From 40acdc4524eb5d3365c363ac7441daf407f4adbd Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Wed, 25 Nov 2020 07:45:37 +0100
Subject: [PATCH] Typing experiments (#1633)

* add more types

* car

* no abc

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/interfaces.py             | 18 +++++++++++++-----
 selfdrive/controls/lib/events.py        |  3 ++-
 selfdrive/controls/lib/vehicle_model.py |  5 +++--
 3 files changed, 18 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index f7078ed238..9510fff357 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,13 +1,15 @@
 import os
 import time
+from typing import Dict
+
 from cereal import car
 from common.kalman.simple_kalman import KF1D
 from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.config import Conversions as CV
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 GearShifter = car.CarState.GearShifter
 EventName = car.CarEvent.EventName
@@ -15,6 +17,7 @@ MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS  # 144 + 4 = 92 mph
 
 # generic car and radar interfaces
 
+
 class CarInterfaceBase():
   def __init__(self, CP, CarController, CarState):
     self.CP = CP
@@ -132,6 +135,7 @@ class CarInterfaceBase():
 
     return events
 
+
 class RadarInterfaceBase():
   def __init__(self, CP):
     self.pts = {}
@@ -145,6 +149,7 @@ class RadarInterfaceBase():
       time.sleep(self.radar_ts)  # radard runs on RI updates
     return ret
 
+
 class CarStateBase:
   def __init__(self, CP):
     self.CP = CP
@@ -175,10 +180,13 @@ class CarStateBase:
     return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
 
   @staticmethod
-  def parse_gear_shifter(gear):
-    return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-            'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
-            'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
+  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
+    d: Dict[str, car.CarState.GearShifter] = {
+      'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
+      'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
+      'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
+    }
+    return d.get(gear, GearShifter.unknown)
 
   @staticmethod
   def get_cam_can_parser(CP):
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index d0b10ec84e..3e909d2eab 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -34,7 +34,8 @@ class ET:
   PERMANENT = 'permanent'
 
 # get event name from enum
-EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
+EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}  # type: ignore
+
 
 class Events:
   def __init__(self):
diff --git a/selfdrive/controls/lib/vehicle_model.py b/selfdrive/controls/lib/vehicle_model.py
index dc3d1f4b25..238550dca4 100755
--- a/selfdrive/controls/lib/vehicle_model.py
+++ b/selfdrive/controls/lib/vehicle_model.py
@@ -12,11 +12,12 @@ x_dot = A*x + B*u
 
 A depends on longitudinal speed, u [m/s], and vehicle parameters CP
 """
+from typing import Tuple
+
 import numpy as np
 from numpy.linalg import solve
-from typing import Tuple
-from cereal import car
 
+from cereal import car
 
 class VehicleModel:
   def __init__(self, CP: car.CarParams):