Update Flake8 config (#1624)

* update flake8 checks

* add E502

* no whitespace warnings

* fix violations

* no W391

Co-authored-by: Jason Young <jason@comma.ai>
old-commit-hash: 367155168a

.pre-commit-config.yaml

@@ -20,9 +20,10 @@ repos:
     rev: master
     hooks:
     -   id: flake8
-        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
         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,W391
+        - --select=E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
+        - --max-line-length=240
         - --statistics
 -   repo: local
     hooks:

selfdrive/athena/test_helpers.py

@@ -46,7 +46,7 @@ class MockParams():
   def __init__(self):
     self.params = {
       "DongleId": b"0000000000000000",
-      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private"
+      "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private"  # noqa: E501
     }
 
   def get(self, k, encoding=None):

selfdrive/car/chrysler/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu

selfdrive/car/ford/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu

selfdrive/car/gm/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu

selfdrive/car/honda/carstate.py

@@ -184,7 +184,8 @@ class CarState(CarStateBase):
     self.prev_cruise_setting = self.cruise_setting
 
     # ******************* parse out can *******************
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):  # TODO: find wheels moving bit in dbc
+    # TODO: find wheels moving bit in dbc
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
       ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
@@ -233,7 +234,8 @@ class CarState(CarStateBase):
     ret.rightBlinker = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] != 0
     self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
 
-    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
+    if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH,
+                                  CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
       self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
       main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
     elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:

selfdrive/car/honda/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from cereal import car
 from selfdrive.car import dbc_dict
 

selfdrive/car/hyundai/carstate.py

@@ -59,7 +59,8 @@ class CarState(CarStateBase):
     ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
 
     # TODO: refactor gear parsing in function
-    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
+    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
+    # as this seems to be standard over all cars, but is not the preferred method.
     if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
       if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
         ret.gearShifter = GearShifter.drive

selfdrive/car/hyundai/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from cereal import car
 from selfdrive.car import dbc_dict
 Ecu = car.CarParams.Ecu

selfdrive/car/isotp_parallel_query.py

@@ -82,7 +82,8 @@ class IsoTpParallelQuery():
       id_addr = rx_addr or tx_addr[0]
       sub_addr = tx_addr[1]
 
-      can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr, self.bus, sub_addr=sub_addr, debug=self.debug)
+      can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr,
+                             self.bus, sub_addr=sub_addr, debug=self.debug)
 
       max_len = 8 if sub_addr is None else 7
 

selfdrive/car/mazda/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu

selfdrive/car/nissan/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 
 STEER_THRESHOLD = 1.0

selfdrive/car/subaru/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu

selfdrive/car/toyota/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 from cereal import car
 Ecu = car.CarParams.Ecu

selfdrive/car/volkswagen/values.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 from selfdrive.car import dbc_dict
 
 class CarControllerParams:

selfdrive/controls/tests/test_monitoring.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 import unittest
 import numpy as np
 from cereal import car

selfdrive/debug/compare_fingerprints.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# flake8: noqa
 
 # put 2 fingeprints and print the diffs
 f1 = {

selfdrive/locationd/locationd.py

@@ -95,7 +95,8 @@ class Localizer():
     device_from_ecef = rot_from_quat(predicted_state[States.ECEF_ORIENTATION]).T
     vel_device = device_from_ecef.dot(vel_ecef)
     device_from_ecef_eul = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]).T
-    idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop))
+    idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + \
+           list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop))
     condensed_cov = predicted_cov[idxs][:, idxs]
     HH = H(*list(np.concatenate([device_from_ecef_eul, vel_ecef])))
     vel_device_cov = HH.dot(condensed_cov).dot(HH.T)

selfdrive/locationd/models/gnss_kf.py

@@ -119,7 +119,8 @@ class GNSSKalman():
     self.dim_state = self.x_initial.shape[0]
 
