check in tuple instead of list (#23477)

* check in tuple instead of list

* Update selfdrive/car/toyota/carcontroller.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

* Update selfdrive/car/mazda/interface.py

Co-authored-by: Willem Melching <willem.melching@gmail.com>

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: a653461dec

selfdrive/car/car_helpers.py

@@ -131,7 +131,7 @@ def fingerprint(logcan, sendcan):
 
       for b in candidate_cars:
         # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in [0x7df, 0x7e0, 0x7e8]:
+        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
           candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
 
     # if we only have one car choice and the time since we got our first

selfdrive/car/chrysler/carstate.py

@@ -52,7 +52,7 @@ class CarState(CarStateBase):
     ret.cruiseState.available = ret.cruiseState.enabled  # FIXME: for now same as enabled
     ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
     # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in [1, 2]
+    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
 
     ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]

selfdrive/car/chrysler/chryslercan.py

@@ -8,7 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
   # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
 
-  if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
     msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
     return make_can_msg(0x2a6, msg, 0)
 

selfdrive/car/ford/carcontroller.py

@@ -22,7 +22,7 @@ class CarController():
   def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
 
     can_sends = []
-    steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+    steer_alert = visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
 
     apply_steer = actuators.steer
 

selfdrive/car/ford/carstate.py

@@ -25,7 +25,7 @@ class CarState(CarStateBase):
     ret.steeringPressed = not cp.vl["Lane_Keep_Assist_Status"]["LaHandsOff_B_Actl"]
     ret.steerError = cp.vl["Lane_Keep_Assist_Status"]["LaActDeny_B_Actl"] == 1
     ret.cruiseState.speed = cp.vl["Cruise_Status"]["Set_Speed"] * CV.MPH_TO_MS
-    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in [0, 3])
+    ret.cruiseState.enabled = not (cp.vl["Cruise_Status"]["Cruise_State"] in (0, 3))
     ret.cruiseState.available = cp.vl["Cruise_Status"]["Cruise_State"] != 0
     ret.gas = cp.vl["EngineData_14"]["ApedPosScal_Pc_Actl"] / 100.
     ret.gasPressed = ret.gas > 1e-6

selfdrive/car/ford/fordcan.py

@@ -6,7 +6,7 @@ def create_steer_command(packer, angle_cmd, enabled, lkas_state, angle_steers, c
   """Creates a CAN message for the Ford Steer Command."""
 
   #if enabled and lkas available:
-  if enabled and lkas_state in [2, 3]:  # and (frame % 500) >= 3:
+  if enabled and lkas_state in (2, 3):  # and (frame % 500) >= 3:
     action = lkas_action
   else:
     action = 0xf

selfdrive/car/ford/interface.py

@@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
-    if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
+    if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
       events.add(car.CarEvent.EventName.steerTempUnavailable)
 
     ret.events = events.to_msg()

selfdrive/car/fw_versions.py

@@ -253,11 +253,11 @@ def match_fw_to_car_exact(fw_versions_dict):
       addr = ecu[1:]
       found_version = fw_versions_dict.get(addr, None)
       ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
-      if ecu_type == Ecu.esp and candidate in [TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS] and found_version is None:
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
         continue
 
       # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in [TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS] and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
         continue
 
       # Ignore non essential ecus

selfdrive/car/gm/carcontroller.py

@@ -105,7 +105,7 @@ class CarController():
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
     if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
-      steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+      steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
 

selfdrive/car/gm/interface.py

@@ -203,7 +203,7 @@ class CarInterface(CarInterfaceBase):
     # handle button presses
     for b in ret.buttonEvents:
       # do enable on both accel and decel buttons
-      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
         events.add(EventName.buttonEnable)
       # do disable on button down
       if b.type == ButtonType.cancel and b.pressed:

selfdrive/car/honda/carcontroller.py

@@ -83,7 +83,7 @@ def process_hud_alert(hud_alert):
   # priority is: FCW, steer required, all others
   if hud_alert == VisualAlert.fcw:
     fcw_display = VISUAL_HUD[hud_alert.raw]
-  elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+  elif hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
     steer_required = VISUAL_HUD[hud_alert.raw]
   else:
     acc_alert = VISUAL_HUD[hud_alert.raw]

