add mypy check for return-any (#24379)

* add mypy check for return-any

* remove unused import

* typing

* remove unnecessary variable typing

* cleanup

* cleanup

* bump submodules

* small fixes

* only a problem on mac

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

.pre-commit-config.yaml

@@ -23,6 +23,7 @@ repos:
         additional_dependencies: ['lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi']
         args:
         - --warn-redundant-casts
+        - --warn-return-any
         - --warn-unreachable
         - --warn-unused-ignores
         #- --html-report=/home/batman/openpilot

cereal

@@ -1 +1 @@
-Subproject commit 67e5c5ca378fcf6db53e968e5ad9e4a98d32ed0f
+Subproject commit 8e8831f8e03deb62dd5fcfc638e134cdc8e9adbf

common/realtime.py

@@ -36,12 +36,12 @@ class Priority:
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined]
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined] # pylint: disable=no-member
 
 
 def set_core_affinity(cores: List[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, cores)
+    os.sched_setaffinity(0, cores)  # pylint: disable=no-member
 
 
 def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:

common/xattr.py

@@ -1,5 +1,6 @@
 import os
 from cffi import FFI
+from typing import Any, List
 
 # Workaround for the EON/termux build of Python having os.*xattr removed.
 ffi = FFI()
@@ -11,7 +12,7 @@ int removexattr(const char *path, const char *name);
 """)
 libc = ffi.dlopen(None)
 
-def setxattr(path, name, value, flags=0):
+def setxattr(path, name, value, flags=0) -> None:
   path = path.encode()
   name = name.encode()
   if libc.setxattr(path, name, value, len(value), flags) == -1:
@@ -29,7 +30,7 @@ def getxattr(path, name, size=128):
     raise OSError(ffi.errno, f"{os.strerror(ffi.errno)}: getxattr({path}, {name}, {size})")
   return ffi.buffer(value)[:l]
 
-def listxattr(path, size=128):
+def listxattr(path, size=128) -> List[Any]:
   path = path.encode()
   attrs = ffi.new(f"char[{size}]")
   l = libc.listxattr(path, attrs, size)
@@ -38,7 +39,7 @@ def listxattr(path, size=128):
   # attrs is b'\0' delimited values (so chop off trailing empty item)
   return [a.decode() for a in ffi.buffer(attrs)[:l].split(b"\0")[0:-1]]
 
-def removexattr(path, name):
+def removexattr(path, name) -> None:
   path = path.encode()
   name = name.encode()
   if libc.removexattr(path, name) == -1:

panda

@@ -1 +1 @@
-Subproject commit eb662e4e5014a3fc3c04512d708f61080c7707c1
+Subproject commit d5bd81e5b517c79e164d87b96355e6bc75915da0

scripts/waste.py

@@ -6,7 +6,7 @@ from multiprocessing import Process
 from setproctitle import setproctitle  # pylint: disable=no-name-in-module
 
 def waste(core):
-  os.sched_setaffinity(0, [core,])
+  os.sched_setaffinity(0, [core,])  # pylint: disable=no-member
 
   m1 = np.zeros((200, 200)) + 0.8
   m2 = np.zeros((200, 200)) + 1.2

selfdrive/athena/registration.py

@@ -23,13 +23,13 @@ def is_registered_device() -> bool:
   return dongle not in (None, UNREGISTERED_DONGLE_ID)
 
 
-def register(show_spinner=False) -> str:
+def register(show_spinner=False) -> Optional[str]:
   params = Params()
   params.put("SubscriberInfo", HARDWARE.get_subscriber_info())
 
   IMEI = params.get("IMEI", encoding='utf8')
   HardwareSerial = params.get("HardwareSerial", encoding='utf8')
-  dongle_id = params.get("DongleId", encoding='utf8')
+  dongle_id: Optional[str] = params.get("DongleId", encoding='utf8')
   needs_registration = None in (IMEI, HardwareSerial, dongle_id)
 
   pubkey = Path(PERSIST+"/comma/id_rsa.pub")

selfdrive/boardd/pandad.py

@@ -4,7 +4,7 @@ import os
 import usb1
 import time
 import subprocess
-from typing import NoReturn
+from typing import List, NoReturn
 from functools import cmp_to_key
 
 from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU
@@ -102,7 +102,7 @@ def main() -> NoReturn:
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
       # Flash pandas
-      pandas = []
+      pandas: List[Panda] = []
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
@@ -119,7 +119,7 @@ def main() -> NoReturn:
 
