Revert "CI: pylint to ruff (#29276)" (#29284)

This reverts commit cb31a53d8a.

.pre-commit-config.yaml

@@ -34,11 +34,31 @@ repos:
         types: [python]
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.282
+-   repo: https://github.com/PyCQA/flake8
+    rev: 6.1.0
     hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)|(tinygrad_repo/)'
+    -   id: flake8
+        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
+        additional_dependencies: ['flake8-no-implicit-concat']
+        args:
+        - --indent-size=2
+        - --enable-extensions=NIC
+        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
+        - --statistics
+        - -j4
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
+        args:
+        - -j0
+        - -rn
+        - -sn
+        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck

poetry.lock

@@ -230,6 +230,18 @@ python-versions = ">=3.6"
 [package.dependencies]
 python-dateutil = ">=2.7.0"
 
+[[package]]
+name = "astroid"
+version = "2.15.6"
+description = "An abstract syntax tree for Python with inference support."
+category = "dev"
+optional = false
+python-versions = ">=3.7.2"
+
+[package.dependencies]
+lazy-object-proxy = ">=1.4.0"
+wrapt = {version = ">=1.14,<2", markers = "python_version >= \"3.11\""}
+
 [[package]]
 name = "asttokens"
 version = "2.2.1"
@@ -892,6 +904,17 @@ docs = ["Sphinx (>=3)", "sphinx-rtd-theme (>=0.2)"]
 numpy = ["numpy (>=1.13.0)", "numpy (>=1.15.0)", "numpy (>=1.18.0)", "numpy (>=1.20.0)"]
 tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytest (>=6)", "pytest-cov (>=2.10.1)", "pytest-isort (>=1.2.0)", "pytest-pycodestyle (>=2)", "pytest-pycodestyle (>=2.2.0)", "pytest-pydocstyle (>=2)", "pytest-pydocstyle (>=2.2.0)", "sphinx (>=3)", "tox (>=3.7.0)"]
 
+[[package]]
+name = "dill"
+version = "0.3.7"
+description = "serialize all of Python"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+graph = ["objgraph (>=1.7.2)"]
+
 [[package]]
 name = "distlib"
 version = "0.3.7"
@@ -1095,6 +1118,19 @@ calc = ["shapely"]
 s3 = ["boto3 (>=1.3.1)"]
 test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
 
+[[package]]
+name = "flake8"
+version = "6.0.0"
+description = "the modular source code checker: pep8 pyflakes and co"
+category = "main"
+optional = false
+python-versions = ">=3.8.1"
+
+[package.dependencies]
+mccabe = ">=0.7.0,<0.8.0"
+pycodestyle = ">=2.10.0,<2.11.0"
+pyflakes = ">=3.0.0,<3.1.0"
+
 [[package]]
 name = "flask"
 version = "2.3.2"
@@ -1722,6 +1758,20 @@ python-versions = ">=3.7"
 [package.dependencies]
 arrow = ">=0.15.0"
 
+[[package]]
+name = "isort"
+version = "5.12.0"
+description = "A Python utility / library to sort Python imports."
+category = "dev"
+optional = false
+python-versions = ">=3.8.0"
+
+[package.extras]
+colors = ["colorama (>=0.4.3)"]
+pipfile-deprecated-finder = ["pip-shims (>=0.5.2)", "pipreqs", "requirementslib"]
+plugins = ["setuptools"]
+requirements-deprecated-finder = ["pip-api", "pipreqs"]
+
 [[package]]
 name = "itsdangerous"
 version = "2.1.2"
@@ -2157,6 +2207,14 @@ python-versions = ">=3.7"
 lint = ["pre-commit (>=3.3)"]
 test = ["pytest (>=7.4)", "pytest-cov (>=4.1)"]
 
+[[package]]
+name = "lazy-object-proxy"
+version = "1.9.0"
+description = "A fast and thorough lazy object proxy."
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "libusb1"
 version = "3.0.0"
@@ -2294,6 +2352,14 @@ python-versions = ">=3.5"
 [package.dependencies]
 traitlets = "*"
 
