enable flake8 E303: too many blank lines

old-commit-hash: f3dcf861c7

.pre-commit-config.yaml

@@ -17,7 +17,7 @@ repos:
     -   id: flake8
         exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
         args:
-        - --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E251,E265,E266,E302,E303,E305,E402,E501,E502,E722,E741,W504
+        - --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E251,E265,E266,E302,E305,E402,E501,E502,E722,E741,W504
         - --statistics
 -   repo: local
     hooks:

cereal

@@ -1 +1 @@
-Subproject commit 76eb23e062679058025369204f4e9a81ea7d479b
+Subproject commit b25a7d6f6e4dc923f1ee1fd5ea13d6e12100341e

common/kalman/tests/test_simple_kalman.py

@@ -50,7 +50,6 @@ class TestSimpleKalman(unittest.TestCase):
       self.assertAlmostEqual(x_old[0], x[0])
       self.assertAlmostEqual(x_old[1], x[1])
 
-
   def test_new_is_faster(self):
     setup = """
 import numpy as np

common/transformations/coordinates.py

@@ -5,7 +5,6 @@ with each row as a position.
 """
 
 
-
 a = 6378137
 b = 6356752.3142
 esq = 6.69437999014 * 0.001
@@ -91,7 +90,6 @@ class LocalCoord():
     init_geodetic = ecef2geodetic(init_ecef)
     return LocalCoord(init_geodetic, init_ecef)
 
-
   def ecef2ned(self, ecef):
     ecef = np.array(ecef)
     return np.dot(self.ecef2ned_matrix, (ecef - self.init_ecef).T).T

common/transformations/orientation.py

@@ -132,10 +132,6 @@ rot_from_euler = euler2rot
 quat_from_euler = euler2quat
 
 
-
-
-
-
 '''
 Random helpers below
 '''

common/transformations/tests/test_coordinates.py

@@ -50,7 +50,6 @@ ned_offsets_batch = np.array([[  53.88103168,   43.83445935,  -46.27488057],
                               [  78.56272609,   18.53100158,  -43.25290759]])
 
 
-
 class TestNED(unittest.TestCase):
   def test_small_distances(self):
     start_geodetic = np.array([33.8042184, -117.888593, 0.0])
@@ -83,8 +82,6 @@ class TestNED(unittest.TestCase):
     np.testing.assert_allclose(geodetic_positions_radians[:, :2], coord.ecef2geodetic(ecef_positions, radians=True)[:, :2], rtol=1e-7)
     np.testing.assert_allclose(geodetic_positions_radians[:, 2], coord.ecef2geodetic(ecef_positions, radians=True)[:, 2], rtol=1e-7, atol=1e-4)
 
-
-
   def test_ned(self):
     for ecef_pos in ecef_positions:
       converter = coord.LocalCoord.from_ecef(ecef_pos)
@@ -99,7 +96,6 @@ class TestNED(unittest.TestCase):
       np.testing.assert_allclose(geo_pos_moved[:2], geo_pos_double_converted_moved[:2], rtol=1e-9, atol=1e-6)
       np.testing.assert_allclose(geo_pos_moved[2], geo_pos_double_converted_moved[2], rtol=1e-9, atol=1e-4)
 
-
   def test_ned_saved_results(self):
     for i, ecef_pos in enumerate(ecef_positions):
       converter = coord.LocalCoord.from_ecef(ecef_pos)

common/transformations/tests/test_orientation.py

@@ -64,6 +64,5 @@ class TestOrientation(unittest.TestCase):
     np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
 
 
-
 if __name__ == "__main__":
   unittest.main()

common/url_file.py

@@ -77,7 +77,6 @@ class URLFile(object):
     if response_code != 206 and response_code != 200:
       raise Exception("Error {} ({}): {}".format(response_code, self._url, repr(dats.getvalue())[:500]))
 
-
     ret = dats.getvalue()
     self._pos += len(ret)
     return ret

common/window.py

@@ -23,7 +23,6 @@ class Window():
       pygame.surfarray.blit_array(self.screen, out.swapaxes(0, 1))
     pygame.display.flip()
 
