Make pylint more strict (#1626)

* make pylint more strict

* cleanup in progress

* done cleaning up

* no opendbc

.pre-commit-config.yaml

@@ -10,12 +10,12 @@ repos:
     rev: master
     hooks:
     -   id: mypy
-        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
 -   repo: https://github.com/PyCQA/flake8
     rev: master
     hooks:
     -   id: flake8
-        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
         args:
         - --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E265,E266,E302,E305,E402,E501,E722,E741,W504
         - --statistics
@@ -27,5 +27,3 @@ repos:
         language: system
         types: [python]
         exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
-        args:
-        - --disable=R,C,W

.pylintrc

@@ -54,121 +54,7 @@ confidence=
 # --enable=similarities". If you want to run only the classes checker, but have
 # no Warning level messages displayed, use"--disable=all --enable=classes
 # --disable=W"
-disable=print-statement,
-        parameter-unpacking,
-        unpacking-in-except,
-        old-raise-syntax,
-        backtick,
-        long-suffix,
-        old-ne-operator,
-        old-octal-literal,
-        import-star-module-level,
-        non-ascii-bytes-literal,
-        raw-checker-failed,
-        bad-inline-option,
-        locally-disabled,
-        locally-enabled,
-        file-ignored,
-        suppressed-message,
-        useless-suppression,
-        deprecated-pragma,
-        apply-builtin,
-        basestring-builtin,
-        buffer-builtin,
-        cmp-builtin,
-        coerce-builtin,
-        execfile-builtin,
-        file-builtin,
-        long-builtin,
-        raw_input-builtin,
-        reduce-builtin,
-        standarderror-builtin,
-        unicode-builtin,
-        xrange-builtin,
-        coerce-method,
-        delslice-method,
-        getslice-method,
-        setslice-method,
-        no-absolute-import,
-        old-division,
-        dict-iter-method,
-        dict-view-method,
-        next-method-called,
-        metaclass-assignment,
-        indexing-exception,
-        raising-string,
-        reload-builtin,
-        oct-method,
-        hex-method,
-        nonzero-method,
-        cmp-method,
-        input-builtin,
-        round-builtin,
-        intern-builtin,
-        unichr-builtin,
-        map-builtin-not-iterating,
-        zip-builtin-not-iterating,
-        range-builtin-not-iterating,
-        filter-builtin-not-iterating,
-        using-cmp-argument,
-        eq-without-hash,
-        div-method,
-        idiv-method,
-        rdiv-method,
-        exception-message-attribute,
-        invalid-str-codec,
-        sys-max-int,
-        bad-python3-import,
-        deprecated-string-function,
-        deprecated-str-translate-call,
-        deprecated-itertools-function,
-        deprecated-types-field,
-        next-method-defined,
-        dict-items-not-iterating,
-        dict-keys-not-iterating,
-        dict-values-not-iterating,
-        bad-indentation,
-        line-too-long,
-        missing-docstring,
-        multiple-statements,
-        bad-continuation,
-        invalid-name,
-        too-many-arguments,
-        too-many-locals,
-        superfluous-parens,
-        bad-whitespace,
-        too-many-instance-attributes,
-        wrong-import-position,
-        ungrouped-imports,
-        wrong-import-order,
-        protected-access,
-        trailing-whitespace,
-        too-many-branches,
-        too-few-public-methods,
-        too-many-statements,
-        trailing-newlines,
-        attribute-defined-outside-init,
-        too-many-return-statements,
-        too-many-public-methods,
-        unused-argument,
-        old-style-class,
-        no-init,
-        len-as-condition,
-        unneeded-not,
-        no-self-use,
-        multiple-imports,
-        no-else-return,
-        logging-not-lazy,
-        fixme,
-        redefined-outer-name,
-        unused-variable,
-        unsubscriptable-object,
-        expression-not-assigned,
-        too-many-boolean-expressions,
-        consider-using-ternary,
-        invalid-unary-operand-type,
-        relative-import,
-        deprecated-lambda
+disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,E1136
 
 
 # Enable the message, report, category or checker with the given id(s). You can

common/file_helpers.py

@@ -3,6 +3,7 @@ import shutil
 import tempfile
 from atomicwrites import AtomicWriter
 
+
 def mkdirs_exists_ok(path):
   try:
     os.makedirs(path)
@@ -10,6 +11,7 @@ def mkdirs_exists_ok(path):
     if not os.path.isdir(path):
       raise
 
+
 def rm_not_exists_ok(path):
   try:
     os.remove(path)
@@ -17,12 +19,14 @@ def rm_not_exists_ok(path):
     if os.path.exists(path):
       raise
 
+
 def rm_tree_or_link(path):
   if os.path.islink(path):
     os.unlink(path)
   elif os.path.isdir(path):
     shutil.rmtree(path)
 
+
 def get_tmpdir_on_same_filesystem(path):
   normpath = os.path.normpath(path)
   parts = normpath.split("/")
@@ -32,6 +36,7 @@ def get_tmpdir_on_same_filesystem(path):
     return "/{}/runner/tmp".format(parts[1])
   return "/tmp"
 
+
 class AutoMoveTempdir():
   def __init__(self, target_path, temp_dir=None):
     self._target_path = target_path
@@ -47,12 +52,13 @@ class AutoMoveTempdir():
   def __enter__(self):
     return self
 
-  def __exit__(self, type, value, traceback):
-    if type is None:
+  def __exit__(self, exc_type, exc_value, traceback):
+    if exc_type is None:
       self.close()
     else:
       shutil.rmtree(self._path)
 
+
 class NamedTemporaryDir():
   def __init__(self, temp_dir=None):
     self._path = tempfile.mkdtemp(dir=temp_dir)
@@ -67,9 +73,10 @@ class NamedTemporaryDir():
   def __enter__(self):
     return self
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()
 
+
 def _get_fileobject_func(writer, temp_dir):
   def _get_fileobject():
     file_obj = writer.get_fileobject(dir=temp_dir)
@@ -77,6 +84,7 @@ def _get_fileobject_func(writer, temp_dir):
     return file_obj
   return _get_fileobject
 
+
 def atomic_write_on_fs_tmp(path, **kwargs):
   """Creates an atomic writer using a temporary file in a temporary directory
      on the same filesystem as path.
@@ -94,6 +102,7 @@ def atomic_write_in_dir(path, **kwargs):
   writer = AtomicWriter(path, **kwargs)
   return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
 
+
 def atomic_write_in_dir_neos(path, contents, mode=None):
   """
   Atomically writes contents to path using a temporary file in the same directory

common/logging_extra.py

@@ -143,7 +143,9 @@ class SwagLogger(logging.Logger):
     while hasattr(f, "f_code"):
         co = f.f_code
         filename = os.path.normcase(co.co_filename)
-        if filename == _srcfile:
+
+        # TODO: is this pylint exception correct?
+        if filename == _srcfile:  # pylint: disable=comparison-with-callable
             f = f.f_back
             continue
         sinfo = None

common/params.py

@@ -30,6 +30,7 @@ import threading
 from enum import Enum
 from common.basedir import PARAMS
 