+[[package]]
+name = "mccabe"
+version = "0.7.0"
+description = "McCabe checker, plugin for flake8"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "mdit-py-plugins"
 version = "0.4.0"
@@ -3419,6 +3485,14 @@ category = "main"
 optional = false
 python-versions = "*"
 
+[[package]]
+name = "pycodestyle"
+version = "2.10.0"
+description = "Python style guide checker"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "pycparser"
 version = "2.21"
@@ -3478,6 +3552,14 @@ typing-extensions = "*"
 [package.extras]
 dev = ["black", "flake8", "flake8-black", "isort", "jupyter-console", "mkdocs", "mkdocs-include-markdown-plugin", "mkdocstrings[python]", "pytest", "pytest-asyncio", "pytest-trio", "toml", "tox", "trio", "trio", "trio-typing", "twine", "twisted", "validate-pyproject[all]"]
 
+[[package]]
+name = "pyflakes"
+version = "3.0.1"
+description = "passive checker of Python programs"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "pygame"
 version = "2.5.0"
@@ -3533,6 +3615,27 @@ python-versions = "*"
 [package.dependencies]
 cffi = ">=1.0.0"
 
+[[package]]
+name = "pylint"
+version = "2.17.5"
+description = "python code static checker"
+category = "dev"
+optional = false
+python-versions = ">=3.7.2"
+
+[package.dependencies]
+astroid = ">=2.15.6,<=2.17.0-dev0"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+dill = {version = ">=0.3.6", markers = "python_version >= \"3.11\""}
+isort = ">=4.2.5,<6"
+mccabe = ">=0.6,<0.8"
+platformdirs = ">=2.2.0"
+tomlkit = ">=0.10.1"
+
+[package.extras]
+spelling = ["pyenchant (>=3.2,<4.0)"]
+testutils = ["gitpython (>3)"]
+
 [[package]]
 name = "pymsalruntime"
 version = "0.13.9"
@@ -4045,14 +4148,6 @@ category = "dev"
 optional = false
 python-versions = ">=3.7"
 
-[[package]]
-name = "ruff"
-version = "0.0.282"
-description = "An extremely fast Python linter, written in Rust."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
 [[package]]
 name = "s2sphere"
 version = "0.2.5"
@@ -5150,6 +5245,14 @@ category = "dev"
 optional = false
 python-versions = ">=3.7"
 
+[[package]]
+name = "wrapt"
+version = "1.15.0"
+description = "Module for decorators, wrappers and monkey patching."
+category = "dev"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+
 [[package]]
 name = "xattr"
 version = "0.9.9"
@@ -5241,7 +5344,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.11"
-content-hash = "cab0087a36b495988839eec97a0350a937364f4da6182a5f1fb75a7d42bd4240"
+content-hash = "69c2551bd1bc6e457d47da4c67002a1b822b4de9e66fc0b6fd3548f4c7e8810a"
 
