enable numpy mypy typing (#24387)

* enable numpy mypy typing

* remove --warn-return-any

* merge conflict and syntax

* merge conflict

* merge conflict

* add type to img var

.pre-commit-config.yaml

@@ -20,12 +20,11 @@ repos:
     hooks:
     -   id: mypy
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/'
-        additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites',
-                                  'types-pycurl', 'types-certifi', 'lxml']
+        additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
-        - --warn-unused-ignores
         - --warn-redundant-casts
         - --warn-unreachable
+        - --warn-unused-ignores
         #- --html-report=/home/batman/openpilot
 -   repo: https://github.com/PyCQA/flake8
     rev: 4.0.1

common/transformations/orientation.py

@@ -1,5 +1,6 @@
 # pylint: skip-file
 import numpy as np
+from typing import Callable
 
 from common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,
@@ -11,7 +12,7 @@ from common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     rot2quat_single)
 
 
-def numpy_wrap(function, input_shape, output_shape):
+def numpy_wrap(function, input_shape, output_shape) -> Callable[..., np.ndarray]:
   """Wrap a function to take either an input or list of inputs and return the correct shape"""
   def f(*inps):
     *args, inp = inps

common/window.py

@@ -2,7 +2,7 @@ import sys
 import pygame  # pylint: disable=import-error
 import cv2  # pylint: disable=import-error
 
-class Window():
+class Window:
   def __init__(self, w, h, caption="window", double=False, halve=False):
     self.w = w
     self.h = h
@@ -54,7 +54,7 @@ class Window():
 if __name__ == "__main__":
   import numpy as np
   win = Window(200, 200, double=True)
-  img = np.zeros((200, 200, 3), np.uint8)
+  img: np.ndarray = np.zeros((200, 200, 3), np.uint8)
   while 1:
     print("draw")
     img += 1

mypy.ini

@@ -1,4 +1,4 @@
 [mypy]
 python_version = 3.8
 ignore_missing_imports = True
-
+plugins = numpy.typing.mypy_plugin