selfdrive/car/honda/carstate.py

@@ -201,11 +201,11 @@ class CarState(CarStateBase):
     ret.seatbeltUnlatched = bool(cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LAMP"] or not cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_LATCHED"])
 
     steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
-    ret.steerError = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT"]
+    ret.steerError = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TMP_FAULT")
     # NO_TORQUE_ALERT_2 can be caused by bump OR steering nudge from driver
-    self.steer_not_allowed = steer_status not in ["NORMAL", "NO_TORQUE_ALERT_2"]
+    self.steer_not_allowed = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_2")
     # LOW_SPEED_LOCKOUT is not worth a warning
-    ret.steerWarning = steer_status not in ["NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2"]
+    ret.steerWarning = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
 
     if not self.CP.openpilotLongitudinalControl:
       self.brake_error = 0

selfdrive/car/honda/interface.py

@@ -416,7 +416,7 @@ class CarInterface(CarInterfaceBase):
     for b in ret.buttonEvents:
 
       # do enable on both accel and decel buttons
-      if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
         if not self.CP.pcmCruise:
           events.add(EventName.buttonEnable)
 

selfdrive/car/hyundai/carcontroller.py

@@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
                       right_lane, left_lane_depart, right_lane_depart):
-  sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
+  sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw))
 
   # initialize to no line visible
   sys_state = 1
@@ -28,9 +28,9 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
   left_lane_warning = 0
   right_lane_warning = 0
   if left_lane_depart:
-    left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+    left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
   if right_lane_depart:
-    right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+    right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
 
   return sys_warning, sys_state, left_lane_warning, right_lane_warning
 
@@ -104,10 +104,10 @@ class CarController():
       self.accel = accel
 
     # 20 Hz LFA MFA message
-    if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+    if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                    CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
                                                    CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022]:
+                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
       can_sends.append(create_lfahda_mfc(self.packer, enabled))
 
     # 5 Hz ACC options

selfdrive/car/hyundai/hyundaican.py

@@ -16,10 +16,10 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   values["CF_Lkas_ActToi"] = steer_req
   values["CF_Lkas_MsgCount"] = frame % 0x10
 
-  if car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
+  if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]:
+                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -44,7 +44,7 @@ class CarInterface(CarInterfaceBase):
 
     ret.longitudinalActuatorDelayUpperBound = 1.0 # s
 
-    if candidate in [CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022]:
+    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.766
@@ -53,7 +53,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.82
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
-    elif candidate in [CAR.SONATA, CAR.SONATA_HYBRID]:
+    elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 1513. + STD_CARGO_KG
       ret.wheelbase = 2.84
@@ -76,7 +76,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.63
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
-    elif candidate in [CAR.ELANTRA, CAR.ELANTRA_GT_I30]:
+    elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in [CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV]:
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -124,7 +124,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
@@ -132,7 +132,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.385
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-      if candidate not in [CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022]:
+      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
       ret.lateralTuning.pid.kf = 0.00005
@@ -151,7 +151,7 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]]
-    elif candidate in [CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021]:
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1737. + STD_CARGO_KG
       ret.wheelbase = 2.7
@@ -175,7 +175,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.timeConstantV = [1.4]
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [1.8]
-    elif candidate in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
+    elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H):
       ret.lateralTuning.pid.kf = 0.00005
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
@@ -326,7 +326,7 @@ class CarInterface(CarInterfaceBase):
 
         for b in ret.buttonEvents:
           # do enable on both accel and decel buttons
-          if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
+          if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
             events.add(EventName.buttonEnable)
           # do disable on button down
           if b.type == ButtonType.cancel and b.pressed:

selfdrive/car/hyundai/radar_interface.py

@@ -74,7 +74,7 @@ class RadarInterface(RadarInterfaceBase):
         self.pts[addr].trackId = self.track_id
         self.track_id += 1
 
-      valid = msg['STATE'] in [3, 4]
+      valid = msg['STATE'] in (3, 4)
       if valid:
         azimuth = math.radians(msg['AZIMUTH'])
         self.pts[addr].measured = True

selfdrive/car/hyundai/values.py

@@ -12,9 +12,9 @@ class CarControllerParams:
   def __init__(self, CP):
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    if CP.carFingerprint in [CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
+    if CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ,
                              CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
-                             CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER]:
+                             CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
     else:
       self.STEER_MAX = 384

selfdrive/car/mazda/interface.py

@@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarOffCan = True
 
-    ret.dashcamOnly = candidate not in [CAR.CX9_2021]
+    ret.dashcamOnly = candidate not in (CAR.CX9_2021,)
 
