ruff: enable UP

old-commit-hash: b2e4c64cf8

common/api/__init__.py

@@ -7,7 +7,7 @@ from openpilot.system.version import get_version
 
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class Api():
+class Api:
   def __init__(self, dongle_id):
     self.dongle_id = dongle_id
     with open(Paths.persist_root()+'/comma/id_rsa') as f:

common/gpio.py

@@ -1,5 +1,5 @@
 import os
-from functools import lru_cache
+from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -35,7 +35,7 @@ def gpio_export(pin: int) -> None:
   except Exception:
     print(f"Failed to export gpio {pin}")
 
-@lru_cache(maxsize=None)
+@cache
 def get_irq_action(irq: int) -> list[str]:
   try:
     with open(f"/sys/kernel/irq/{irq}/actions") as f:

common/spinner.py

@@ -3,7 +3,7 @@ import subprocess
 from openpilot.common.basedir import BASEDIR
 
 
-class Spinner():
+class Spinner:
   def __init__(self):
     try:
       self.spinner_proc = subprocess.Popen(["./spinner"],

common/stat_live.py

@@ -1,6 +1,6 @@
 import numpy as np
 
-class RunningStat():
+class RunningStat:
   # tracks realtime mean and standard deviation without storing any data
   def __init__(self, priors=None, max_trackable=-1):
     self.max_trackable = max_trackable
@@ -51,7 +51,7 @@ class RunningStat():
   def params_to_save(self):
     return [self.M, self.S, self.n]
 
-class RunningStatFilter():
+class RunningStatFilter:
   def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
     self.raw_stat = RunningStat(raw_priors, -1)
     self.filtered_stat = RunningStat(filtered_priors, max_trackable)

pyproject.toml

@@ -184,7 +184,7 @@ build-backend = "poetry.core.masonry.api"
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
-lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "NPY", "RUF008", "RUF100", "A", "B", "TID251"]
+lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "NPY", "UP", "RUF008", "RUF100", "A", "B", "TID251"]
 lint.ignore = [
   "E741",
   "E402",
@@ -193,6 +193,7 @@ lint.ignore = [
   "B027",
   "B024",
   "NPY002",  # new numpy random syntax is worse
+  "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
 target-version="py311"

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -128,7 +128,7 @@ def gen_lat_ocp():
   return ocp
 
 
-class LateralMpc():
+class LateralMpc:
   def __init__(self, x0=None):
     if x0 is None:
       x0 = np.zeros(X_DIM)

selfdrive/controls/lib/pid.py

@@ -4,7 +4,7 @@ from numbers import Number
 from openpilot.common.numpy_fast import clip, interp
 
 
-class PIDController():
+class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
     self._k_i = k_i

selfdrive/controls/radard.py

@@ -2,7 +2,7 @@
 import importlib
 import math
 from collections import deque
-from typing import Any, Optional
+from typing import Any
 
 import capnp
 from cereal import messaging, log, car
@@ -208,7 +208,7 @@ class RadarD:
 
     self.ready = False
 
-  def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
+  def update(self, sm: messaging.SubMaster, rr):
     self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 

selfdrive/controls/tests/test_following_distance.py

@@ -32,7 +32,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personalit
                        log.LongitudinalPersonality.standard,
                        log.LongitudinalPersonality.aggressive],
                       [0,10,35])) # speed
-class TestFollowingDistance():
+class TestFollowingDistance:
   def test_following_distance(self):
     v_lead = float(self.speed)
     simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality)

selfdrive/debug/vw_mqb_config.py

@@ -139,7 +139,7 @@ if __name__ == "__main__":
       # so fib a little and say that same tester did the programming
       current_date = date.today()
       formatted_date = current_date.strftime('%y-%m-%d')
-      year, month, day = [int(part) for part in formatted_date.split('-')]
+      year, month, day = (int(part) for part in formatted_date.split('-'))
       prog_date = bytes([year, month, day])
       uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date)
       tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER)

selfdrive/locationd/models/car_kf.py

@@ -28,7 +28,7 @@ def _slice(n):
   return s
 
 
-class States():
+class States:
   # Vehicle model params
   STIFFNESS = _slice(1)  # [-]
   STEER_RATIO = _slice(1)  # [-]

selfdrive/locationd/models/live_kf.py

@@ -20,7 +20,7 @@ def numpy2eigenstring(arr):
   return f"(Eigen::VectorXd({len(arr)}) << {arr_str}).finished()"
 
 
-class States():
+class States:
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
   ECEF_ORIENTATION = slice(3, 7)  # quat for pose of phone in ecef
   ECEF_VELOCITY = slice(7, 10)  # ecef velocity in m/s
@@ -39,7 +39,7 @@ class States():
   ACC_BIAS_ERR = slice(18, 21)
 
 
-class LiveKalman():
+class LiveKalman:
   name = 'live'
 
   initial_x = np.array([3.88e6, -3.37e6, 3.76e6,

selfdrive/modeld/modeld.py

@@ -206,9 +206,8 @@ def main(demo=False):
         continue
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
-        cloudlog.error("frames out of sync! main: {} ({:.5f}), extra: {} ({:.5f})".format(
+        cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-          meta_main.frame_id, meta_main.timestamp_sof / 1e9,
+                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
-          meta_extra.frame_id, meta_extra.timestamp_sof / 1e9))
 
     else:
       # Use single camera

selfdrive/monitoring/driver_monitor.py

@@ -15,7 +15,7 @@ EventName = car.CarEvent.EventName
 #  We recommend that you do not change these numbers from the defaults.
 # ******************************************************************************************
 
-class DRIVER_MONITOR_SETTINGS():
+class DRIVER_MONITOR_SETTINGS:
   def __init__(self):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
@@ -102,7 +102,7 @@ def face_orientation_from_net(angles_desc, pos_desc, rpy_calib):
   yaw -= rpy_calib[2]
   return roll_net, pitch, yaw
 
-class DriverPose():
+class DriverPose:
   def __init__(self, max_trackable):
     self.yaw = 0.
     self.pitch = 0.
@@ -116,12 +116,12 @@ class DriverPose():
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverBlink():
+class DriverBlink:
   def __init__(self):
     self.left_blink = 0.
     self.right_blink = 0.
 
