common: coding style refactor for python files under modules/tools (A…

…polloAuto#10631)

* common: autopep8 coding style fixes

* sort import orders

* minor fix

modules/tools/extrinsics_broadcaster/extrinsics_broadcaster.py

@@ -22,8 +22,10 @@
 
 from subprocess import call
 import sys
+
 import yaml
 
+
 def main():
     """Main function.
 
@@ -54,5 +56,6 @@ def main():
     except OSError as e:
         print(e)
 
+
 if __name__ == '__main__':
     main()

modules/tools/fuel_proxy/submit_job.py

@@ -17,23 +17,25 @@
 ###############################################################################
 
 """ Submit Apollo fuel job. """
-import sys
-# Disable python2 paths.
-sys.path = [path for path in sys.path if 'python2' not in path]
 
 import json
 import os
+import requests
+import sys
 
-from absl import app
-from absl import flags
 from absl import logging
-import google.protobuf.json_format as json_format
+from absl import flags
+from absl import app
 import google.protobuf.text_format as text_format
-import requests
+import google.protobuf.json_format as json_format
 
 from modules.tools.fuel_proxy.proto.job_config_pb2 import JobConfig
 
 
+# Disable python2 paths.
+sys.path = [path for path in sys.path if 'python2' not in path]
+
+
 flags.DEFINE_string('fuel_proxy', 'https://apollofuel0.bceapp.com:8443/proxy',
                     'Endpoint of Apollo-Fuel proxy.')
 flags.DEFINE_string('job_config', None, 'Apollo fuel job config.')
@@ -90,5 +92,6 @@ def main(argv):
     if job.parse_input():
         job.send_request()
 
+
 if __name__ == '__main__':
     app.run(main)

modules/tools/gen_vehicle_protocol/extract_dbc_meta.py

@@ -16,10 +16,12 @@
 # limitations under the License.
 ###############################################################################
 
+import re
+import shlex
 import sys
+
 import yaml
-import shlex
-import re
+
 
 MAX_CAN_ID = 4096000000  # 2048
 
@@ -106,7 +108,7 @@ def extract_dbc_meta(dbc_file, out_file, car_type, black_list, sender_list,
                     if len(protocol) != 0 and len(protocol["vars"]) != 0 and len(
                             protocol["vars"]) < 65:
                         protocols[protocol["id"]] = protocol
-                        #print protocol
+                        # print protocol
                         protocol = {}
 
             if len(items) == 5 and items[0] == "CM_" and items[1] == "SG_":
@@ -138,7 +140,7 @@ def extract_dbc_meta(dbc_file, out_file, car_type, black_list, sender_list,
                 if var["name"].lower() in cpp_reserved_key_words:
                     var["name"] = "MY_" + var["name"]
 
-        #print protocols
+        # print protocols
         config = {}
         config["car_type"] = car_type
         config["protocols"] = protocols

modules/tools/gen_vehicle_protocol/gen.py

@@ -16,13 +16,15 @@
 # limitations under the License.
 ###############################################################################
 
-#-*- coding:utf-8 -*-
+# -*- coding:utf-8 -*-
 
 import datetime
 import os
 import shutil
 import sys
+
 import yaml
+
 from gen_proto_file import gen_proto_file
 from gen_protocols import gen_protocols
 from gen_vehicle_controller_and_manager import gen_vehicle_controller_and_manager

modules/tools/gen_vehicle_protocol/gen_proto_file.py

@@ -18,10 +18,11 @@
 
 import datetime
 import os
+import re
 import shutil
 import sys
+
 import yaml
-import re
 
 
 def write_single_protocol_vars(pb_fp, p):
@@ -131,7 +132,7 @@ def gen_proto_file(config_file, work_dir):
                 pb_var_seq = pb_var_seq + 1
             pb_fp.write("}\n")
 
-            #update_detail_pb(car_type)
+            # update_detail_pb(car_type)
 
 
 if __name__ == "__main__":

modules/tools/gen_vehicle_protocol/gen_protocols.py

@@ -16,12 +16,13 @@
 # limitations under the License.
 ###############################################################################
 
