CI: Pylint to ruff (#29294)

* pylint to riff

* pylint to riff

* pylint to riff

* revert more

* undo exclude removal

* exclude tinygrad

* set line length

* pylint exclusions to ruff

* same excludes as old linter

* fix tools QA

* remove unrequired check

* revert linting third_party

* ignore e402
old-commit-hash: 7fdd9fc37c

.pre-commit-config.yaml

@@ -34,31 +34,11 @@ repos:
         types: [python]
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
--   repo: https://github.com/PyCQA/flake8
+-   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: 6.1.0
+    rev: v0.0.282
     hooks:
-    -   id: flake8
+    -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
-        additional_dependencies: ['flake8-no-implicit-concat']
-        args:
-        - --indent-size=2
-        - --enable-extensions=NIC
-        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --statistics
-        - -j4
--   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
-        args:
-        - -j0
-        - -rn
-        - -sn
-        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck

poetry.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4bdf2a7ffee6dd09d6532b7e2a2cd5d6af889658cfbbe0d02deac92e14be33e9
+oid sha256:36187dd8afc0afe0abdb6976b5d31bb07294ec91c96022b426e86a0484216d8e
-size 809997
+size 792009

pyproject.toml

@@ -19,7 +19,6 @@ cffi = "*"
 crcmod = "*"
 cryptography = "*"
 Cython = "*"
-flake8 = "*"
 Flask = "*"
 future-fstrings = "*"  # for acados
 gunicorn = "*"
@@ -92,7 +91,6 @@ pprofile = "*"
 pre-commit = "*"
 pycurl = "*"
 pygame = "*"
-pylint = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-xdist = "*"
@@ -161,6 +159,7 @@ PyMySQL = "~0.9"
 pyproj = "*"
 python-logstash = "*"
 redis = "*"
+ruff = "*"
 s2sphere = "*"
 scikit-image = "*"
 scikit-learn = "*"
@@ -186,3 +185,10 @@ opencv-python-headless = { url = "https://github.com/commaai/opencv-python-build
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W"]
+ignore = ["W292", "E741", "E402"]
+line-length = 160
+target-version="py311"

selfdrive/athena/tests/helpers.py

@@ -52,7 +52,7 @@ class MockApi():
 class MockParams():
   default_params = {
     "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # pylint: disable=C0301
+    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
     "GithubUsername": b"commaci",
     "GsmMetered": True,
     "AthenadUploadQueue": '[]',

selfdrive/car/body/carcontroller.py

@@ -56,7 +56,7 @@ class CarController:
       speed_error = speed_desired - speed_measured
 
       if self.wheeled_body is None:
-        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or 
+        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
                              (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
         angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
 

selfdrive/car/chrysler/values.py

@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 from enum import IntFlag
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
@@ -93,7 +94,6 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
 # For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.
 
 FINGERPRINTS = {
-  # pylint: disable=C0301
   CAR.PACIFICA_2017_HYBRID: [{
     168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
   }],

selfdrive/car/docs_definitions.py

@@ -178,7 +178,7 @@ class CommonFootnote(Enum):
     "the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
     Column.LONGITUDINAL, docs_only=True)
   EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " + 
+    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
     "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
     "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
     Column.LONGITUDINAL)

selfdrive/car/gm/values.py

@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum
@@ -142,7 +143,6 @@ class CanBus:
   DROPPED = 192
 
 FINGERPRINTS = {
-  # pylint: disable=C0301
   CAR.HOLDEN_ASTRA: [
   # Astra BK MY17, ASCM unplugged
   {

selfdrive/car/hyundai/values.py

@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 import re
 from dataclasses import dataclass
 from enum import Enum, IntFlag
@@ -229,7 +230,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", 
+  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
                                               car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
   CAR.KIA_OPTIMA_H: [
@@ -284,7 +285,6 @@ class Buttons:
   CANCEL = 4  # on newer models, this is a pause/resume button
 
 FINGERPRINTS = {
-  # pylint: disable=C0301
   CAR.ELANTRA: [{
     66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
@@ -518,7 +518,6 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
-  # pylint: disable=C0301
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',

selfdrive/car/nissan/values.py

@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
@@ -45,7 +46,6 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
 }
 
 FINGERPRINTS = {
-  # pylint: disable=C0301
   CAR.XTRAIL: [
     {
       2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8

selfdrive/car/tesla/values.py

@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 from collections import namedtuple
 from typing import Dict, List, Union
 
