Add More Types for mypy (#23268)

* mypy passes

* a few more

* a few in manager

* more types, will lint

* more

* simple types

* events type

* Update selfdrive/thermald/thermald.py

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: dc96d4bee7

common/realtime.py

@@ -39,7 +39,7 @@ def set_realtime_priority(level: int) -> None:
 
 def set_core_affinity(core: int) -> None:
   if not PC:
-    os.sched_setaffinity(0, [core,])
+    os.sched_setaffinity(0, [core,])   # type: ignore[attr-defined]
 
 
 def config_realtime_process(core: int, priority: int) -> None:

common/spinner.py

@@ -24,7 +24,7 @@ class Spinner():
       except BrokenPipeError:
         pass
 
-  def update_progress(self, cur: int, total: int):
+  def update_progress(self, cur: float, total: float):
     self.update(str(round(100 * cur / total)))
 
   def close(self):

selfdrive/controls/lib/events.py

@@ -1,5 +1,5 @@
 from enum import IntEnum
-from typing import Dict, Union, Callable
+from typing import Dict, Union, Callable, List, Optional
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -42,33 +42,33 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
 
 class Events:
   def __init__(self):
-    self.events = []
+    self.events: List[int] = []
-    self.static_events = []
+    self.static_events: List[int] = []
     self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
 
   @property
-  def names(self):
+  def names(self) -> List[int]:
     return self.events
 
-  def __len__(self):
+  def __len__(self) -> int:
     return len(self.events)
 
-  def add(self, event_name, static=False):
+  def add(self, event_name: int, static: bool=False) -> None:
     if static:
       self.static_events.append(event_name)
     self.events.append(event_name)
 
-  def clear(self):
+  def clear(self) -> None:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
     self.events = self.static_events.copy()
 
-  def any(self, event_type):
+  def any(self, event_type: str) -> bool:
     for e in self.events:
       if event_type in EVENTS.get(e, {}).keys():
         return True
     return False
 
-  def create_alerts(self, event_types, callback_args=None):
+  def create_alerts(self, event_types: List[str], callback_args=None):
     if callback_args is None:
       callback_args = []
 
@@ -129,7 +129,7 @@ class Alert:
     self.creation_delay = creation_delay
 
     self.alert_type = ""
-    self.event_type = None
+    self.event_type: Optional[str] = None
 
   def __str__(self) -> str:
     return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
@@ -139,14 +139,14 @@ class Alert:
 
 
 class NoEntryAlert(Alert):
-  def __init__(self, alert_text_2, visual_alert=VisualAlert.none):
+  def __init__(self, alert_text_2: str, visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none):
     super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal,
                      AlertSize.mid, Priority.LOW, visual_alert,
                      AudibleAlert.refuse, 3.)
 
 
 class SoftDisableAlert(Alert):
-  def __init__(self, alert_text_2):
+  def __init__(self, alert_text_2: str):
     super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
                      AlertStatus.userPrompt, AlertSize.full,
                      Priority.MID, VisualAlert.steerRequired,
@@ -155,13 +155,13 @@ class SoftDisableAlert(Alert):
 
 # less harsh version of SoftDisable, where the condition is user-triggered
 class UserSoftDisableAlert(SoftDisableAlert):
-  def __init__(self, alert_text_2):
+  def __init__(self, alert_text_2: str):
     super().__init__(alert_text_2),
     self.alert_text_1 = "openpilot will disengage"
 
 
 class ImmediateDisableAlert(Alert):
-  def __init__(self, alert_text_2):
+  def __init__(self, alert_text_2: str):
     super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2,
                      AlertStatus.critical, AlertSize.full,
                      Priority.HIGHEST, VisualAlert.steerRequired,

selfdrive/hardware/base.py

@@ -1,11 +1,12 @@
 from abc import abstractmethod, ABC
 from collections import namedtuple
+from typing import Dict
 
 ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic'])
 
 class HardwareBase(ABC):
   @staticmethod
-  def get_cmdline():
+  def get_cmdline() -> Dict[str, str]:
     with open('/proc/cmdline') as f:
       cmdline = f.read()
     return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2}

selfdrive/locationd/calibrationd.py

@@ -8,6 +8,7 @@ and the image input into the neural network is not corrected for roll.
 
 import os
 import copy
+from typing import NoReturn
 import numpy as np
 import cereal.messaging as messaging
 from cereal import log
@@ -183,11 +184,11 @@ class Calibrator():
     msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread]
     return msg
 