-#-*- coding:utf-8 -*-
+# -*- coding:utf-8 -*-
 
 import datetime
 import os
 import shutil
 import sys
+
 import yaml
 
 
@@ -322,7 +323,7 @@ def gen_control_value_func_impl(classname, var, protocol):
     """
     impl = ""
     if var["len"] > 32:
-        print("This generator not support big than four bytes var." + \
+        print("This generator not support big than four bytes var." +
               "protocol classname: %s, var_name:%s " % (
                   class_name, var["name"]))
         return impl
@@ -457,16 +458,18 @@ def gen_protocols(protocol_conf_file, protocol_dir):
                 print("Unknown protocol_type:%s" % protocol["protocol_type"])
         gen_build_file(car_type, protocol_dir)
 
+
 def gen_esd_can_extended(str):
     """
         id string:
     """
-    int_id = int(str,16)
+    int_id = int(str, 16)
     int_id &= 0x1FFFFFFF
     int_id |= 0x20000000
     str = hex(int_id).replace('0x', '')
     return str
 
+
 if __name__ == "__main__":
     if len(sys.argv) != 2:
         print("Usage:\npython %s some_config.yml" % sys.argv[0])

modules/tools/gen_vehicle_protocol/gen_vehicle_controller_and_manager.py

@@ -16,12 +16,13 @@
 # limitations under the License.
 ###############################################################################
 
-#-*- coding:utf-8 -*-
+# -*- coding:utf-8 -*-
 
 import datetime
 import os
 import shutil
 import sys
+
 import yaml
 
 
@@ -239,7 +240,7 @@ def gen_vehicle_controller_and_manager(config_file, output_dir):
     protocol_conf = conf["protocol_conf"]
 
     output_dir = conf["output_dir"] + "vehicle/" + conf["car_type"].lower() + \
-                 "/"
+        "/"
     shutil.rmtree(output_dir, True)
     os.makedirs(output_dir)
     gen_vehicle_controller_and_manager(protocol_conf, output_dir)

modules/tools/localization/evaluate_compare.py

@@ -16,10 +16,11 @@
 # limitations under the License.
 ###############################################################################
 
-import sys
-import numpy
 import math
+import numpy
 import os
+import sys
+
 
 def get_stat2_from_data(data):
     """Find the max number of continuous frames when position error is lager
@@ -61,6 +62,7 @@ def get_stat2_from_data(data):
     stat = [max_con_frame_num_10, max_con_frame_num_20, max_con_frame_num_30]
     return stat
 
+
 def get_angle_stat2_from_data(data):
     """Find the max number of continuous frames when yaw error is lager
        than 1.0d, 0.6d and 0.3d
@@ -101,6 +103,7 @@ def get_angle_stat2_from_data(data):
     stat = [max_con_frame_num_1_0, max_con_frame_num_0_6, max_con_frame_num_0_3]
     return stat
 
+
 def get_stat_from_data(data):
     if len(data) == 0:
         print("No statistics data!")
@@ -128,6 +131,7 @@ def get_stat_from_data(data):
             count_less_than_20, count_less_than_10]
     return stat
 
+
 def get_angle_stat_from_data(data):
     if len(data) == 0:
         print("No statistics data!")
@@ -155,6 +159,7 @@ def get_angle_stat_from_data(data):
             count_less_than_06, count_less_than_03]
     return stat
 
+
 def parse_file(filename, type):
     with open(filename, 'r') as fp:
         lines = fp.readlines()
@@ -169,7 +174,7 @@ def parse_file(filename, type):
     for line in lines:
         s = line.split()
         if (len(s) > 7):
-            #error.append(float(s[6]))
+            # error.append(float(s[6]))
             error_lon.append(float(s[2]))
             error_lat.append(float(s[3]))
             error_alt.append(float(s[4]))
@@ -180,7 +185,7 @@ def parse_file(filename, type):
             x = float(s[2])
             y = float(s[3])
             error.append(math.sqrt(x * x + y * y))
-            #print "%f %f %f" % (error[-1], error_lon[-1], error_lat[-1])
+            # print "%f %f %f" % (error[-1], error_lon[-1], error_lat[-1])
     if type == "all":
         print_distance_error(error, error_lon, error_lat, error_alt)
         print_angle_error(error_roll, error_pitch, error_yaw)
@@ -199,44 +204,46 @@ def print_distance_error(error, error_lon, error_lat, error_alt):
     if len(result) != 6:
         return
     res = get_stat2_from_data(error)
-    print('error    : %06f %06f %06f %06f %06f %06f %06d' % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[2]))
+    print('error    : %06f %06f %06f %06f %06f %06f %06d' %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[2]))
     result = get_stat_from_data(error_lon)
     res = get_stat2_from_data(error_lon)
-    print('error lon: %06f %06f %06f %06f %06f %06f %06d' % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[2]))
+    print('error lon: %06f %06f %06f %06f %06f %06f %06d' %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[2]))
     result = get_stat_from_data(error_lat)
     res = get_stat2_from_data(error_lat)
-    print('error lat: %06f %06f %06f %06f %06f %06f %06d' % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[2]))
+    print('error lat: %06f %06f %06f %06f %06f %06f %06d' %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[2]))
     result = get_stat_from_data(error_alt)
     res = get_stat2_from_data(error_alt)
-    print('error alt: %06f %06f %06f %06f %06f %06f %06d' % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[2]))
+    print('error alt: %06f %06f %06f %06f %06f %06f %06d' %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[2]))
+
 