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, self.dim_state, maha_test_kinds=self.maha_test_kinds)
+    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
+                          self.dim_state, maha_test_kinds=self.maha_test_kinds)
     self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
 
   @property

selfdrive/modeld/test/polyfit/test.py

@@ -1,3 +1,5 @@
+# flake8: noqa
+
 import numpy as np
 
 pts = np.array([3.1261718, 3.1642578, 3.0548828, 3.1125, 3.190625, 3.01875, 2.9816406, 3.1222656, 2.9728515, 2.9826171, 3.034375, 3.0392578, 3.1642578, 3.0792968, 3.0011718, 3.0705078, 2.9904296, 3.0089843, 3.0597656, 3.0978515, 2.9210937, 2.9992187, 2.9474609, 2.9621093, 2.9289062, 2.89375, 2.7975585, 2.9015625, 2.8175781, 2.9132812, 2.8175781, 2.7501953, 2.8332031, 2.8166015, 2.7638671, 2.8878906, 2.7599609, 2.6999023, 2.6720703, 2.6398437, 2.7243164, 2.6120117, 2.6588867, 2.5558593, 2.5978515, 2.5485351, 2.4269531, 2.5001953, 2.4855468, 2.4367187, 2.2973144, 2.2812011, 2.2890136, 2.39375, 2.2836425, 2.3815429, 2.2138183, 2.1964843, 2.1840332, 2.1759765, 2.0421875, 2.1034667, 2.0281494, 2.0880859, 1.9706542, 1.9276855, 1.8522155, 1.8991821, 1.7780273, 1.8180053, 1.8326843, 1.8270385, 1.7182128, 1.6439941, 1.5360839, 1.68385, 1.4584472, 1.5955322, 1.6002929, 1.4157226, 1.4704101, 1.2936523, 1.2990234, 1.4281738, 1.4357421, 1.409375, 1.2511718, 1.2194335, 1.1554687, 1.043164, 1.0954101, 1.0392578, 1.0895507, 1.0880859, 0.897168, 0.83369142, 0.86494142, 0.87763673, 0.85322267, 0.72968751, 0.57832032, 0.73066407, 0.78828126, 0.69160157, 0.64375, 0.5919922, 0.5529297, 0.52070314, 0.60957032, 0.51093751, 0.3576172, 0.49921876, 0.284375, 0.21992187, 0.25214845, 0.30683595, 0.30976564, 0.2716797, 0.22089843, 0.25507814, 0.084179685, 0.071484372, 0.1828125, 0.15644531, 0.13789062, 0.054882813, 0.021679688, -0.091601565, -0.0203125, -0.13359375, -0.037890624, -0.29765624, -0.15605469, -0.30351561, -0.055468749, -0.22148438, -0.246875, -0.31718749, -0.25468749, -0.35234374, -0.16484375, -0.56523436, -0.56523436, -0.39921874, -0.58671874, -0.45585936, -0.50859374, -0.44023436, -0.42656249, -0.56328124, -0.70195311, -0.403125, -0.76445311, -0.98710936, -0.7625, -0.75273436, -0.825, -0.996875, -0.86210936, -0.99492186, -0.85625, -0.88359374, -0.97148436, -1.0320313, -1.1609375, -1.1296875, -1.0203125, -1.0691407, -1.2371094, -1.1277344, -1.2214844, -1.1921875, -1.2996094, -1.2917969, -1.3699219, -1.434375, -1.3699219, -1.3601563, -1.5730469, -1.3152344, -1.4851563, -1.48125, -1.5925782, -1.746875, -1.5847657, -1.6003907, -1.5984375, -1.7703125, -1.8328125, -1.8152344, -1.9714844, -1.9421875])

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -239,7 +239,8 @@ class Plant():
 
     # print at 5hz
     if (self.frame % (self.rate//5)) == 0:
-      print("%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
+      print("%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s"
+            % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
 
