Merge remote-tracking branch 'upstream/master' into random-test-segs

common/basedir.py

@@ -1,4 +1,4 @@
 import os
 
 
-BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))

common/kalman/simple_kalman.py

@@ -9,4 +9,4 @@ def get_kalman_gain(dt, A, C, Q, R, iterations=100):
     S = C.dot(P).dot(C.T) + R
     K = P.dot(C.T).dot(np.linalg.inv(S))
     P = (np.eye(len(P)) - K.dot(C)).dot(P)
-  return K
+  return K

common/time.py

@@ -3,4 +3,4 @@ import datetime
 MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
 
 def system_time_valid():
-  return datetime.datetime.now() > MIN_DATE
+  return datetime.datetime.now() > MIN_DATE

pyproject.toml

@@ -181,7 +181,7 @@ build-backend = "poetry.core.masonry.api"
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
+ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [

selfdrive/boardd/tests/test_pandad.py

@@ -116,4 +116,4 @@ class TestPandad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main()

selfdrive/debug/auto_fingerprint.py

@@ -102,4 +102,4 @@ if __name__ == "__main__":
   if not new_fw_versions:
     print("No new fw versions found...")
 
-  add_fw_versions(brand, platform, new_fw_versions)
+  add_fw_versions(brand, platform, new_fw_versions)

selfdrive/test/cpp_harness.py

@@ -8,4 +8,4 @@ from openpilot.common.prefix import OpenpilotPrefix
 with OpenpilotPrefix():
   ret = subprocess.call(sys.argv[1:])
 
-exit(ret)
+exit(ret)

selfdrive/test/helpers.py

@@ -71,4 +71,4 @@ def with_processes(processes, init_time=0, ignore_stopped=None):
 
 
 def noop(*args, **kwargs):
-  pass
+  pass

selfdrive/test/process_replay/conftest.py

@@ -34,4 +34,4 @@ def process_replay_test_arguments(request):
     request.cls.ignore_msgs = request.config.getoption("--ignore-msgs")
     request.cls.upload_only = request.config.getoption("--upload-only")
     request.cls.update_refs = request.config.getoption("--update-refs")
-    request.cls.long_diff = request.config.getoption("--long-diff")
+    request.cls.long_diff = request.config.getoption("--long-diff")

selfdrive/test/process_replay/helpers.py

@@ -147,4 +147,4 @@ class TestProcessReplayDiffBase(TestProcessReplayBase):
 
     diff_short, diff_long = format_process_diff(diff)
 
-    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)
+    self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short)

selfdrive/test/process_replay/test_processes.py

@@ -96,4 +96,4 @@ class TestCarProcessReplay(TestProcessReplayDiffBase):
 
 
 if __name__ == '__main__':
-  pytest.main([*sys.argv[1:], __file__])
+  pytest.main([*sys.argv[1:], __file__])

selfdrive/ui/soundd.py

@@ -158,4 +158,4 @@ def main():
 
 
 if __name__ == "__main__":
-  main()
+  main()

system/hardware/hw.py

@@ -53,4 +53,4 @@ class Paths:
     if PC:
       return Paths.comma_home()
     else:
-      return "/tmp/.comma"
+      return "/tmp/.comma"

tools/sim/bridge/carla/carla_bridge.py

@@ -19,4 +19,4 @@ class CarlaBridge(SimulatorBridge):
     client.set_timeout(5)
 
     return CarlaWorld(client, high_quality=self.high_quality, dual_camera=self.dual_camera,
-                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)
+                      num_selected_spawn_point=self.num_selected_spawn_point, town=self.town)

tools/sim/bridge/metadrive/metadrive_process.py

@@ -96,4 +96,4 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, controls_re
       #  wide_road_image = get_cam_as_rgb("rgb_wide")
       road_image[...] = get_cam_as_rgb("rgb_road")
 
-    rk.keep_time()
+    rk.keep_time()

tools/sim/lib/camerad.py

@@ -67,4 +67,4 @@ class Camerad:
                     0.0, 0.0, 1.0]
     }
     setattr(dat, pub_type, msg)
-    self.pm.send(pub_type, dat)
+    self.pm.send(pub_type, dat)

tools/sim/lib/common.py

@@ -91,4 +91,4 @@ class World(ABC):
 
   @abstractmethod
   def reset(self):
-    pass
+    pass

tools/sim/lib/simulated_car.py

@@ -116,4 +116,4 @@ class SimulatedCar:
     if self.idx % 50 == 0: # only send panda states at 2hz
       self.send_panda_state(simulator_state)
 
-    self.idx += 1
+    self.idx += 1

tools/sim/lib/simulated_sensors.py

@@ -122,4 +122,4 @@ class SimulatedSensors:
 
     if (now - self.last_perp_update) > 0.25:
       self.send_peripheral_state()
-      self.last_perp_update = now
+      self.last_perp_update = now