+
 def mkdirs_exists_ok(path):
   try:
     os.makedirs(path)
@@ -143,6 +144,10 @@ class DBAccessor():
 
   def get(self, key):
     self._check_entered()
+
+    if self._vals is None:
+      return None
+
     try:
       return self._vals[key]
     except KeyError:
@@ -195,7 +200,7 @@ class DBReader(DBAccessor):
     finally:
       lock.release()
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     pass
 
 
@@ -221,14 +226,14 @@ class DBWriter(DBAccessor):
       os.chmod(self._path, 0o777)
       self._lock = self._get_lock(True)
       self._vals = self._read_values_locked()
-    except:
+    except Exception:
       os.umask(self._prev_umask)
       self._prev_umask = None
       raise
 
     return self
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self._check_entered()
 
     try:
@@ -302,6 +307,7 @@ def read_db(params_path, key):
   except IOError:
     return None
 
+
 def write_db(params_path, key, value):
   if isinstance(value, str):
     value = value.encode('utf8')
@@ -324,6 +330,7 @@ def write_db(params_path, key, value):
     os.umask(prev_umask)
     lock.release()
 
+
 class Params():
   def __init__(self, db=PARAMS):
     self.db = db

common/spinner.py

@@ -36,12 +36,12 @@ class Spinner():
   def __del__(self):
     self.close()
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()
 
 
 class FakeSpinner(Spinner):
-  def __init__(self):
+  def __init__(self):  # pylint: disable=super-init-not-called
     pass
 
   def __enter__(self):
@@ -53,7 +53,7 @@ class FakeSpinner(Spinner):
   def close(self):
     pass
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     pass
 
 

common/text_window.py

@@ -39,12 +39,12 @@ class TextWindow():
   def __del__(self):
     self.close()
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()
 
 
 class FakeTextWindow(TextWindow):
-  def __init__(self, s):
+  def __init__(self, s):  # pylint: disable=super-init-not-called
     pass
 
   def get_status(self):
@@ -62,7 +62,7 @@ class FakeTextWindow(TextWindow):
   def close(self):
     pass
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     pass
 
 

common/transformations/coordinates.py

@@ -1,8 +1,8 @@
-import numpy as np
 """
 Coordinate transformation module. All methods accept arrays as input
 with each row as a position.
 """
+import numpy as np
 
 
 a = 6378137

common/transformations/orientation.py

@@ -1,8 +1,3 @@
-import numpy as np
-from numpy import dot, inner, array, linalg
-from common.transformations.coordinates import LocalCoord
-
-
 '''
 Vectorized functions that transform between
 rotation matrices, euler angles and quaternions.
@@ -10,6 +5,11 @@ All support lists, array or array of arrays as inputs.
 Supports both x2y and y_from_x format (y_from_x preferred!).
 '''
 
+import numpy as np
+from numpy import dot, inner, array, linalg
+from common.transformations.coordinates import LocalCoord
+
+
 def euler2quat(eulers):
   eulers = array(eulers)
   if len(eulers.shape) > 1:

common/url_file.py

@@ -9,6 +9,7 @@ import pycurl
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
 
+
 class URLFile(object):
   _tlocal = threading.local()
 
@@ -26,7 +27,7 @@ class URLFile(object):
   def __enter__(self):
     return self
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     if self._local_file is not None:
       os.remove(self._local_file.name)
       self._local_file.close()
@@ -96,7 +97,7 @@ class URLFile(object):
       try:
         os.write(local_fd, self.read())
         local_file = open(local_path, "rb")
-      except:
+      except Exception:
         os.remove(local_path)
         raise
       finally:

selfdrive/athena/athenad.py

@@ -29,7 +29,7 @@ from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
-HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
+HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = set([8022])
 
 dispatcher["echo"] = lambda s: s
@@ -39,6 +39,7 @@ upload_queue: Any = queue.Queue()
 cancelled_uploads: Any = set()
 UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id'])
 
+
 def handle_long_poll(ws):
   end_event = threading.Event()
 
@@ -60,9 +61,10 @@ def handle_long_poll(ws):
     end_event.set()
     raise
   finally:
-    for i, thread in enumerate(threads):
+    for thread in threads:
       thread.join()
 
+
 def jsonrpc_handler(end_event):
   dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
   while not end_event.is_set():
@@ -76,6 +78,7 @@ def jsonrpc_handler(end_event):
       cloudlog.exception("athena jsonrpc handler failed")
       response_queue.put_nowait(json.dumps({"error": str(e)}))
 
+
 def upload_handler(end_event):
   while not end_event.is_set():
     try:
@@ -89,6 +92,7 @@ def upload_handler(end_event):
     except Exception:
       cloudlog.exception("athena.upload_handler.exception")
 
+
 def _do_upload(upload_item):
   with open(upload_item.path, "rb") as f:
     size = os.fstat(f.fileno()).st_size
@@ -97,6 +101,7 @@ def _do_upload(upload_item):
                         headers={**upload_item.headers, 'Content-Length': str(size)},
                         timeout=10)
 
+
 # security: user should be able to request any message from their car
 @dispatcher.add_method
 def getMessage(service=None, timeout=1000):
@@ -111,11 +116,13 @@ def getMessage(service=None, timeout=1000):
 
   return ret.to_dict()
 
+
 @dispatcher.add_method
 def listDataDirectory():
   files = [os.path.relpath(os.path.join(dp, f), ROOT) for dp, dn, fn in os.walk(ROOT) for f in fn]
   return files
 
+
 @dispatcher.add_method
 def reboot():
   thermal_sock = messaging.sub_sock("thermal", timeout=1000)
@@ -131,6 +138,7 @@ def reboot():
 
   return {"success": 1}
 
+
 @dispatcher.add_method
 def uploadFileToUrl(fn, url, headers):
   if len(fn) == 0 or fn[0] == '/' or '..' in fn:
@@ -147,10 +155,12 @@ def uploadFileToUrl(fn, url, headers):
 
   return {"enqueued": 1, "item": item._asdict()}
 
+
 @dispatcher.add_method
 def listUploadQueue():
   return [item._asdict() for item in list(upload_queue.queue)]
 
+
 @dispatcher.add_method
 def cancelUpload(upload_id):
   upload_ids = set(item.id for item in list(upload_queue.queue))
@@ -160,6 +170,7 @@ def cancelUpload(upload_id):
   cancelled_uploads.add(upload_id)
   return {"success": 1}
 
