From 7cd23af9b15e0bac1c9c723155e6be9383eee121 Mon Sep 17 00:00:00 2001
From: grekiki <96022003+GregorKikelj@users.noreply.github.com>
Date: Thu, 12 May 2022 14:08:11 +0200
Subject: [PATCH] Mypy fixes for --check-untyped-defs (#24372)

more type fixes
old-commit-hash: 17e33978cdd9322918e9d5d388f7fa47aa30e9b7
---
 common/realtime.py                              | 2 +-
 selfdrive/athena/athenad.py                     | 2 +-
 selfdrive/car/honda/carcontroller.py            | 8 ++++----
 selfdrive/controls/controlsd.py                 | 6 ++++--
 selfdrive/locationd/test/test_locationd.py      | 2 +-
 selfdrive/loggerd/uploader.py                   | 4 ++--
 selfdrive/loggerd/xattr_cache.py                | 2 +-
 selfdrive/modeld/thneed/lib.py                  | 4 ++--
 selfdrive/test/process_replay/model_replay.py   | 4 ++--
 selfdrive/test/process_replay/test_processes.py | 4 ++--
 tools/lib/auth.py                               | 4 ++--
 tools/replay/unlog_ci_segment.py                | 4 ++--
 tools/sim/bridge.py                             | 8 ++++----
 13 files changed, 28 insertions(+), 26 deletions(-)

diff --git a/common/realtime.py b/common/realtime.py
index 6ef27ed3a3..c77bab0519 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -52,7 +52,7 @@ def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None
 
 
 class Ratekeeper:
-  def __init__(self, rate: int, print_delay_threshold: Optional[float] = 0.0) -> None:
+  def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
     self._next_frame_time = sec_since_boot() + self._interval
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index b9c9acb465..f91752479a 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -439,7 +439,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
     ssock, csock = socket.socketpair()
     local_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
     local_sock.connect(('127.0.0.1', local_port))
-    local_sock.setblocking(0)
+    local_sock.setblocking(False)
 
     proxy_end_event = threading.Event()
     threads = [
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index dc7648ce58..f803e9db47 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -112,10 +112,10 @@ class CarController:
     self.apply_brake_last = 0
     self.last_pump_ts = 0.
 
-    self.accel = 0
-    self.speed = 0
-    self.gas = 0
-    self.brake = 0
+    self.accel = 0.0
+    self.speed = 0.0
+    self.gas = 0.0
+    self.brake = 0.0
 
   def update(self, CC, CS):
     actuators = CC.actuators
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 498218ab46..cdf9f38e15 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import math
-from numbers import Number
+from typing import SupportsFloat
 
 from cereal import car, log
 from common.numpy_fast import clip
@@ -17,6 +17,7 @@ from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
 from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
+from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
@@ -137,6 +138,7 @@ class Controls:
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
 
+    self.LaC: LatControl
     if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
       self.LaC = LatControlAngle(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
@@ -607,7 +609,7 @@ class Controls:
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
-      if not isinstance(attr, Number):
+      if not isinstance(attr, SupportsFloat):
         continue
 
       if not math.isfinite(attr):
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 5c0143bdbf..7f5d752100 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -108,7 +108,7 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t
 
 class TestLocationdProc(unittest.TestCase):
   MAX_WAITS = 1000
-  LLD_MSGS = {'gpsLocationExternal', 'cameraOdometry', 'carState', 'sensorEvents', 'liveCalibration'}
+  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'sensorEvents', 'liveCalibration']
 
   def setUp(self):
     random.seed(123489234)
diff --git a/selfdrive/loggerd/uploader.py b/selfdrive/loggerd/uploader.py
index 74d45f01c9..baa56356ba 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@@ -69,8 +69,8 @@ class Uploader():
     self.immediate_count = 0
 
     # stats for last successfully uploaded file
-    self.last_time = 0
-    self.last_speed = 0
+    self.last_time = 0.0
+    self.last_speed = 0.0
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
diff --git a/selfdrive/loggerd/xattr_cache.py b/selfdrive/loggerd/xattr_cache.py
index e721692500..d01bf1aa8a 100644
--- a/selfdrive/loggerd/xattr_cache.py
+++ b/selfdrive/loggerd/xattr_cache.py
@@ -4,7 +4,7 @@ from common.xattr import getxattr as getattr1
 from common.xattr import setxattr as setattr1
 
