Enable more flake8 checks (#1602)

* enable some more flake8 checks

* some more quick ones

* bump opendbc

* e401

* e711 e712

* e115 e116

* e222

* e301

* remove that

* e129

* e701 e702

* e125 e131

* e227

* e306

* e262

* W503

* e713

* e704

* e731

* bump opendbc

* fix some e722
old-commit-hash: d9bf9f0a40

.pre-commit-config.yaml

@@ -17,7 +17,8 @@ repos:
     -   id: flake8
         exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
         args:
-        - --select=F
+        - --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E221,E225,E226,E231,E241,E251,E261,E265,E266,E302,E303,E305,E402,E501,E502,E722,E741,W504
+        - --statistics
 -   repo: local
     hooks:
     -   id: pylint

common/android.py

@@ -25,7 +25,7 @@ def get_imei(slot):
   ret = parse_service_call_string(service_call(["iphonesubinfo", "3" ,"i32", str(slot)]))
   if not ret:
     # allow non android to be identified differently
-    ret = "%015d" % random.randint(0, 1<<32)
+    ret = "%015d" % random.randint(0, 1 << 32)
   return ret
 
 def get_serial():
@@ -132,6 +132,7 @@ def get_network_type():
 
 def get_network_strength(network_type):
   network_strength = NetworkStrength.unknown
+
   # from SignalStrength.java
   def get_lte_level(rsrp, rssnr):
     INT_MAX = 2147483647

common/api/__init__.py

@@ -39,4 +39,3 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   headers['User-Agent'] = "openpilot-" + version
 
   return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
-

common/basedir.py

@@ -8,4 +8,3 @@ if ANDROID:
 else:
   PERSIST = os.path.join(BASEDIR, "persist")
   PARAMS = os.path.join(BASEDIR, "persist", "params")
-

common/file_helpers.py

@@ -44,7 +44,8 @@ class AutoMoveTempdir():
   def close(self):
     os.rename(self._path, self._target_path)
 
-  def __enter__(self): return self
+  def __enter__(self):
+    return self
 
   def __exit__(self, type, value, traceback):
     if type is None:
@@ -63,7 +64,8 @@ class NamedTemporaryDir():
   def close(self):
     shutil.rmtree(self._path)
 
-  def __enter__(self): return self
+  def __enter__(self):
+    return self
 
   def __exit__(self, type, value, traceback):
     self.close()

common/logging_extra.py

@@ -68,8 +68,11 @@ class SwagErrorFilter(logging.Filter):
   def filter(self, record):
     return record.levelno < logging.ERROR
 
-_tmpfunc = lambda: 0
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+def _tmpfunc():
+  return 0
+
+def _srcfile():
+  return os.path.normcase(_tmpfunc.__code__.co_filename)
 
 class SwagLogger(logging.Logger):
   def __init__(self):

common/numpy_fast.py

@@ -6,6 +6,7 @@ def clip(x, lo, hi):
 
 def interp(x, xp, fp):
   N = len(xp)
+
   def get_interp(xv):
     hi = 0
     while hi < N and xv > xp[hi]:
@@ -14,8 +15,8 @@ def interp(x, xp, fp):
     return fp[-1] if hi == N and xv > xp[low] else (
       fp[0] if hi == 0 else
       (xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
-  return [get_interp(v) for v in x] if hasattr(
-    x, '__iter__') else get_interp(x)
+
+  return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
 
 def mean(x):
   return sum(x) / len(x)

common/params.py

@@ -195,7 +195,8 @@ class DBReader(DBAccessor):
     finally:
       lock.release()
 
-  def __exit__(self, type, value, traceback): pass
+  def __exit__(self, type, value, traceback):
+    pass
 
 
 class DBWriter(DBAccessor):

common/profiler.py

@@ -43,4 +43,3 @@ class Profiler():
       else:
         print("%30s: %9.2f   percent: %3.0f" % (n, ms*1000.0, ms/self.tot*100))
     print("Iter clock: %2.6f   TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
-

common/stat_live.py

@@ -32,7 +32,7 @@ class RunningStat():
       self.S_last = 0.
     else:
       self.M = self.M_last + (new_data - self.M_last) / self.n
-      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M);
+      self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
       self.M_last = self.M
       self.S_last = self.S
 

common/string_helpers.py

@@ -3,4 +3,4 @@ def replace_right(s, old, new, occurrence):
   # replace_right('1232425', '2', ' ', 2) -> '123 4 5'
 
   split = s.rsplit(old, occurrence)
-  return new.join(split)
+  return new.join(split)

common/testing.py

@@ -6,4 +6,3 @@ def phone_only(x):
     return x
   else:
     return nottest(x)
-

common/timeout.py

@@ -25,4 +25,3 @@ class Timeout:
 
   def __exit__(self, exc_type, exc_val, exc_tb):
     signal.alarm(0)
-

common/transformations/camera.py

@@ -145,4 +145,3 @@ def pretransform_from_calib(calib):
   camera_frame_from_road_frame = np.dot(eon_intrinsics, view_frame_from_road_frame)
   camera_frame_from_calib_frame = get_camera_frame_from_calib_frame(camera_frame_from_road_frame)
   return np.linalg.inv(camera_frame_from_calib_frame)
-

common/transformations/coordinates.py

@@ -52,7 +52,7 @@ def ecef2geodetic(ecef, radians=False):
   S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
   P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
   Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 =  -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
         P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
   U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
   V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)

common/url_file.py

@@ -50,12 +50,16 @@ class URLFile(object):
 
     if self._debug:
       print("downloading", self._url)
+
       def header(x):
         if b'MISS' in x:
           print(x.strip())
+
       c.setopt(pycurl.HEADERFUNCTION, header)
+
       def test(debug_type, debug_msg):
        print("  debug(%d): %s" % (debug_type, debug_msg.strip()))
+
       c.setopt(pycurl.VERBOSE, 1)
       c.setopt(pycurl.DEBUGFUNCTION, test)
       t1 = time.time()
@@ -68,7 +72,7 @@ class URLFile(object):
         print("get %s %r %.f slow" % (self._url, trange, t2-t1))
 