-
   def getkey(self):
     while 1:
       event = pygame.event.wait()

external/simpleperf/utils.py

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:07ce9f7cf91d3d3c0a0dfd524715d138232008c3d6b4fec59200b2fcab9753a5
-size 25085
+oid sha256:0c8ae55f637567af36c27d3dac8d0d62f9d859c71a2502c08dff92a13f1bf6f3
+size 25078

laika_repo

@@ -1 +1 @@
-Subproject commit d0872aa16155e8f73961d52952c8cef41d5702d4
+Subproject commit 4d9df5eb0994523d8061358e0210ca6e6a473e48

panda

@@ -1 +1 @@
-Subproject commit 9102c16118171597abf6cb7b9dee99b557f7eee7
+Subproject commit 275e76c2b2f9206c82990fe7ba0a6a96ecb8a0bc

selfdrive/boardd/tests/replay_many.py

@@ -56,7 +56,6 @@ if __name__ == "__main__":
     serials = Panda.list()
   num_senders = len(serials)
 
-
   if num_senders == 0:
     print("No senders found. Exiting")
     sys.exit(1)

selfdrive/car/chrysler/carcontroller.py

@@ -17,7 +17,6 @@ class CarController():
 
     self.packer = CANPacker(dbc_name)
 
-
   def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
     # this seems needed to avoid steering faults and to force the sync with the EPS counter
     frame = CS.lkas_counter

selfdrive/car/chrysler/test_chryslercan.py

@@ -8,7 +8,6 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 GearShifter = car.CarState.GearShifter
 
 
-
 class TestChryslerCan(unittest.TestCase):
 
   def test_hud(self):

selfdrive/car/chrysler/values.py

@@ -10,7 +10,6 @@ class SteerLimitParams:
   STEER_ERROR_MAX = 80
 
 
-
 class CAR:
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"

selfdrive/car/ford/radar_interface.py

@@ -34,7 +34,6 @@ class RadarInterface(RadarInterfaceBase):
     if self.trigger_msg not in self.updated_messages:
       return None
 
-
     ret = car.RadarData.new_message()
     errors = []
     if not self.rcp.can_valid:

selfdrive/car/honda/carstate.py

@@ -339,7 +339,6 @@ class CarState(CarStateBase):
                   ("FCM_PROBLEM", "ACC_HUD", 0),
                   ("ICONS", "ACC_HUD", 0)]
 
-
     # all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
     checks = [(0xe4, 100)]
     if CP.carFingerprint in [CAR.CRV, CAR.CRV_EU, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:

selfdrive/car/honda/interface.py

@@ -387,7 +387,6 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiBP = [0., 35.]
       ret.longitudinalTuning.kiV = [0.18, 0.12]
 
-
     else:
       raise ValueError("unsupported car %s" % candidate)
 

selfdrive/car/honda/radar_interface.py

@@ -52,7 +52,6 @@ class RadarInterface(RadarInterfaceBase):
     self.updated_messages.clear()
     return rr
 
-
   def _update(self, updated_messages):
     ret = car.RadarData.new_message()
 

selfdrive/car/hyundai/carcontroller.py

@@ -94,7 +94,6 @@ class CarController():
     elif self.last_lead_distance != 0:
       self.last_lead_distance = 0
 
-
     # 20 Hz LFA MFA message
     if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
       can_sends.append(create_lfa_mfa(self.packer, frame, enabled))

selfdrive/car/mazda/carcontroller.py

@@ -36,7 +36,6 @@ class CarController():
         # Match stock message rate which is sent at 10hz
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
 
-
     self.apply_steer_last = apply_steer
 
     can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,

selfdrive/car/mazda/carstate.py

@@ -56,7 +56,6 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["ENGINE_DATA"]['PEDAL_GAS']
     ret.gasPressed = ret.gas > 0
 
-
     # LKAS is enabled at 52kph going up and disabled at 45kph going down
     if speed_kph > LKAS_LIMITS.ENABLE_SPEED:
       self.lkas_allowed = True
@@ -155,7 +154,6 @@ class CarState(CarStateBase):
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
 