 [metadata.files]
 adal = [
@@ -5465,6 +5568,10 @@ arrow = [
     {file = "arrow-1.2.3-py3-none-any.whl", hash = "sha256:5a49ab92e3b7b71d96cd6bfcc4df14efefc9dfa96ea19045815914a6ab6b1fe2"},
     {file = "arrow-1.2.3.tar.gz", hash = "sha256:3934b30ca1b9f292376d9db15b19446088d12ec58629bc3f0da28fd55fb633a1"},
 ]
+astroid = [
+    {file = "astroid-2.15.6-py3-none-any.whl", hash = "sha256:389656ca57b6108f939cf5d2f9a2a825a3be50ba9d589670f393236e0a03b91c"},
+    {file = "astroid-2.15.6.tar.gz", hash = "sha256:903f024859b7c7687d7a7f3a3f73b17301f8e42dfd9cc9df9d4418172d3e2dbd"},
+]
 asttokens = [
     {file = "asttokens-2.2.1-py2.py3-none-any.whl", hash = "sha256:6b0ac9e93fb0335014d382b8fa9b3afa7df546984258005da0b9e7095b3deb1c"},
     {file = "asttokens-2.2.1.tar.gz", hash = "sha256:4622110b2a6f30b77e1473affaa97e711bc2f07d3f10848420ff1898edbe94f3"},
@@ -6218,6 +6325,10 @@ dictdiffer = [
     {file = "dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595"},
     {file = "dictdiffer-0.9.0.tar.gz", hash = "sha256:17bacf5fbfe613ccf1b6d512bd766e6b21fb798822a133aa86098b8ac9997578"},
 ]
+dill = [
+    {file = "dill-0.3.7-py3-none-any.whl", hash = "sha256:76b122c08ef4ce2eedcd4d1abd8e641114bfc6c2867f49f3c41facf65bf19f5e"},
+    {file = "dill-0.3.7.tar.gz", hash = "sha256:cc1c8b182eb3013e24bd475ff2e9295af86c1a38eb1aff128dac8962a9ce3c03"},
+]
 distlib = [
     {file = "distlib-0.3.7-py2.py3-none-any.whl", hash = "sha256:2e24928bc811348f0feb63014e97aaae3037f2cf48712d51ae61df7fd6075057"},
     {file = "distlib-0.3.7.tar.gz", hash = "sha256:9dafe54b34a028eafd95039d5e5d4851a13734540f1331060d31c9916e7147a8"},
@@ -6335,14 +6446,6 @@ fastcluster = [
     {file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"},
     {file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"},
     {file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"},
-    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ce70c743490f6778b463524d1767a9ecccd31c8bd2dbb5739bb2174168c15d39"},
-    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac1b84d4b28456a379a71451d13995eb3242143452ce9c861f8913360de842a3"},
-    {file = "fastcluster-1.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55b49f6033c45a28f93540847b495ed0f718b5c3f4fef446cf77e3726662e1d5"},
-    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1c776a4ec7594f47cd2e1e2da73a30134f1d402d7c93a81e3cb7c3d8e191173"},
-    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aca61d16435bb7aea3901939d7d7d7e36aff9bb538123e649166a3014b280054"},
-    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04ea4a68e0675072ca761bad33322a0e998cb43693fd41165bc420d7db40429a"},
-    {file = "fastcluster-1.2.6-cp311-cp311-win32.whl", hash = "sha256:773043d5db2790e1ff2a4e1eae0b6a60afb2a93ad2c74897a56c80bc800db04f"},
-    {file = "fastcluster-1.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:841d128daa6597d13781793eb482b0b566bbd58d2a9d1e2cf1b58838773beb14"},
     {file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"},
     {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"},
     {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"},
@@ -6464,6 +6567,10 @@ fiona = [
     {file = "Fiona-1.9.4.post1-cp39-cp39-win_amd64.whl", hash = "sha256:f5da66b723a876142937e683431bbaa5c3d81bb2ed3ec98941271bc99b7f8cd0"},
     {file = "Fiona-1.9.4.post1.tar.gz", hash = "sha256:5679d3f7e0d513035eb72e59527bb90486859af4405755dfc739138633106120"},
 ]
+flake8 = [
+    {file = "flake8-6.0.0-py2.py3-none-any.whl", hash = "sha256:3833794e27ff64ea4e9cf5d410082a8b97ff1a06c16aa3d2027339cd0f1195c7"},
+    {file = "flake8-6.0.0.tar.gz", hash = "sha256:c61007e76655af75e6785a931f452915b371dc48f56efd765247c8fe68f2b181"},