     response_code = c.getinfo(pycurl.RESPONSE_CODE)
-    if response_code == 416: #  Requested Range Not Satisfiable
+    if response_code == 416:  # Requested Range Not Satisfiable
       return ""
     if response_code != 206 and response_code != 200:
       raise Exception("Error {} ({}): {}".format(response_code, self._url, repr(dats.getvalue())[:500]))

opendbc

@@ -1 +1 @@
-Subproject commit 0430bfa5c2b08f9cc6ab32470fe8ac9465e7a876
+Subproject commit b15edbc1b5a68fd725ea45ba9442a6c9be875971

scripts/code_stats.py

@@ -20,6 +20,7 @@ class Analyzer(ast.NodeVisitor):
     for alias in node.names:
       imps.add(alias.name)
     self.generic_visit(node)
+
   def visit_ImportFrom(self, node):
     imps.add(node.module)
     self.generic_visit(node)
@@ -38,4 +39,3 @@ for f in sorted(pyf):
 
 print("%d lines of parsed openpilot python" % tlns)
 #print(sorted(list(imps)))
-

selfdrive/boardd/tests/boardd_old.py

@@ -21,7 +21,7 @@ SafetyModel = car.CarParams.SafetyModel
 # USB is optional
 try:
   import usb1
-  from usb1 import USBErrorIO, USBErrorOverflow  #pylint: disable=no-name-in-module
+  from usb1 import USBErrorIO, USBErrorOverflow  # pylint: disable=no-name-in-module
 except Exception:
   pass
 
@@ -57,7 +57,7 @@ def __parse_can_buffer(dat):
   for j in range(0, len(dat), 0x10):
     ddat = dat[j:j+0x10]
     f1, f2 = struct.unpack("II", ddat[0:8])
-    ret.append((f1 >> 21, f2>>16, ddat[8:8+(f2&0xF)], (f2>>4)&0xFF))
+    ret.append((f1 >> 21, f2 >> 16, ddat[8:8 + (f2 & 0xF)], (f2 >> 4) & 0xFF))
   return ret
 
 def can_send_many(arr):

selfdrive/camerad/test/frame_test.py

@@ -6,7 +6,7 @@ from PIL import ImageFont, ImageDraw, Image
 font = ImageFont.truetype("arial", size=72)
 def get_frame(idx):
   img = np.zeros((874, 1164, 3), np.uint8)
-  img[100:400, 100:100+(idx%10)*100] = 255
+  img[100:400, 100:100+(idx % 10)* 100] = 255
 
   # big number
   im2 = Image.new("RGB", (200,200))
@@ -28,7 +28,7 @@ if __name__ == "__main__":
     dat.valid = True
     dat.frame = {
       "frameId": idx,
-      "image": frm[idx%len(frm)],
+      "image": frm[idx % len(frm)],
     }
     pm.send('frame', dat)
 

selfdrive/car/__init__.py

@@ -128,4 +128,3 @@ def is_ecu_disconnected(fingerprint, fingerprint_list, ecu_fingerprint, car, ecu
 
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
-

selfdrive/car/ford/carcontroller.py

@@ -78,7 +78,7 @@ class CarController():
       static_msgs = range(1653, 1658)
       for addr in static_msgs:
         cnt = (frame % 10) + 1
-        can_sends.append(make_can_msg(addr, (cnt<<4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
+        can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
 
       self.enabled_last = enabled
       self.main_on_last = CS.out.cruiseState.available

selfdrive/car/ford/fordcan.py

@@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c
   """Creates a CAN message for the Ford Steer Command."""
 
   #if enabled and lkas available:
-  if enabled and lkas_state in [2,3]: #and (frame % 500) >= 3:
+  if enabled and lkas_state in [2,3]:  # and (frame % 500) >= 3:
     action = lkas_action
   else:
     action = 0xf

selfdrive/car/gm/carcontroller.py

@@ -161,8 +161,7 @@ class CarController():
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
-    if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
-        or lka_icon_status != self.lka_icon_status_last:
+    if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
       steer_alert = hud_alert == VisualAlert.steerRequired
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status

selfdrive/car/gm/carstate.py

@@ -44,9 +44,9 @@ class CarState(CarStateBase):
 
     # 1 - open, 0 - closed
     ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]['FrontLeftDoor'] == 1 or
-      pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 1 or
-      pt_cp.vl["BCMDoorBeltStatus"]['RearLeftDoor'] == 1 or
-      pt_cp.vl["BCMDoorBeltStatus"]['RearRightDoor'] == 1)
+                    pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]['RearLeftDoor'] == 1 or
+                    pt_cp.vl["BCMDoorBeltStatus"]['RearRightDoor'] == 1)
 
     # 1 - latched
     ret.seatbeltUnlatched = pt_cp.vl["BCMDoorBeltStatus"]['LeftSeatBelt'] == 0

selfdrive/car/gm/gmcan.py

@@ -121,4 +121,3 @@ def create_lka_icon_command(bus, active, critical, steer):
   else:
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
-

selfdrive/car/gm/interface.py

@@ -71,15 +71,15 @@ class CarInterface(CarInterfaceBase):
       ret.minEnableSpeed = -1. # engage speed is decided by pcm
       ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.86
-      ret.steerRatio = 14.4  #end to end is 13.46
+      ret.steerRatio = 14.4  # end to end is 13.46
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4
 
     elif candidate == CAR.BUICK_REGAL:
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
       ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
-      ret.wheelbase = 2.83 #111.4 inches in meters
-      ret.steerRatio = 14.4 # guess for tourx
+      ret.wheelbase = 2.83  # 111.4 inches in meters
+      ret.steerRatio = 14.4  # guess for tourx
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
 