+
 def startLocalProxy(global_end_event, remote_ws_uri, local_port):
   try:
     if local_port not in LOCAL_PORT_WHITELIST:
@@ -190,6 +201,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
     cloudlog.exception("athenad.startLocalProxy.exception")
     raise e
 
+
 @dispatcher.add_method
 def getPublicKey():
   if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
@@ -198,10 +210,12 @@ def getPublicKey():
   with open(PERSIST + '/comma/id_rsa.pub', 'r') as f:
     return f.read()
 
+
 @dispatcher.add_method
 def getSshAuthorizedKeys():
   return Params().get("GithubSshKeys", encoding='utf8') or ''
 
+
 @dispatcher.add_method
 def getSimInfo():
   sim_state = android.getprop("gsm.sim.state").split(",")
@@ -220,6 +234,7 @@ def getSimInfo():
     'data_connected': cell_data_connected
   }
 
+
 @dispatcher.add_method
 def takeSnapshot():
   from selfdrive.camerad.snapshot.snapshot import snapshot, jpeg_write
@@ -237,6 +252,7 @@ def takeSnapshot():
   else:
     raise Exception("not available while camerad is started")
 
+
 def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
@@ -252,6 +268,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
   local_sock.close()
   end_event.set()
 
+
 def ws_proxy_send(ws, local_sock, signal_sock, end_event):
   while not end_event.is_set():
     try:
@@ -272,6 +289,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
       cloudlog.exception("athenad.ws_proxy_send.exception")
       end_event.set()
 
+
 def ws_recv(ws, end_event):
   while not end_event.is_set():
     try:
@@ -288,6 +306,7 @@ def ws_recv(ws, end_event):
       cloudlog.exception("athenad.ws_recv.exception")
       end_event.set()
 
+
 def ws_send(ws, end_event):
   while not end_event.is_set():
     try:
@@ -299,9 +318,11 @@ def ws_send(ws, end_event):
       cloudlog.exception("athenad.ws_send.exception")
       end_event.set()
 
+
 def backoff(retries):
   return random.randrange(0, min(128, int(2 ** retries)))
 
+
 def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
@@ -328,5 +349,6 @@ def main():
 
     time.sleep(backoff(conn_retries))
 
+
 if __name__ == "__main__":
   main()

selfdrive/athena/test_helpers.py

@@ -8,6 +8,7 @@ import time
 from functools import wraps
 from multiprocessing import Process
 
+
 class EchoSocket():
   def __init__(self, port):
     self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
@@ -15,7 +16,7 @@ class EchoSocket():
     self.socket.listen(1)
 
   def run(self):
-    conn, client_address = self.socket.accept()
+    conn, _ = self.socket.accept()
     conn.settimeout(5.0)
 
     try:
@@ -32,6 +33,7 @@ class EchoSocket():
       self.socket.shutdown(0)
       self.socket.close()
 
+
 class MockApi():
   def __init__(self, dongle_id):
     pass
@@ -39,6 +41,7 @@ class MockApi():
   def get_token(self):
     return "fake-token"
 
+
 class MockParams():
   def __init__(self):
     self.params = {
@@ -52,6 +55,7 @@ class MockParams():
       ret = ret.decode(encoding)
     return ret
 
+
 class MockWebsocket():
   def __init__(self, recv_queue, send_queue):
     self.recv_queue = recv_queue
@@ -66,6 +70,7 @@ class MockWebsocket():
   def send(self, data, opcode):
     self.send_queue.put_nowait((data, opcode))
 
+
 class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
   def do_PUT(self):
     length = int(self.headers['Content-Length'])
@@ -73,6 +78,7 @@ class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler):
     self.send_response(201, "Created")
     self.end_headers()
 
+
 def http_server(port_queue, **kwargs):
   while 1:
     try:
@@ -83,6 +89,7 @@ def http_server(port_queue, **kwargs):
       if e.errno == 98:
         continue
 
+
 def with_http_server(func):
   @wraps(func)
   def inner(*args, **kwargs):

selfdrive/boardd/tests/boardd_old.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# pylint: skip-file
 
 # This file is not used by OpenPilot. Only boardd.cc is used.
 # The python version is slower, but has more options for development.

selfdrive/boardd/tests/test_boardd_api.py

@@ -12,7 +12,7 @@ import unittest
 def generate_random_can_data_list():
   can_list = []
   cnt = random.randint(1, 64)
-  for j in range(cnt):
+  for _ in range(cnt):
     can_data = np.random.bytes(random.randint(1, 8))
     can_list.append([random.randint(0, 128), random.randint(0, 128), can_data, random.randint(0, 128)])
   return can_list, cnt
@@ -54,18 +54,18 @@ class TestBoarddApiMethods(unittest.TestCase):
           self.assertEqual(getattr(ev.can[i], attr, 'new'), getattr(ev_old.can[i], attr, 'old'))
 
   def test_performance(self):
-    can_list, cnt = generate_random_can_data_list()
+    can_list, _ = generate_random_can_data_list()
     recursions = 1000
 
     n1 = sec_since_boot()
-    for i in range(recursions):
+    for _ in range(recursions):
       boardd_old.can_list_to_can_capnp(can_list, 'sendcan').to_bytes()
     n2 = sec_since_boot()
     elapsed_old = n2 - n1
 
     # print('Old API, elapsed time: {} secs'.format(elapsed_old))
     n1 = sec_since_boot()
-    for i in range(recursions):
+    for _ in range(recursions):
       boardd.can_list_to_can_capnp(can_list)
     n2 = sec_since_boot()
     elapsed_new = n2 - n1

selfdrive/car/__init__.py

@@ -4,9 +4,11 @@ from common.numpy_fast import clip
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
+
 def gen_empty_fingerprint():
   return {i: {} for i in range(0, 4)}
 
+
 # FIXME: hardcoding honda civic 2016 touring params so they can be used to
 # scale unknown params for other cars
 class CivicParams:
@@ -18,11 +20,13 @@ class CivicParams:
   TIRE_STIFFNESS_FRONT = 192150
   TIRE_STIFFNESS_REAR = 202500
 
+
 # TODO: get actual value, for now starting with reasonable value for
 # civic and scaling by mass and wheelbase
 def scale_rot_inertia(mass, wheelbase):
   return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)
 
+
 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
 # mass and CG position, so all cars will have approximately similar dyn behaviors
 def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
@@ -35,6 +39,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
 
   return tire_stiffness_front, tire_stiffness_rear
 
+
 def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None):
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc}
 