+]
 flask = [
     {file = "Flask-2.3.2-py3-none-any.whl", hash = "sha256:77fd4e1249d8c9923de34907236b747ced06e5467ecac1a7bb7115ae0e9670b0"},
     {file = "Flask-2.3.2.tar.gz", hash = "sha256:8c2f9abd47a9e8df7f0c3f091ce9497d011dc3b31effcf4c85a6e2b50f4114ef"},
@@ -7014,6 +7121,10 @@ isoduration = [
     {file = "isoduration-20.11.0-py3-none-any.whl", hash = "sha256:b2904c2a4228c3d44f409c8ae8e2370eb21a26f7ac2ec5446df141dde3452042"},
     {file = "isoduration-20.11.0.tar.gz", hash = "sha256:ac2f9015137935279eac671f94f89eb00584f940f5dc49462a0c4ee692ba1bd9"},
 ]
+isort = [
+    {file = "isort-5.12.0-py3-none-any.whl", hash = "sha256:f84c2818376e66cf843d497486ea8fed8700b340f308f076c6fb1229dff318b6"},
+    {file = "isort-5.12.0.tar.gz", hash = "sha256:8bef7dde241278824a6d83f44a544709b065191b95b6e50894bdc722fcba0504"},
+]
 itsdangerous = [
     {file = "itsdangerous-2.1.2-py3-none-any.whl", hash = "sha256:2c2349112351b88699d8d4b6b075022c0808887cb7ad10069318a8b0bc88db44"},
     {file = "itsdangerous-2.1.2.tar.gz", hash = "sha256:5dbbc68b317e5e42f327f9021763545dc3fc3bfe22e6deb96aaf1fc38874156a"},
@@ -7200,6 +7311,44 @@ lazy-loader = [
     {file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"},
     {file = "lazy_loader-0.3.tar.gz", hash = "sha256:3b68898e34f5b2a29daaaac172c6555512d0f32074f147e2254e4a6d9d838f37"},
 ]
+lazy-object-proxy = [
+    {file = "lazy-object-proxy-1.9.0.tar.gz", hash = "sha256:659fb5809fa4629b8a1ac5106f669cfc7bef26fbb389dda53b3e010d1ac4ebae"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:b40387277b0ed2d0602b8293b94d7257e17d1479e257b4de114ea11a8cb7f2d7"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e8c6cfb338b133fbdbc5cfaa10fe3c6aeea827db80c978dbd13bc9dd8526b7d4"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:721532711daa7db0d8b779b0bb0318fa87af1c10d7fe5e52ef30f8eff254d0cd"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:66a3de4a3ec06cd8af3f61b8e1ec67614fbb7c995d02fa224813cb7afefee701"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:1aa3de4088c89a1b69f8ec0dcc169aa725b0ff017899ac568fe44ddc1396df46"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-win32.whl", hash = "sha256:f0705c376533ed2a9e5e97aacdbfe04cecd71e0aa84c7c0595d02ef93b6e4455"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-win_amd64.whl", hash = "sha256:ea806fd4c37bf7e7ad82537b0757999264d5f70c45468447bb2b91afdbe73a6e"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:946d27deaff6cf8452ed0dba83ba38839a87f4f7a9732e8f9fd4107b21e6ff07"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79a31b086e7e68b24b99b23d57723ef7e2c6d81ed21007b6281ebcd1688acb0a"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f699ac1c768270c9e384e4cbd268d6e67aebcfae6cd623b4d7c3bfde5a35db59"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:bfb38f9ffb53b942f2b5954e0f610f1e721ccebe9cce9025a38c8ccf4a5183a4"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:189bbd5d41ae7a498397287c408617fe5c48633e7755287b21d741f7db2706a9"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-win32.whl", hash = "sha256:81fc4d08b062b535d95c9ea70dbe8a335c45c04029878e62d744bdced5141586"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-win_amd64.whl", hash = "sha256:f2457189d8257dd41ae9b434ba33298aec198e30adf2dcdaaa3a28b9994f6adb"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:d9e25ef10a39e8afe59a5c348a4dbf29b4868ab76269f81ce1674494e2565a6e"},
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+]
 xattr = [
     {file = "xattr-0.9.9-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:58a9fb4fd19b467e88f4b75b5243706caa57e312d3aee757b53b57c7fd0f4ba9"},
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pyproject.toml

