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

@@ -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
+def _tmpfunc():
-_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
+  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/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/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()

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/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/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 \
+    if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
-        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/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/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/mazda/__init__.py

@@ -1 +0,0 @@
-

selfdrive/car/mazda/carstate.py

@@ -182,4 +182,3 @@ class CarState(CarStateBase):
       ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
-

selfdrive/car/mazda/radar_interface.py

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

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.enableCamera:
-    if CP.enableDsu: self.fake_ecus.add(Ecu.dsu)
+      self.fake_ecus.add(Ecu.fwdCamera)
+    if CP.enableDsu:
+      self.fake_ecus.add(Ecu.dsu)
 
     self.packer = CANPacker(dbc_name)
 

selfdrive/car/volkswagen/__init__.py

@@ -1 +0,0 @@
-

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/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 \
+        if (error >= 0 and (control <= steers_max or i < 0.0)) or \
-            (error <= 0 and (control >= -steers_max or i > 0.0))):
+           (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/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/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

@@ -134,9 +134,9 @@ def gen_solution(msg):
                                       msg_data['day'],
                                       msg_data['hour'],
                                       msg_data['min'],
-                                      msg_data['sec'])
+                                      msg_data['sec']) -
-                 - datetime.datetime(1970,1,1)).total_seconds())*1e+03
+                 datetime.datetime(1970,1,1)).total_seconds())*1e+03 +
-                 + msg_data['nano']*1e-06)
+                 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

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

@@ -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

@@ -140,4 +140,3 @@ class ManeuverPlot():
     pylab.savefig("/".join([path, maneuver_name, 'distance.svg']), dpi=1000)
 
     plt.close("all")
-

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(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)]
-  log1, log2 = [list(filter(filter_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)
 

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

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 __enter__(self):
-  def __exit__(self, type, value, traceback): self.close()
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()

tools/replay/lib/ui_helpers.py

@@ -93,7 +93,7 @@ def draw_steer_path(speed_ms, curvature, color, img,
   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

@@ -345,11 +345,15 @@ def get_arg_parser():
 
   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/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.