@@ -85,7 +90,7 @@ def crc8_pedal(data):
   size = len(data)
   for i in range(size - 1, -1, -1):
     crc ^= data[i]
-    for j in range(8):
+    for _ in range(8):
       if ((crc & 0x80) != 0):
         crc = ((crc << 1) ^ poly) & 0xFF
       else:

selfdrive/car/chrysler/interface.py

@@ -11,7 +11,12 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=None, has_relay=False, car_fw=None):
+    if fingerprint is None:
+      fingerprint = gen_empty_fingerprint()
+    if car_fw is None:
+      car_fw = []
+
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "chrysler"
     ret.safetyModel = car.CarParams.SafetyModel.chrysler

selfdrive/car/ford/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "ford"
     ret.safetyModel = car.CarParams.SafetyModel.ford

selfdrive/car/gm/carcontroller.py

@@ -38,24 +38,8 @@ class CarControllerParams():
     self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
 
 
-def actuator_hystereses(final_pedal, pedal_steady):
-  # hyst params... TODO: move these to VehicleParams
-  pedal_hyst_gap = 0.01    # don't change pedal command for small oscillations within this value
-
-  # for small pedal oscillations within pedal_hyst_gap, don't change the pedal command
-  if final_pedal == 0.:
-    pedal_steady = 0.
-  elif final_pedal > pedal_steady + pedal_hyst_gap:
-    pedal_steady = final_pedal - pedal_hyst_gap
-  elif final_pedal < pedal_steady - pedal_hyst_gap:
-    pedal_steady = final_pedal + pedal_hyst_gap
-  final_pedal = pedal_steady
-
-  return final_pedal, pedal_steady
-
 class CarController():
   def __init__(self, dbc_name, CP, VM):
-    self.pedal_steady = 0.
     self.start_time = 0.
     self.apply_steer_last = 0
     self.lka_icon_status_last = (False, False)
@@ -79,8 +63,7 @@ class CarController():
     if hud_alert == VisualAlert.fcw:
       self.fcw_frames = 100
 
-    ### STEER ###
-
+    # STEER
     if (frame % P.STEER_STEP) == 0:
       lkas_enabled = enabled and not CS.out.steerWarning and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
@@ -93,19 +76,13 @@ class CarController():
       self.apply_steer_last = apply_steer
       idx = (frame // P.STEER_STEP) % 4
 
-      can_sends.append(gmcan.create_steering_control(self.packer_pt,
-        CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
-
-    ### GAS/BRAKE ###
+      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
+    # GAS/BRAKE
     # no output if not enabled, but keep sending keepalive messages
     # treat pedals as one
     final_pedal = actuators.gas - actuators.brake
 
-    # *** apply pedal hysteresis ***
-    final_brake, self.brake_steady = actuator_hystereses(
-      final_pedal, self.pedal_steady)
-
     if not enabled:
       # Stock ECU sends max regen when not enabled.
       apply_gas = P.MAX_ACC_REGEN

selfdrive/car/gm/interface.py

@@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "gm"
     ret.safetyModel = car.CarParams.SafetyModel.gm  # default to gm

selfdrive/car/honda/interface.py

@@ -82,6 +82,10 @@ class CarInterface(CarInterfaceBase):
     else:
       self.compute_gb = compute_gb_honda
 
+  @staticmethod
+  def compute_gb(accel, speed):
+    raise NotImplementedError
+
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
 
@@ -115,8 +119,7 @@ class CarInterface(CarInterfaceBase):
     return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
-
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "honda"
 

selfdrive/car/hyundai/interface.py

@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "hyundai"

selfdrive/car/interfaces.py

@@ -41,7 +41,7 @@ class CarInterfaceBase():
     raise NotImplementedError
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     raise NotImplementedError
 
   # returns a set of default params to avoid repetition in car specific params
@@ -84,7 +84,7 @@ class CarInterfaceBase():
   def apply(self, c):
     raise NotImplementedError
 
-  def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True):
+  def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True):  # pylint: disable=dangerous-default-value
     events = Events()
 
     if cs_out.doorOpen:

selfdrive/car/mazda/interface.py

@@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "mazda"

selfdrive/car/mock/interface.py

@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
     return accel
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "mock"
     ret.safetyModel = car.CarParams.SafetyModel.noOutput

selfdrive/car/nissan/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
 
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
     ret.carName = "nissan"

selfdrive/car/subaru/interface.py

@@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "subaru"

selfdrive/car/toyota/interface.py

@@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 3.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "toyota"

selfdrive/car/volkswagen/interface.py

@@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
     return float(accel) / 4.0
 
   @staticmethod
-  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):  # pylint: disable=dangerous-default-value
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     # VW port is a community feature, since we don't own one to test

selfdrive/controls/lib/events.py

@@ -59,7 +59,10 @@ class Events:
         return True
     return False
 
-  def create_alerts(self, event_types, callback_args=[]):
+  def create_alerts(self, event_types, callback_args=None):
+    if callback_args is None:
+      callback_args = []
+
     ret = []
     for e in self.events:
       types = EVENTS[e].keys()

selfdrive/controls/lib/vehicle_model.py

@@ -1,7 +1,4 @@
 #!/usr/bin/env python3
-import numpy as np
-from numpy.linalg import solve
-
 """
 Dynamic bycicle model from "The Science of Vehicle Dynamics (2014), M. Guiggiani"
 
@@ -15,6 +12,8 @@ x_dot = A*x + B*u
 
 A depends on longitudinal speed, u [m/s], and vehicle parameters CP
 """
+import numpy as np
+from numpy.linalg import solve
 
 
 def create_dyn_state_matrices(u, VM):

selfdrive/controls/tests/test_events.py

@@ -9,8 +9,8 @@ from selfdrive.controls.lib.events import Alert, EVENTS
 
 AlertSize = log.ControlsState.AlertSize
 
-class TestAlerts(unittest.TestCase):
 
+class TestAlerts(unittest.TestCase):
   def test_events_defined(self):
     # Ensure all events in capnp schema are defined in events.py
     events = car.CarEvent.EventName.schema.enumerants
@@ -56,9 +56,10 @@ class TestAlerts(unittest.TestCase):
           break
 
         font = fonts[alert.alert_size][i]
-        w, h = draw.textsize(txt, font)
+        w, _ = draw.textsize(txt, font)
         msg = "type: %s msg: %s" % (alert.alert_type, txt)
         self.assertLessEqual(w, max_text_width, msg=msg)
 
+
 if __name__ == "__main__":
   unittest.main()

selfdrive/crash.py

@@ -39,6 +39,12 @@ else:
     client.extra_context(kwargs)
 
   def install():
+    """
+    Workaround for `sys.excepthook` thread bug from:
+    http://bugs.python.org/issue1230540
+    Call once from the main thread before creating any threads.
+    Source: https://stackoverflow.com/a/31622038
+    """
     # installs a sys.excepthook
     __excepthook__ = sys.excepthook
 
@@ -48,12 +54,6 @@ else:
       __excepthook__(*exc_info)
     sys.excepthook = handle_exception
 
