.from_geodetic()
      • LocalCoord.geodetic2ned_single()
      • LocalCoord.ned2ecef_matrix
      • LocalCoord.ned2ecef_single()
      • LocalCoord.ned2geodetic_single()
      • LocalCoord.ned_from_ecef_matrix
    • ecef2geodetic_single()
    • ecef_euler_from_ned_single()
    • euler2quat_single()
    • euler2rot_single()
    • geodetic2ecef_single()
    • ned_euler_from_ecef_single()
    • quat2euler_single()
    • quat2rot_single()
    • rot2euler_single()
    • rot2quat_single()
    • rot_matrix()
  • Module contents

Submodules

common.basedir module

common.clock module

common.clock.monotonic_time()

common.clock.sec_since_boot()

common.conversions module

class common.conversions.Conversions

Bases: object

DEG_TO_RAD = 0.017453292519943295

KNOTS_TO_MS = 0.5144562197756971

KPH_TO_MPH = 0.621371192237334

KPH_TO_MS = 0.2777777777777778

LB_TO_KG = 0.453592

MPH_TO_KPH = 1.609344

MPH_TO_MS = 0.44704000000000005

MS_TO_KNOTS = 1.9438

MS_TO_KPH = 3.6

MS_TO_MPH = 2.2369362920544025

RAD_TO_DEG = 57.29577951308232

common.dict_helpers module

common.dict_helpers.strip_deprecated_keys(d)

common.ffi_wrapper module

common.ffi_wrapper.compile_code(name, c_code, c_header, directory, cflags='', libraries=None)

common.ffi_wrapper.ffi_wrap(name, c_code, c_header, tmpdir='/tmp/ccache', cflags='', libraries=None)

common.ffi_wrapper.suffix()

common.ffi_wrapper.wrap_compiled(name, directory)

common.file_helpers module

class common.file_helpers.CallbackReader(f, callback, *args)

Bases: object

Wraps a file, but overrides the read method to also call a callback function with the number of bytes read so far.

read(*args, **kwargs)

class common.file_helpers.NamedTemporaryDir(temp_dir=None)

Bases: object

close()

property name

common.file_helpers.atomic_write_in_dir(path, **kwargs)

Creates an atomic writer using a temporary file in the same directory as the destination file.

common.file_helpers.atomic_write_on_fs_tmp(path, **kwargs)

Creates an atomic writer using a temporary file in a temporary directory on the same filesystem as path.

common.file_helpers.get_tmpdir_on_same_filesystem(path)

common.file_helpers.mkdirs_exists_ok(path)

common.file_helpers.rm_not_exists_ok(path)

common.file_helpers.rm_tree_or_link(path)

common.filter_simple module

class common.filter_simple.FirstOrderFilter(x0, rc, dt, initialized=True)

Bases: object

update(x)

update_alpha(rc)

common.gpio module

common.gpio.gpio_init(pin: int, output: bool) → None

common.gpio.gpio_read(pin: int) → Optional[bool]

common.gpio.gpio_set(pin: int, high: bool) → None

common.lazy_property module

class common.lazy_property.lazy_property(func)

Bases: object

Defines a property whose value will be computed only once and as needed.

This can only be used on instance methods.

common.logging_extra module

class common.logging_extra.NiceOrderedDict

Bases: OrderedDict

class common.logging_extra.SwagErrorFilter(name='')

Bases: Filter

filter(record)

Determine if the specified record is to be logged.

Returns True if the record should be logged, or False otherwise. If deemed appropriate, the record may be modified in-place.

class common.logging_extra.SwagFormatter(swaglogger)

Bases: Formatter

format(record)

Format the specified record as text.

The record’s attribute dictionary is used as the operand to a string formatting operation which yields the returned string. Before formatting the dictionary, a couple of preparatory steps are carried out. The message attribute of the record is computed using LogRecord.getMessage(). If the formatting string uses the time (as determined by a call to usesTime(), formatTime() is called to format the event time. If there is exception information, it is formatted using formatException() and appended to the message.

format_dict(record)

class common.logging_extra.SwagLogFileFormatter(swaglogger)

Bases: SwagFormatter

fix_kv(k, v)

format(record)

Format the specified record as text.

The record’s attribute dictionary is used as the operand to a string formatting operation which yields the returned string. Before formatting the dictionary, a couple of preparatory steps are carried out. The message attribute of the record is computed using LogRecord.getMessage(). If the formatting string uses the time (as determined by a call to usesTime(), formatTime() is called to format the event time. If there is exception information, it is formatted using formatException() and appended to the message.

class common.logging_extra.SwagLogger

Bases: Logger

bind(**kwargs)

bind_global(**kwargs)

ctx(**kwargs)

event(event_name, *args, **kwargs)

findCaller(stack_info=False, stacklevel=1)

Find the stack frame of the caller so that we can note the source file name, line number and function name.

get_ctx()

local_ctx()

timestamp(event_name)

common.logging_extra.json_handler(obj)

common.logging_extra.json_robust_dumps(obj)

common.numpy_fast module

common.numpy_fast.clip(x, lo, hi)

common.numpy_fast.interp(x, xp, fp)

common.numpy_fast.mean(x)

common.numpy_helpers module

common.numpy_helpers.deep_interp_np(x, xp, fp, axis=None)

common.params module

common.params_pyx module

class common.params_pyx.Params

Bases: object

all_keys()

check_key()

clear_all()

get()

get_bool()

get_param_path()

put()

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.

put_bool()

remove()

exception common.params_pyx.UnknownKeyName

Bases: Exception

common.params_pyx.ensure_bytes()

common.params_pyx.put_bool_nonblocking()

common.params_pyx.put_nonblocking()

common.profiler module

class common.profiler.Profiler(enabled=False)

Bases: object

checkpoint(name, ignore=False)

display()

reset(enabled=False)

common.realtime module

Utilities for reading real time clocks and keeping soft real time constraints.

class common.realtime.Priority

Bases: object

CTRL_HIGH = 53

CTRL_LOW = 51

class common.realtime.Ratekeeper(rate: float, print_delay_threshold: Optional[float] = 0.0)

Bases: object

property frame: int

keep_time() → bool

property lagging: bool

monitor_time() → bool

property remaining: float

common.realtime.config_realtime_process(cores: Union[int, List[int]], priority: int) → None

common.realtime.set_core_affinity(cores: List[int]) → None

common.realtime.set_realtime_priority(level: int) → None

common.spinner module

class common.spinner.Spinner

Bases: object

close()

update(spinner_text: str)

update_progress(cur: float, total: float)

common.stat_live module

class common.stat_live.RunningStat(priors=None, max_trackable=-1)

Bases: object

mean()

params_to_save()

push_data(new_data)

reset()

std()

variance()

class common.stat_live.RunningStatFilter(raw_priors=None, filtered_priors=None, max_trackable=-1)

Bases: object

push_and_update(new_data)

reset()

common.text_window module

class common.text_window.TextWindow(text)

Bases: object

close()

get_status()

wait_for_exit()

common.timeout module

class common.timeout.Timeout(seconds, error_msg=None)

Bases: object

Timeout context manager. For example this code will raise a TimeoutException: with Timeout(seconds=5, error_msg=”Sleep was too long”):

time.sleep(10)

handle_timeout(signume, frame)

exception common.timeout.TimeoutException

Bases: Exception

common.window module

common.xattr module

common.xattr.getxattr(path, name, size=128)

common.xattr.listxattr(path, size=128) → List[Any]

common.xattr.removexattr(path, name) → None

common.xattr.setxattr(path, name, value, flags=0) → None

Module contents