@@ -22,7 +23,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 }
 
 FINGERPRINTS = {
-  # pylint: disable=C0301
   CAR.AP1_MODELS: [
     {
       1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4

selfdrive/controls/lib/events.py

@@ -724,7 +724,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
-  
+
   EventName.calibrationRecalibrating: {
     ET.PERMANENT: calibration_incomplete_alert,
     ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -10,7 +10,7 @@ from selfdrive.modeld.constants import T_IDXS
 if __name__ == '__main__':  # generating code
   from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
 LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -13,7 +13,7 @@ from selfdrive.controls.radard import _LEAD_ACCEL_TAU
 if __name__ == '__main__':  # generating code
   from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
 from casadi import SX, vertcat
 

selfdrive/debug/clear_dtc.py

@@ -35,6 +35,6 @@ try:
 except MessageTimeoutError:
   # functional address isn't properly handled so a timeout occurs
   if args.addr != 0x7DF:
-    pass 
+    pass
 print("")
 print("you may need to power cycle your vehicle now")

selfdrive/debug/dump.py

@@ -3,14 +3,15 @@ import os
 import sys
 import argparse
 import json
-from hexdump import hexdump
 import codecs
-codecs.register_error("strict", codecs.backslashreplace_errors)
+import cereal.messaging as messaging
 
+from hexdump import hexdump
 from cereal import log
-import cereal.messaging as messaging
 from cereal.services import service_list
 
+codecs.register_error("strict", codecs.backslashreplace_errors)
+
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')

selfdrive/debug/show_matching_cars.py

@@ -4,7 +4,7 @@ import cereal.messaging as messaging
 
 
 # rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # pylint: disable=C0301
+fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
 
 candidate_cars = all_legacy_fingerprint_cars()
 

selfdrive/locationd/models/loc_kf.py

@@ -372,7 +372,7 @@ class LocKalman():
     self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
 
     if self.N > 0:
-      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking
+      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment]
       self.computer = LstSqComputer(generated_dir, N)
 
     self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)]

selfdrive/locationd/test/test_laikad.py

@@ -111,7 +111,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad()
     laikad.fetch_navs(gpstime, block=False)
     laikad.orbit_fetch_future.result(30)
-    
+
     # Get results and save orbits to laikad:
     laikad.fetch_navs(gpstime, block=False)
     ephem = laikad.astro_dog.navs['G01'][0]
@@ -238,7 +238,7 @@ class TestLaikad(unittest.TestCase):
           if len(out_msg.gnssMeasurements.ephemerisStatuses):
             seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses])
             seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses])
-            
+
         self.assertTrue(has_navs or has_polys)
         self.assertTrue(has_fix)
         self.assertTrue(seen_chip_eph or auto_fetch_navs)
@@ -281,7 +281,7 @@ class TestLaikad(unittest.TestCase):
       self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
       self.assertIsNotNone(msg)
 
-      #TODO test cache with only orbits 
+      #TODO test cache with only orbits
       #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
       #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
       #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()

selfdrive/modeld/runners/onnx_runner.py

@@ -8,7 +8,7 @@ from typing import Tuple, Dict, Union, Any
 os.environ["OMP_NUM_THREADS"] = "4"
 os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
-import onnxruntime as ort # pylint: disable=import-error
+import onnxruntime as ort
 
 ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
 

selfdrive/modeld/thneed/lib.py

@@ -1,4 +1,5 @@
-import struct, json
+import struct
+import json
 
 def load_thneed(fn):
   with open(fn, "rb") as f:

selfdrive/monitoring/driver_monitor.py

@@ -272,7 +272,7 @@ class DriverStatus():
     self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types 
+    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
                                 or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
                               and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)

selfdrive/monitoring/test_monitoring.py

@@ -203,7 +203,7 @@ class TestMonitoring(unittest.TestCase):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    self.assertTrue(EventName.preDriverUnresponsive in 
+    self.assertTrue(EventName.preDriverUnresponsive in
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
     self.assertTrue(EventName.promptDriverUnresponsive in
                               events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)

selfdrive/navd/map_renderer.py

@@ -74,7 +74,7 @@ if __name__ == "__main__":
   renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
   wait_ready(lib, renderer)
 
-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # pylint: disable=C0301
+  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
   lib.map_renderer_update_route(renderer, geometry.encode())
 
   POSITIONS = [

selfdrive/navd/tests/test_map_renderer.py

@@ -30,7 +30,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   def setup(self):
     if self.INTERNET_ACTIVE:
       super().setup()
-  
+
   def handle(self):
     if self.INTERNET_ACTIVE:
       super().handle()
@@ -38,7 +38,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   def finish(self):
     if self.INTERNET_ACTIVE:
       super().finish()
-    
+
   def do_GET(self):
     url = f'https://api.mapbox.com{self.path}'
 
@@ -50,7 +50,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
     self.send_response(r.status_code)
     self.end_headers()
     self.wfile.write(r.content)
-  
+
   def log_message(self, *args: Any) -> None:
     return
 