-    """
-    Workaround for `sys.excepthook` thread bug from:
-    http://bugs.python.org/issue1230540
-    Call once from the main thread before creating any threads.
-    Source: https://stackoverflow.com/a/31622038
-    """
     init_original = threading.Thread.__init__
 
     def init(self, *args, **kwargs):

selfdrive/debug/cpu_usage_stat.py

@@ -1,14 +1,5 @@
 #!/usr/bin/env python3
 # type: ignore
-import psutil
-import time
-import os
-import sys
-import numpy as np
-import argparse
-import re
-from collections import defaultdict
-
 '''
 System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs.
   Features:
@@ -24,6 +15,15 @@ System tools like top/htop can only show current cpu usage values, so I write th
     boardd: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96%
     ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39%
 '''
+import psutil
+import time
+import os
+import sys
+import numpy as np
+import argparse
+import re
+from collections import defaultdict
+
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5
@@ -36,6 +36,7 @@ cpu_time_names = ['user', 'system', 'children_user', 'children_system']
 
 timer = getattr(time, 'monotonic', time.time)
 
+
 def get_arg_parser():
   parser = argparse.ArgumentParser(
     description="Unlogger and UI",

selfdrive/debug/internal/sensor_test_bootloop.py

@@ -32,7 +32,7 @@ except Exception:
   sys.exit(-1)
 
 sensord_env = {**os.environ, 'SENSOR_TEST': '1'}
-process = subprocess.run("./sensord", cwd="/data/openpilot/selfdrive/sensord", env=sensord_env)
+process = subprocess.run("./sensord", cwd="/data/openpilot/selfdrive/sensord", env=sensord_env)  # pylint: disable=subprocess-run-check
 
 if process.returncode == 40:
   text = "Current run: SUCCESS\n"

selfdrive/locationd/locationd.py

@@ -47,7 +47,10 @@ def get_H():
 
 
 class Localizer():
-  def __init__(self, disabled_logs=[], dog=None):
+  def __init__(self, disabled_logs=None, dog=None):
+    if disabled_logs is None:
+      disabled_logs = []
+
     self.kf = LiveKalman(GENERATED_DIR)
     self.reset_kalman()
     self.max_age = .2  # seconds
@@ -279,7 +282,11 @@ class Localizer():
     self.speed_counter = 0
     self.cam_counter = 0
 
-def locationd_thread(sm, pm, disabled_logs=[]):
+
+def locationd_thread(sm, pm, disabled_logs=None):
+  if disabled_logs is None:
+    disabled_logs = []
+
   if sm is None:
     socks = ['gpsLocationExternal', 'sensorEvents', 'cameraOdometry', 'liveCalibration', 'carState']
     sm = messaging.SubMaster(socks, ignore_alive=['gpsLocationExternal'])

selfdrive/locationd/models/car_kf.py

@@ -12,6 +12,7 @@ from selfdrive.locationd.models.constants import ObservationKind
 
 i = 0
 
+
 def _slice(n):
   global i
   s = slice(i, i + n)
@@ -138,7 +139,7 @@ class CarKalman(KalmanFilter):
 
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=CarKalman.global_vars)
 
-  def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0):
+  def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0):  # pylint: disable=super-init-not-called
     dim_state = self.initial_x.shape[0]
     dim_state_err = self.P_initial.shape[0]
     x_init = self.initial_x

selfdrive/locationd/models/gnss_kf.py

@@ -76,14 +76,14 @@ class GNSSKalman():
     # extra args
     sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
     sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
-    sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
-    orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
+    # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
+    # orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
 
     # expand extra args
     sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
     sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
-    los_x, los_y, los_z = sat_los_sym
-    orb_x, orb_y, orb_z = orb_epos_sym
+    # los_x, los_y, los_z = sat_los_sym
+    # orb_x, orb_y, orb_z = orb_epos_sym
 
     h_pseudorange_sym = sp.Matrix([
       sp.sqrt(

selfdrive/locationd/models/loc_kf.py

@@ -252,13 +252,13 @@ class LocKalman():
     # extra args
     sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1)
     sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1)
-    sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
+    # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1)
     orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1)
 
     # expand extra args
     sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym
     sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:]
-    los_x, los_y, los_z = sat_los_sym
+    # los_x, los_y, los_z = sat_los_sym
     orb_x, orb_y, orb_z = orb_epos_sym
 
     h_pseudorange_sym = sp.Matrix([
@@ -377,7 +377,7 @@ class LocKalman():
     self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
 
     if self.N > 0:
-      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)
+      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # pylint: disable=unbalanced-tuple-unpacking
       self.computer = LstSqComputer(generated_dir, N)
       self.max_tracks = max_tracks
 
@@ -569,14 +569,14 @@ class LocKalman():
 
   def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3):
     bools = []
-    for i, m in enumerate(meas):
+    for m in meas:
       z, R, sat_pos_freq = parse_pr(m)
       bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_freq, maha_thresh=maha_thresh))
     return np.array(bools)
 
   def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999):
     bools = []
-    for i, m in enumerate(meas):
+    for m in meas:
       z, R, sat_pos_vel = parse_prr(m)
       bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_vel, maha_thresh=maha_thresh))
     return np.array(bools)

selfdrive/locationd/test/ephemeris.py

@@ -1,3 +1,5 @@
+import math
+
 def GET_FIELD_U(w, nb, pos):
   return (((w) >> (pos)) & ((1 << (nb)) - 1))
 
@@ -35,7 +37,6 @@ on of this parser
     '''
 
   def __init__(self, svId, subframes):
-    from math import pow
     self.svId = svId
     week_no = GET_FIELD_U(subframes[1][2+0], 10, 20)
     # code_on_l2 = GET_FIELD_U(subframes[1][0],  2, 12)
@@ -84,30 +85,30 @@ on of this parser
     gpsPi = 3.1415926535898
 
