common package

Subpackages

• common.api package
  • Module contents
    • Api
      • Api.get()
      • Api.get_token()
      • Api.post()
      • Api.request()
    • api_get()
• common.mock package
  • Submodules
  • common.mock.generators module
    • generate_liveLocationKalman()
  • Module contents
    • generate_messages_loop()
    • mock_messages()
• common.tests package
  • Submodules
  • common.tests.test_file_helpers module
    • TestFileHelpers
      • TestFileHelpers.run_atomic_write_func()
      • TestFileHelpers.test_atomic_write_in_dir()
  • common.tests.test_numpy_fast module
    • InterpTest
      • InterpTest.test_correctness_controls()
  • common.tests.test_params module
    • TestParams
      • TestParams.setUp()
      • TestParams.test_get_bool()
      • TestParams.test_params_all_keys()
      • TestParams.test_params_get_block()
      • TestParams.test_params_get_cleared_manager_start()
      • TestParams.test_params_non_ascii()
      • TestParams.test_params_put_and_get()
      • TestParams.test_params_two_things()
      • TestParams.test_params_unknown_key_fails()
      • TestParams.test_put_bool_non_blocking_with_get_block()
      • TestParams.test_put_non_blocking_with_get_block()
      • TestParams.test_remove_not_there()
  • common.tests.test_simple_kalman module
    • TestSimpleKalman
      • TestSimpleKalman.setUp()
      • TestSimpleKalman.test_getter_setter()
      • TestSimpleKalman.update_returns_state()
  • Module contents
• common.transformations package
  • Subpackages
    • common.transformations.tests package
      • Submodules
      • common.transformations.tests.test_coordinates module
      • common.transformations.tests.test_orientation module
      • Module contents
  • Submodules
  • common.transformations.camera module
    • CameraConfig
      • CameraConfig.focal_length
      • CameraConfig.height
      • CameraConfig.intrinsics
      • CameraConfig.intrinsics_inv
      • CameraConfig.size
      • CameraConfig.width
    • DeviceCameraConfig
      • DeviceCameraConfig.all_cams()
      • DeviceCameraConfig.dcam
      • DeviceCameraConfig.ecam
      • DeviceCameraConfig.fcam
    • 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_warp_matrix()
  • 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.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.suffix()

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)

common.file_helpers.atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str = None, newline: str = None, overwrite: bool = False)

Write to a file atomically using a temporary file in the same directory as the destination file.

common.filter_simple module

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

Bases: object

update(x)

update_alpha(rc)

common.git module

common.git.get_branch(cwd: str = None) → str

common.git.get_commit(cwd: str = None, branch: str = 'HEAD') → str

common.git.get_commit_date(cwd: str = None, commit: str = 'HEAD') → str

common.git.get_normalized_origin(cwd: str = None) → str

common.git.get_origin(cwd: str = None) → str

common.git.get_short_branch(cwd: str = None) → str

common.gpio module

common.gpio.get_irq_action(irq: int) → list[str]

common.gpio.get_irqs_for_action(action: str) → list[str]

common.gpio.gpio_export(pin: int) → None

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

common.gpio.gpio_read(pin: int) → bool | None

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

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, *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.params module

common.params_pyx module

class common.params_pyx.ParamKeyType(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntFlag

ALL = 4294967295

CLEAR_ON_MANAGER_START = 4

CLEAR_ON_OFFROAD_TRANSITION = 16

CLEAR_ON_ONROAD_TRANSITION = 8

DEVELOPMENT_ONLY = 64

PERSISTENT = 2

class common.params_pyx.Params

Bases: object

all_keys()

check_key(key)

clear_all(tx_type=<ParamKeyType.ALL: 4294967295>)

get(key, block=False, encoding=None)

get_bool(key, block=False)

get_param_path(key='')

put(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, put_bool_nonblocking in time sensitive code, but in general try to avoid writing params as much as possible.

put_bool(key, val)

put_bool_nonblocking(key, val)

put_nonblocking(key, dat)

remove(key)

exception common.params_pyx.UnknownKeyName

Bases: Exception

common.params_pyx.ensure_bytes(v)

common.prefix module

class common.prefix.OpenpilotPrefix(prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False)

Bases: object

clean_dirs()

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: float | None = 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: int | list[int], priority: int) → None

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

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

common.retry module

common.retry.retry(attempts=3, delay=1.0, ignore_failure=False)

common.run module

common.run.run_cmd(cmd: list[str], cwd=None, env=None) → str

common.run.run_cmd_default(cmd: list[str], default: str = '', cwd=None, env=None) → str

common.simple_kalman module

class common.simple_kalman.KF1D(x0, A, C, K)

Bases: object

set_x(x)

update(meas)

property x

common.simple_kalman.get_kalman_gain(dt, A, C, Q, R, iterations=100)

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.swaglog module

class common.swaglog.SwaglogRotatingFileHandler(base_filename, interval=60, max_bytes=262144, backup_count=2500, encoding=None)

Bases: BaseRotatingHandler

doRollover()

get_existing_logfiles()

shouldRollover(record)

class common.swaglog.UnixDomainSocketHandler(formatter)

Bases: Handler

close()

Tidy up any resources used by the handler.

This version removes the handler from an internal map of handlers, _handlers, which is used for handler lookup by name. Subclasses should ensure that this gets called from overridden close() methods.

connect()

emit(record)

Do whatever it takes to actually log the specified logging record.

This version is intended to be implemented by subclasses and so raises a NotImplementedError.

common.swaglog.add_file_handler(log)

Function to add the file log handler to swaglog. This can be used to store logs when logmessaged is not running.

common.swaglog.get_file_handler()

common.text_window module

class common.text_window.TextWindow(text)

Bases: object

close()

get_status()

wait_for_exit()

common.time module

common.time.min_date()

common.time.system_time_valid()

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.utils module

class common.utils.Freezable

Bases: object

freeze()

common.utils.cache(user_function: Callable[[...], _RT], /) → Callable[[...], _RT]

Module contents