@@ -19,6 +19,7 @@ cffi = "*"
 crcmod = "*"
 cryptography = "*"
 Cython = "*"
+flake8 = "*"
 Flask = "*"
 future-fstrings = "*"  # for acados
 gunicorn = "*"
@@ -91,6 +92,7 @@ pprofile = "*"
 pre-commit = "*"
 pycurl = "*"
 pygame = "*"
+pylint = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-xdist = "*"
@@ -159,7 +161,6 @@ PyMySQL = "~0.9"
 pyproj = "*"
 python-logstash = "*"
 redis = "*"
-ruff = "*"
 s2sphere = "*"
 scikit-image = "*"
 scikit-learn = "*"
@@ -185,10 +186,3 @@ opencv-python-headless = { url = "https://github.com/commaai/opencv-python-build
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
-
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
-[tool.ruff]
-select = ["E", "F", "W"]
-ignore = ["W292", "E741"]
-line-length = 2500
-target-version="py311"

selfdrive/car/body/carcontroller.py

@@ -56,7 +56,7 @@ class CarController:
       speed_error = speed_desired - speed_measured
 
       if self.wheeled_body is None:
-        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
+        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or 
                              (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
         angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
 

selfdrive/controls/lib/events.py

@@ -724,7 +724,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
-
+  
   EventName.calibrationRecalibrating: {
     ET.PERMANENT: calibration_incomplete_alert,
     ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),

selfdrive/debug/clear_dtc.py

@@ -35,6 +35,6 @@ try:
 except MessageTimeoutError:
   # functional address isn't properly handled so a timeout occurs
   if args.addr != 0x7DF:
-    pass
+    pass 
 print("")
 print("you may need to power cycle your vehicle now")

selfdrive/debug/dump.py

@@ -3,15 +3,14 @@ import os
 import sys
 import argparse
 import json
+from hexdump import hexdump
 import codecs
-import cereal.messaging as messaging
+codecs.register_error("strict", codecs.backslashreplace_errors)
 
-from hexdump import hexdump
 from cereal import log
+import cereal.messaging as messaging
 from cereal.services import service_list
 
-codecs.register_error("strict", codecs.backslashreplace_errors)
-
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')

selfdrive/locationd/test/test_laikad.py

@@ -111,7 +111,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad()
     laikad.fetch_navs(gpstime, block=False)
     laikad.orbit_fetch_future.result(30)
-
+    
     # Get results and save orbits to laikad:
     laikad.fetch_navs(gpstime, block=False)
     ephem = laikad.astro_dog.navs['G01'][0]
@@ -238,7 +238,7 @@ class TestLaikad(unittest.TestCase):
           if len(out_msg.gnssMeasurements.ephemerisStatuses):
             seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses])
             seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses])
-
+            
         self.assertTrue(has_navs or has_polys)
         self.assertTrue(has_fix)
         self.assertTrue(seen_chip_eph or auto_fetch_navs)
@@ -281,7 +281,7 @@ class TestLaikad(unittest.TestCase):
       self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
       self.assertIsNotNone(msg)
 
-      #TODO test cache with only orbits
+      #TODO test cache with only orbits 
       #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
       #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
       #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()

selfdrive/modeld/runners/onnx_runner.py

@@ -8,7 +8,7 @@ from typing import Tuple, Dict, Union, Any
 os.environ["OMP_NUM_THREADS"] = "4"
 os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
-import onnxruntime as ort # noqa: E402
+import onnxruntime as ort # pylint: disable=import-error
 
 ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
 

selfdrive/modeld/thneed/lib.py

@@ -1,5 +1,4 @@
-import struct
-import json
+import struct, json
 
 def load_thneed(fn):
   with open(fn, "rb") as f:

selfdrive/navd/tests/test_map_renderer.py

@@ -30,7 +30,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   def setup(self):
     if self.INTERNET_ACTIVE:
       super().setup()
-
+  
   def handle(self):
     if self.INTERNET_ACTIVE:
       super().handle()
@@ -38,7 +38,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   def finish(self):
     if self.INTERNET_ACTIVE:
       super().finish()
-
+    
   def do_GET(self):
     url = f'https://api.mapbox.com{self.path}'
 
@@ -50,7 +50,7 @@ class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
     self.send_response(r.status_code)
     self.end_headers()
     self.wfile.write(r.content)
-
+  
   def log_message(self, *args: Any) -> None:
     return
 
