Update Python packages and pre-commit hooks (#30597)

* Update Python packages and pre-commit hooks

* fix

---------

Co-authored-by: jnewb1 <jnewb1@users.noreply.github.com>
old-commit-hash: 46f3fdc090

.pre-commit-config.yaml

@@ -39,10 +39,12 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        args: ['--explicit-package-bases', '--local-partial-types']
+        args:
+        - --local-partial-types
+        - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.6
+    rev: v0.1.9
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -87,7 +89,7 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.27.2
+    rev: 0.27.3
     hooks:
     -   id: check-github-workflows
 # -   repo: local

poetry.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8c95820a1a166a8c4900ff62f1d214cff411347d24ba395bf2c7ee867d487c60
-size 433995
+oid sha256:74a676b10b857577e8437ad907b3e8ca2e71a867f6a67b2d6cf5d916ff61aca7
+size 432403

selfdrive/athena/athenad.py

@@ -637,6 +637,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
       data = ws.recv()
+      if isinstance(data, str):
+        data = data.encode("utf-8")
       local_sock.sendall(data)
     except WebSocketTimeoutException:
       pass
@@ -728,10 +730,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
     if onroad != onroad_prev:
       onroad_prev = onroad
 
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
-      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
+      if sock is not None:
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
+        sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
 
     if end_event.wait(5):
       break

tools/webcam/front_mount_helper.py

@@ -1,35 +0,0 @@
-#!/usr/bin/env python
-import numpy as np
-
-# copied from openpilot.common.transformations/camera.py
-eon_dcam_focal_length = 860.0  # pixels
-webcam_focal_length = 908.0  # pixels
-
-eon_dcam_intrinsics = np.array([
-  [eon_dcam_focal_length,   0,   1152/2.],
-  [  0,  eon_dcam_focal_length,  864/2.],
-  [  0,    0,     1]])
-
-webcam_intrinsics = np.array([
-  [webcam_focal_length,   0.,   1280/2.],
-  [  0.,  webcam_focal_length,  720/2.],
-  [  0.,    0.,     1.]])
-
-cam_id = 2
-
-if __name__ == "__main__":
-  import cv2
-
-  trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
-
-  cap = cv2.VideoCapture(cam_id)
-  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
-  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
-
-  while (True):
-    ret, img = cap.read()
-    if ret:
-      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      img = img[:, -864//2:, :]
-      cv2.imshow('preview', img)
-      cv2.waitKey(10)

tools/webcam/warp_vis.py

@@ -1,43 +0,0 @@
-#!/usr/bin/env python
-import numpy as np
-
-# copied from openpilot.common.transformations/camera.py
-eon_focal_length = 910.0  # pixels
-eon_dcam_focal_length = 860.0  # pixels
-
-webcam_focal_length = -908.0/1.5  # pixels
-
-eon_intrinsics = np.array([
-  [eon_focal_length,   0.,   1164/2.],
-  [  0.,  eon_focal_length,  874/2.],
-  [  0.,    0.,     1.]])
-
-eon_dcam_intrinsics = np.array([
-  [eon_dcam_focal_length,   0,   1152/2.],
-  [  0,  eon_dcam_focal_length,  864/2.],
-  [  0,    0,     1]])
-
-webcam_intrinsics = np.array([
-  [webcam_focal_length,   0.,   1280/2/1.5],
-  [  0.,  webcam_focal_length,  720/2/1.5],
-  [  0.,    0.,     1.]])
-
-if __name__ == "__main__":
-  import cv2
-  trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics))
-  trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
-  print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
-  print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front)
-
-  cap = cv2.VideoCapture(1)
-  cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853)
-  cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
-
-  while (True):
-    ret, img = cap.read()
-    if ret:
-      # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0)
-      print(img.shape, end='\r')
-      cv2.imshow('preview', img)
-      cv2.waitKey(10)