       # sort pandas to have deterministic order
       pandas.sort(key=cmp_to_key(panda_sort_cmp))
-      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))
+      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))  # type: ignore
 
       # log panda fw versions
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))

selfdrive/car/__init__.py

@@ -1,6 +1,7 @@
 # functions common among cars
 from cereal import car
 from common.numpy_fast import clip
+from typing import Dict
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -41,7 +42,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
   return tire_stiffness_front, tire_stiffness_rear
 
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None):
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]:
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 

selfdrive/car/docs.py

@@ -45,7 +45,8 @@ def get_all_car_info() -> List[CarInfo]:
         all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
 
   # Sort cars by make and model + year
-  return natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
+  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
+  return sorted_cars
 
 
 def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]:
@@ -65,8 +66,9 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
-  return template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                         footnotes=footnotes, Star=Star, Column=Column)
+  cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
+                                 footnotes=footnotes, Star=Star, Column=Column)
+  return cars_md
 
 
 if __name__ == "__main__":

selfdrive/car/volkswagen/values.py

@@ -41,7 +41,7 @@ class DBC_FILES:
   mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
 
 
-DBC = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))  # type: Dict[str, Dict[str, str]]
+DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
 
 BUTTON_STATES = {
   "accelCruise": False,

selfdrive/controls/lib/events.py

@@ -135,6 +135,8 @@ class Alert:
     return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}"
 
   def __gt__(self, alert2) -> bool:
+    if not isinstance(alert2, Alert):
+      return False
     return self.priority > alert2.priority
 
 

selfdrive/controls/lib/vehicle_model.py

@@ -29,22 +29,22 @@ class VehicleModel:
       CP: Car Parameters
     """
     # for math readability, convert long names car params into short names
-    self.m = CP.mass
-    self.j = CP.rotationalInertia
-    self.l = CP.wheelbase
-    self.aF = CP.centerToFront
-    self.aR = CP.wheelbase - CP.centerToFront
-    self.chi = CP.steerRatioRear
-
-    self.cF_orig = CP.tireStiffnessFront
-    self.cR_orig = CP.tireStiffnessRear
+    self.m: float = CP.mass
+    self.j: float = CP.rotationalInertia
+    self.l: float = CP.wheelbase
+    self.aF: float = CP.centerToFront
+    self.aR: float = CP.wheelbase - CP.centerToFront
+    self.chi: float = CP.steerRatioRear
+
+    self.cF_orig: float = CP.tireStiffnessFront
+    self.cR_orig: float = CP.tireStiffnessRear
     self.update_params(1.0, CP.steerRatio)
 
   def update_params(self, stiffness_factor: float, steer_ratio: float) -> None:
     """Update the vehicle model with a new stiffness factor and steer ratio"""
-    self.cF = stiffness_factor * self.cF_orig
-    self.cR = stiffness_factor * self.cR_orig
-    self.sR = steer_ratio
+    self.cF: float = stiffness_factor * self.cF_orig
+    self.cR: float = stiffness_factor * self.cR_orig
+    self.sR: float = steer_ratio
 
   def steady_state_sol(self, sa: float, u: float, roll: float) -> np.ndarray:
     """Returns the steady state solution.
@@ -221,10 +221,10 @@ def dyn_ss_sol(sa: float, u: float, roll: float, VM: VehicleModel) -> np.ndarray
   """
   A, B = create_dyn_state_matrices(u, VM)
   inp = np.array([[sa], [roll]])
-  return -solve(A, B) @ inp
+  return -solve(A, B) @ inp  # type: ignore
 
 
-def calc_slip_factor(VM):
+def calc_slip_factor(VM: VehicleModel) -> float:
   """The slip factor is a measure of how the curvature changes with speed
   it's positive for Oversteering vehicle, negative (usual case) otherwise.
   """

selfdrive/debug/live_cpu_and_temp.py

@@ -88,7 +88,7 @@ if __name__ == "__main__":
             pass
 
         print("Top CPU usage:")
-        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:
+        for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]:  # type: ignore
           print(f"{k.rjust(70)}   {v:.2f} %")
         print()
 

selfdrive/debug/run_process_on_route.py

@@ -25,7 +25,7 @@ if __name__ == "__main__":
   # Remove message generated by the process under test and merge in the new messages
   produces = {o.which() for o in outputs}
   inputs = [i for i in inputs if i.which() not in produces]
-  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
+  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)  # type: ignore
 
   fn = f"{args.route}_{args.process}.bz2"
   save_log(fn, outputs)

selfdrive/hardware/tici/agnos.py

@@ -7,7 +7,7 @@ import struct
 import subprocess
 import time
 import os
-from typing import Generator
+from typing import Dict, Generator, Union
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 
@@ -99,26 +99,30 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str:
   return path
 