selfdrive/car/gm/radar_interface.py

@@ -103,7 +103,7 @@ class RadarInterface(RadarInterfaceBase):
         self.pts[targetId].yvRel = float('nan')
 
     for oldTarget in list(self.pts.keys()):
-      if not oldTarget in currentTargets:
+      if oldTarget not in currentTargets:
         del self.pts[oldTarget]
 
     ret.points = list(self.pts.values())

selfdrive/car/honda/carstate.py

@@ -20,7 +20,7 @@ def calc_cruise_offset(offset, speed):
 
 
 def get_can_signals(CP):
-# this function generates lists for signal, messages and initial values
+  # this function generates lists for signal, messages and initial values
   signals = [
       ("XMISSION_SPEED", "ENGINE_DATA", 0),
       ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
@@ -345,5 +345,5 @@ class CarState(CarStateBase):
     if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
       checks = [(0x194, 100)]
 
-    bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH  and not CP.isPandaBlack else 2
+    bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)

selfdrive/car/hyundai/carcontroller.py

@@ -13,7 +13,7 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
 
   # initialize to no line visible
   sys_state = 1
-  if left_lane and right_lane or sys_warning:  #HUD alert only display when LKAS status is active
+  if left_lane and right_lane or sys_warning:  # HUD alert only display when LKAS status is active
     if enabled or sys_warning:
       sys_state = 3
     else:

selfdrive/car/hyundai/carstate.py

@@ -113,7 +113,7 @@ class CarState(CarStateBase):
     self.lkas11 = cp_cam.vl["LKAS11"]
     self.clu11 = cp.vl["CLU11"]
     self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
-    self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
+    self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] # 0 NOT ACTIVE, 1 ACTIVE
     self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
 
     return ret
@@ -163,7 +163,7 @@ class CarState(CarStateBase):
 
       ("ESC_Off_Step", "TCS15", 0),
 
-      ("CF_Lvr_GearInf", "LVR11", 0),        #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
+      ("CF_Lvr_GearInf", "LVR11", 0),        # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
 
       ("CR_Mdps_StrColTq", "MDPS12", 0),
       ("CF_Mdps_ToiActive", "MDPS12", 0),

selfdrive/car/hyundai/interface.py

@@ -113,7 +113,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73   #Spec
+      ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
@@ -121,7 +121,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1685. + STD_CARGO_KG
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.73   #Spec
+      ret.steerRatio = 13.73  # Spec
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]

selfdrive/car/mazda/__init__.py

@@ -1 +0,0 @@
-

selfdrive/car/mazda/carcontroller.py

@@ -38,7 +38,7 @@ class CarController():
 
 
     self.apply_steer_last = apply_steer
-  
+
     can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
                                                       frame, apply_steer, CS.cam_lkas))
     return can_sends

selfdrive/car/mazda/carstate.py

@@ -38,7 +38,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = cp.vl["BLINK_INFO"]['LEFT_BLINK'] == 1
     ret.rightBlinker = cp.vl["BLINK_INFO"]['RIGHT_BLINK'] == 1
 
-    ret.steeringAngle =  cp.vl["STEER"]['STEER_ANGLE']
+    ret.steeringAngle = cp.vl["STEER"]['STEER_ANGLE']
     ret.steeringTorque = cp.vl["STEER_TORQUE"]['STEER_TORQUE_SENSOR']
     ret.steeringPressed = abs(ret.steeringTorque) > LKAS_LIMITS.STEER_THRESHOLD
 
@@ -70,7 +70,7 @@ class CarState(CarStateBase):
       self.cruise_speed = ret.vEgoRaw
 
     ret.cruiseState.available = True
-    ret.cruiseState.enabled =  cp.vl["CRZ_CTRL"]['CRZ_ACTIVE'] == 1
+    ret.cruiseState.enabled = cp.vl["CRZ_CTRL"]['CRZ_ACTIVE'] == 1
     ret.cruiseState.speed = self.cruise_speed
 
     if ret.cruiseState.enabled:
@@ -182,4 +182,3 @@ class CarState(CarStateBase):
       ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
-

selfdrive/car/mazda/interface.py

@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
     tire_stiffness_factor = 0.70   # not optimized yet
 
     if candidate in [CAR.CX5]:
-      ret.mass =  3655 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.5
 

selfdrive/car/mazda/mazdacan.py

@@ -17,10 +17,10 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
   b2 = int(lkas["ANGLE_ENABLED"])
 
   tmp = steering_angle + 2048
-  ahi =  tmp >> 10
-  amd =  (tmp  & 0x3FF) >> 2
-  amd =  (amd >> 4) | (( amd & 0xF) << 4)
-  alo =  (tmp & 0x3) << 2
+  ahi = tmp >> 10
+  amd = (tmp  & 0x3FF) >> 2
+  amd = (amd >> 4) | (( amd & 0xF) << 4)
+  alo = (tmp & 0x3) << 2
 
   ctr = frame % 16
   # bytes:     [    1  ] [ 2 ] [             3               ]  [           4         ]

selfdrive/car/mazda/radar_interface.py

@@ -3,4 +3,3 @@ from selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
-

selfdrive/car/mazda/values.py

@@ -19,8 +19,8 @@ class CAR:
 
 class LKAS_LIMITS:
   STEER_THRESHOLD = 15
-  DISABLE_SPEED   = 45  #kph
-  ENABLE_SPEED    = 52  #kph
+  DISABLE_SPEED = 45    # kph
+  ENABLE_SPEED = 52     # kph
 
 class Buttons:
   NONE = 0

selfdrive/car/subaru/__init__.py

@@ -1 +0,0 @@
-

selfdrive/car/toyota/carcontroller.py

@@ -42,8 +42,10 @@ class CarController():
     self.steer_rate_limited = False
 
     self.fake_ecus = set()
-    if CP.enableCamera: self.fake_ecus.add(Ecu.fwdCamera)
-    if CP.enableDsu: self.fake_ecus.add(Ecu.dsu)
+    if CP.enableCamera:
+      self.fake_ecus.add(Ecu.fwdCamera)
+    if CP.enableDsu:
+      self.fake_ecus.add(Ecu.dsu)
 
     self.packer = CANPacker(dbc_name)
 

selfdrive/car/toyota/interface.py

@@ -127,7 +127,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
-      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid
+      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]]
       ret.lateralTuning.pid.kf = 0.00006
 