-class DriverStatus():
+class DriverStatus:
   def __init__(self, rhd_saved=False, settings=None, always_on=False):
     if settings is None:
       settings = DRIVER_MONITOR_SETTINGS()

selfdrive/statsd.py

@@ -4,7 +4,7 @@ import zmq
 import time
 from pathlib import Path
 from collections import defaultdict
-from datetime import datetime, timezone
+from datetime import datetime, UTC
 from typing import NoReturn
 
 from openpilot.common.params import Params
@@ -133,7 +133,7 @@ def main() -> NoReturn:
       # flush when started state changes or after FLUSH_TIME_S
       if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
         result = ""
-        current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
+        current_time = datetime.utcnow().replace(tzinfo=UTC)
         tags['started'] = sm['deviceState'].started
 
         for key, value in gauges.items():

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -83,7 +83,7 @@ class Plant:
 
     lead = log.RadarState.LeadData.new_message()
     lead.dRel = float(d_rel)
-    lead.yRel = float(0.0)
+    lead.yRel = 0.0
     lead.vRel = float(v_rel)
     lead.aRel = float(a_lead - self.acceleration)
     lead.vLead = float(v_lead)

selfdrive/test/process_replay/test_imgproc.py

@@ -93,7 +93,7 @@ if __name__ == "__main__":
 
   if pix_hash != ref_hash:
     print("result changed! please check kernel")
-    print("ref: %s" % ref_hash)
+    print(f"ref: {ref_hash}")
-    print("new: %s" % pix_hash)
+    print(f"new: {pix_hash}")
   else:
     print("test passed")

selfdrive/test/profiling/lib.py

@@ -8,7 +8,7 @@ class ReplayDone(Exception):
   pass
 
 
-class SubSocket():
+class SubSocket:
   def __init__(self, msgs, trigger):
     self.i = 0
     self.trigger = trigger
@@ -28,7 +28,7 @@ class SubSocket():
       return msg
 
 
-class PubSocket():
+class PubSocket:
   def send(self, data):
     pass
 

system/athena/tests/helpers.py

@@ -9,7 +9,7 @@ class MockResponse:
     self.status_code = status_code
 
 
-class EchoSocket():
+class EchoSocket:
   def __init__(self, port):
     self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     self.socket.bind(('127.0.0.1', port))
@@ -34,7 +34,7 @@ class EchoSocket():
       self.socket.close()
 
 
-class MockApi():
+class MockApi:
   def __init__(self, dongle_id):
     pass
 
@@ -42,7 +42,7 @@ class MockApi():
     return "fake-token"
 
 
-class MockWebsocket():
+class MockWebsocket:
   sock = socket.socket()
 
   def __init__(self, recv_queue, send_queue):

system/loggerd/tests/loggerd_tests_common.py

@@ -28,12 +28,12 @@ def create_random_file(file_path: Path, size_mb: float, lock: bool = False, uplo
   if upload_xattr is not None:
     setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
 
-class MockResponse():
+class MockResponse:
   def __init__(self, text, status_code):
     self.text = text
     self.status_code = status_code
 
-class MockApi():
+class MockApi:
   def __init__(self, dongle_id):
     pass
 
@@ -43,7 +43,7 @@ class MockApi():
   def get_token(self):
     return "fake-token"
 
-class MockApiIgnore():
+class MockApiIgnore:
   def __init__(self, dongle_id):
     pass
 

system/ubloxd/pigeond.py

@@ -61,7 +61,7 @@ def get_assistnow_messages(token: bytes) -> list[bytes]:
   return msgs
 
 
-class TTYPigeon():
+class TTYPigeon:
   def __init__(self):
     self.tty = serial.VTIMESerial(UBLOX_TTY, baudrate=9600, timeout=0)
 

system/updated/casync/tar.py

@@ -1,6 +1,7 @@
 import pathlib
 import tarfile
-from typing import IO, Callable
+from typing import IO
+from collections.abc import Callable
 
 
 def include_default(_) -> bool:

system/version.py

@@ -27,7 +27,7 @@ def get_version(path: str = BASEDIR) -> str:
 
 
 def get_release_notes(path: str = BASEDIR) -> str:
-  with open(os.path.join(path, "RELEASES.md"), "r") as f:
+  with open(os.path.join(path, "RELEASES.md")) as f:
     return f.read().split('\n\n', 1)[0]
 
 

system/webrtc/tests/test_webrtcd.py

@@ -20,7 +20,7 @@ from parameterized import parameterized_class
   ([], []),
 ])
 @pytest.mark.asyncio
-class TestWebrtcdProc():
+class TestWebrtcdProc:
   async def assertCompletesWithTimeout(self, awaitable, timeout=1):
     try:
       async with asyncio.timeout(timeout):

tools/lib/api.py

@@ -2,7 +2,7 @@ import os
 import requests
 API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
 
-class CommaApi():
+class CommaApi:
   def __init__(self, token=None):
     self.session = requests.Session()
     self.session.headers['User-agent'] = 'OpenpilotTools'