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 1.0
@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
       ret.lateralTuning.pid.kf = 0.00006
-    elif candidate in [CAR.CX9, CAR.CX9_2021]:
+    elif candidate in (CAR.CX9, CAR.CX9_2021):
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6

selfdrive/car/nissan/carcontroller.py

@@ -31,7 +31,7 @@ class CarController():
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
+    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if enabled:
       # # windup slower
@@ -64,14 +64,14 @@ class CarController():
       # send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       cruise_cancel = 1
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA] and cruise_cancel:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
         can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC] and frame % 2 == 0:
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
         can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(

selfdrive/car/nissan/carstate.py

@@ -23,16 +23,16 @@ class CarState(CarStateBase):
   def update(self, cp, cp_adas, cp_cam):
     ret = car.CarState.new_message()
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
       ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
-    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
       ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
 
     ret.gasPressed = bool(ret.gas > 3)
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
       ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])
-    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
       ret.brakePressed = bool(cp.vl["CRUISE_THROTTLE"]["USER_BRAKE_PRESSED"])
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -51,10 +51,10 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.enabled = bool(cp_adas.vl["CRUISE_STATE"]["CRUISE_ENABLED"])
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
-    elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
       if self.CP.carFingerprint == CAR.LEAF:
         ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
       elif self.CP.carFingerprint == CAR.LEAF_IC:
@@ -70,7 +70,7 @@ class CarState(CarStateBase):
       speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]
 
     if speed != 255:
-      if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+      if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
       else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
@@ -108,7 +108,7 @@ class CarState(CarStateBase):
 
     self.cruise_throttle_msg = copy.copy(cp.vl["CRUISE_THROTTLE"])
 
-    if self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
       self.cancel_msg = copy.copy(cp.vl["CANCEL_MSG"])
 
     if self.CP.carFingerprint != CAR.ALTIMA:
@@ -153,7 +153,7 @@ class CarState(CarStateBase):
       ("LIGHTS", 10),
     ]
 
-    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
+    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
       signals += [
         ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
 
@@ -183,7 +183,7 @@ class CarState(CarStateBase):
         ("HUD", 25),
       ]
 
-    elif CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
+    elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
       signals += [
         ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE", 1),
         ("GAS_PEDAL", "CRUISE_THROTTLE", 0),
@@ -344,7 +344,7 @@ class CarState(CarStateBase):
     signals = []
     checks = []
 
-    if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL]:
+    if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
       signals += [
         ("CRUISE_ON", "PRO_PILOT", 0),
       ]

selfdrive/car/nissan/interface.py

@@ -21,12 +21,12 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerActuatorDelay = 0.1
 
-    if candidate in [CAR.ROGUE, CAR.XTRAIL]:
+    if candidate in (CAR.ROGUE, CAR.XTRAIL):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
       ret.steerRatio = 17
-    elif candidate in [CAR.LEAF, CAR.LEAF_IC]:
+    elif candidate in (CAR.LEAF, CAR.LEAF_IC):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/subaru/carstate.py

@@ -152,7 +152,7 @@ class CarState(CarStateBase):
         ("CruiseControl", 50),
       ]
 
-    if CP.carFingerprint in [CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+    if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       checks += [
         ("Dashlights", 10),
         ("CruiseControl", 50),

selfdrive/car/subaru/interface.py

@@ -65,7 +65,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    if candidate in [CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]:
+    if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67

selfdrive/car/tesla/carcontroller.py

@@ -37,7 +37,7 @@ class CarController():
     can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame))
 
     # Longitudinal control (40Hz)
-    if self.CP.openpilotLongitudinalControl and ((frame % 5) in [0, 2]):
+    if self.CP.openpilotLongitudinalControl and ((frame % 5) in (0, 2)):
       target_accel = actuators.accel
       target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
       max_accel = 0 if target_accel < 0 else target_accel

selfdrive/car/tesla/carstate.py

@@ -50,7 +50,7 @@ class CarState(CarStateBase):
     cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp.vl["DI_state"]["DI_cruiseState"]), None)
     speed_units = self.can_define.dv["DI_state"]["DI_speedUnits"].get(int(cp.vl["DI_state"]["DI_speedUnits"]), None)
 