-
   @staticmethod
   def get_cam_can_parser(CP):
     signals = [ ]

selfdrive/car/mazda/interface.py

@@ -46,7 +46,6 @@ class CarInterface(CarInterfaceBase):
       # No steer below disable speed
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
 
-
     ret.centerToFront = ret.wheelbase * 0.41
 
     # TODO: get actual value, for now starting with reasonable value for

selfdrive/car/subaru/carcontroller.py

@@ -16,7 +16,6 @@ class CarControllerParams():
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
 
-
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.lkas_active = False

selfdrive/car/toyota/carstate.py

@@ -160,7 +160,6 @@ class CarState(CarStateBase):
       signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
       checks.append(("PCM_CRUISE_2", 33))
 
-
     if CP.carFingerprint == CAR.PRIUS:
       signals += [("STATE", "AUTOPARK_STATUS", 0)]
 

selfdrive/controls/controlsd.py

@@ -146,7 +146,6 @@ class Controls:
     self.rk = Ratekeeper(100, print_delay_threshold=None)
     self.prof = Profiler(False)  # off by default
 
-
   def update_events(self, CS):
     """Compute carEvents from carState"""
 
@@ -226,7 +225,6 @@ class Controls:
        and not self.CP.radarOffCan and CS.vEgo < 0.3:
       self.events.add(EventName.noTarget)
 
-
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
@@ -255,7 +253,6 @@ class Controls:
 
     return CS
 
-
   def state_transition(self, CS):
     """Compute conditional state transitions and execute actions on state transitions"""
 
@@ -331,7 +328,6 @@ class Controls:
     # Check if openpilot is engaged
     self.enabled = self.active or self.state == State.preEnabled
 
-
   def state_control(self, CS):
     """Given the state, this function returns an actuators packet"""
 
@@ -382,7 +378,6 @@ class Controls:
 
     return actuators, v_acc_sol, a_acc_sol, lac_log
 
-
   def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
     """Send actuators and hud commands to the car, send controlsstate and MPC logging"""
 

selfdrive/controls/radard.py

@@ -133,7 +133,6 @@ class RadarD():
     idens = list(sorted(self.tracks.keys()))
     track_pts = list([self.tracks[iden].get_key_for_cluster() for iden in idens])
 
-
     # If we have multiple points, cluster them
     if len(track_pts) > 1:
       cluster_idxs = cluster_points_centroid(track_pts, 2.5)

selfdrive/debug/internal/check_alive_valid.py

@@ -6,12 +6,10 @@ import cereal.messaging as messaging
 if __name__ == "__main__":
   sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan'])
 
-
   i = 0
   while True:
     sm.update(0)
 
-
     i += 1
     if i % 100 == 0:
       print()

selfdrive/debug/mpc/live_lateral_mpc.py

@@ -55,7 +55,6 @@ def mpc_vwr_thread(addr="127.0.0.1"):
   aa.invert_xaxis()
   plt.show()
 
-
   # *** log ***
   livempc = messaging.sub_sock('liveMpc', addr=addr)
   model = messaging.sub_sock('model', addr=addr)

selfdrive/debug/mpc/live_longitudinal_mpc.py

@@ -97,8 +97,6 @@ def plot_longitudinal_mpc(addr="127.0.0.1"):
       fig.canvas.flush_events()
 
 
-
-
 if __name__ == "__main__":
   if len(sys.argv) > 1:
     plot_longitudinal_mpc(sys.argv[1])

selfdrive/debug/mpc/tune_lateral.py

@@ -151,7 +151,6 @@ ys.append(sol_y)
 deltas.append(delta)
 
 
-
 plt.figure()
 
 for i in range(len(xs)):

selfdrive/locationd/calibrationd.py

@@ -167,7 +167,6 @@ def calibrationd_thread(sm=None, pm=None):
                                           sm['cameraOdometry'].transStd,
                                           sm['cameraOdometry'].rotStd)
 
-
       if DEBUG and new_vp is not None:
         print('got new vp', new_vp)
 

selfdrive/locationd/locationd.py

@@ -194,7 +194,6 @@ class Localizer():
     ecef_pos_R = np.diag([(3*log.verticalAccuracy)**2]*3)
     ecef_vel_R = np.diag([(log.speedAccuracy)**2]*3)
 
-
     #self.time = GPSTime.from_datetime(datetime.utcfromtimestamp(log.timestamp*1e-3))
     self.unix_timestamp_millis = log.timestamp
     gps_est_error = np.sqrt((self.kf.x[0] - ecef_pos[0])**2 +

selfdrive/locationd/models/constants.py

@@ -38,7 +38,6 @@ class ObservationKind:
   STEER_RATIO = 29  # [-]
   ROAD_FRAME_X_SPEED = 30  # (x) [m/s]
 
-
   names = [
     'Unknown',
     'No observation',

selfdrive/locationd/test/test_params_learner.py

@@ -46,8 +46,5 @@ class TestParamsLearner(unittest.TestCase):
     self.assertAlmostEqual(sr_target, sr, places=1)
 
 
-
-
-
 if __name__ == "__main__":
   unittest.main()

selfdrive/locationd/test/ublox.py

@@ -737,7 +737,6 @@ class UBlox:
           self.buf = self.buf[n:]
           return ret
 
-
         def write(self, dat):
           pass
 

selfdrive/locationd/test/ubloxd.py

@@ -80,7 +80,6 @@ def configure_ublox(dev):
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
 
 
-
 def int_to_bool_list(num):
   # for parsing bool bytes
   return [bool(num & (1 << n)) for n in range(8)]
@@ -181,8 +180,6 @@ def gen_nav_data(msg, nav_frame_buffer):
       return gen_ephemeris(ephem_data)
 
 
-
-
 def gen_raw(msg):
   # meta data is in first part of tuple
   # list of measurements is in second part
@@ -284,7 +281,6 @@ def main():
   for i in range(1, 33):
     nav_frame_buffer[0][i] = {}
 
-
   gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
   ubloxGnss = messaging.pub_sock('ubloxGnss')
 

selfdrive/modeld/visiontest.py

@@ -103,7 +103,6 @@ class VisionTest():
                                  transform)
     return result
 
-
   def transform_output_buffer(self, yuv_data, y_out, u_out, v_out,
                               transform):
     assert len(yuv_data) == self.input_size[0] * self.input_size[1] * 3/2

selfdrive/test/longitudinal_maneuvers/maneuverplots.py

@@ -61,7 +61,6 @@ class ManeuverPlot():
     self.a_target_array.append(a_target)
     self.fcw_array.append(fcw)
 
-
   def write_plot(self, path, maneuver_name):
     # title = self.title or maneuver_name
     # TODO: Missing plots from the old one:

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -355,7 +355,6 @@ class Plant():
     msg_data = fix(msg_data, 0xe4)
     can_msgs.append([0xe4, 0, msg_data, 2])
 
-
     # Fake sockets that controlsd subscribes to
     live_parameters = messaging.new_message('liveParameters')
     live_parameters.liveParameters.valid = True

selfdrive/test/process_replay/inject_model.py

@@ -65,7 +65,6 @@ def inject_model(msgs, segment_name):
   time.sleep(2)
   manager.kill_managed_process('camerad')
 
-
   new_msgs = []
   midx = 0
   for msg in msgs:

selfdrive/test/process_replay/process_replay.py

@@ -94,7 +94,6 @@ class FakeSubMaster(messaging.SubMaster):
     wait_for_event(self.update_ready)
     self.update_ready.clear()
 
-
   def update_msgs(self, cur_time, msgs):
     wait_for_event(self.update_called)
     self.update_called.clear()

selfdrive/test/update_ci_routes.py

@@ -65,7 +65,6 @@ if __name__ == "__main__":
     if not sync_to_ci_public(r):
       failed_routes.append(r)
 
-
   if len(failed_routes):
     print("failed routes:")
     print(failed_routes)

tools/carcontrols/joystick_test.py

@@ -63,7 +63,6 @@ while not done:
         if event.type == pygame.JOYBUTTONUP:
             print("Joystick button released.")
 