@@ -62,13 +62,13 @@ class MapBoxInternetDisabledServer(threading.Thread):
   def run(self):
     self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
     self.server.serve_forever()
-
+  
   def stop(self):
     self.server.shutdown()
 
   def disable_internet(self):
     MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
-
+  
   def enable_internet(self):
     MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
 
@@ -110,7 +110,7 @@ class TestMapRenderer(unittest.TestCase):
     assert self.vipc.connect(False)
     self.vipc.recv()
 
-
+  
   def _run_test(self, expect_valid, location=LOCATION1):
     starting_frame_id = None
 
@@ -127,7 +127,7 @@ class TestMapRenderer(unittest.TestCase):
       else:
         prev_valid = self.sm.valid['mapRenderState']
         prev_frame_id = self.sm['mapRenderState'].frameId
-
+      
       if starting_frame_id is None:
         starting_frame_id = prev_frame_id
 
@@ -172,7 +172,7 @@ class TestMapRenderer(unittest.TestCase):
     self.server.disable_internet()
     self._setup_test()
     self._run_test(False)
-
+    
   def test_recover_from_no_internet(self):
     self._setup_test()
     self._run_test(True)

selfdrive/test/process_replay/capture.py

@@ -22,7 +22,7 @@ class FdRedirect:
   def read(self) -> bytes:
     with open(self.dest_fname, "rb") as f:
       return f.read() or b""
-
+  
   def link(self) -> None:
     os.dup2(self.dest_fd, self.source_fd)
 
@@ -39,7 +39,7 @@ class ProcessOutputCapture:
 
   @no_type_check # ipython classes have incompatible signatures
   def link_with_current_proc(self) -> None:
-    try:
+    try: 
       # prevent ipykernel from redirecting stdout/stderr of python subprocesses
       from ipykernel.iostream import OutStream
       if isinstance(sys.stdout, OutStream):

selfdrive/test/process_replay/migration.py

@@ -20,13 +20,13 @@ def migrate_cameraStates(lr):
   for msg in lr:
     if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
       continue
-
+    
     encode_index = getattr(msg, msg.which())
     meta = meta_from_encode_index(msg.which())
 
     assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
     frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
-
+  
   for msg in lr:
     if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
       all_msgs.append(msg)

selfdrive/test/process_replay/process_replay.py

@@ -52,7 +52,7 @@ class ReplayContext:
     self.main_pub_drained = cfg.main_pub_drained
     self.unlocked_pubs = cfg.unlocked_pubs
     assert(len(self.pubs) != 0 or self.main_pub is not None)
-
+  
   def __enter__(self):
     self.open()
 
@@ -82,7 +82,7 @@ class ReplayContext:
   @property
   def all_recv_called_events(self):
     return [man.recv_called_event for man in self.events.values()]
-
+  
   @property
   def all_recv_ready_events(self):
     return [man.recv_ready_event for man in self.events.values()]
@@ -142,7 +142,7 @@ class ProcessContainer:
     self.cnt = 0
     self.pm: Optional[messaging.PubMaster] = None
     self.sockets: Optional[List[messaging.SubSocket]] = None
-    self.rc: Optional[ReplayContext] = None
+    self.rc: Optional[ReplayContext] = None 
     self.vipc_server: Optional[VisionIpcServer] = None
     self.capture: Optional[ProcessOutputCapture] = None
 
@@ -199,8 +199,8 @@ class ProcessContainer:
     self.process.start()
 
   def start(
-    self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
-    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
+    self, params_config: Dict[str, Any], environ_config: Dict[str, Any], 
+    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]], 
     fingerprint: Optional[str], capture_output: bool
   ):
     with self.prefix as p:
@@ -335,7 +335,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 def controlsd_rcv_callback(msg, cfg, frame):
   # no sendcan until controlsd is initialized
   if msg.which() != "can":
-    return False
+    return False 
 
   socks = [
     s for s in cfg.subs if
@@ -406,7 +406,7 @@ class FrequencyBasedRcvCallback:
       if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
     ]
     return bool(len(resp_sockets))
-
+  
 
 def controlsd_config_callback(params, cfg, lr):
   controlsState = None
@@ -436,7 +436,7 @@ def laikad_config_pubsub_callback(params, cfg, lr):
 def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
-
+  
   cfg.pubs = set(cfg.pubs) - sub_keys
 