 
-def verify_partition(target_slot_number: int, partition: dict) -> bool:
+def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]]) -> bool:
   full_check = partition['full_check']
   path = get_partition_path(target_slot_number, partition)
-  partition_size = partition['size']
+  if not isinstance(partition['size'], int):
+    return False
+  partition_size: int = partition['size']
 
+  if not isinstance(partition['hash_raw'], str):
+    return False
+  partition_hash: str = partition['hash_raw']
   with open(path, 'rb+') as out:
     if full_check:
       raw_hash = hashlib.sha256()
 
-      pos = 0
-      chunk_size = 1024 * 1024
+      pos, chunk_size = 0, 1024 * 1024
       while pos < partition_size:
         n = min(chunk_size, partition_size - pos)
         raw_hash.update(out.read(n))
         pos += n
 
-      return raw_hash.hexdigest().lower() == partition['hash_raw'].lower()
+      return raw_hash.hexdigest().lower() == partition_hash.lower()
     else:
       out.seek(partition_size)
-      return out.read(64) == partition['hash_raw'].lower().encode()
+      return out.read(64) == partition_hash.lower().encode()
 
 
 def clear_partition_hash(target_slot_number: int, partition: dict) -> None:

selfdrive/locationd/calibrationd.py

@@ -48,7 +48,7 @@ class Calibration:
 
 
 def is_calibration_valid(rpy: np.ndarray) -> bool:
-  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])
+  return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
 
 
 def sanity_clip(rpy: np.ndarray) -> np.ndarray:

selfdrive/manager/process_config.py

@@ -8,10 +8,10 @@ from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProces
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return params.get_bool("IsDriverViewEnabled")
+  return params.get_bool("IsDriverViewEnabled")  # type: ignore
 
 def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return CP.notCar
+  return CP.notCar  # type: ignore
 
 def logging(started, params, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")

selfdrive/sensord/rawgps/compare.py

@@ -31,7 +31,7 @@ if __name__ == "__main__":
           tm = m
       if tm is None:
         continue
-      
+
       if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
         sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000
         ublox_psuedorange = tm.pseudorange
@@ -56,7 +56,7 @@ if __name__ == "__main__":
     pr_err /= len(car)
     speed_err /= len(car)
     print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err))
-    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):
+    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):  # type: ignore
       svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c
       print("svid: %3d  pseudorange: %10.2f m  speed: %8.2f m/s   meas: %12.2f  speed: %10.2f   meas_err: %10.3f speed_err: %8.3f cno: %d" %
         (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed,

selfdrive/updated.py

@@ -311,7 +311,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
 
   cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip()
   upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
-  new_version = cur_hash != upstream_hash
+  new_version: bool = cur_hash != upstream_hash
   git_fetch_result = check_git_fetch_result(git_fetch_output)
 
   cloudlog.info(f"comparing {cur_hash} to {upstream_hash}")

selfdrive/version.py

@@ -55,7 +55,7 @@ def get_origin(default: Optional[str] = None) -> Optional[str]:
 
 @cache
 def get_normalized_origin(default: Optional[str] = None) -> Optional[str]:
-  origin = get_origin()
+  origin: Optional[str] = get_origin()
 
   if origin is None:
     return default
@@ -74,7 +74,7 @@ def get_version() -> str:
 
 @cache
 def get_short_version() -> str:
-  return get_version().split('-')[0]
+  return get_version().split('-')[0]  # type: ignore
 
 @cache
 def is_prebuilt() -> bool:
@@ -85,7 +85,7 @@ def is_prebuilt() -> bool:
 def is_comma_remote() -> bool:
   # note to fork maintainers, this is used for release metrics. please do not
   # touch this to get rid of the orange startup alert. there's better ways to do that
-  origin = get_origin()
+  origin: Optional[str] = get_origin()
   if origin is None:
     return False
 

tools/lib/bootlog.py

@@ -36,9 +36,13 @@ class Bootlog:
     return timestamp_to_datetime(self._timestamp)
 
   def __eq__(self, b) -> bool:
+    if not isinstance(b, Bootlog):
+      return False
     return self.datetime == b.datetime
 
   def __lt__(self, b) -> bool:
+    if not isinstance(b, Bootlog):
+      return False
     return self.datetime < b.datetime