@@ -147,7 +147,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
-      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG #mean between normal and hybrid limited
+      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]]  # community tuning
       ret.lateralTuning.pid.kf = 0.00012  # community tuning
 
@@ -155,7 +155,7 @@ class CarInterface(CarInterfaceBase):
       stop_and_go = False
       ret.safetyParam = 73
       ret.wheelbase = 2.82
-      ret.steerRatio = 14.8 #Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
+      ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
       tire_stiffness_factor = 0.7983
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]]

selfdrive/car/toyota/radar_interface.py

@@ -62,7 +62,7 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-    rr =  self._update(self.updated_messages)
+    rr = self._update(self.updated_messages)
     self.updated_messages.clear()
 
     return rr

selfdrive/car/toyota/values.py

@@ -803,7 +803,7 @@ FW_VERSIONS = {
       b'\x01896630852100\x00\x00\x00\x00',
       b'\x01896630859000\x00\x00\x00\x00',
     ],
-    (Ecu.eps, 0x7a1, None):	[
+    (Ecu.eps, 0x7a1, None): [
       b'8965B45070\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
@@ -844,24 +844,24 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_RX: {
     (Ecu.engine, 0x700, None): [
-	    b'\x01896630E41200\x00\x00\x00\x00',
-  	],
+      b'\x01896630E41200\x00\x00\x00\x00',
+    ],
     (Ecu.esp, 0x7b0, None): [
-	    b'F152648473\x00\x00\x00\x00\x00\x00',
-	  ],
+      b'F152648473\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.dsu, 0x791, None): [
-	    b'881514810500\x00\x00\x00\x00',
-  	],
+      b'881514810500\x00\x00\x00\x00',
+    ],
     (Ecu.eps, 0x7a1, None): [
-	    b'8965B0E012\x00\x00\x00\x00\x00\x00',
-  	],
+      b'8965B0E012\x00\x00\x00\x00\x00\x00',
+    ],
     (Ecu.fwdRadar, 0x750, 0xf): [
-	    b'8821F4701100\x00\x00\x00\x00',
-	  ],
+      b'8821F4701100\x00\x00\x00\x00',
+    ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-	    b'8646F4802001\x00\x00\x00\x00',
-	    b'8646F4802100\x00\x00\x00\x00',
-	  ],
+      b'8646F4802001\x00\x00\x00\x00',
+      b'8646F4802100\x00\x00\x00\x00',
+    ],
   },
   CAR.LEXUS_RXH: {
     (Ecu.engine, 0x7e0, None): [

selfdrive/car/volkswagen/__init__.py

@@ -1 +0,0 @@
-

selfdrive/car/volkswagen/carcontroller.py

@@ -67,7 +67,7 @@ class CarController():
           self.hcaEnabledFrameCount = 0
         else:
           self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >=  118 * (100 / P.HCA_STEP):  # 118s
+          if self.hcaEnabledFrameCount >= 118 * (100 / P.HCA_STEP):  # 118s
             # The Kansas I-70 Crosswind Problem: if we truly do need to steer
             # in one direction for > 360 seconds, we have to disable HCA for a
             # frame while actively steering. Testing shows we can just set the

selfdrive/config.py

@@ -27,4 +27,3 @@ class UIParams:
   car_front = 2.6924 * lidar_zoom
   car_back  = 1.8796 * lidar_zoom
   car_color = 110
-

selfdrive/controls/controlsd.py

@@ -223,7 +223,7 @@ class Controls:
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
-        and not self.CP.radarOffCan and CS.vEgo < 0.3:
+       and not self.CP.radarOffCan and CS.vEgo < 0.3:
       self.events.add(EventName.noTarget)
 
 
@@ -372,7 +372,7 @@ class Controls:
 
     # Send a "steering required alert" if saturation count has reached the limit
     if (lac_log.saturated and not CS.steeringPressed) or \
-        (self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
+       (self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
       # Check if we deviated from the path
       left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
       right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1

selfdrive/controls/lib/driverview.py

@@ -71,4 +71,4 @@ def main():
       is_rhd_checked = True
 
 if __name__ == '__main__':
-  main()
+  main()

selfdrive/controls/lib/latcontrol_indi.py

@@ -116,7 +116,7 @@ class LatControlINDI():
       indi_log.delta = float(delta_u)
       indi_log.output = float(self.output_steer)
 
-      check_saturation = (CS.vEgo> 10.) and not CS.steeringRateLimited and not CS.steeringPressed 
+      check_saturation = (CS.vEgo> 10.) and not CS.steeringRateLimited and not CS.steeringPressed
       indi_log.saturated = self._check_saturation(self.output_steer, check_saturation, steers_max)
 
     return float(self.output_steer), float(self.angle_steers_des), indi_log

selfdrive/controls/lib/latcontrol_lqr.py

@@ -79,8 +79,8 @@ class LatControlLQR():
         i = self.i_lqr + self.ki * self.i_rate * error
         control = lqr_output + i
 