@@ -62,13 +62,13 @@ class MapBoxInternetDisabledServer(threading.Thread):
   def run(self):
     self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
     self.server.serve_forever()
-  
+
   def stop(self):
     self.server.shutdown()
 
   def disable_internet(self):
     MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
-  
+
   def enable_internet(self):
     MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
 
@@ -110,7 +110,7 @@ class TestMapRenderer(unittest.TestCase):
     assert self.vipc.connect(False)
     self.vipc.recv()
 
-  
+
   def _run_test(self, expect_valid, location=LOCATION1):
     starting_frame_id = None
 
@@ -127,7 +127,7 @@ class TestMapRenderer(unittest.TestCase):
       else:
         prev_valid = self.sm.valid['mapRenderState']
         prev_frame_id = self.sm['mapRenderState'].frameId
-      
+
       if starting_frame_id is None:
         starting_frame_id = prev_frame_id
 
@@ -172,7 +172,7 @@ class TestMapRenderer(unittest.TestCase):
     self.server.disable_internet()
     self._setup_test()
     self._run_test(False)
-    
+
   def test_recover_from_no_internet(self):
     self._setup_test()
     self._run_test(True)

selfdrive/test/process_replay/capture.py

@@ -22,7 +22,7 @@ class FdRedirect:
   def read(self) -> bytes:
     with open(self.dest_fname, "rb") as f:
       return f.read() or b""
-  
+
   def link(self) -> None:
     os.dup2(self.dest_fd, self.source_fd)
 
@@ -39,7 +39,7 @@ class ProcessOutputCapture:
 
   @no_type_check # ipython classes have incompatible signatures
   def link_with_current_proc(self) -> None:
-    try: 
+    try:
       # prevent ipykernel from redirecting stdout/stderr of python subprocesses
       from ipykernel.iostream import OutStream
       if isinstance(sys.stdout, OutStream):

selfdrive/test/process_replay/migration.py

@@ -20,13 +20,13 @@ def migrate_cameraStates(lr):
   for msg in lr:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
       continue
-    
+
     encode_index = getattr(msg, msg.which())
     meta = meta_from_encode_index(msg.which())
 
     assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
-  
+
   for msg in lr:
     if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
       all_msgs.append(msg)

selfdrive/test/process_replay/process_replay.py

@@ -52,7 +52,7 @@ class ReplayContext:
     self.main_pub_drained = cfg.main_pub_drained
     self.unlocked_pubs = cfg.unlocked_pubs
     assert(len(self.pubs) != 0 or self.main_pub is not None)
-  
+
   def __enter__(self):
     self.open()
 
@@ -82,7 +82,7 @@ class ReplayContext:
   @property
   def all_recv_called_events(self):
     return [man.recv_called_event for man in self.events.values()]
-  
+
   @property
   def all_recv_ready_events(self):
     return [man.recv_ready_event for man in self.events.values()]
@@ -142,7 +142,7 @@ class ProcessContainer:
     self.cnt = 0
     self.pm: Optional[messaging.PubMaster] = None
     self.sockets: Optional[List[messaging.SubSocket]] = None
-    self.rc: Optional[ReplayContext] = None 
+    self.rc: Optional[ReplayContext] = None
     self.vipc_server: Optional[VisionIpcServer] = None
     self.capture: Optional[ProcessOutputCapture] = None
 
@@ -199,8 +199,8 @@ class ProcessContainer:
     self.process.start()
 
   def start(
-    self, params_config: Dict[str, Any], environ_config: Dict[str, Any], 
+    self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
-    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], 
+    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
     fingerprint: Optional[str], capture_output: bool
   ):
     with self.prefix as p:
@@ -336,7 +336,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 def controlsd_rcv_callback(msg, cfg, frame):
   # no sendcan until controlsd is initialized
   if msg.which() != "can":
-    return False 
+    return False
 
   socks = [
     s for s in cfg.subs if
@@ -407,7 +407,7 @@ class FrequencyBasedRcvCallback:
       if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
     ]
     return bool(len(resp_sockets))
-  
+
 
 def controlsd_config_callback(params, cfg, lr):
   controlsState = None
@@ -437,7 +437,7 @@ def laikad_config_pubsub_callback(params, cfg, lr):
 def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
-  
+
   cfg.pubs = set(cfg.pubs) - sub_keys
 