     # now form variables in radians, meters and seconds etc
-    self.Tgd = t_gd * pow(2, -31)
-    self.A = pow(a_powhalf * pow(2, -19), 2.0)
-    self.cic = c_ic * pow(2, -29)
-    self.cis = c_is * pow(2, -29)
-    self.crc = c_rc * pow(2, -5)
-    self.crs = c_rs * pow(2, -5)
-    self.cuc = c_uc * pow(2, -29)
-    self.cus = c_us * pow(2, -29)
-    self.deltaN = delta_n * pow(2, -43) * gpsPi
-    self.ecc = e * pow(2, -33)
-    self.i0 = i_0 * pow(2, -31) * gpsPi
-    self.idot = idot * pow(2, -43) * gpsPi
-    self.M0 = m_0 * pow(2, -31) * gpsPi
-    self.omega = w * pow(2, -31) * gpsPi
-    self.omega_dot = omega_dot * pow(2, -43) * gpsPi
-    self.omega0 = omega_0 * pow(2, -31) * gpsPi
-    self.toe = t_oe * pow(2, 4)
+    self.Tgd = t_gd * math.pow(2, -31)
+    self.A = math.pow(a_powhalf * math.pow(2, -19), 2.0)
+    self.cic = c_ic * math.pow(2, -29)
+    self.cis = c_is * math.pow(2, -29)
+    self.crc = c_rc * math.pow(2, -5)
+    self.crs = c_rs * math.pow(2, -5)
+    self.cuc = c_uc * math.pow(2, -29)
+    self.cus = c_us * math.pow(2, -29)
+    self.deltaN = delta_n * math.pow(2, -43) * gpsPi
+    self.ecc = e * math.pow(2, -33)
+    self.i0 = i_0 * math.pow(2, -31) * gpsPi
+    self.idot = idot * math.pow(2, -43) * gpsPi
+    self.M0 = m_0 * math.pow(2, -31) * gpsPi
+    self.omega = w * math.pow(2, -31) * gpsPi
+    self.omega_dot = omega_dot * math.pow(2, -43) * gpsPi
+    self.omega0 = omega_0 * math.pow(2, -31) * gpsPi
+    self.toe = t_oe * math.pow(2, 4)
 
     # clock correction information
-    self.toc = t_oc * pow(2, 4)
+    self.toc = t_oc * math.pow(2, 4)
     self.gpsWeek = week_no
-    self.af0 = a_f0 * pow(2, -31)
-    self.af1 = a_f1 * pow(2, -43)
-    self.af2 = a_f2 * pow(2, -55)
+    self.af0 = a_f0 * math.pow(2, -31)
+    self.af1 = a_f1 * math.pow(2, -43)
+    self.af2 = a_f2 * math.pow(2, -55)
 
     iode1 = GET_FIELD_U(subframes[2][2+0], 8, 22)
     iode2 = GET_FIELD_U(subframes[3][2+7], 8, 22)
@@ -117,14 +118,14 @@ on of this parser
     if GET_FIELD_U(subframes[4][2+0], 6, 22) == 56 and \
        GET_FIELD_U(subframes[4][2+0], 2, 28) == 1 and \
        GET_FIELD_U(subframes[5][2+0], 2, 28) == 1:
-      a0 = GET_FIELD_S(subframes[4][2], 8, 14) * pow(2, -30)
-      a1 = GET_FIELD_S(subframes[4][2], 8, 6) * pow(2, -27)
-      a2 = GET_FIELD_S(subframes[4][3], 8, 22) * pow(2, -24)
-      a3 = GET_FIELD_S(subframes[4][3], 8, 14) * pow(2, -24)
-      b0 = GET_FIELD_S(subframes[4][3], 8, 6) * pow(2, 11)
-      b1 = GET_FIELD_S(subframes[4][4], 8, 22) * pow(2, 14)
-      b2 = GET_FIELD_S(subframes[4][4], 8, 14) * pow(2, 16)
-      b3 = GET_FIELD_S(subframes[4][4], 8, 6) * pow(2, 16)
+      a0 = GET_FIELD_S(subframes[4][2], 8, 14) * math.pow(2, -30)
+      a1 = GET_FIELD_S(subframes[4][2], 8, 6) * math.pow(2, -27)
+      a2 = GET_FIELD_S(subframes[4][3], 8, 22) * math.pow(2, -24)
+      a3 = GET_FIELD_S(subframes[4][3], 8, 14) * math.pow(2, -24)
+      b0 = GET_FIELD_S(subframes[4][3], 8, 6) * math.pow(2, 11)
+      b1 = GET_FIELD_S(subframes[4][4], 8, 22) * math.pow(2, 14)
+      b2 = GET_FIELD_S(subframes[4][4], 8, 14) * math.pow(2, 16)
+      b3 = GET_FIELD_S(subframes[4][4], 8, 6) * math.pow(2, 16)
 
       self.ionoAlpha = [a0, a1, a2, a3]
       self.ionoBeta = [b0, b1, b2, b3]

selfdrive/locationd/test/test_params_learner.py

@@ -31,7 +31,7 @@ class TestParamsLearner(unittest.TestCase):
     steering_angles = np.radians(10 * np.sin(2 * np.pi * times / 100.)) + angle_offset
     speeds = 10 * np.sin(2 * np.pi * times / 1000.) + 25
 
-    for i, t in enumerate(times):
+    for i, _ in enumerate(times):
       u = speeds[i]
       sa = steering_angles[i]
       psi = VM_sim.yaw_rate(sa - angle_offset, u)

selfdrive/locationd/test/ublox.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# pylint: skip-file
 '''
 UBlox binary protocol handling
 

selfdrive/locationd/test/ubloxd.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 # type: ignore
+# pylint: skip-file
 
 import os
 import serial

selfdrive/loggerd/tests/test_deleter.py

@@ -23,9 +23,6 @@ class TestDeleter(UploaderTestCase):
     deleter.os.statvfs = self.fake_statvfs
     deleter.ROOT = self.root
 
-  def tearDown(self):
-    super(TestDeleter, self).tearDown()
-
   def start_thread(self):
     self.end_event = threading.Event()
     self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])

selfdrive/loggerd/tests/test_uploader.py

@@ -38,9 +38,6 @@ class TestUploader(UploaderTestCase):
     super(TestUploader, self).setUp()
     log_handler.reset()
 
-  def tearDown(self):
-    super(TestUploader, self).tearDown()
-
   def start_thread(self):
     self.end_event = threading.Event()
     self.up_thread = threading.Thread(target=uploader.uploader_fn, args=[self.end_event])

selfdrive/loggerd/uploader.py

@@ -25,6 +25,7 @@ UPLOAD_ATTR_VALUE = b'1'
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
 def raise_on_thread(t, exctype):
+  '''Raises an exception in the threads with id tid'''
   for ctid, tobj in threading._active.items():
     if tobj is t:
       tid = ctid
@@ -32,7 +33,6 @@ def raise_on_thread(t, exctype):
   else:
     raise Exception("Could not find thread")
 
-  '''Raises an exception in the threads with id tid'''
   if not inspect.isclass(exctype):
     raise TypeError("Only types can be raised (not instances)")
 

selfdrive/manager.py

@@ -305,7 +305,7 @@ def start_daemon_process(name):
       pass
 
   cloudlog.info("starting daemon %s" % name)
-  proc = subprocess.Popen(['python', '-m', proc],
+  proc = subprocess.Popen(['python', '-m', proc],  # pylint: disable=subprocess-popen-preexec-fn
                           stdin=open('/dev/null', 'r'),
                           stdout=open('/dev/null', 'w'),
                           stderr=open('/dev/null', 'w'),
@@ -590,8 +590,6 @@ def main():
 
   try:
     manager_thread()
-  except SystemExit:
-    raise
   except Exception:
     traceback.print_exc()
     crash.capture_exception()

selfdrive/modeld/runners/keras_runner.py

@@ -10,6 +10,7 @@ import numpy as np
 from tensorflow.keras.models import Model  # pylint: disable=import-error
 from tensorflow.keras.models import load_model  # pylint: disable=import-error
 