-    acc_enabled = (cruise_state in ["ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"])
+    acc_enabled = (cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL"))
 
     ret.cruiseState.enabled = acc_enabled
     if speed_units == "KPH":

selfdrive/car/tesla/interface.py

@@ -43,7 +43,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.1
     ret.steerRateCost = 0.5
 
-    if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
+    if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
       ret.mass = 2100. + STD_CARGO_KG
       ret.wheelbase = 2.959
       ret.centerToFront = ret.wheelbase * 0.5

selfdrive/car/toyota/carcontroller.py

@@ -29,9 +29,9 @@ class CarController():
     if CS.CP.enableGasInterceptor and enabled:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
-      if CS.CP.carFingerprint in [CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH]:
+      if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
-      elif CS.CP.carFingerprint in [CAR.COROLLA]:
+      elif CS.CP.carFingerprint in (CAR.COROLLA,):
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
       else:
         PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
@@ -49,7 +49,7 @@ class CarController():
     self.steer_rate_limited = new_steer != apply_steer
 
     # Cut steering while we're in a known fault state (2s)
-    if not enabled or CS.steer_state in [9, 25]:
+    if not enabled or CS.steer_state in (9, 25):
       apply_steer = 0
       apply_steer_req = 0
     else:
@@ -92,7 +92,7 @@ class CarController():
       lead = lead or CS.out.vEgo < 12.    # at low speed we always assume the lead is present so ACC can be engaged
 
       # Lexus IS uses a different cancellation message
-      if pcm_cancel_cmd and CS.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
+      if pcm_cancel_cmd and CS.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
         can_sends.append(create_acc_cancel_command(self.packer))
       elif CS.CP.openpilotLongitudinalControl:
         can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
@@ -110,7 +110,7 @@ class CarController():
     # - there is something to display
     # - there is something to stop displaying
     fcw_alert = hud_alert == VisualAlert.fcw
-    steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
+    steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
 
     send_ui = False
     if ((fcw_alert or steer_alert) and not self.alert_active) or \

selfdrive/car/toyota/carstate.py

@@ -79,9 +79,9 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"]
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in [1, 5]
+    ret.steerWarning = cp.vl["EPS_STATUS"]["LKA_STATE"] not in (1, 5)
 
-    if self.CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
+    if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0
       ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS
     else:
@@ -95,7 +95,7 @@ class CarState(CarStateBase):
     # these cars are identified by an ACC_TYPE value of 2.
     # TODO: it is possible to avoid the lockout and gain stop and go if you
     # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1
-    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in [CAR.LEXUS_IS, CAR.LEXUS_RC]) or \
+    if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \
        (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
 
@@ -107,7 +107,7 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
-    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in [1, 2, 3, 4, 5, 6]
+    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
@@ -170,7 +170,7 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
-    if CP.carFingerprint in [CAR.LEXUS_IS, CAR.LEXUS_RC]:
+    if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
       signals.append(("MAIN_ON", "DSU_CRUISE", 0))
       signals.append(("SET_SPEED", "DSU_CRUISE", 0))
       checks.append(("DSU_CRUISE", 5))

selfdrive/car/toyota/interface.py

@@ -40,7 +40,7 @@ class CarInterface(CarInterfaceBase):
       set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS)
       ret.steerActuatorDelay = 0.3
 
-    elif candidate in [CAR.RAV4, CAR.RAV4H]:
+    elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
       ret.wheelbase = 2.65
       ret.steerRatio = 16.88   # 14.5 is spec end-to-end
@@ -57,7 +57,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_A)
 
-    elif candidate in [CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2]:
+    elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
@@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
-    elif candidate in [CAR.CHR, CAR.CHRH]:
+    elif candidate in (CAR.CHR, CAR.CHRH):
       stop_and_go = True
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_F)
 
-    elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]:
+    elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
@@ -82,7 +82,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
-    elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]:
+    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
       ret.steerRatio = 16.0
@@ -90,7 +90,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
-    elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
       stop_and_go = True
       ret.wheelbase = 2.78
       ret.steerRatio = 16.0
@@ -98,7 +98,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
-    elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]:
+    elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019):
       stop_and_go = False
       ret.wheelbase = 2.82
       ret.steerRatio = 14.8  # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download
@@ -106,7 +106,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_H)
 
