Adding changes to cython files to pass static analysis

common/params_pyx.pyx

@@ -29,11 +29,13 @@ cdef extern from "common/params.h":
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+    return v.encode() if isinstance(v, str) else v
+
 
 class UnknownKeyName(Exception):
     pass
 
+
 cdef class Params:
     cdef c_Params* p
 
@@ -59,7 +61,6 @@ cdef class Params:
         cdef string val
         with nogil:
             val = self.p.get(k, block)
-
         if val == b"":
             if block:
                 # If we got no value while running in blocked mode
@@ -67,7 +68,6 @@ cdef class Params:
                 raise KeyboardInterrupt
             else:
                 return None
-
         return val if encoding is None else val.decode(encoding)
 
     def get_bool(self, key, bool block=False):

common/transformations/transformations.pxd

@@ -1,4 +1,4 @@
-#cython: language_level=3
+# cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":
@@ -21,7 +21,6 @@ cdef extern from "orientation.hpp":
     cdef cppclass Matrix3 "Eigen::Matrix3d":
         Matrix3()
         Matrix3(double*)
-
         double operator()(int, int)
 
     Quaternion euler2quat(Vector3)

common/transformations/transformations.pyx

@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
 from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
-import cython
 import numpy as np
 cimport numpy as np
 
@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     return Matrix3(<double*>m.data)
 
 cdef ECEF list2ecef(ecef):
-    cdef ECEF e;
+    cdef ECEF e
     e.x = ecef[0]
     e.y = ecef[1]
     e.z = ecef[2]
     return e
 
 cdef NED list2ned(ned):
-    cdef NED n;
+    cdef NED n
     n.n = ned[0]
     n.e = ned[1]
     n.d = ned[2]
@@ -54,39 +53,47 @@ cdef Geodetic list2geodetic(geodetic):
     g.alt = geodetic[2]
     return g
 
+
 def euler2quat_single(euler):
     cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
     cdef Quaternion q = euler2quat_c(e)
     return [q.w(), q.x(), q.y(), q.z()]
 
+
 def quat2euler_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q);
+    cdef Vector3 e = quat2euler_c(q)
     return [e(0), e(1), e(2)]
 
+
 def quat2rot_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
     cdef Matrix3 r = quat2rot_c(q)
     return matrix2numpy(r)
 
+
 def rot2quat_single(rot):
     cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
     cdef Quaternion q = rot2quat_c(r)
     return [q.w(), q.x(), q.y(), q.z()]
 
+
 def euler2rot_single(euler):
     cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
     cdef Matrix3 r = euler2rot_c(e)
     return matrix2numpy(r)
 
+
 def rot2euler_single(rot):
     cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
     cdef Vector3 e = rot2euler_c(r)
     return [e(0), e(1), e(2)]
 
+
 def rot_matrix(roll, pitch, yaw):
     return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
 
+
 def ecef_euler_from_ned_single(ecef_init, ned_pose):
     cdef ECEF init = list2ecef(ecef_init)
     cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
@@ -94,6 +101,7 @@ def ecef_euler_from_ned_single(ecef_init, ned_pose):
     cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
     return [e(0), e(1), e(2)]
 
+
 def ned_euler_from_ecef_single(ecef_init, ecef_pose):
     cdef ECEF init = list2ecef(ecef_init)
     cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
@@ -101,11 +109,13 @@ def ned_euler_from_ecef_single(ecef_init, ecef_pose):
     cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
     return [e(0), e(1), e(2)]
 
+
 def geodetic2ecef_single(geodetic):
     cdef Geodetic g = list2geodetic(geodetic)
     cdef ECEF e = geodetic2ecef_c(g)
     return [e.x, e.y, e.z]
 
+
 def ecef2geodetic_single(ecef):
     cdef ECEF e = list2ecef(ecef)
     cdef Geodetic g = ecef2geodetic_c(e)

selfdrive/boardd/boardd_api_impl.pyx

@@ -14,6 +14,7 @@ cdef extern from "panda.h":
 cdef extern from "can_list_to_can_capnp.cc":
     void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
+
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
     cdef vector[can_frame] can_list
     can_list.reserve(len(can_msgs))

selfdrive/modeld/models/commonmodel_pyx.pxd

@@ -7,7 +7,7 @@ cdef class CLContext(BaseCLContext):
     pass
 
 cdef class CLMem:
-  cdef cl_mem * mem;
+    cdef cl_mem * mem
 
     @staticmethod
     cdef create(void*)

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -10,14 +10,17 @@ from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContex
 from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
 from .commonmodel cimport mat3, sigmoid as cppSigmoid, ModelFrame as cppModelFrame
 
+
 def sigmoid(x):
     return cppSigmoid(x)
 
+
 cdef class CLContext(BaseCLContext):
     def __cinit__(self):
         self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
         self.context = cl_create_context(self.device_id)
 
+
 cdef class CLMem:
     @staticmethod
     cdef create(void * cmem):
@@ -25,6 +28,7 @@ cdef class CLMem:
         mem.mem = <cl_mem*> cmem
         return mem
 
+
 cdef class ModelFrame:
     cdef cppModelFrame * frame
 

selfdrive/modeld/runners/runmodel_pyx.pyx

@@ -2,16 +2,17 @@
 # cython: c_string_encoding=ascii
 
 from libcpp.string cimport string
-from libc.string cimport memcpy
 
 from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
 
+
 class Runtime:
     CPU = USE_CPU_RUNTIME
     GPU = USE_GPU_RUNTIME
     DSP = USE_DSP_RUNTIME
 
+
 cdef class RunModel:
     def __dealloc__(self):
         del self.model