mypy: use implicit-optional (#31590)

* mypy: set implicit-optional = true

* find and replace '| None = None' -> '= None' in function args

common/file_helpers.py

@@ -23,7 +23,7 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+def 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."""
   dir_name = os.path.dirname(path)

common/prefix.py

@@ -8,7 +8,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str | None = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str = None, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit

pyproject.toml

@@ -63,6 +63,9 @@ warn_unused_ignores=true
 # restrict dynamic typing
 warn_return_any=true
 
+# allow implicit optionals for default args
+implicit_optional = true
+
 
 [tool.poetry]
 name = "openpilot"

selfdrive/athena/athenad.py

@@ -279,7 +279,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item: UploadItem, callback: Callable | None = None) -> requests.Response:
+def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -328,7 +328,7 @@ def getVersion() -> dict[str, str]:
 
 
 @dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str | None = None, place_details: str | None = None) -> dict[str, int]:
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
   destination = {
     "latitude": latitude,
     "longitude": longitude,
@@ -767,7 +767,7 @@ def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main(exit_event: threading.Event | None = None):
+def main(exit_event: threading.Event = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:

selfdrive/athena/tests/test_athenad.py

@@ -96,7 +96,7 @@ class TestAthenadMethods(unittest.TestCase):
         break
 
   @staticmethod
-  def _create_file(file: str, parent: str | None = None, data: bytes = b'') -> str:
+  def _create_file(file: str, parent: str = None, data: bytes = b'') -> str:
     fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     with open(fn, 'wb') as f:

selfdrive/car/docs_definitions.py

@@ -159,7 +159,7 @@ class CarParts:
     return copy.deepcopy(self)
 
   @classmethod
-  def common(cls, add: list[EnumBase] | None = None, remove: list[EnumBase] | None = None):
+  def common(cls, add: list[EnumBase] = None, remove: list[EnumBase] = None):
     p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
     return cls(p)
 

selfdrive/car/ecu_addrs.py

@@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
   return make_can_msg(addr, bytes(dat), bus)
 
 
-def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int | None = None) -> bool:
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0

selfdrive/car/fw_versions.py

@@ -39,7 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool:
 
 
 def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder],
-                  filter_brand: str | None = None) -> dict[AddrType, set[bytes]]:
+                  filter_brand: str = None) -> dict[AddrType, set[bytes]]:
   fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set)
   for fw in fw_versions:
     if is_brand(fw.brand, filter_brand) and not fw.logging:

selfdrive/car/isotp_parallel_query.py

@@ -12,7 +12,7 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a
 class IsoTpParallelQuery:
   def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
                request: list[bytes], response: list[bytes], response_offset: int = 0x8,
-               functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
+               functional_addrs: list[int] = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus

selfdrive/controls/lib/alertmanager.py

@@ -13,7 +13,7 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a
   OFFROAD_ALERTS = json.load(f)
 
 
-def set_offroad_alert(alert: str, show_alert: bool, extra_text: str | None = None) -> None:
+def set_offroad_alert(alert: str, show_alert: bool, extra_text: str = None) -> None:
   if show_alert:
     a = copy.copy(OFFROAD_ALERTS[alert])
     a['extra'] = extra_text or ''

selfdrive/locationd/calibrationd.py

@@ -89,7 +89,7 @@ class Calibrator:
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
                   height_init: np.ndarray = HEIGHT_INIT,
-                  smooth_from: np.ndarray | None = None) -> None:
+                  smooth_from: np.ndarray = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:

selfdrive/locationd/helpers.py

@@ -41,7 +41,7 @@ class PointBuckets:
   def add_point(self, x: float, y: float, bucket_val: float) -> None:
     raise NotImplementedError
 
-  def get_points(self, num_points: int | None = None) -> Any:
+  def get_points(self, num_points: int = None) -> Any:
     points = np.vstack([x.arr for x in self.buckets.values()])
     if num_points is None:
       return points

selfdrive/manager/process.py

@@ -109,7 +109,7 @@ class ManagerProcess(ABC):
     else:
       self.watchdog_seen = True
 
-  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals | None = None) -> int | None:
+  def stop(self, retry: bool = True, block: bool = True, sig: signal.Signals = None) -> int | None:
     if self.proc is None:
       return None
 

selfdrive/navd/helpers.py

@@ -106,7 +106,7 @@ def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> floa
   return total_distance_closest
 
 
-def coordinate_from_param(param: str, params: Params | None = None) -> Coordinate | None:
+def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
   if params is None:
     params = Params()
 

selfdrive/test/fuzzy_generation.py

@@ -68,7 +68,7 @@ class FuzzyGenerator:
     else:
       return self.generate_struct(field.schema)
 