-  def send_data(self, pm):
+  def send_data(self, pm) -> None:
     pm.send('liveCalibration', self.get_msg())
 
 
-def calibrationd_thread(sm=None, pm=None):
+def calibrationd_thread(sm=None, pm=None) -> NoReturn:
   if sm is None:
     sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
 
@@ -215,7 +216,7 @@ def calibrationd_thread(sm=None, pm=None):
       calibrator.send_data(pm)
 
 
-def main(sm=None, pm=None):
+def main(sm=None, pm=None) -> NoReturn:
   calibrationd_thread(sm, pm)
 
 

selfdrive/manager/build.py

@@ -22,7 +22,7 @@ MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
 
-def build(spinner, dirty=False):
+def build(spinner: Spinner, dirty: bool = False) -> None:
   env = os.environ.copy()
   env['SCONS_PROGRESS'] = "1"
   nproc = os.cpu_count()
@@ -30,6 +30,7 @@ def build(spinner, dirty=False):
 
   for retry in [True, False]:
     scons = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    assert scons.stderr is not None
 
     compile_output = []
 

selfdrive/manager/helpers.py

@@ -5,7 +5,7 @@ import errno
 import signal
 
 
-def unblock_stdout():
+def unblock_stdout() -> None:
   # get a non-blocking stdout
   child_pid, child_pty = os.forkpty()
   if child_pid != 0:  # parent

selfdrive/manager/manager.py

@@ -5,6 +5,7 @@ import signal
 import subprocess
 import sys
 import traceback
+from typing import List, Tuple, Union
 
 import cereal.messaging as messaging
 import selfdrive.crash as crash
@@ -25,7 +26,7 @@ from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
 
 
-def manager_init():
+def manager_init() -> None:
   # update system time from panda
   set_time(cloudlog)
 
@@ -35,7 +36,7 @@ def manager_init():
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
 
-  default_params = [
+  default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
@@ -56,7 +57,7 @@ def manager_init():
 
   # is this dashcam?
   if os.getenv("PASSIVE") is not None:
-    params.put_bool("Passive", bool(int(os.getenv("PASSIVE"))))
+    params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0"))))
 
   if params.get("Passive") is None:
     raise Exception("Passive must be set to continue")
@@ -99,12 +100,12 @@ def manager_init():
                    device=HARDWARE.get_device_type())
 
 
-def manager_prepare():
+def manager_prepare() -> None:
   for p in managed_processes.values():
     p.prepare()
 
 
-def manager_cleanup():
+def manager_cleanup() -> None:
   # send signals to kill all procs
   for p in managed_processes.values():
     p.stop(block=False)
@@ -116,7 +117,7 @@ def manager_cleanup():
   cloudlog.info("everything is dead")
 
 
-def manager_thread():
+def manager_thread() -> None:
   cloudlog.bind(daemon="manager")
   cloudlog.info("manager start")
   cloudlog.info({"environ": os.environ})
@@ -128,8 +129,7 @@ def manager_thread():
     ignore += ["manage_athenad", "uploader"]
   if os.getenv("NOBOARD") is not None:
     ignore.append("pandad")
-  if os.getenv("BLOCK") is not None:
+  ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
-    ignore += os.getenv("BLOCK").split(",")
 
   ensure_running(managed_processes.values(), started=False, not_run=ignore)
 
@@ -176,7 +176,7 @@ def manager_thread():
       break
 
 
-def main():
+def main() -> None:
   prepare_only = os.getenv("PREPAREONLY") is not None
 
   manager_init()

selfdrive/manager/process.py

@@ -4,6 +4,7 @@ import signal
 import struct
 import time
 import subprocess
+from typing import Optional, List, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
@@ -22,7 +23,7 @@ WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
 
-def launcher(proc, name):
+def launcher(proc: str, name: str) -> None:
   try:
     # import the process
     mod = importlib.import_module(proc)
@@ -37,7 +38,7 @@ def launcher(proc, name):
     cloudlog.bind(daemon=name)
 
     # exec the process
-    mod.main()
+    getattr(mod, 'main')()
   except KeyboardInterrupt:
     cloudlog.warning(f"child {proc} got SIGINT")
   except Exception:
@@ -47,13 +48,13 @@ def launcher(proc, name):
     raise
 