 def print_angle_error(error_roll, error_pitch, error_yaw):
     print('criteria : mean     std      max      < 1.0d   < 0.6d   < 0.3d  con_frames(>1.0d)')
     result = get_angle_stat_from_data(error_roll)
     if len(result) != 6:
         return
     res = get_angle_stat2_from_data(error_roll)
-    print("error rol: %06f %06f %06f %06f %06f %06f %06d" % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[0]))
+    print("error rol: %06f %06f %06f %06f %06f %06f %06d" %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[0]))
     result = get_angle_stat_from_data(error_pitch)
     res = get_angle_stat2_from_data(error_pitch)
-    print("error pit: %06f %06f %06f %06f %06f %06f %06d" % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[0]))
+    print("error pit: %06f %06f %06f %06f %06f %06f %06d" %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[0]))
     result = get_angle_stat_from_data(error_yaw)
     res = get_angle_stat2_from_data(error_yaw)
-    print("error yaw: %06f %06f %06f %06f %06f %06f %06d" % \
-        (result[0], result[1], result[2],
-         result[3], result[4], result[5], res[0]))
+    print("error yaw: %06f %06f %06f %06f %06f %06f %06d" %
+          (result[0], result[1], result[2],
+           result[3], result[4], result[5], res[0]))
+
 
 if __name__ == '__main__':
     if len(sys.argv) < 2:

modules/tools/mapshow/libs/map.py

@@ -18,12 +18,12 @@
 
 import random
 
-import matplotlib.pyplot as plt
 from matplotlib import cm as cmx
 from matplotlib import colors as mcolors
+import matplotlib.pyplot as plt
 
-import common.proto_utils as proto_utils
 from modules.map.proto import map_pb2
+import common.proto_utils as proto_utils
 
 
 class Map:
@@ -89,7 +89,7 @@ def draw_lanes(self, ax, is_show_lane_ids, laneids, is_show_lane_details):
     def _draw_lane_id(self, lane, ax, color_val):
         """draw lane id"""
         x, y = self._find_lane_central_point(lane)
-        self._draw_label(lane.id.id, (x, y), ax, color_val);
+        self._draw_label(lane.id.id, (x, y), ax, color_val)
 
     def _draw_lane_details(self, lane, ax, color_val):
         """draw lane id"""
@@ -142,7 +142,7 @@ def draw_pnc_junctions(self, ax):
     def _draw_pnc_junction_id(self, pnc_junction, ax, color_val):
         x = pnc_junction.polygon.point[0].x
         y = pnc_junction.polygon.point[0].y
-        self._draw_label(pnc_junction.id.id, (x, y), ax, color_val);
+        self._draw_label(pnc_junction.id.id, (x, y), ax, color_val)
 
     def draw_crosswalks(self, ax):
         cnt = 1
@@ -155,7 +155,7 @@ def draw_crosswalks(self, ax):
     def _draw_crosswalk_id(self, crosswalk, ax, color_val):
         x = crosswalk.polygon.point[0].x
         y = crosswalk.polygon.point[0].y
-        self._draw_label(crosswalk.id.id, (x, y), ax, color_val);
+        self._draw_label(crosswalk.id.id, (x, y), ax, color_val)
 
     @staticmethod
     def _draw_label(label_id, point, ax, color_val):