Feature/tinklad throttling + linting (commaai#118)

* Throttle tinlkad's attemptToSendPendingMessages

* Remove get_git_remote from registration. It's defined in version already.

* tinklad linting

* tesla linting

Author: rafcabezas

selfdrive/car/tesla/ACC_module.py

@@ -357,7 +357,7 @@ def _calc_follow_button(self, CS, lead_car,speed_limit_kph, speed_limit_valid, s
       print ("Ratio: {0:.1f}%  lead: {1:.1f}m  avail: {2:.1f}kph  vRel: {3:.1f}kph  Angle: {4:.1f}deg".format(
         ratio, lead_dist_m, available_speed_kph, lead_car.vRel * CV.MS_TO_KPH, CS.angle_steers))
       self.last_update_time = current_time_ms
-      if msg != None:
+      if msg is not None:
         print ("ACC: " + msg)
     return button
 
@@ -371,7 +371,7 @@ def _should_autoengage_cc(self, CS, lead_car=None):
                     and CS.v_ego >= self.MIN_CRUISE_SPEED_MS
                     and _current_time_millis() > self.fast_decel_time + 2000)
 
-    slow_lead = lead_car and lead_car.dRel > 0 and lead_car.vRel < 0 or self._fast_decel_required(CS, lead_car)
+    slow_lead = lead_car and lead_car.dRel > 0 and lead_car.vRel < 0 or self._fast_decel_required(CS, lead_car) # pylint: disable=chained-comparison
 
     # "Autoresume" mode allows cruise to engage even after brake events, but
     # shouldn't trigger DURING braking.

selfdrive/car/tesla/PCC_module.py

@@ -567,7 +567,7 @@ def calc_follow_speed_ms(self, CS, alca_enabled):
         elif lead_dist_m < MIN_SAFE_DIST_M:
           new_speed_kph = MIN_PCC_V_KPH
         # In a 10 meter cruise zone, lets match the car in front 
-        elif lead_dist_m > MIN_SAFE_DIST_M and lead_dist_m < safe_dist_m + 2: # BB we might want to try this and rel_speed_kph > 0: 
+        elif safe_dist_m + 2 > lead_dist_m > MIN_SAFE_DIST_M: # BB we might want to try this and rel_speed_kph > 0: 
           min_vrel_kph_map = OrderedDict([
             # (distance in m, min allowed relative kph)
             (0.5 * safe_dist_m, 3.0),
@@ -625,7 +625,7 @@ def calc_follow_speed_ms(self, CS, alca_enabled):
       # Don't accelerate during manual turns, curves or ALCA.
       new_speed_kph = min(new_speed_kph, self.last_speed_kph)
     #BB Last safety check. Zero if below MIN_SAFE_DIST_M
-    if (lead_dist_m > 0) and (lead_dist_m < MIN_SAFE_DIST_M) and (rel_speed_kph < 3.):
+    if (MIN_SAFE_DIST_M > lead_dist_m > 0) and (rel_speed_kph < 3.):
       new_speed_kph = MIN_PCC_V_KPH
     self.last_speed_kph = new_speed_kph
     return new_speed_kph * CV.KPH_TO_MS

selfdrive/car/tesla/interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 from cereal import car, tesla
 from common.numpy_fast import clip, interp
-from common.realtime import sec_since_boot, DT_CTRL
+from common.realtime import DT_CTRL
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -451,10 +451,10 @@ def update(self, c, can_strings):
       # NO_ENTRY events, so controlsd will display alerts. Also not send enable events
       # too close in time, so a no_entry will not be followed by another one.
       # TODO: button press should be the only thing that triggers enble
-      if ((cur_time - self.last_enable_pressed) < 0.2 and
+      if ((cur_time - self.last_enable_pressed) < 0.2 and # pylint: disable=chained-comparison
           (cur_time - self.last_enable_sent) > 0.2 and
           ret.cruiseState.enabled) or \
-         (enable_pressed and get_events(events, [ET.NO_ENTRY])):
+         (enable_pressed and get_events(events, [ET.NO_ENTRY])): 
         if ret.seatbeltUnlatched:
           self.CC.DAS_211_accNoSeatBelt = 1
           self.CC.warningCounter = 300

selfdrive/car/tesla/radar_interface.py

@@ -56,6 +56,7 @@ class RadarInterface(RadarInterfaceBase):
   tinklaClient = TinklaClient()
 
   def __init__(self,CP):
+    super().__init__(self)
     # radar
     self.pts = {}
     self.extPts = {}
@@ -84,7 +85,7 @@ def update(self, can_strings):
       time.sleep(0.05)
       return car.RadarData.new_message(),self.extPts.values()
 
-    if can_strings != None:
+    if can_strings is not None:
       vls = self.rcp.update_strings(can_strings)
       self.updated_messages.update(vls)
 

selfdrive/car/tesla/readconfig.py

@@ -408,4 +408,5 @@ def get_value(self, name_of_variable):
 # Legacy support
 def read_config_file(into, config_path = default_config_file_path):
   config_file = ConfigFile()
-  config_file.read(into, config_path)
+  config_file.read(into, config_path)
+  

selfdrive/manager.py

@@ -5,6 +5,7 @@
 import errno
 import signal
 import subprocess
+import time
 from selfdrive.tinklad.tinkla_interface import TinklaClient
 from cereal import tinkla
 from selfdrive.car.tesla.readconfig import CarSettings
@@ -321,7 +322,7 @@ def system(cmd):
       output=e.output[-1024:],
       returncode=e.returncode)
 
-def sendUserInfoToTinkla(params):
+def sendUserInfoToTinkla(params, tinklaClient):
   carSettings = CarSettings()
   gitRemote = params.get("GitRemote")
   gitBranch = params.get("GitBranch")
@@ -368,9 +369,9 @@ def manager_thread():
   logger_dead = False
 