 
-def nativelauncher(pargs, cwd):
+def nativelauncher(pargs: List[str], cwd: str) -> None:
   # exec the process
   os.chdir(cwd)
   os.execvp(pargs[0], pargs)
 
 
-def join_process(process, timeout):
+def join_process(process: Process, timeout: float) -> None:
   # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382
   # We have to poll the exitcode instead
   t = time.monotonic()
@@ -65,7 +66,8 @@ class ManagerProcess(ABC):
   unkillable = False
   daemon = False
   sigkill = False
-  proc = None
+  persistent = False
+  proc: Optional[Process] = None
   enabled = True
   name = ""
 
@@ -75,24 +77,25 @@ class ManagerProcess(ABC):
   shutting_down = False
 
   @abstractmethod
-  def prepare(self):
+  def prepare(self) -> None:
     pass
 
   @abstractmethod
-  def start(self):
+  def start(self) -> None:
     pass
 
-  def restart(self):
+  def restart(self) -> None:
     self.stop()
     self.start()
 
-  def check_watchdog(self, started):
+  def check_watchdog(self, started: bool) -> None:
     if self.watchdog_max_dt is None or self.proc is None:
       return
 
     try:
       fn = WATCHDOG_FN + str(self.proc.pid)
-      self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0]
+      # TODO: why can't pylint find struct.unpack?
+      self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member
     except Exception:
       pass
 
@@ -106,9 +109,9 @@ class ManagerProcess(ABC):
     else:
       self.watchdog_seen = True
 
-  def stop(self, retry=True, block=True):
+  def stop(self, retry: bool=True, block: bool=True) -> Optional[int]:
     if self.proc is None:
-      return
+      return None
 
     if self.proc.exitcode is None:
       if not self.shutting_down:
@@ -118,7 +121,7 @@ class ManagerProcess(ABC):
         self.shutting_down = True
 
         if not block:
-          return
+          return None
 
       join_process(self.proc, 5)
 
@@ -148,7 +151,7 @@ class ManagerProcess(ABC):
 
     return ret
 
-  def signal(self, sig):
+  def signal(self, sig: int) -> None:
     if self.proc is None:
       return
 
@@ -156,6 +159,10 @@ class ManagerProcess(ABC):
     if self.proc.exitcode is not None and self.proc.pid is not None:
       return
 
+    # Can't signal if we don't have a pid
+    if self.proc.pid is None:
+      return
+
     cloudlog.info(f"sending signal {sig} to {self.name}")
     os.kill(self.proc.pid, sig)
 
@@ -182,10 +189,10 @@ class NativeProcess(ManagerProcess):
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
 
-  def prepare(self):
+  def prepare(self) -> None:
     pass
 
-  def start(self):
+  def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
     if self.shutting_down:
         self.stop()
@@ -212,12 +219,12 @@ class PythonProcess(ManagerProcess):
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
 
-  def prepare(self):
+  def prepare(self) -> None:
     if self.enabled:
       cloudlog.info(f"preimporting {self.module}")
       importlib.import_module(self.module)
 
-  def start(self):
+  def start(self) -> None:
     # In case we only tried a non blocking stop we need to stop it before restarting
     if self.shutting_down:
         self.stop()
@@ -242,10 +249,10 @@ class DaemonProcess(ManagerProcess):
     self.enabled = enabled
     self.persistent = True
 
-  def prepare(self):
+  def prepare(self) -> None:
     pass
 
-  def start(self):
+  def start(self) -> None:
     params = Params()
     pid = params.get(self.param_name, encoding='utf-8')
 
@@ -269,11 +276,11 @@ class DaemonProcess(ManagerProcess):
 
     params.put(self.param_name, str(proc.pid))
 
-  def stop(self, retry=True, block=True):
+  def stop(self, retry=True, block=True) -> None:
     pass
 
 
-def ensure_running(procs, started, driverview=False, not_run=None):
+def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, not_run: Optional[List[str]]=None) -> None:
   if not_run is None:
     not_run = []
 
@@ -284,7 +291,8 @@ def ensure_running(procs, started, driverview=False, not_run=None):
       p.stop(block=False)
     elif p.persistent:
       p.start()
-    elif p.driverview and driverview:
+    elif getattr(p, 'driverview', False) and driverview:
+      # TODO: why is driverview an argument here? can this be done with the name?
       p.start()
     elif started:
       p.start()

selfdrive/pandad.py

@@ -4,7 +4,7 @@ import os
 import usb1
 import time
 import subprocess
-from typing import List
+from typing import List, NoReturn
 from functools import cmp_to_key
 
