merge common.util and common.utils

cereal/messaging/__init__.py

@@ -13,7 +13,7 @@
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 

common/realtime.py

@@ -6,7 +6,7 @@
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/utils.py

@@ -12,9 +12,57 @@
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
+
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
+
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback

system/hardware/tici/hardware.py

@@ -8,7 +8,7 @@
 from pathlib import Path
 
 from cereal import log
-from openpilot.common.util import sudo_read, sudo_write
+from openpilot.common.utils import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist

system/sensord/sensord.py

@@ -7,7 +7,7 @@
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import sudo_write
+from openpilot.common.utils import sudo_write
 from openpilot.common.realtime import config_realtime_process, Ratekeeper
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data