     # ******** publish the car ********
     vls_tuple = namedtuple('vls', [

selfdrive/test/openpilotci_upload.py

@@ -8,7 +8,9 @@ def upload_file(path, name):
   from azure.storage.blob import BlockBlobService
   sas_token = os.getenv("TOKEN", None)
   if sas_token is None:
-    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+    cmd = "az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions \
+           lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv"
+    sas_token = subprocess.check_output(cmd, shell=True).decode().strip("\n")
   service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
   service.create_blob_from_path("openpilotci", name, path)
   return "https://commadataci.blob.core.windows.net/openpilotci/" + name

selfdrive/test/test_car_models.py

@@ -461,7 +461,8 @@ 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)  # pylint: disable=subprocess-popen-preexec-fn
+    disable_socks = 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
+    unlogger = subprocess.Popen(unlogger_cmd + ['--disable', disable_socks, '--no-interactive'], preexec_fn=os.setsid)  # pylint: disable=subprocess-popen-preexec-fn
 
     print("Check sockets")
     extra_socks = []

selfdrive/thermald/thermald.py

@@ -17,7 +17,8 @@ from selfdrive.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.loggerd.config import get_available_percent
 from selfdrive.pandad import get_expected_signature
-from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, get_battery_current, get_battery_voltage, get_usb_present
+from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, \
+                                                get_battery_current, get_battery_voltage, get_usb_present
 
 FW_SIGNATURE = get_expected_signature()
 

selfdrive/updated.py

@@ -280,7 +280,8 @@ def attempt_update():
   upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
   new_version = cur_hash != upstream_hash
 
-  git_fetch_result = len(git_fetch_output) > 0 and (git_fetch_output != "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n")
+  err_msg = "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n"
+  git_fetch_result = len(git_fetch_output) > 0 and (git_fetch_output != err_msg)
 
   cloudlog.info("comparing %s to %s" % (cur_hash, upstream_hash))
   if new_version or git_fetch_result:

selfdrive/version.py

@@ -67,7 +67,8 @@ try:
       dirty_files = subprocess.check_output(["git", "diff-index", branch, "--"], encoding='utf8')
       commit = subprocess.check_output(["git", "rev-parse", "--verify", "HEAD"], encoding='utf8').rstrip()
       origin_commit = subprocess.check_output(["git", "rev-parse", "--verify", branch], encoding='utf8').rstrip()
-      cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch, dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
+      cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch,
+                     dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
 
 except subprocess.CalledProcessError:
   dirty = True

tools/lib/auth_config.py

@@ -13,7 +13,7 @@ def get_token():
     with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
       auth = json.load(f)
       return auth['access_token']
-  except:
+  except Exception:
     raise MissingAuthConfigError('Authenticate with tools/lib/auth.py')
 
 def set_token(token):

tools/lib/logreader.py

@@ -73,7 +73,8 @@ class MultiLogIterator(object):
       self._idx += 1
     else:
       self._idx = 0
-      self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) if i == len(self._log_readers) or self._log_paths[i] is not None)
+      self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1)
+                               if i == len(self._log_readers) or self._log_paths[i] is not None)
       # wraparound
       if self._current_log == len(self._log_readers):
         if self._wraparound:

tools/replay/ui.py

@@ -66,7 +66,8 @@ def ui_thread(addr, frame_address):
   top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
 
   frame = messaging.sub_sock('frame', addr=addr, conflate=True)
-  sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', 'liveTracks', 'model', 'liveMpc', 'liveParameters', 'pathPlan'], addr=addr)
+  sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
+                            'liveTracks', 'model', 'liveMpc', 'liveParameters', 'pathPlan'], addr=addr)
 
   calibration = None
   img = np.zeros((480, 640, 3), dtype='uint8')

tools/replay/unlog_segment.py

@@ -102,6 +102,6 @@ if __name__ == "__main__":
   try:
     replay(args.segment, args.loop)
     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
-  except:
+  except Exception:
     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
     raise