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
@@ -76,7 +76,7 @@ def panda_sort_cmp(a : Panda, b : Panda):
   # last resort: sort by serial number
   return a.get_usb_serial() < b.get_usb_serial()
 
-def main() -> None:
+def main() -> NoReturn:
   while True:
     try:
       # Flash all Pandas in DFU mode

selfdrive/thermald/power_monitoring.py

@@ -2,6 +2,7 @@ import random
 import threading
 import time
 from statistics import mean
+from typing import Optional
 
 from cereal import log
 from common.params import Params, put_nonblocking
@@ -135,7 +136,7 @@ class PowerMonitoring:
     except Exception:
       cloudlog.exception("Power monitoring calculation failed")
 
-  def _perform_integration(self, t, current_power):
+  def _perform_integration(self, t: float, current_power: float) -> None:
     with self.integration_lock:
       try:
         if self.last_measurement_time:
@@ -150,14 +151,14 @@ class PowerMonitoring:
         cloudlog.exception("Integration failed")
 
   # Get the power usage
-  def get_power_used(self):
+  def get_power_used(self) -> int:
     return int(self.power_used_uWh)
 
-  def get_car_battery_capacity(self):
+  def get_car_battery_capacity(self) -> int:
     return int(self.car_battery_capacity_uWh)
 
   # See if we need to disable charging
-  def should_disable_charging(self, ignition, in_car, offroad_timestamp):
+  def should_disable_charging(self, ignition: bool, in_car: bool, offroad_timestamp: Optional[float]) -> bool:
     if offroad_timestamp is None:
       return False
 

selfdrive/thermald/thermald.py

@@ -3,7 +3,7 @@ import datetime
 import os
 import time
 from pathlib import Path
-from typing import Dict, Optional, Tuple
+from typing import Dict, NoReturn, Optional, Tuple
 from collections import namedtuple, OrderedDict
 
 import psutil
@@ -152,7 +152,7 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
   set_offroad_alert(offroad_alert, show_alert, extra_text)
 
 
-def thermald_thread():
+def thermald_thread() -> NoReturn:
 
   pm = messaging.PubMaster(['deviceState'])
 
@@ -163,11 +163,11 @@ def thermald_thread():
   fan_speed = 0
   count = 0
 
-  onroad_conditions = {
+  onroad_conditions: Dict[str, bool] = {
     "ignition": False,
   }
-  startup_conditions = {}
+  startup_conditions: Dict[str, bool] = {}
-  startup_conditions_prev = {}
+  startup_conditions_prev: Dict[str, bool] = {}
 
   off_ts = None
   started_ts = None
@@ -424,7 +424,7 @@ def thermald_thread():
     count += 1
 
 
-def main():
+def main() -> NoReturn:
   thermald_thread()
 
 

selfdrive/timezoned.py

@@ -3,6 +3,7 @@ import json
 import os
 import time
 import subprocess
+from typing import NoReturn
 
 import requests
 from timezonefinder import TimezoneFinder
@@ -30,7 +31,7 @@ def set_timezone(valid_timezones, timezone):
     cloudlog.exception(f"Error setting timezone to {timezone}")
 
 
-def main():
+def main() -> NoReturn:
   params = Params()
   tf = TimezoneFinder()
 

selfdrive/tombstoned.py

@@ -7,6 +7,7 @@ import signal
 import subprocess
 import time
 import glob
+from typing import NoReturn
 
 import sentry_sdk
 
@@ -197,7 +198,7 @@ def report_tombstone_apport(fn):
     pass
 
 
-def main():
+def main() -> NoReturn:
   clear_apport_folder()  # Clear apport folder on start, otherwise duplicate crashes won't register
   initial_tombstones = set(get_tombstones())
 

selfdrive/updated.py

@@ -370,7 +370,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
   return new_version
 
 
-def main():
+def main() -> None:
   params = Params()
 
   if params.get_bool("DisableUpdates"):
@@ -400,7 +400,7 @@ def main():
   overlay_init.unlink(missing_ok=True)
 
   first_run = True
-  last_fetch_time = 0
+  last_fetch_time = 0.0
   update_failed_count = 0
 
   # Set initial params for offroad alerts