From 11b9cb9fb50645cf9ff9e83203ccd157afd90d2c Mon Sep 17 00:00:00 2001
From: Dylan Herman <d.herman56@gmail.com>
Date: Mon, 2 May 2022 18:48:04 -0500
Subject: [PATCH] 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
old-commit-hash: 603942ffe0f5f0dba9f14f1293306bc0482e0032
---
 .pre-commit-config.yaml               | 5 ++---
 common/transformations/orientation.py | 3 ++-
 common/window.py                      | 4 ++--
 mypy.ini                              | 2 +-
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 10762162a7..912ba1344e 100644
--- a/.pre-commit-config.yaml
+++ b/.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
diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py
index 415e247ab2..134442b624 100644
--- a/common/transformations/orientation.py
+++ b/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
diff --git a/common/window.py b/common/window.py
index ce1eecb881..613b3b201b 100644
--- a/common/window.py
+++ b/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
diff --git a/mypy.ini b/mypy.ini
index 66b82bd5df..e2da60f926 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,4 +1,4 @@
 [mypy]
 python_version = 3.8
 ignore_missing_imports = True
-
+plugins = numpy.typing.mypy_plugin