 
@@ -494,7 +494,7 @@ CONFIGS = [
   ProcessConfig(
     proc_name="locationd",
     pubs=[
-      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
+      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", 
       "liveCalibration", "carState", "carParams", "gpsLocation"
     ],
     subs=["liveLocationKalman"],
@@ -576,7 +576,7 @@ def get_process_config(name: str) -> ProcessConfig:
 
 def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]:
   """
-  Use this to get custom params dict based on provided logs.
+  Use this to get custom params dict based on provided logs. 
   Useful when replaying following processes: calibrationd, paramsd, torqued
   The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
   """
@@ -618,7 +618,7 @@ def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReade
 
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
   captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
@@ -658,7 +658,7 @@ def _replay_multi_process(
   for cfg in cfgs:
     if len(cfg.vision_pubs) == 0:
       continue
-
+    
     assert frs is not None, "frs must be provided when replaying process using vision streams"
     assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
     assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
@@ -719,7 +719,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     "DisengageOnAccelerator": True,
     "DisableLogging": False,
   }
-
+  
   if custom_params is not None:
     params_dict.update(custom_params)
   if lr is not None:
@@ -766,7 +766,7 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str
   else:
     environ_dict["SKIP_FW_QUERY"] = ""
     environ_dict["FINGERPRINT"] = ""
-
+  
   return environ_dict
 
 

selfdrive/test/process_replay/regen.py

@@ -15,7 +15,7 @@ from tools.lib.helpers import save_log
 
 
 def regen_segment(
-  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
   daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
 ) -> List[capnp._DynamicStructReader]:
   if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):

selfdrive/test/process_replay/test_processes.py

@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
-  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
-  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
-  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
-  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
-  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
-  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
-  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
-  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
-  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
-  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
-  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
-  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
-  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
-  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
-  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
-  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
+  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), 
+  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), 
+  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), 
+  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), 
+  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), 
+  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), 
+  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), 
+  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), 
+  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), 
+  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), 
+  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), 
+  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), 
+  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), 
+  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), 
+  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), 
+  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), 
+  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), 
   ]
 
 # dashcamOnly makes don't need to be tested until a full port is done

selfdrive/thermald/tests/test_power_monitoring.py

@@ -177,23 +177,23 @@ class TestPowerMonitoring(unittest.TestCase):
         if i % 10 == 0:
           self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
-
+      
   def test_delay_shutdown_time(self):
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = 0
     ignition = False
-    in_car = True
+    in_car = True 
     offroad_timestamp = ssb
     started_seen = True
     pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
 
     while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
-      self.assertFalse(pm.should_shutdown(ignition, in_car,
-                                          offroad_timestamp,
-                                          started_seen),
+      self.assertFalse(pm.should_shutdown(ignition, in_car, 
+                                          offroad_timestamp, 
+                                          started_seen), 
                        f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
-    self.assertTrue(pm.should_shutdown(ignition, in_car,
-                                       offroad_timestamp,
+    self.assertTrue(pm.should_shutdown(ignition, in_car, 
+                                       offroad_timestamp, 
                                        started_seen),
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
 

selfdrive/updated.py

@@ -444,7 +444,7 @@ def main() -> None:
       if not system_time_valid():
         wait_helper.sleep(60)
         continue
-
+        
       update_failed_count += 1
 
       # check for update

system/sensord/rawgps/structs.py

@@ -255,7 +255,7 @@ position_report = """
   uint32      q_FltRawAlt;              /* Raw height-above-ellipsoid altitude in meters as computed by WLS */
   uint32      q_FltRawAltSigma;         /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */
   uint32   align_Flt[14];
-  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted
+  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted 
   uint32      q_FltHdop;                /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint32      q_FltVdop;                /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint8       u_EllipseConfidence;      /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */