Linter: Fix >160 line length test (#29287)

* test * fix line length * fix line length * fix file size * revert poetry * cleanup for PR
2 years ago · cf64b27168
parent 9a09fa7b12
commit cf64b27168
54 changed files with 220 additions and 109 deletions
--- a/.pylintrc
+++ b/.pylintrc
@ -61,7 +61,7 @@ disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1
 # either give multiple identifier separated by comma (,) or put this option
 # multiple time (only on the command line, not in the configuration file where
 # it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
+enable=c-extension-no-member,C0301


 [REPORTS]
@ -245,7 +245,7 @@ indent-after-paren=4
 indent-string='  '

 # Maximum number of characters on a single line.
-max-line-length=100
+max-line-length=160

 # Maximum number of lines in a module
 max-module-lines=1000
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@ -52,7 +52,7 @@ class MockApi():
 class MockParams():
  default_params = {
    "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private",  # noqa: E501
+    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # pylint: disable=C0301
    "GithubUsername": b"commaci",
    "GsmMetered": True,
    "AthenadUploadQueue": '[]',
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -253,7 +253,8 @@ class TestAthenadMethods(unittest.TestCase):
      end_event.set()

  def test_cancelUpload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
    athenad.upload_queue.put_nowait(item)
    dispatcher["cancelUpload"](item.id)

@ -317,7 +318,8 @@ class TestAthenadMethods(unittest.TestCase):
      end_event.set()

  def test_listUploadQueue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
    athenad.upload_queue.put_nowait(item)

    items = dispatcher["listUploadQueue"]()
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@ -80,7 +80,8 @@ class CarState(CarStateBase):
    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0

    if self.CP.carFingerprint in RAM_CARS:
-      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
      ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
    else:
      ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -93,6 +93,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
 # For 924, Trailhawk 2017 has length 3, whereas 2018 V6 has length 8.

 FINGERPRINTS = {
+  # pylint: disable=C0301
  CAR.PACIFICA_2017_HYBRID: [{
    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
  }],
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@ -30,7 +30,8 @@ def get_all_car_info() -> List[CarInfo]:
  footnotes = get_all_footnotes()
  for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
    # If available, uses experimental longitudinal limits for the docs
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
+                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)

    if CP.dashcamOnly or car_info is None:
      continue
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@ -128,7 +128,8 @@ class Device(EnumBase):


 class Kit(EnumBase):
-  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
+  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
+                                                      Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])


 class Tool(EnumBase):
@ -173,10 +174,12 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo

 class CommonFootnote(Enum):
  EXP_LONG_AVAIL = CarFootnote(
-    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
+    "Experimental openpilot longitudinal control is available behind a toggle; " +
+    "the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
    Column.LONGITUDINAL, docs_only=True)
  EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
+    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " + 
+    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
    "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
    Column.LONGITUDINAL)

--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -111,7 +111,8 @@ class CarController:

        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
+                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))

        # Send dashboard UI commands (ACC status)
        send_fcw = hud_alert == VisualAlert.fcw
@ -162,7 +163,8 @@ class CarController:
    lka_icon_status = (lka_active, lka_critical)

    # SW_GMLAN not yet on cam harness, no HUD alerts
-    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
+    if self.CP.networkLocation != NetworkLocation.fwdCamera and \
+      (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
      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
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@ -142,6 +142,7 @@ class CanBus:
  DROPPED = 192

 FINGERPRINTS = {
+  # pylint: disable=C0301
  CAR.HOLDEN_ASTRA: [
  # Astra BK MY17, ASCM unplugged
  {
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@ -103,7 +103,8 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
    else:
      checks.append(("CRUISE_PARAMS", 50))

-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
    signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
  elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
    signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@ -178,7 +179,8 @@ class CarState(CarStateBase):
    # panda checks if the signal is non-zero
    ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
    # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
      ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
    elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
      ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@ -3,7 +3,8 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
+                                                                                            HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -123,7 +123,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+                 footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
    HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -3,7 +3,8 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from selfdrive.car.hyundai.hyundaicanfd import CanBus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+                                                            EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@ -132,7 +133,8 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
      ret.mass = 1870. + STD_CARGO_KG  # weight from Limited trim - the only supported trim
      ret.wheelbase = 3.000
-      ret.steerRatio = 14.2  # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      ret.steerRatio = 14.2

    # Kia
    elif candidate == CAR.KIA_SORENTO:
@ -211,7 +213,8 @@ class CarInterface(CarInterfaceBase):
    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
      ret.mass = 2205 + STD_CARGO_KG
      ret.wheelbase = 2.9
-      ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+      # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+      ret.steerRatio = 12.6
    elif candidate == CAR.GENESIS_G70:
      ret.steerActuatorDelay = 0.1
      ret.mass = 1640.0 + STD_CARGO_KG
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -154,9 +154,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                                       car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.HYUNDAI_GENESIS: [
-    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),  # TODO: check 2015 packages
+    # TODO: check 2015 packages
+    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
  ],
  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
@ -168,12 +170,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
  CAR.TUCSON: [
    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@ -191,7 +196,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
  ],
  CAR.IONIQ_6: [
-    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),  # TODO: unknown
+    # TODO: unknown
+    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
  ],
  CAR.TUCSON_4TH_GEN: [
@ -223,7 +229,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
  ],
  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", 
+                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
  CAR.KIA_OPTIMA_H: [
    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
@ -232,13 +239,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
  CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                    car_parts=CarParts.common([CarHarness.hyundai_c])),
    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
  ],
  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])),
  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                                  car_parts=CarParts.common([CarHarness.hyundai_c])),
  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
  CAR.KIA_EV6: [
@ -275,6 +284,7 @@ class Buttons:
  CANCEL = 4  # on newer models, this is a pause/resume button

 FINGERPRINTS = {
+  # pylint: disable=C0301
  CAR.ELANTRA: [{
    66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
  }],
@ -508,6 +518,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )

 FW_VERSIONS = {
+  # pylint: disable=C0301
  CAR.HYUNDAI_GENESIS: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DH LKAS 1.1 -150210',
@ -1892,7 +1903,8 @@ FW_VERSIONS = {
 }

 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
+           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
  "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }

@ -1900,10 +1912,16 @@ CAN_GEARS = {
  # which message has the gear
  "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
+                      CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
+                      CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
+                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }

-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+             CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
+             CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}

 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
@ -1911,11 +1929,17 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }

-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
+# these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
+              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
+              CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}
+
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
+          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV,
+                          CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
                          CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}

 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -115,7 +115,8 @@ class CarInterfaceBase(ABC):

  @staticmethod
  @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]],
+                  car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
    raise NotImplementedError

  @staticmethod
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@ -66,8 +66,8 @@ class CarController:
    # Below are the HUD messages. We copy the stock message and modify
    if self.CP.carFingerprint != CAR.ALTIMA:
      if self.frame % 2 == 0:
-        can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))

      if self.frame % 50 == 0:
        can_sends.append(nissancan.create_lkas_hud_info_msg(
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@ -45,6 +45,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
 }

 FINGERPRINTS = {
+  # pylint: disable=C0301
  CAR.XTRAIL: [
    {
      2: 5, 42: 6, 346: 6, 347: 5, 348: 8, 349: 7, 361: 8, 386: 8, 389: 8, 397: 8, 398: 8, 403: 8, 520: 2, 523: 6, 548: 8, 645: 8, 658: 8, 665: 8, 666: 8, 674: 2, 682: 8, 683: 8, 689: 8, 723: 8, 758: 3, 768: 2, 783: 3, 851: 8, 855: 8, 1041: 8, 1055: 2, 1104: 4, 1105: 6, 1107: 4, 1108: 8, 1111: 4, 1227: 8, 1228: 8, 1247: 4, 1266: 8, 1273: 7, 1342: 1, 1376: 6, 1401: 8, 1474: 2, 1497: 3, 1821: 8, 1823: 8, 1837: 8, 2015: 8, 2016: 8, 2024: 8
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@ -22,6 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
 }

 FINGERPRINTS = {
+  # pylint: disable=C0301
  CAR.AP1_MODELS: [
    {
      1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@ -95,7 +95,8 @@ if __name__ == "__main__":
                _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
    violation_str = " - VIOLATION" if violation else ""

-    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
+    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \
+              m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")

  # exit with test result
  sys.exit(not result.result.wasSuccessful())
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@ -219,7 +219,8 @@ class CarInterface(CarInterfaceBase):

    # In TSS2 cars, the camera does long control
    found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
+                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
    ret.enableGasInterceptor = 0x201 in fingerprint[0]

    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -206,23 +206,31 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
 STATIC_DSU_MSGS = [
  (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
  (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
  (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
  (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
  (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
  (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+           CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
  (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
  (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
  (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]

 # Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
@ -2299,9 +2307,10 @@ DBC = {
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})

 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
-            CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2,
+            CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2,
+            CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
+            CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}

 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}

@ -2314,8 +2323,9 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, C
 # these cars use the Lane Tracing Assist (LTA) message for lateral control
 ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}

-EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
-                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
+EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
+                 CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+                 CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
                 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}

 # no resume button press required
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@ -89,7 +89,8 @@ class CarController:
      if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
        lead_distance = 512 if CS.upscale_lead_car_signal else 8
      acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      set_speed = hud_control.setSpeed * CV.MS_TO_KPH  # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      set_speed = hud_control.setSpeed * CV.MS_TO_KPH
      can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
                                                       lead_distance))

--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -572,7 +572,8 @@ class Controls:
    if self.CP.lateralTuning.which() == 'torque':
      torque_params = self.sm['liveTorqueParameters']
      if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered)
+        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
+                                           torque_params.frictionCoefficientFiltered)

    lat_plan = self.sm['lateralPlan']
    long_plan = self.sm['longitudinalPlan']
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@ -194,7 +194,8 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
  return safe_desired_curvature, safe_desired_curvature_rate


-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
  friction_interp = interp(
    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
    [-friction_threshold, friction_threshold],
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -423,7 +423,8 @@ class LongitudinalMpc:
    self.time_integrator = float(self.solver.get_stats('time_sim')[0])

    # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
-    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
+    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
+    # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
    # res = self.solver.get_residuals()
    # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
    # self.solver.print_statistics()
@ -446,7 +447,8 @@ class LongitudinalMpc:
        cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
      self.reset()
      # reset = 1
-    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
+    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, \
+    # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")


 if __name__ == "__main__":
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@ -163,7 +163,8 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
  }


-def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader, model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]:
+def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]:
  # Determine leads, this is where the essential logic happens
  if len(tracks) > 0 and ready and lead_msg.prob > .5:
    track = match_vision_to_track(v_ego, lead_msg, tracks)
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@ -9,7 +9,8 @@ from selfdrive.car.docs_definitions import Column

 FOOTNOTE_TAG = "<sup>{}</sup>"
 STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
-VIDEO_ICON = '<a href="{}" target="_blank"><img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
+VIDEO_ICON = '<a href="{}" target="_blank">\
+                          <img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
 COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
 ARROW_SYMBOL = "➡️"
@ -99,7 +100,8 @@ def print_car_info_diff(path):
  if any(len(c) for c in changes.values()):
    markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]

-    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
+    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"),
+                            ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
      if len(changes[category]):
        markdown_builder.append(title)
        if category not in ("detail",):
--- a/selfdrive/debug/show_matching_cars.py
+++ b/selfdrive/debug/show_matching_cars.py
@ -4,7 +4,7 @@ import cereal.messaging as messaging


 # rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8}
+fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # pylint: disable=C0301

 candidate_cars = all_legacy_fingerprint_cars()

--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@ -112,7 +112,8 @@ if __name__ == "__main__":
          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
          for version in sorted(car_fw, key=lambda fw: fw.brand):
            subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \
+                      (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")

          print("Mismatches")
          found = False
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@ -211,7 +211,8 @@ class Calibrator:
      new_height = HEIGHT_INIT

    self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE))
-    self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
+    self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx],
+                                                                                new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
    self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE))

    self.idx = (self.idx + 1) % BLOCK_SIZE
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -81,7 +81,8 @@ class Laikad:
    valid_ephem_types: Valid ephemeris types to be used by AstroDog
    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
    """
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
+                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)

    self.auto_fetch_navs = auto_fetch_navs
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@ -171,7 +171,8 @@ class CarKalman(KalmanFilter):
    if P_initial is not None:
      self.P_initial = P_initial
    # init filter
-    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial,
+                              dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)


 if __name__ == "__main__":
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@ -33,7 +33,8 @@ class States():
  ACCELEROMETER_BIAS = slice(30, 33)  # bias of mems accelerometer
  # TODO the offset is likely a translation of the sensor, not a rotation of the camera
  WIDE_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
+  # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables
+  # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
  # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE

  # Error-state has different slices because it is an ESKF
@ -324,7 +325,8 @@ class LocKalman():
      obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym])
      obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym])
      obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym])
-      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
+      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N,
+                      [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
    else:
      msckf_params = None
    gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@ -198,8 +198,10 @@ def main(sm=None, pm=None):
        learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
        x = learner.kf.x

-      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]),
+                                  angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]),
+                          angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
      roll = clip(float(x[States.ROAD_ROLL]), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
      roll_std = float(P[States.ROAD_ROLL])
      # Account for the opposite signs of the yaw rates
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@ -7,7 +7,8 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import log
 from common.params import Params
-from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
+from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
+                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT


 class TestCalibrationd(unittest.TestCase):
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@ -212,7 +212,8 @@ class DriverStatus():
      distracted_types.append(DistractedType.DISTRACTED_BLINK)

    if self.ee1_calibrated:
-      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12
+      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
+                              * self.settings._EE_THRESH12
    else:
      ee1_dist = self.eev1 > self.settings._EE_THRESH11
    # if self.ee2_calibrated:
@ -263,14 +264,17 @@ class DriverStatus():
    self.pose.yaw_std = driver_data.faceOrientationStd[1]
    model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
    self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                                                                  * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                                                                  * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
    self.eev1 = driver_data.notReadyProb[0]
    self.eev2 = driver_data.readyProb[0]

    self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
-                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types 
+                                or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
+                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
    self.driver_distraction_filter.update(self.driver_distracted)

    # update offseter
@ -306,7 +310,8 @@ class DriverStatus():
        self._reset_awareness()
        return
      # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
      if self.awareness == 1.:
        self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
      # don't display alert banner when awareness is recovering and has cleared orange
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@ -82,7 +82,8 @@ class TestMonitoring(unittest.TestCase):
    events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
    self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
-                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
+                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      EventName.preDriverDistracted)
    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
                      ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
@ -94,7 +95,8 @@ class TestMonitoring(unittest.TestCase):
    events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
    self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
    self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
+                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      EventName.preDriverUnresponsive)
    self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
                      ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
    self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
@ -125,10 +127,14 @@ class TestMonitoring(unittest.TestCase):
    ds_vector = always_distracted[:]
    interaction_vector = always_false[:]
    op_vector = always_true[:]
-    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
-    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
+                                                        = [True] * int(1/DT_DMON)
+    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
+                                                        = [False] * int(0.5/DT_DMON)
    events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
    self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
@ -141,7 +147,8 @@ class TestMonitoring(unittest.TestCase):
    _visible_time = np.random.choice([0.5, 10])
    ds_vector = always_no_face[:]*2
    interaction_vector = always_false[:]*2
-    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
+                                                                                             [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
    interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
    events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
    self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
@ -185,7 +192,8 @@ class TestMonitoring(unittest.TestCase):
    standstill_vector = always_true[:]
    standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
    events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted)
+    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
+                                                                                                                    EventName.preDriverDistracted)
    self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
    self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)

@ -195,9 +203,12 @@ class TestMonitoring(unittest.TestCase):
    ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
    interaction_vector = always_false[:]
    events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    self.assertTrue(EventName.preDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
-    self.assertTrue(EventName.promptDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
-    self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.preDriverUnresponsive in 
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.promptDriverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.driverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)


 if __name__ == "__main__":
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@ -74,7 +74,7 @@ if __name__ == "__main__":
  renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
  wait_ready(lib, renderer)

-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
+  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # pylint: disable=C0301
  lib.map_renderer_update_route(renderer, geometry.encode())

  POSITIONS = [
--- a/selfdrive/test/openpilotci.py
+++ b/selfdrive/test/openpilotci.py
@ -17,8 +17,9 @@ def get_sas_token():
    sas_token = open(TOKEN_PATH).read().strip()

  if sas_token is None:
-    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
-                                         --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci \
+                                         --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') \
+                                         --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")

  return sas_token

--- a/selfdrive/test/process_replay/init.py
+++ b/selfdrive/test/process_replay/init.py
@ -1 +1,2 @@
-from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, replay_process, replay_process_with_name  # noqa: F401
+from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \
+                                                                  replay_process, replay_process_with_name  # noqa: F401
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -323,7 +323,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
    canmsgs = [msg for msg in msgs if msg.which() == "can"]
    has_cached_cp = params.get("CarParamsCache") is not None
    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
-    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
+    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+            "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."

    for m in canmsgs[:300]:
      can.send(m.as_builder().to_bytes())
@ -606,7 +607,8 @@ def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructRead
  return custom_params


-def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader,
+                             List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
  if isinstance(name, str):
    cfgs = [get_process_config(name)]
  elif isinstance(name, Iterable):
@ -660,7 +662,8 @@ def _replay_multi_process(
      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(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}"

  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@ -6,7 +6,8 @@ import capnp

 from typing import Union, Iterable, Optional, List, Any, Dict, Tuple

-from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, check_openpilot_enabled, get_custom_params_from_lr
+from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
+                                                        check_openpilot_enabled, get_custom_params_from_lr
 from selfdrive.test.update_ci_routes import upload_route
 from tools.lib.route import Route
 from tools.lib.framereader import FrameReader
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@ -120,7 +120,8 @@ class TestPowerMonitoring(unittest.TestCase):
    POWER_DRAW = 0 # To stop shutting down for other reasons
    TEST_TIME = 350
    VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
-    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \
+         pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
      pm = PowerMonitoring()
      pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
      ignition = False
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@ -36,7 +36,8 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency

 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
+                                             'network_metered', 'nvme_temps', 'modem_temps'])

 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@ -54,7 +54,8 @@ if __name__ == "__main__":

    badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])

-  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
+  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" \
+                             height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
  badge_svg.append("</svg>")

  with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@ -46,7 +46,8 @@ if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="Update translation files for UI",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
  parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
-  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)")
+  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"],
+                      help="Translation codes to only create plural translations for (ie. the base language)")
  args = parser.parse_args()

  update_translations(args.vanish, args.plural_only)
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@ -319,7 +319,8 @@ class Tici(HardwareBase):
      (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]),

      # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \
+                   "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
    ]

    download = [
@ -328,7 +329,8 @@ class Tici(HardwareBase):

      # Redirect ingress (incoming) to egress ifb0
      (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]),
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \
+                   "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),

      # Add class and rules for virtual interface
      (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]),
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@ -211,7 +211,8 @@ class Uploader:
        else:
          content_length = int(stat.request.headers.get("Content-Length", 0))
          self.last_speed = (content_length / 1e6) / self.last_time
-          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, network_type=network_type, metered=metered, speed=self.last_speed)
+          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length,
+                         network_type=network_type, metered=metered, speed=self.last_speed)
        success = True
      else:
        success = False
--- a/system/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
      pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")

      # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # pylint: disable=C0301

      # UBX-CFG-ODO (0x06 0x1E)
      pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
      pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # pylint: disable=C0301

      # UBX-CFG-NAV5 (0x06 0x24)
      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
--- a/tools/bodyteleop/bodyav.py
+++ b/tools/bodyteleop/bodyav.py
@ -63,7 +63,8 @@ class WebClientSpeaker(MediaBlackhole):
    self.p = pyaudio.PyAudio()
    self.buffer = io.BytesIO()
    self.channels = 2
-    self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600, output=True, stream_callback=self.pyaudio_callback)
+    self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600,
+                              output=True, stream_callback=self.pyaudio_callback)

  def pyaudio_callback(self, in_data, frame_count, time_info, status):
    if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@ -181,7 +181,8 @@ def main():
  cert_path = TELEOPDIR + '/cert.pem'
  key_path = TELEOPDIR + '/key.pem'
  if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)):
-    asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"'))
+    asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
+                     -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"'))
  else:
    logger.info("Certificate exists!")
  ssl_context = ssl.SSLContext()
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@ -95,7 +95,9 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
      pc_latency = (time.monotonic()-time_q[0])*1000
      time_q = time_q[1:]
      if debug:
-        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
+              % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
+                 process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)

 class CompressedVipc:
  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
--- a/tools/sim/tests/test_carla_integration.py
+++ b/tools/sim/tests/test_carla_integration.py
@ -68,7 +68,8 @@ class TestCarlaIntegration(unittest.TestCase):
        no_car_events_issues_once = True
        break

-    self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
+    self.assertTrue(no_car_events_issues_once,
+                    f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")

    start_time = time.monotonic()
    min_counts_control_active = 100
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@ -105,7 +105,10 @@ class SteeringAccuracyTool:
          print(f"  {'-'*118}")
          for k in sorted(self.speed_group_stats[group].keys()):
            v = self.speed_group_stats[group][k]
-            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
+            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \
+                              | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \
+                              | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \
+                              | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
          print("")