-    elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]:
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4H_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
@@ -121,7 +121,7 @@ class CarInterface(CarInterfaceBase):
           set_lat_tune(ret.lateralTuning, LatTunes.PID_I)
           break
 
-    elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]:
+    elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
@@ -129,7 +129,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
       set_lat_tune(ret.lateralTuning, LatTunes.PID_D)
 
-    elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]:
+    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.8702
       ret.steerRatio = 16.0  # not optimized
@@ -180,7 +180,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
       set_lat_tune(ret.lateralTuning, LatTunes.PID_M)
 
-    elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]:
+    elif candidate in (CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.66
       ret.steerRatio = 14.7

selfdrive/car/volkswagen/carcontroller.py

@@ -72,7 +72,7 @@ class CarController():
     # **** HUD Controls ***************************************************** #
 
     if frame % P.LDW_STEP == 0:
-      if visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
+      if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]

selfdrive/car/volkswagen/carstate.py

@@ -41,8 +41,8 @@ class CarState(CarStateBase):
 
     # Verify EPS readiness to accept steering commands
     hca_status = self.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
-    ret.steerError = hca_status in ["DISABLED", "FAULT"]
+    ret.steerError = hca_status in ("DISABLED", "FAULT")
-    ret.steerWarning = hca_status in ["INITIALIZING", "REJECTED"]
+    ret.steerWarning = hca_status in ("INITIALIZING", "REJECTED")
 
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
@@ -102,7 +102,7 @@ class CarState(CarStateBase):
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
-    elif self.tsk_status in [3, 4, 5]:
+    elif self.tsk_status in (3, 4, 5):
       # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True

selfdrive/car/volkswagen/interface.py

@@ -38,7 +38,7 @@ class CarInterface(CarInterfaceBase):
       else:
         ret.transmissionType = TransmissionType.manual
 
-      if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]):  # Airbag_01, LWI_01, ESP_19, ESP_21
+      if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)):  # Airbag_01, LWI_01, ESP_19, ESP_21
         ret.networkLocation = NetworkLocation.gateway
       else:
         ret.networkLocation = NetworkLocation.fwdCamera
@@ -194,7 +194,7 @@ class CarInterface(CarInterfaceBase):
     # Vehicle health and operation safety checks
     if self.CS.parkingBrakeSet:
       events.add(EventName.parkBrake)
-    if self.CS.tsk_status in [6, 7]:
+    if self.CS.tsk_status in (6, 7):
       events.add(EventName.accFaulted)
 
     # Low speed steer alert hysteresis logic

selfdrive/controls/lib/events.py

@@ -236,7 +236,7 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
 
 
 def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  gps_integrated = sm['peripheralState'].pandaType in [log.PandaState.PandaType.uno, log.PandaState.PandaType.dos]
+  gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
   return Alert(
     "Poor GPS reception",
     "If sky is visible, contact support" if gps_integrated else "Check GPS antenna placement",

selfdrive/controls/tests/test_alerts.py

@@ -61,7 +61,7 @@ class TestAlerts(unittest.TestCase):
     for alert in ALERTS:
       # for full size alerts, both text fields wrap the text,
       # so it's unlikely that they  would go past the max width
-      if alert.alert_size in [AlertSize.none, AlertSize.full]:
+      if alert.alert_size in (AlertSize.none, AlertSize.full):
         continue
 
       for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]):

selfdrive/monitoring/driver_monitor.py

@@ -205,8 +205,8 @@ class DriverStatus():
                                             self.settings._POSE_YAW_THRESHOLD_STRICT]) / self.settings._POSE_YAW_THRESHOLD
 
   def get_pose(self, driver_state, cal_rpy, car_speed, op_engaged):
-    if not all(len(x) > 0 for x in [driver_state.faceOrientation, driver_state.facePosition,
+    if not all(len(x) > 0 for x in (driver_state.faceOrientation, driver_state.facePosition,
-                                    driver_state.faceOrientationStd, driver_state.facePositionStd]):
+                                    driver_state.faceOrientationStd, driver_state.facePositionStd)):
       return
 
     self.face_partial = driver_state.partialFace > self.settings._PARTIAL_FACE_THRESHOLD