+
 def read(sz):
   dd = []
   gt = 0
@@ -20,9 +21,11 @@ def read(sz):
     gt += len(st)
   return np.fromstring(b''.join(dd), dtype=np.float32)
 
+
 def write(d):
   os.write(1, d.tobytes())
 
+
 def run_loop(m):
   isize = m.inputs[0].shape[1]
   osize = m.outputs[0].shape[1]
@@ -32,6 +35,7 @@ def run_loop(m):
     ret = m.predict_on_batch(idata)
     write(ret)
 
+
 if __name__ == "__main__":
   print(tf.__version__, file=sys.stderr)
   # limit gram alloc
@@ -48,7 +52,7 @@ if __name__ == "__main__":
   acc = 0
   for i, ii in enumerate(m.inputs):
     print(ii, file=sys.stderr)
-    ti = keras.layers.Lambda(lambda x: x[:, acc:acc+bs[i]], output_shape=(1, bs[i]))(ri)
+    ti = keras.layers.Lambda(lambda x, i=i: x[:, acc:acc + bs[i]], output_shape=(1, bs[i]))(ri)
     acc += bs[i]
     tr = keras.layers.Reshape(ii.shape[1:])(ti)
     tii.append(tr)

selfdrive/modeld/visiontest.py

@@ -13,6 +13,7 @@ try:  # bacause this crashes somtimes when running pipeline
 except Exception:
   pass
 
+
 class VisionTest():
   """A version of the vision model that can be run on a desktop.
 
@@ -126,7 +127,7 @@ class VisionTest():
   def __enter__(self):
     return self
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()
 
 

selfdrive/test/longitudinal_maneuvers/test_longitudinal.py

@@ -24,12 +24,15 @@ def create_dir(path):
 def check_no_collision(log):
   return min(log['d_rel']) > 0
 
+
 def check_fcw(log):
   return any(log['fcw'])
 
+
 def check_engaged(log):
   return log['controls_state_msgs'][-1][-1].active
 
+
 maneuvers = [
   Maneuver(
     'while cruising at 40 mph, change cruise speed to 50mph',
@@ -291,8 +294,6 @@ maneuvers = [
   )
 ]
 
-# maneuvers = [maneuvers[-11]]
-# maneuvers = [maneuvers[6]]
 
 def setup_output():
   output_dir = os.path.join(os.getcwd(), 'out/longitudinal')
@@ -320,6 +321,7 @@ def setup_output():
     with open(os.path.join(output_dir, "index.html"), "w") as f:
       f.write(view_html)
 
+
 class LongitudinalControl(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
@@ -355,7 +357,7 @@ def run_maneuver_worker(k):
     print(man.title)
     valid = False
 
-    for retries in range(3):
+    for _ in range(3):
       manager.start_managed_process('radard')
       manager.start_managed_process('controlsd')
       manager.start_managed_process('plannerd')

selfdrive/test/process_replay/compare_logs.py

@@ -13,6 +13,7 @@ else:
 
 from tools.lib.logreader import LogReader
 
+
 def save_log(dest, log_msgs):
   dat = b""
   for msg in tqdm(log_msgs):
@@ -22,6 +23,7 @@ def save_log(dest, log_msgs):
   with open(dest, "wb") as f:
    f.write(dat)
 
+
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
   for key in ignore:
@@ -46,7 +48,13 @@ def remove_ignored_fields(msg, ignore):
       setattr(attr, keys[-1], val)
   return msg.as_reader()
 
-def compare_logs(log1, log2, ignore_fields=[], ignore_msgs=[]):
+
+def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None):
+  if ignore_fields is None:
+    ignore_fields = []
+
+  if ignore_msgs is None:
+    ignore_msgs = []
   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))
 
@@ -66,6 +74,7 @@ def compare_logs(log1, log2, ignore_fields=[], ignore_msgs=[]):
       diff.extend(dd)
   return diff
 
+
 if __name__ == "__main__":
   log1 = list(LogReader(sys.argv[1]))
   log2 = list(LogReader(sys.argv[2]))

selfdrive/test/process_replay/process_replay.py

@@ -21,6 +21,7 @@ from collections import namedtuple
 
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback'])
 
+
 def wait_for_event(evt):
   if not evt.wait(15):
     if threading.currentThread().getName() == "MainThread":
@@ -30,6 +31,7 @@ def wait_for_event(evt):
       # done testing this process, let it die
       sys.exit(0)
 
+
 class FakeSocket:
   def __init__(self, wait=True):
     self.data = []
@@ -60,6 +62,7 @@ class FakeSocket:
   def wait_for_recv(self):
     wait_for_event(self.recv_called)
 
+
 class DumbSocket:
   def __init__(self, s=None):
     if s is not None:
@@ -72,6 +75,7 @@ class DumbSocket:
   def send(self, dat):
     pass
 
+
 class FakeSubMaster(messaging.SubMaster):
   def __init__(self, services):
     super(FakeSubMaster, self).__init__(services, addr=None)
@@ -103,8 +107,9 @@ class FakeSubMaster(messaging.SubMaster):
   def wait_for_update(self):
     wait_for_event(self.update_called)
 
+
 class FakePubMaster(messaging.PubMaster):
-  def __init__(self, services):
+  def __init__(self, services):  # pylint: disable=super-init-not-called
     self.data = {}
     self.sock = {}
     self.last_updated = None

selfdrive/test/process_replay/test_processes.py

@@ -49,7 +49,11 @@ def get_segment(segment_name, original=True):
   return rlog_url
 
 
-def test_process(cfg, lr, cmp_log_fn, ignore_fields=[], ignore_msgs=[]):
+def test_process(cfg, lr, cmp_log_fn, ignore_fields=None, ignore_msgs=None):
+  if ignore_fields is None:
+    ignore_fields = []
+  if ignore_msgs is None:
+    ignore_msgs = []
   url = BASE_URL + os.path.basename(cmp_log_fn)
   cmp_log_msgs = list(LogReader(url))
 

selfdrive/test/profiling/lib.py

@@ -36,7 +36,7 @@ class PubSocket():
 
 
 class SubMaster(messaging.SubMaster):
-  def __init__(self, msgs, trigger, services):
+  def __init__(self, msgs, trigger, services):  # pylint: disable=super-init-not-called
     self.max_i = len(msgs) - 1
     self.i = 0
     self.frame = 0
@@ -88,5 +88,5 @@ class SubMaster(messaging.SubMaster):
 
 
 class PubMaster(messaging.PubMaster):
-  def __init__(self):
+  def __init__(self):  # pylint: disable=super-init-not-called
     self.sock = defaultdict(PubSocket)

selfdrive/test/test_car_models.py

@@ -40,6 +40,7 @@ def wait_for_sockets(socks, timeout=10.0):
         recvd.append(s)
   return recvd
 