-        if ((error >= 0 and (control <= steers_max or i < 0.0)) or \
-            (error <= 0 and (control >= -steers_max or i > 0.0))):
+        if (error >= 0 and (control <= steers_max or i < 0.0)) or \
+           (error <= 0 and (control >= -steers_max or i > 0.0)):
           self.i_lqr = i
 
       self.output_steer = lqr_output + self.i_lqr

selfdrive/controls/lib/vehicle_model.py

@@ -194,4 +194,3 @@ class VehicleModel():
       Yaw rate [rad/s]
     """
     return self.calc_curvature(sa, u) * u
-

selfdrive/controls/tests/test_events.py

@@ -52,7 +52,8 @@ class TestAlerts(unittest.TestCase):
         continue
 
       for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):
-        if i >= len(fonts[alert.alert_size]): break
+        if i >= len(fonts[alert.alert_size]):
+          break
 
         font = fonts[alert.alert_size][i]
         w, h = draw.textsize(txt, font)

selfdrive/controls/tests/test_monitoring.py

@@ -65,7 +65,7 @@ def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status,
   for idx in range(len(driver_state_msgs)):
     e = Events()
     DS.get_pose(driver_state_msgs[idx], [0,0,0], 0, openpilot_status[idx])
-                # cal_rpy and car_speed don't matter here
+    # cal_rpy and car_speed don't matter here
 
     # evaluate events at 10Hz for tests
     DS.update(e, driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])

selfdrive/crash.py

@@ -11,10 +11,13 @@ from common.android import ANDROID
 if os.getenv("NOLOG") or os.getenv("NOCRASH") or not ANDROID:
   def capture_exception(*args, **kwargs):
     pass
+
   def bind_user(**kwargs):
     pass
+
   def bind_extra(**kwargs):
     pass
+
   def install():
     pass
 else:
@@ -38,6 +41,7 @@ else:
   def install():
     # installs a sys.excepthook
     __excepthook__ = sys.excepthook
+
     def handle_exception(*exc_info):
       if exc_info[0] not in (KeyboardInterrupt, SystemExit):
         capture_exception()

selfdrive/launcher.py

@@ -1,5 +1,5 @@
 import importlib
-from setproctitle import setproctitle  #pylint: disable=no-name-in-module
+from setproctitle import setproctitle  # pylint: disable=no-name-in-module
 
 import cereal.messaging as messaging
 import selfdrive.crash as crash

selfdrive/locationd/calibration_helpers.py

@@ -8,4 +8,3 @@ class Calibration:
   UNCALIBRATED = 0
   CALIBRATED = 1
   INVALID = 2
-

selfdrive/locationd/test/ephemeris.py

@@ -133,5 +133,3 @@ on of this parser
       self.ionoAlpha = []
       self.ionoBeta = []
       self.ionoCoeffsValid = False
-
-

selfdrive/locationd/test/ublox.py

@@ -12,7 +12,8 @@ for ublox version 8, not all functions may work.
 
 
 import struct
-import time, os
+import os
+import time
 
 # protocol constants
 PREAMBLE1 = 0xb5
@@ -291,7 +292,7 @@ class UBloxDescriptor:
     fields = self.fields[:]
     for f in fields:
       (fieldname, alen) = ArrayParse(f)
-      if not fieldname in msg._fields:
+      if fieldname not in msg._fields:
         break
       if alen == -1:
         f1.append(msg._fields[fieldname])
@@ -327,7 +328,7 @@ class UBloxDescriptor:
     ret = self.name + ': '
     for f in self.fields:
       (fieldname, alen) = ArrayParse(f)
-      if not fieldname in msg._fields:
+      if fieldname not in msg._fields:
         continue
       v = msg._fields[fieldname]
       if isinstance(v, list):
@@ -591,7 +592,7 @@ class UBloxMessage:
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
     type = self.msg_type()
-    if not type in msg_types:
+    if type not in msg_types:
       raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
     msg_types[type].unpack(self)
     return self._fields, self._recs
@@ -601,7 +602,7 @@ class UBloxMessage:
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
     type = self.msg_type()
-    if not type in msg_types:
+    if type not in msg_types:
       raise UBloxError('Unknown message %s' % str(type))
     msg_types[type].pack(self)
 
@@ -610,7 +611,7 @@ class UBloxMessage:
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
     type = self.msg_type()
-    if not type in msg_types:
+    if type not in msg_types:
       raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
     return msg_types[type].name
 

selfdrive/locationd/test/ubloxd.py

@@ -83,7 +83,7 @@ def configure_ublox(dev):
 
 def int_to_bool_list(num):
   # for parsing bool bytes
-  return [bool(num & (1<<n)) for n in range(8)]
+  return [bool(num & (1 << n)) for n in range(8)]
 
 
 def gen_ephemeris(ephem_data):
@@ -134,9 +134,9 @@ def gen_solution(msg):
                                       msg_data['day'],
                                       msg_data['hour'],
                                       msg_data['min'],
-                                      msg_data['sec'])
-                 - datetime.datetime(1970,1,1)).total_seconds())*1e+03
-                 + msg_data['nano']*1e-06)
+                                      msg_data['sec']) -
+                 datetime.datetime(1970,1,1)).total_seconds())*1e+03 +
+                 msg_data['nano']*1e-06)
   gps_fix = {'bearing': msg_data['headMot']*1e-05,  # heading of motion in degrees
              'altitude': msg_data['height']*1e-03,  # altitude above ellipsoid
              'latitude': msg_data['lat']*1e-07,  # latitude in degrees
@@ -164,8 +164,8 @@ def gen_nav_data(msg, nav_frame_buffer):
   # parse GPS ephem
   gnssId = msg_meta_data['gnssId']
   if gnssId  == 0:
-    svId =  msg_meta_data['svid']
-    subframeId =  GET_FIELD_U(measurements[1]['dwrd'], 3, 8)
+    svId = msg_meta_data['svid']
+    subframeId = GET_FIELD_U(measurements[1]['dwrd'], 3, 8)
     words = []
     for m in measurements:
       words.append(m['dwrd'])
@@ -244,7 +244,7 @@ def init_reader():
       return dev
     except serial.serialutil.SerialException as e:
       print(e)
-      port_counter = (port_counter + 1)%len(ports)
+      port_counter = (port_counter + 1) % len(ports)
       time.sleep(2)
 