-  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str | None = None) -> st.SearchStrategy[dict[str, Any]]:
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]:
     full_fill: list[str] = list(schema.non_union_fields)
     single_fill: list[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
     return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill})

selfdrive/test/process_replay/process_replay.py

@@ -627,9 +627,9 @@ def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args,
 
 
 def replay_process(
-  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None = None,
-  fingerprint: str | None = None, return_all_logs: bool = False, custom_params: dict[str, Any] | None = None,
-  captured_output_store: dict[str, dict[str, str]] | None = None, disable_progress: bool = False
+  cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None,
+  fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None,
+  captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False
 ) -> list[capnp._DynamicStructReader]:
   if isinstance(cfg, Iterable):
     cfgs = list(cfg)

selfdrive/test/process_replay/regen.py

@@ -41,7 +41,7 @@ class DummyFrameReader(BaseFrameReader):
 
 
 def regen_segment(
-  lr: LogIterable, frs: dict[str, Any] | None = None,
+  lr: LogIterable, frs: dict[str, Any] = None,
   processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False
 ) -> list[capnp._DynamicStructReader]:
   all_msgs = sorted(lr, key=lambda m: m.logMonoTime)

selfdrive/test/update_ci_routes.py

@@ -19,7 +19,7 @@ SOURCES: list[AzureContainer] = [
 
 DEST = OpenpilotCIContainer
 
-def upload_route(path: str, exclude_patterns: Iterable[str] | None = None) -> None:
+def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None:
   if exclude_patterns is None:
     exclude_patterns = [r'dcamera\.hevc']
 

selfdrive/ui/translations/auto_translate.py

@@ -18,7 +18,7 @@ OPENAI_PROMPT = "You are a professional translator from English to {language} (I
                 "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly."
 
 
-def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]:
+def get_language_files(languages: list[str] = None) -> dict[str, pathlib.Path]:
   files = {}
 
   with open(TRANSLATIONS_LANGUAGES) as fp:

selfdrive/updated.py

@@ -71,7 +71,7 @@ def read_time_from_param(params, param) -> datetime.datetime | None:
     pass
   return None
 
-def run(cmd: list[str], cwd: str | None = None) -> str:
+def run(cmd: list[str], cwd: str = None) -> str:
   return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')
 
 

system/hardware/tici/casync.py

@@ -145,7 +145,7 @@ def build_chunk_dict(chunks: list[Chunk]) -> ChunkDict:
 def extract(target: list[Chunk],
             sources: list[tuple[str, ChunkReader, ChunkDict]],
             out_path: str,
-            progress: Callable[[int], None] | None = None):
+            progress: Callable[[int], None] = None):
   stats: dict[str, int] = defaultdict(int)
 
   mode = 'rb+' if os.path.exists(out_path) else 'wb'

system/loggerd/tests/loggerd_tests_common.py

@@ -11,7 +11,7 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.loggerd.xattr_cache import setxattr
 
 
-def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes | None = None) -> None:
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None:
   file_path.parent.mkdir(parents=True, exist_ok=True)
 
   if lock:
@@ -81,7 +81,7 @@ class UploaderTestCase(unittest.TestCase):
     self.params.put("DongleId", "0000000000000000")
 
   def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
-                          upload_xattr: bytes | None = None, preserve_xattr: bytes | None = None) -> Path:
+                          upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path:
     file_path = Path(Paths.log_root()) / f_dir / fn
     create_random_file(file_path, size_mb, lock, upload_xattr)
 

system/loggerd/tests/test_uploader.py

@@ -52,7 +52,7 @@ class TestUploader(UploaderTestCase):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, xattr: bytes | None = None, boot=True) -> list[Path]:
+  def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
     f_paths = []
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
       f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))

system/loggerd/uploader.py

@@ -222,7 +222,7 @@ class Uploader:
     return self.upload(name, key, fn, network_type, metered)
 
 
-def main(exit_event: threading.Event | None = None) -> None:
+def main(exit_event: threading.Event = None) -> None:
   if exit_event is None:
     exit_event = threading.Event()
 

system/webrtc/device/audio.py

@@ -16,7 +16,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
       pyaudio.paFloat32: 'flt',
   }
 
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int | None = None):
+  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 16000, channels: int = 1, packet_time: float = 0.020, device_index: int = None):
     super().__init__()
 
     self.p = pyaudio.PyAudio()
@@ -48,7 +48,7 @@ class AudioInputStreamTrack(aiortc.mediastreams.AudioStreamTrack):
 
 
 class AudioOutputSpeaker:
-  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int | None = None):
+  def __init__(self, audio_format: int = pyaudio.paInt16, rate: int = 48000, channels: int = 2, packet_time: float = 0.2, device_index: int = None):
 
     chunk_size = int(packet_time * rate)
     self.p = pyaudio.PyAudio()