+
 def get_route_log(route_name):
   log_path = os.path.join("/tmp", "%s--0--%s" % (route_name.replace("|", "_"), "rlog.bz2"))
 
@@ -49,7 +50,7 @@ def get_route_log(route_name):
     # if request fails, try again once and let it throw exception if fails again
     try:
       r = requests.get(log_url, timeout=15)
-    except:
+    except Exception:
       r = requests.get(log_url, timeout=15)
 
     if r.status_code == 200:
@@ -460,7 +461,7 @@ if __name__ == "__main__":
     # Start unlogger
     print("Start unlogger")
     unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
-    unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid)
+    unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid)  # pylint: disable=subprocess-popen-preexec-fn
 
     print("Check sockets")
     extra_socks = []

selfdrive/test/test_openpilot.py

@@ -15,7 +15,6 @@ import requests
 import signal
 import subprocess
 import time
-from datetime import datetime, timedelta
 
 DID_INIT = False
 

selfdrive/thermald/power_monitoring.py

@@ -114,7 +114,7 @@ class PowerMonitoring:
             # Measure for a few sec to get a good average
             voltages = []
             currents = []
-            for i in range(6):
+            for _ in range(6):
               voltages.append(get_battery_voltage())
               currents.append(get_battery_current())
               time.sleep(1)

selfdrive/tombstoned.py

@@ -61,7 +61,7 @@ def main():
   while True:
     now_tombstones = set(get_tombstones())
 
-    for fn, ctime in (now_tombstones - initial_tombstones):
+    for fn, _ in (now_tombstones - initial_tombstones):
       try:
         cloudlog.info(f"reporting new tombstone {fn}")
         report_tombstone(fn, client)

selfdrive/updated.py

@@ -195,7 +195,7 @@ def inodes_in_tree(search_dir):
   """Given a search root, produce a dictionary mapping of inodes to relative
   pathnames of regular files (no directories, symlinks, or special files)."""
   inode_map = {}
-  for root, dirs, files in os.walk(search_dir, topdown=True):
+  for root, _, files in os.walk(search_dir, topdown=True):
     for file_name in files:
       full_path_name = os.path.join(root, file_name)
       st = os.lstat(full_path_name)

tools/lib/auth.py

@@ -25,7 +25,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, format, *args):
+  def log_message(self, format, *args):  # pylint: disable=redefined-builtin
     pass  # this prevent http server from dumping messages to stdout
 
 def auth_redirect_link(port):

tools/lib/kbhit.py

@@ -54,7 +54,7 @@ class KBHit:
   def kbhit(self):
     ''' Returns True if keyboard character was hit, False otherwise.
     '''
-    dr, dw, de = select([sys.stdin], [], [], 0)
+    dr, _, _ = select([sys.stdin], [], [], 0)
     return dr != []
 
 

tools/lib/route_framereader.py

@@ -1,6 +1,7 @@
 """RouteFrameReader indexes and reads frames across routes, by frameId or segment indices."""
 from tools.lib.framereader import FrameReader
 
+
 class _FrameReaderDict(dict):
   def __init__(self, camera_paths, cache_paths, framereader_kwargs, *args, **kwargs):
     super(_FrameReaderDict, self).__init__(*args, **kwargs)
@@ -84,5 +85,5 @@ class RouteFrameReader(object):
   def __enter__(self):
     return self
 
-  def __exit__(self, type, value, traceback):
+  def __exit__(self, exc_type, exc_value, traceback):
     self.close()

tools/replay/camera.py

@@ -3,7 +3,7 @@ import os
 
 from common.basedir import BASEDIR
 os.environ['BASEDIR'] = BASEDIR
-SCALE = float(os.getenv("SCALE", 1.0))
+SCALE = float(os.getenv("SCALE", "1"))
 
 import argparse
 import pygame  # pylint: disable=import-error

tools/replay/unlogger.py

@@ -5,10 +5,10 @@ import sys
 import zmq
 import time
 import signal
+import multiprocessing
 from uuid import uuid4
 from collections import namedtuple
 from collections import deque
-from multiprocessing import Process, TimeoutError
 from datetime import datetime
 
 # strat 1: script to copy files
@@ -404,11 +404,11 @@ def main(argv):
 
   subprocesses = {}
   try:
-    subprocesses["data"] = Process(
+    subprocesses["data"] = multiprocessing.Process(
       target=UnloggerWorker().run,
       args=(forward_commands_address, data_address, address_mapping.copy()))
 
-    subprocesses["control"] = Process(
+    subprocesses["control"] = multiprocessing.Process(
       target=unlogger_thread,
       args=(command_address, forward_commands_address, data_address, args.realtime,
             _get_address_mapping(args), args.publish_time_length, args.bind_early, args.no_loop))
@@ -421,7 +421,7 @@ def main(argv):
 
     # Exit if any of the children die.
     def exit_if_children_dead(*_):
-      for name, p in subprocesses.items():
+      for _, p in subprocesses.items():
         if not p.is_alive():
           [p.terminate() for p in subprocesses.values()]
           exit()
@@ -439,7 +439,7 @@ def main(argv):
       if p.is_alive():
         try:
           p.join(3.)
-        except TimeoutError:
+        except multiprocessing.TimeoutError:
           p.terminate()
           continue
   return 0

tools/sim/bridge.py

@@ -97,11 +97,9 @@ def go(q):
   world.set_weather(weather)
 
   blueprint_library = world.get_blueprint_library()
-  """
-  for blueprint in blueprint_library.filter('sensor.*'):
-     print(blueprint.id)
-  exit(0)
-  """
+  # for blueprint in blueprint_library.filter('sensor.*'):
+  #    print(blueprint.id)
+  # exit(0)
 
   world_map = world.get_map()
   vehicle_bp = random.choice(blueprint_library.filter('vehicle.tesla.*'))

tools/sim/lib/manual_ctrl.py

@@ -143,7 +143,7 @@ def wheel_poll_thread(q):
 
   while True:
     evbuf = jsdev.read(8)
-    time, value, mtype, number = struct.unpack('IhBB', evbuf)
+    _, value, mtype, number = struct.unpack('IhBB', evbuf)
     # print(mtype, number, value)
     if mtype & 0x02:  # wheel & paddles
       axis = axis_map[number]