 def handle_msg(dev, msg, nav_frame_buffer):

selfdrive/loggerd/tools/mark_unuploaded.py

@@ -6,4 +6,3 @@ from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME
 for fn in sys.argv[1:]:
   print("unmarking %s" % fn)
   removexattr(fn, UPLOAD_ATTR_NAME)
-

selfdrive/loggerd/uploader.py

@@ -166,7 +166,7 @@ class Uploader():
       if url_resp.status_code == 412:
         self.last_resp = url_resp
         return
-        
+
       url_resp_json = json.loads(url_resp.text)
       url = url_resp_json['url']
       headers = url_resp_json['headers']
@@ -174,9 +174,11 @@ class Uploader():
 
       if fake_upload:
         cloudlog.info("*** WARNING, THIS IS A FAKE UPLOAD TO %s ***" % url)
+
         class FakeResponse():
           def __init__(self):
             self.status_code = 200
+
         self.last_resp = FakeResponse()
       else:
         with open(fn, "rb") as f:

selfdrive/test/longitudinal_maneuvers/maneuverplots.py

@@ -10,7 +10,7 @@ class ManeuverPlot():
   def __init__(self, title = None):
     self.time_array = []
 
-    self.gas_array =  []
+    self.gas_array = []
     self.brake_array = []
     self.steer_torque_array = []
 
@@ -37,9 +37,9 @@ class ManeuverPlot():
     self.fcw_array = []
 
     self.title = title
-    
-  def add_data(self, time, gas, brake, steer_torque, distance, speed, 
-    acceleration, up_accel_cmd, ui_accel_cmd, uf_accel_cmd, d_rel, v_rel, 
+
+  def add_data(self, time, gas, brake, steer_torque, distance, speed,
+    acceleration, up_accel_cmd, ui_accel_cmd, uf_accel_cmd, d_rel, v_rel,
     v_lead, v_target_lead, pid_speed, cruise_speed, jerk_factor, a_target, fcw):
     self.time_array.append(time)
     self.gas_array.append(gas)
@@ -70,7 +70,7 @@ class ManeuverPlot():
     if not os.path.exists(path + "/" + maneuver_name):
       os.makedirs(path + "/" + maneuver_name)
     plt_num = 0
-    
+
     # speed chart ===================
     plt_num += 1
     plt.figure(plt_num)
@@ -140,4 +140,3 @@ class ManeuverPlot():
     pylab.savefig("/".join([path, maneuver_name, 'distance.svg']), dpi=1000)
 
     plt.close("all")
-

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -29,7 +29,7 @@ CP = CarInterface.get_params(CAR.CIVIC, {0: {0x201: 6}, 1: {}, 2: {}, 3: {}})
 def can_cksum(mm):
   s = 0
   for c in mm:
-    s += (c>>4)
+    s += (c >> 4)
     s += c & 0xF
   s = 8-s
   s %= 0x10
@@ -45,7 +45,7 @@ def car_plant(pos, speed, grade, gas, brake):
   mass = 1700
   aero_cd = 0.3
   force_peak = mass*3.
-  force_brake_peak = -mass*10.     #1g
+  force_brake_peak = -mass*10.  # 1g
   power_peak = 100000   # 100kW
   speed_base = power_peak/force_peak
   rolling_res = 0.01
@@ -277,13 +277,13 @@ class Plant():
     vls = vls_tuple(
            self.speed_sensor(speed),
            self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
-           self.angle_steer, self.angle_steer_rate, 0, 0,#Steer torque sensor
+           self.angle_steer, self.angle_steer_rate, 0, 0,  # Steer torque sensor
            0, 0,  # Blinkers
            self.gear_choice,
            speed != 0,
            self.brake_error, self.brake_error,
            not self.seatbelt, self.seatbelt,  # Seatbelt
-           self.brake_pressed, 0., #Brake pressed, Brake switch
+           self.brake_pressed, 0.,  # Brake pressed, Brake switch
            cruise_buttons,
            self.esp_disabled,
            0,  # HUD lead
@@ -339,9 +339,9 @@ class Plant():
     # TODO: use the DBC
     if self.frame % 5 == 0:
       radar_state_msg = b'\x79\x00\x00\x00\x00\x00\x00\x00'
-      radar_msg = to_3_byte(d_rel*16.0) + \
-                  to_3_byte(int(lateral_pos_rel*16.0)&0x3ff) + \
-                  to_3s_byte(int(v_rel*32.0)) + \
+      radar_msg = to_3_byte(d_rel * 16.0) + \
+                  to_3_byte(int(lateral_pos_rel * 16.0) & 0x3ff) + \
+                  to_3s_byte(int(v_rel * 32.0)) + \
                   b"0f00000"
 
       radar_msg = binascii.unhexlify(radar_msg)

selfdrive/test/process_replay/compare_logs.py

@@ -6,7 +6,8 @@ import numbers
 
 import dictdiffer
 if "CI" in os.environ:
-  tqdm = lambda x: x
+  def tqdm(x):
+    return x
 else:
   from tqdm import tqdm  # type: ignore
 
@@ -32,7 +33,7 @@ def remove_ignored_fields(msg, ignore):
     for k in keys[:-1]:
       try:
         attr = getattr(msg, k)
-      except:
+      except AttributeError:
         break
     else:
       v = getattr(attr, keys[-1])
@@ -46,8 +47,7 @@ def remove_ignored_fields(msg, ignore):
   return msg.as_reader()
 
 def compare_logs(log1, log2, ignore_fields=[], ignore_msgs=[]):
-  filter_msgs = lambda m: m.which() not in ignore_msgs
-  log1, log2 = [list(filter(filter_msgs, log)) for log in (log1, log2)]
+  log1, log2 = [list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)]
   assert len(log1) == len(log2), "logs are not same length: " + str(len(log1)) + " VS " + str(len(log2))
 
   diff = []

selfdrive/test/process_replay/process_replay.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
+import capnp
 import os
 import sys
 import threading
 import importlib
 
 if "CI" in os.environ:
-  tqdm = lambda x: x
+  def tqdm(x):
+    return x
 else:
   from tqdm import tqdm   # type: ignore
 
@@ -110,7 +112,7 @@ class FakePubMaster(messaging.PubMaster):
     for s in services:
       try:
         data = messaging.new_message(s)
-      except:
+      except capnp.lib.capnp.KjException:
         data = messaging.new_message(s, 0)
       self.data[s] = data.as_reader()
       self.sock[s] = DumbSocket()

selfdrive/test/process_replay/test_processes.py

@@ -124,7 +124,7 @@ if __name__ == "__main__":
   process_replay_dir = os.path.dirname(os.path.abspath(__file__))
   try:
     ref_commit = open(os.path.join(process_replay_dir, "ref_commit")).read().strip()
-  except:
+  except FileNotFoundError:
     print("couldn't find reference commit")
     sys.exit(1)
 
@@ -139,7 +139,7 @@ if __name__ == "__main__":
   results: Any = {}
   for car_brand, segment in segments:
     if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
-        (not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
+       (not cars_whitelisted and car_brand.upper() in args.blacklist_cars):
       continue
 
     print("***** testing route segment %s *****\n" % segment)
@@ -151,7 +151,7 @@ if __name__ == "__main__":
 
     for cfg in CONFIGS:
       if (procs_whitelisted and cfg.proc_name not in args.whitelist_procs) or \
-          (not procs_whitelisted and cfg.proc_name in args.blacklist_procs):
+         (not procs_whitelisted and cfg.proc_name in args.blacklist_procs):
         continue
 
       cmp_log_fn = os.path.join(process_replay_dir, "%s_%s_%s.bz2" % (segment, cfg.proc_name, ref_commit))

selfdrive/test/test_car_models.py

@@ -261,7 +261,7 @@ routes = {
     'enableCamera': True,
     'enableDsu': False,
   },
-    "7e34a988419b5307|2019-12-18--19-13-30": {
+  "7e34a988419b5307|2019-12-18--19-13-30": {
     'carFingerprint': TOYOTA.RAV4H_TSS2,
     'enableCamera': True,
     'fingerprintSource': 'fixed'
@@ -286,12 +286,12 @@ routes = {
     'enableCamera': True,
     'enableDsu': False,
   },
-    "886fcd8408d570e9|2020-01-29--05-11-22": {
+  "886fcd8408d570e9|2020-01-29--05-11-22": {
       'carFingerprint': TOYOTA.LEXUS_RX,
       'enableCamera': True,
       'enableDsu': True,
     },
-    "886fcd8408d570e9|2020-01-29--02-18-55": {
+  "886fcd8408d570e9|2020-01-29--02-18-55": {
       'carFingerprint': TOYOTA.LEXUS_RX,
       'enableCamera': True,
       'enableDsu': False,
@@ -301,12 +301,12 @@ routes = {
     'enableCamera': True,
     'enableDsu': True,
   },
-    "01b22eb2ed121565|2020-02-02--11-25-51": {
+  "01b22eb2ed121565|2020-02-02--11-25-51": {
     'carFingerprint': TOYOTA.LEXUS_RX_TSS2,
     'enableCamera': True,
     'fingerprintSource': 'fixed',
   },
-    "b74758c690a49668|2020-05-20--15-58-57": {
+  "b74758c690a49668|2020-05-20--15-58-57": {
     'carFingerprint': TOYOTA.LEXUS_RXH_TSS2,
     'enableCamera': True,
     'fingerprintSource': 'fixed',

selfdrive/test/test_leeco_alt_fan.py

@@ -14,7 +14,7 @@ def setup_leon_fan():
       bus.write_i2c_block_data(0x67, 0xa, [0])
     else:
       bus.write_i2c_block_data(0x67, 0xa, [0x20])
-      bus.write_i2c_block_data(0x67, 0x8, [(i-1)<<6])
+      bus.write_i2c_block_data(0x67, 0x8, [(i - 1) << 6])
     time.sleep(1)
 
   bus.close()

selfdrive/thermald/thermald.py

@@ -100,7 +100,7 @@ def set_eon_fan(val):
         else:
           #bus.write_i2c_block_data(0x67, 0x45, [0])
           bus.write_i2c_block_data(0x67, 0xa, [0x20])
-          bus.write_i2c_block_data(0x67, 0x8, [(val-1)<<6])
+          bus.write_i2c_block_data(0x67, 0x8, [(val - 1) << 6])
     else:
       bus.write_byte_data(0x21, 0x04, 0x2)
       bus.write_byte_data(0x21, 0x03, (val*2)+1)

tools/carcontrols/joystick_test.py

@@ -51,7 +51,7 @@ pygame.joystick.init()
 textPrint = TextPrint()
 
 # -------- Main Program Loop -----------
-while done==False:
+while not done:
     # EVENT PROCESSING STEP
     for event in pygame.event.get(): # User did something
         if event.type == pygame.QUIT: # If user clicked close
@@ -122,4 +122,4 @@ while done==False:
 # Close the window and quit.
 # If you forget this line, the program will 'hang'
 # on exit if running from IDLE.
-pygame.quit ()
+pygame.quit()

tools/lib/route.py

@@ -111,10 +111,12 @@ class RouteSegment(object):
     self.camera_path = camera_path
 
   @property
-  def name(self): return str(self._name)
+  def name(self):
+    return str(self._name)
 
