adding --local-partial-types mypy opt (#30491)

old-commit-hash: 5b2bcf6bf2

.pre-commit-config.yaml

@@ -38,7 +38,7 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        args: ['--explicit-package-bases']
+        args: ['--explicit-package-bases', '--local-partial-types']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
     rev: v0.1.5

scripts/code_stats.py

@@ -13,7 +13,7 @@ for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
       if f.endswith(".py"):
         pyf.append(os.path.join(root, f))
 
-imps = set()
+imps: set[str] = set()
 
 class Analyzer(ast.NodeVisitor):
   def visit_Import(self, node):

tools/bodyteleop/web.py

@@ -18,11 +18,14 @@ import cereal.messaging as messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
 
+from typing import Optional
+
 logger = logging.getLogger("pc")
 logging.basicConfig(level=logging.INFO)
 
-pcs = set()
+pcs: set[RTCPeerConnection] = set()
-pm, sm = None, None
+pm: Optional[messaging.PubMaster] = None
+sm: Optional[messaging.SubMaster] = None
 TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
 
 

tools/sim/lib/manual_ctrl.py

@@ -4,7 +4,7 @@ import array
 import os
 import struct
 from fcntl import ioctl
-from typing import NoReturn
+from typing import NoReturn, Dict, List
 
 # Iterate over the joystick devices.
 print('Available devices:')
@@ -13,8 +13,8 @@ for fn in os.listdir('/dev/input'):
     print(f'  /dev/input/{fn}')
 
 # We'll store the states here.
-axis_states = {}
+axis_states: Dict[str, float] = {}
-button_states = {}
+button_states: Dict[str, float] = {}
 
 # These constants were borrowed from linux/input.h
 axis_names = {
@@ -88,8 +88,8 @@ button_names = {
   0x2c3 : 'dpad_down',
 }
 
-axis_map = []
+axis_name_list: List[str] = []
-button_map = []
+button_name_list: List[str] = []
 
 def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
   # Open the joystick device.
@@ -119,7 +119,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
   for _axis in buf[:num_axes]:
     axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})')
-    axis_map.append(axis_name)
+    axis_name_list.append(axis_name)
     axis_states[axis_name] = 0.0
 
   # Get the button map.
@@ -128,11 +128,11 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
 
   for btn in buf[:num_buttons]:
     btn_name = button_names.get(btn, f'unknown(0x{btn:03x})')
-    button_map.append(btn_name)
+    button_name_list.append(btn_name)
     button_states[btn_name] = 0
 
-  print('%d axes found: %s' % (num_axes, ', '.join(axis_map)))
+  print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
-  print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
+  print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
 
   # Enable FF
   import evdev
@@ -147,7 +147,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
     value, mtype, number = struct.unpack('4xhBB', evbuf)
     # print(mtype, number, value)
     if mtype & 0x02:  # wheel & paddles
-      axis = axis_map[number]
+      axis = axis_name_list[number]
 
       if axis == "z":  # gas
         fvalue = value / 32767.0

tools/sim/tests/test_carla_bridge.py

@@ -2,18 +2,20 @@
 import subprocess
 import time
 import unittest
+from subprocess import Popen
 
 from openpilot.selfdrive.manager.helpers import unblock_stdout
 from openpilot.tools.sim.run_bridge import parse_args
 from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge
 from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase
 
+from typing import Optional
 
 class TestCarlaBridge(TestSimBridgeBase):
   """
   Tests need Carla simulator to run
   """
-  carla_process = None
+  carla_process: Optional[Popen] = None
 
   def setUp(self):
     super().setUp()