   # Tinkla interface
-  global tinklaClient
+  last_loop_iteration_time = 0
   tinklaClient = TinklaClient()
-  sendUserInfoToTinkla(params)
+  sendUserInfoToTinkla(params=params, tinklaClient=tinklaClient)
 
   while 1:
     msg = messaging.recv_sock(thermal_sock, wait=True)
@@ -382,7 +383,11 @@ def manager_thread():
       start_managed_process("uploader")
 
     # Attempt to send pending messages if there's any that queued while offline
-    tinklaClient.attemptToSendPendingMessages()
+    # Seems this loop runs every second or so, throttle to once every 30s
+    now = time.time()
+    if now - last_loop_iteration_time >= 30:
+      tinklaClient.attemptToSendPendingMessages()
+    last_loop_iteration_time = now
 
     if msg.thermal.freeSpace < 0.05:
       logger_dead = True

selfdrive/registration.py

@@ -55,14 +55,6 @@ def get_subscriber_info():
     return ""
   return ret
 
-def get_git_remote():
-  try:
-    local_branch = subprocess.run(["git", "name-rev", "--name-only", "HEAD"], capture_output=True).stdout.decode("utf-8").strip()
-    tracking_remote = subprocess.run(["git", "config", "branch."+local_branch+".remote"],capture_output=True).stdout.decode("utf-8").strip()
-    return subprocess.run(["git", "config", "remote."+tracking_remote+".url"],capture_output=True).stdout.decode("utf-8").strip()
-  except subprocess.CalledProcessError:
-    return ""
-
 def register():
   params = Params()
   params.put("Version", version)

selfdrive/tinklad/airtable_publisher.py

@@ -46,17 +46,17 @@ async def send_info(self, info, isData= False):
             data_dict = self.__generate_airtable_user_info_dict(info)
 
         # Early return if no changes
-        if self.latest_info_dict != None:
+        if self.latest_info_dict is not None:
             print(LOG_PREFIX + "latest_info. data=%s" % (self.latest_info_dict)) 
             if data_dict == self.latest_info_dict:
                 print(LOG_PREFIX + "send_info no update necessary*")
                 return
 
         print(LOG_PREFIX + "Sending info. data=%s" % (data_dict))
-        if self.userRecordId != None:
+        if self.userRecordId is not None:
             await self.__update_user(data_dict)
 
-        if info.openPilotId != None and info.openPilotId != '':
+        if (info.openPilotId is not None) and info.openPilotId != '':
             self.openPilotId = info.openPilotId
 
         response = await self.at.get(USERS_TABLE, limit=1, filter_by_formula=("{openPilotId} = '%s'" % (self.openPilotId)))
@@ -76,7 +76,7 @@ async def send_info(self, info, isData= False):
         print(LOG_PREFIX + "*send_info competed*")
 
     async def send_event(self, event):
-        if self.openPilotId is None and self.latest_info_dict != None:
+        if self.openPilotId is None and self.latest_info_dict is not None:
             self.openPilotId = self.latest_info_dict[self.userKeys.openPilotId]
 
         event_dict = self.__generate_airtable_user_event_dict(event)
@@ -103,7 +103,7 @@ def __generate_airtable_user_event_dict(self, event):
             value = event.value.intValue
         elif value == self.eventValueTypes.floatValue:
             value = event.value.floatValue
-        openPilotId = event.openPilotId if (event.openPilotId != None) else (self.openPilotId if (self.openPilotId != None) else "")
+        openPilotId = event.openPilotId if (event.openPilotId is not None) else (self.openPilotId if (self.openPilotId is not None) else "")
         dictionary = event.to_dict()
         dictionary[self.eventKeys.value] = value
         dictionary[self.eventKeys.openPilotId] = openPilotId
@@ -118,14 +118,14 @@ async def __update_user(self, data):
 
     def __is_notfound_response(self, response):
         try:
-            return response["error"] != None and response["error"]["code"] == 422
+            return response["error"] is not None and response["error"]["code"] == 422
         except: # pylint: disable=bare-except 
             count = response["records"].__len__()
             return count == 0
 
     def __is_error_response(self, response):
         try:
-            return response["error"] != None
+            return response["error"] is not None
         except: # pylint: disable=bare-except 
             return False
 
@@ -179,7 +179,7 @@ def create_payload(data):
     return {'fields': data}
 
 
-class Airtable(object):
+class Airtable():
     def __init__(self, base_id, api_key, dict_class=OrderedDict):
         """Create a client to connect to an Airtable Base.
 

selfdrive/tinklad/pqueue.py

@@ -73,7 +73,7 @@ def _destroy(self):
             shutil.rmtree(self.path)
             os.makedirs(self.path)
 
-    def _qsize(self, len=len): # pylint: disable=redefined-builtin
+    def _qsize(self, len=len): # pylint: disable=redefined-builtin,arguments-differ
         return self.info['size']
 
     def _put(self, item):

selfdrive/tinklad/tinklad.py

@@ -163,8 +163,8 @@ async def messageLoop(self, sock):
                 print(LOG_PREFIX + "Unsupported message version: %0.2f (supported version: %0.2f)" % (tinklaInterface.version, cereal.tinkla.interfaceVersion))
                 continue
             messageType = tinklaInterface.message.which()
-            if messageType != messageKeys.action:
-                print(LOG_PREFIX + "> Received message. Type: '%s'" % messageType)
+            #if messageType != messageKeys.action:
+            print(LOG_PREFIX + "> Received message. Type: '%s'" % messageType)
             if messageType == messageKeys.userInfo:
                 info = tinklaInterface.message.userInfo
                 await self.setUserInfo(info)