   @property
-  def canonical_name(self): return self._name
+  def canonical_name(self):
+    return self._name
 
 class RouteSegmentName(object):
   def __init__(self, name_str):
@@ -123,6 +125,8 @@ class RouteSegmentName(object):
     self._num = int(num_str)
 
   @property
-  def segment_num(self): return self._num
+  def segment_num(self):
+    return self._num
 
-  def __str__(self): return self._segment_name_str
+  def __str__(self):
+    return self._segment_name_str

tools/lib/route_framereader.py

@@ -82,5 +82,8 @@ class RouteFrameReader(object):
     for fr in frs:
       fr.close()
 
-  def __enter__(self): return self
-  def __exit__(self, type, value, traceback): self.close()
+  def __enter__(self):
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()

tools/replay/lib/ui_helpers.py

@@ -73,7 +73,7 @@ def draw_path(y, x, color, img, calibration, top_down, lid_color=None):
     uv_model > 0, axis=1), uv_model[:, 0] < img.shape[1] - 1, uv_model[:, 1] <
                                                   img.shape[0] - 1))]
 
-  for i, j  in ((-1, 0), (0, -1), (0, 0), (0, 1), (1, 0)):
+  for i, j in ((-1, 0), (0, -1), (0, 0), (0, 1), (1, 0)):
     img[uv_model_dots[:, 1] + i, uv_model_dots[:, 0] + j] = color
 
   # draw lidar path point on lidar
@@ -88,12 +88,12 @@ def draw_path(y, x, color, img, calibration, top_down, lid_color=None):
 def draw_steer_path(speed_ms, curvature, color, img,
                     calibration, top_down, VM, lid_color=None):
   path_x = np.arange(101.)
-  path_y =  np.multiply(path_x, np.tan(np.arcsin(np.clip(path_x * curvature, -0.999, 0.999)) / 2.))
+  path_y = np.multiply(path_x, np.tan(np.arcsin(np.clip(path_x * curvature, -0.999, 0.999)) / 2.))
 
   draw_path(path_y, path_x, color, img, calibration, top_down, lid_color)
 
 def draw_lead_car(closest, top_down):
-  if closest != None:
+  if closest is not None:
     closest_y = int(round(UP.lidar_car_y - closest * UP.lidar_zoom))
     if closest_y > 0:
       top_down[1][int(round(UP.lidar_car_x - METER_WIDTH * 2)):int(
@@ -118,12 +118,10 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
                     "p": (0,1,1),
                     "m": (1,0,1) }
 
-  if bigplots == True:
+  if bigplots:
     fig = plt.figure(figsize=(6.4, 7.0))
-  elif bigplots == False:
-    fig = plt.figure()
   else:
-    fig = plt.figure(figsize=bigplots)
+    fig = plt.figure()
 
   fig.set_facecolor((0.2,0.2,0.2))
 
@@ -135,7 +133,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
     ax.patch.set_facecolor((0.4, 0.4, 0.4))
     axs.append(ax)
 
-  plots = [] ;idxs = [] ;plot_select = []
+  plots, idxs, plot_select = [], [], []
   for i, pl_list in enumerate(plot_names):
     for j, item in enumerate(pl_list):
       plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],

tools/replay/unlogger.py

@@ -341,15 +341,19 @@ def get_arg_parser():
   parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?",
                       help="The route whose messages will be published.")
   parser.add_argument("data_dir", nargs='?', default=os.getenv('UNLOGGER_DATA_DIR'),
-		      help="Path to directory in which log and camera files are located.")
+          help="Path to directory in which log and camera files are located.")
 
   parser.add_argument("--no-loop", action="store_true", help="Stop at the end of the replay.")
 
-  key_value_pair = lambda x: x.split("=")
+  def key_value_pair(x):
+    return x.split("=")
+
   parser.add_argument("address_mapping", nargs="*", type=key_value_pair,
       help="Pairs <service>=<zmq_addr> to publish <service> on <zmq_addr>.")
 
-  comma_list = lambda x: x.split(",")
+  def comma_list(x):
+    return x.split(",")
+
   to_mock_group = parser.add_mutually_exclusive_group()
   to_mock_group.add_argument("--min", action="store_true", default=os.getenv("MIN"))
   to_mock_group.add_argument("--enabled", default=os.getenv("ENABLED"), type=comma_list)

tools/sim/bridge.py

@@ -200,7 +200,7 @@ def go(q):
     speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) * 3.6
     can_function(pm, speed, fake_wheel.angle, rk.frame, cruise_button=cruise_button, is_engaged=is_openpilot_engaged)
 
-    if rk.frame%1 == 0: # 20Hz?
+    if rk.frame % 1 == 0: # 20Hz?
       throttle_op, brake_op, steer_torque_op = sendcan_function(sendcan)
       # print(" === torq, ",steer_torque_op, " ===")
       if is_openpilot_engaged:

tools/sim/lib/can.py

@@ -28,8 +28,8 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
 
   msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
 
-  values = {"COUNTER_PEDAL": idx&0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx&0xF}, -1)[2][:-1])
+  values = {"COUNTER_PEDAL": idx & 0xF}
+  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
   values["CHECKSUM_PEDAL"] = checksum
   msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
 
@@ -56,7 +56,7 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
   msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
 
   # radar
-  if idx%5 == 0:
+  if idx % 5 == 0:
     msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
     for i in range(16):
       msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))

tools/sim/lib/manual_ctrl.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 # set up wheel
-import os, struct, array
+import array
+import os
+import struct
 from fcntl import ioctl
 
 # Iterate over the joystick devices.

tools/webcam/accept_terms.py

@@ -6,4 +6,4 @@ if __name__ == '__main__':
   params = Params()
   params.put("HasAcceptedTerms", str(terms_version, 'utf-8'))
   params.put("CompletedTrainingVersion", str(training_version, 'utf-8'))
-  print("Terms Accepted!")
+  print("Terms Accepted!")