-
     # DRAWING STEP
     # First, clear the screen to white. Don't put other drawing commands
     # above this, or they will be erased with this command.
@@ -107,10 +106,8 @@ while not done:
         textPrint.printf(screen, "Button {:>2} value: {}".format(i, button) )
     textPrint.unindent()
 
-
     textPrint.unindent()
 
-
     # ALL CODE TO DRAW SHOULD GO ABOVE THIS COMMENT
 
     # Go ahead and update the screen with what we've drawn.

tools/lib/kbhit.py

@@ -31,14 +31,12 @@ class KBHit:
 
     termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
 
-
   def getch(self):
     ''' Returns a keyboard character after kbhit() has been called.
       Should not be called in the same program as getarrow().
     '''
     return sys.stdin.read(1)
 
-
   def getarrow(self):
     ''' Returns an arrow-key code after kbhit() has been called. Codes are
     0 : up
@@ -53,7 +51,6 @@ class KBHit:
 
     return vals.index(ord(c.decode('utf-8')))
 
-
   def kbhit(self):
     ''' Returns True if keyboard character was hit, False otherwise.
     '''

tools/lib/route_framereader.py

@@ -75,7 +75,6 @@ class RouteFrameReader(object):
 
     return self._frame_readers[segment_num].get(segment_id, **kwargs)[0]
 
-
   def close(self):
     frs = self._frame_readers
     self._frame_readers.clear()

tools/lib/tests/test_readers.py

@@ -18,7 +18,6 @@ class TestReaders(unittest.TestCase):
       self.assertEqual(hist['carControl'], 6000)
       self.assertEqual(hist['logMessage'], 6857)
 
-
     with tempfile.NamedTemporaryFile(suffix=".bz2") as fp:
       r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true")
       fp.write(r.content)
@@ -36,11 +35,9 @@ class TestReaders(unittest.TestCase):
       self.assertEqual(f.w, 1164)
       self.assertEqual(f.h, 874)
 
-
       frame_first_30 = f.get(0, 30)
       self.assertEqual(len(frame_first_30), 30)
 
-
       print(frame_first_30[15])
 
       print("frame_0")

tools/replay/camera.py

@@ -19,7 +19,6 @@ _FULL_FRAME_TO_BB = np.linalg.inv(_BB_TO_FULL_FRAME)
 _FULL_FRAME_SIZE = 1164, 874
 
 
-
 def pygame_modules_have_loaded():
   return pygame.display.get_init() and pygame.font.get_init()
 

tools/replay/lib/ui_helpers.py

@@ -187,7 +187,6 @@ def draw_mpc(liveMpc, top_down):
     top_down[1][px, py] = mpc_color
 
 
-
 class CalibrationTransformsForWarpMatrix(object):
   def __init__(self, model_to_full_frame, K, E):
     self._model_to_full_frame = model_to_full_frame

tools/replay/sensorium.py

@@ -42,7 +42,6 @@ if __name__ == "__main__":
       calibration = CalibrationTransformsForWarpMatrix(warp_matrix, intrinsic_matrix, extrinsic_matrix)
       transform = np.dot(img_transform, calibration.model_to_full_frame)
 
-
     if calibration is not None:
       imgw = cv2.warpAffine(imgff, transform[:2],
         (MEDMODEL_INPUT_SIZE[0], MEDMODEL_INPUT_SIZE[1]),

tools/replay/ui.py

@@ -131,7 +131,6 @@ def ui_thread(addr, frame_address):
         [ 0.0,  0.0, 1.0]
       ])
 
-
     if rgb_img_raw and len(rgb_img_raw) == FULL_FRAME_SIZE[0] * FULL_FRAME_SIZE[1] * 3:
       imgff = np.frombuffer(rgb_img_raw, dtype=np.uint8).reshape((FULL_FRAME_SIZE[1], FULL_FRAME_SIZE[0], 3))
       imgff = imgff[:, :, ::-1]  # Convert BGR to RGB
@@ -189,7 +188,6 @@ def ui_thread(addr, frame_address):
     # draw all radar points
     maybe_update_radar_points(sm['liveTracks'], top_down[1])
 
-
     if sm.updated['liveCalibration']:
       extrinsic_matrix = np.asarray(sm['liveCalibration'].extrinsicMatrix).reshape(3, 4)
       ke = intrinsic_matrix.dot(extrinsic_matrix)