 cached_attributes: Dict[Tuple, bytes] = {}
-def getxattr(path: str, attr_name: bytes) -> bytes:
+def getxattr(path: str, attr_name: str) -> bytes:
   if (path, attr_name) not in cached_attributes:
     response = getattr1(path, attr_name)
     cached_attributes[(path, attr_name)] = response
diff --git a/selfdrive/modeld/thneed/lib.py b/selfdrive/modeld/thneed/lib.py
index dccdfb10ac..38ef3f4262 100644
--- a/selfdrive/modeld/thneed/lib.py
+++ b/selfdrive/modeld/thneed/lib.py
@@ -23,9 +23,9 @@ def save_thneed(jdat, fn):
     if 'data' in o:
       new_weights.append(o['data'])
       del o['data']
-  new_weights = b''.join(new_weights)
+  new_weights_bytes = b''.join(new_weights)
   with open(fn, "wb") as f:
     j = json.dumps(jdat, ensure_ascii=False).encode('latin_1')
     f.write(struct.pack("I", len(j)))
     f.write(j)
-    f.write(new_weights)
+    f.write(new_weights_bytes)
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 1befb69aa4..ebbf5f72af 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -61,8 +61,8 @@ def model_replay(lr, frs):
 
     log_msgs = []
     last_desire = None
-    recv_cnt = defaultdict(lambda: 0)
-    frame_idxs = defaultdict(lambda: 0)
+    recv_cnt = defaultdict(int)
+    frame_idxs = defaultdict(int)
 
     # init modeld with valid calibration
     cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"]
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 0a8fb9b454..9d7feac477 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -2,7 +2,7 @@
 import argparse
 import os
 import sys
-from typing import Any
+from typing import Any, Dict
 
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
@@ -94,7 +94,7 @@ def format_diff(results, ref_commit):
         diff1 += f"\t\t{diff}\n"
         failed = True
       elif len(diff):
-        cnt = {}
+        cnt: Dict[str, int] = {}
         for d in diff:
           diff2 += f"\t{str(d)}\n"
 
diff --git a/tools/lib/auth.py b/tools/lib/auth.py
index 54fb81cc22..086027968f 100755
--- a/tools/lib/auth.py
+++ b/tools/lib/auth.py
@@ -46,8 +46,8 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
       return
 
     query = self.path.split('?', 1)[-1]
-    query = parse_qs(query, keep_blank_values=True)
-    self.server.query_params = query
+    query_parsed = parse_qs(query, keep_blank_values=True)
+    self.server.query_params = query_parsed
 
     self.send_response(200)
     self.send_header('Content-type', 'text/plain')
diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py
index 5bceef875e..c008a7aeff 100755
--- a/tools/replay/unlog_ci_segment.py
+++ b/tools/replay/unlog_ci_segment.py
@@ -35,7 +35,7 @@ def replay(route, segment, loop):
   frame_idx = {m.roadEncodeIdx.frameId: m.roadEncodeIdx.segmentId for m in msgs if m.which() == 'roadEncodeIdx' and m.roadEncodeIdx.type == 'fullHEVC'}
 
   socks = {}
-  lag = 0
+  lag = 0.0
   i = 0
   max_i = len(msgs) - 2
 
@@ -66,7 +66,7 @@ def replay(route, segment, loop):
     lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
     lag -= time.time() - start_time
 
-    dt = max(lag, 0)
+    dt = max(lag, 0.0)
     lag -= dt
     time.sleep(dt)
 
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index 368e18fd92..8729bd04d8 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -44,8 +44,8 @@ def parse_args(add_args=None):
 
 class VehicleState:
   def __init__(self):
-    self.speed = 0
-    self.angle = 0
+    self.speed = 0.0
+    self.angle = 0.0
     self.bearing_deg = 0.0
     self.vel = carla.Vector3D()
     self.cruise_button = 0
@@ -111,7 +111,7 @@ class Camerad:
     rgb_cl = cl_array.to_device(self.queue, rgb)
     yuv_cl = cl_array.empty_like(rgb_cl)
     self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2))
+    yuv = np.resize(yuv_cl.get(), rgb.size // 2)
     eof = int(frame_id * 0.05 * 1e9)
 
     # TODO: remove RGB send once the last RGB vipc subscriber is removed
@@ -397,7 +397,7 @@ class CarlaBridge:
 
       cruise_button = 0
       throttle_out = steer_out = brake_out = 0.0
-      throttle_op = steer_op = brake_op = 0
+      throttle_op = steer_op = brake_op = 0.0
       throttle_manual = steer_manual = brake_manual = 0.0
 
       # --------------Step 1-------------------------------