 
@@ -495,7 +495,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="locationd",
     pubs=[
-      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", 
+      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
       "liveCalibration", "carState", "carParams", "gpsLocation"
     ],
     subs=["liveLocationKalman"],
@@ -577,7 +577,7 @@ def get_process_config(name: str) -> ProcessConfig:
 
 def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]:
   """
-  Use this to get custom params dict based on provided logs. 
+  Use this to get custom params dict based on provided logs.
   Useful when replaying following processes: calibrationd, paramsd, torqued
   The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
   """
@@ -620,7 +620,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReade
 
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
   captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
@@ -660,7 +660,7 @@ def _replay_multi_process(
   for cfg in cfgs:
     if len(cfg.vision_pubs) == 0:
       continue
-    
+
     assert frs is not None, "frs must be provided when replaying process using vision streams"
     assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
                                                      f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
@@ -722,7 +722,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     "DisengageOnAccelerator": True,
     "DisableLogging": False,
   }
-  
+
   if custom_params is not None:
     params_dict.update(custom_params)
   if lr is not None:
@@ -769,7 +769,7 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str
   else:
     environ_dict["SKIP_FW_QUERY"] = ""
     environ_dict["FINGERPRINT"] = ""
-  
+
   return environ_dict
 
 

selfdrive/test/process_replay/regen.py

@@ -16,7 +16,7 @@ from tools.lib.helpers import save_log
 
 
 def regen_segment(
-  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
+  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
   daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
 ) -> List[capnp._DynamicStructReader]:
   if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):

selfdrive/test/process_replay/test_processes.py

@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), 
+  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
-  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), 
+  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
-  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), 
+  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
-  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), 
+  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
-  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), 
+  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
-  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), 
+  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
-  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), 
+  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
-  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), 
+  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
-  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), 
+  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
-  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), 
+  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
-  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), 
+  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
-  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), 
+  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
-  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), 
+  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
-  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), 
+  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
-  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), 
+  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
-  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), 
+  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
-  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), 
+  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
   ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

selfdrive/thermald/tests/test_power_monitoring.py

@@ -178,23 +178,23 @@ class TestPowerMonitoring(unittest.TestCase):
         if i % 10 == 0:
           self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
-      
+
   def test_delay_shutdown_time(self):
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = 0
     ignition = False
-    in_car = True 
+    in_car = True
     offroad_timestamp = ssb
     started_seen = True
     pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
 
     while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
-      self.assertFalse(pm.should_shutdown(ignition, in_car, 
+      self.assertFalse(pm.should_shutdown(ignition, in_car,
-                                          offroad_timestamp, 
+                                          offroad_timestamp,
-                                          started_seen), 
+                                          started_seen),
                        f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
-    self.assertTrue(pm.should_shutdown(ignition, in_car, 
+    self.assertTrue(pm.should_shutdown(ignition, in_car,
-                                       offroad_timestamp, 
+                                       offroad_timestamp,
                                        started_seen),
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
 

selfdrive/updated.py

@@ -444,7 +444,7 @@ def main() -> None:
       if not system_time_valid():
         wait_helper.sleep(60)
         continue
-        
+
       update_failed_count += 1
 
       # check for update

system/sensord/pigeond.py

@@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
 
       # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # pylint: disable=C0301
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
 
       # UBX-CFG-ODO (0x06 0x1E)
       pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
       pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # pylint: disable=C0301
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
 
       # UBX-CFG-NAV5 (0x06 0x24)
       pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")

system/sensord/rawgps/structs.py

@@ -255,7 +255,7 @@ position_report = """
   uint32      q_FltRawAlt;              /* Raw height-above-ellipsoid altitude in meters as computed by WLS */
   uint32      q_FltRawAltSigma;         /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */
   uint32   align_Flt[14];
-  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted 
+  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted
   uint32      q_FltHdop;                /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint32      q_FltVdop;                /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint8       u_EllipseConfidence;      /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */
@@ -276,7 +276,7 @@ position_report = """
   uint8       u_TotalGloSvs;            /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */
   uint8       u_NumBdsSvsUsed;          /* The number of BeiDou SVs used in the fix */
   uint8       u_TotalBdsSvs;            /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */
-"""
+""" # noqa: E501
 
 def name_to_camelcase(nam):
   ret = []

tools/plotjuggler/juggle.py

@@ -168,7 +168,7 @@ if __name__ == "__main__":
   if not os.path.exists(PLOTJUGGLER_BIN):
     print("PlotJuggler is missing. Downloading...")
     install()
-  
+
   if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
     print("PlotJuggler is out of date. Installing update...")
     install()

tools/replay/can_replay.py

@@ -14,7 +14,6 @@ from tools.plotjuggler.juggle import load_segment
 from tools.lib.logreader import logreader_from_route_or_segment
 from panda import Panda, PandaJungle
 
-
 def send_thread(s, flock):
   if "Jungle" in str(type(s)):
     if "FLASH" in os.environ: