Ruff: enable most of bugbear (#29320)

* added mutable default args

* most of the Bs

* add comment about lrucache
old-commit-hash: 62c1e65924

docs/conf.py

@@ -100,7 +100,7 @@ breathe_projects_source = {}
 
 # only document files that have accompanying .cc files next to them
 print("searching for c_docs...")
-for root, dirs, files in os.walk(BASEDIR):
+for root, _, files in os.walk(BASEDIR):
   found = False
   breath_src = {}
   breathe_srcs_list = []

pyproject.toml

@@ -197,8 +197,8 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
-ignore = ["W292", "E741", "E402", "C408", "ISC003"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024", "B905"]
 line-length = 160
 target-version="py311"
 exclude = [

scripts/code_stats.py

@@ -8,7 +8,7 @@ fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files'])
 
 pyf = []
 for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
-  for root, dirs, files in os.walk(d):
+  for root, _, files in os.walk(d):
     for f in files:
       if f.endswith(".py"):
         pyf.append(os.path.join(root, f))

selfdrive/athena/athenad.py

@@ -213,6 +213,16 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
         break
 
 
+def cb(sm, item, tid, sz: int, cur: int) -> None:
+  # Abort transfer if connection changed to metered after starting upload
+  sm.update(0)
+  metered = sm['deviceState'].networkMetered
+  if metered and (not item.allow_cellular):
+    raise AbortTransferException
+
+  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+
+
 def upload_handler(end_event: threading.Event) -> None:
   sm = messaging.SubMaster(['deviceState'])
   tid = threading.get_ident()
@@ -242,15 +252,6 @@ def upload_handler(end_event: threading.Event) -> None:
         continue
 
       try:
-        def cb(sz: int, cur: int) -> None:
-          # Abort transfer if connection changed to metered after starting upload
-          sm.update(0)
-          metered = sm['deviceState'].networkMetered
-          if metered and (not item.allow_cellular):
-            raise AbortTransferException
-
-          cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
-
         fn = item.path
         try:
           sz = os.path.getsize(fn)
@@ -258,7 +259,7 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, cb)
+        response = _do_upload(item, partial(cb, sm, item, tid))
 
         if response.status_code not in (200, 201, 401, 403, 412):
           cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)

selfdrive/car/ecu_addrs.py

@@ -90,7 +90,7 @@ if __name__ == "__main__":
 
   print()
   print("Found ECUs on addresses:")
-  for addr, subaddr, bus in ecu_addrs:
+  for addr, subaddr, _ in ecu_addrs:
     msg = f"  0x{hex(addr)}"
     if subaddr is not None:
       msg += f" (sub-address: {hex(subaddr)})"

selfdrive/car/tests/test_fingerprints.py

@@ -70,7 +70,7 @@ if __name__ == "__main__":
   for brand in fingerprints:
     for car in fingerprints[brand]:
       fingerprints_flat += fingerprints[brand][car]
-      for i in range(len(fingerprints[brand][car])):
+      for _ in range(len(fingerprints[brand][car])):
         car_names.append(car)
         brand_names.append(brand)
 

selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py

@@ -129,11 +129,15 @@ def gen_lat_ocp():
 
 
 class LateralMpc():
-  def __init__(self, x0=np.zeros(X_DIM)):
+  def __init__(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(X_DIM)
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset(x0)
 
-  def reset(self, x0=np.zeros(X_DIM)):
+  def reset(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(X_DIM)
     self.x_sol = np.zeros((N+1, X_DIM))
     self.u_sol = np.zeros((N, 1))
     self.yref = np.zeros((N+1, COST_DIM))

selfdrive/controls/lib/lateral_planner.py

@@ -50,7 +50,9 @@ class LateralPlanner:
     self.lat_mpc = LateralMpc()
     self.reset_mpc(np.zeros(4))
 
-  def reset_mpc(self, x0=np.zeros(4)):
+  def reset_mpc(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(4)
     self.x0 = x0
     self.lat_mpc.reset(x0=self.x0)
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -83,7 +83,9 @@ def get_stopped_equivalence_factor(v_lead):
 def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
-def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()):
+def desired_follow_distance(v_ego, v_lead, t_follow=None):
+  if t_follow is None:
+    t_follow = get_T_FOLLOW()
   return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
 

selfdrive/debug/internal/fuzz_fw_fingerprint.py

@@ -27,7 +27,7 @@ if __name__ == "__main__":
   for _ in tqdm(range(1000)):
     for candidate, fws in FWS.items():
       fw_dict = {}
-      for (tp, addr, subaddr), fw_list in fws.items():
+      for (_, addr, subaddr), fw_list in fws.items():
         fw_dict[(addr, subaddr)] = [random.choice(fw_list)]
 
       matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate)

selfdrive/manager/process.py

@@ -39,7 +39,7 @@ def launcher(proc: str, name: str) -> None:
     sentry.set_tag("daemon", name)
 
     # exec the process
-    getattr(mod, 'main')()
+    mod.main()
   except KeyboardInterrupt:
     cloudlog.warning(f"child {proc} got SIGINT")
   except Exception:

selfdrive/modeld/tests/timing/benchmark.py

@@ -35,6 +35,6 @@ if __name__ == "__main__":
 
   print("\n\n")
   print(f"ran modeld {N} times for {TIME}s each")
-  for n, t in enumerate(execution_times):
+  for _, t in enumerate(execution_times):
     print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
   print("\n\n")

selfdrive/monitoring/driver_monitor.py

@@ -119,7 +119,9 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()):
+  def __init__(self, rhd_saved=False, settings=None):
+    if settings is None:
+      settings = DRIVER_MONITOR_SETTINGS()
     # init policy settings
     self.settings = settings
 

selfdrive/test/test_onroad.py

@@ -282,7 +282,7 @@ class TestOnroad(unittest.TestCase):
     result += "-------------- Debayer Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [getattr(getattr(m, m.which()), "processingTime") for m in self.lr if 'CameraState' in m.which()]
+    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
     self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}")
     result += f"execution time: min  {min(ts):.5f}s\n"
     result += f"execution time: max  {max(ts):.5f}s\n"
@@ -297,7 +297,7 @@ class TestOnroad(unittest.TestCase):
     result += "-----------------  SoF Timing ------------------\n"
     result += "------------------------------------------------\n"
     for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
-      ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()]
+      ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
       d_ms = np.diff(ts) / 1e6
       d50 = np.abs(d_ms-50)
       self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}")
@@ -315,7 +315,7 @@ class TestOnroad(unittest.TestCase):
 
     cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]]
+      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -335,7 +335,7 @@ class TestOnroad(unittest.TestCase):
       ("driverStateV2", 0.050, 0.026),
     ]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]]
+      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"

selfdrive/thermald/thermald.py

@@ -61,7 +61,7 @@ def populate_tz_by_type():
     if not n.startswith("thermal_zone"):
       continue
     with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.lstrip("thermal_zone"))
+      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
 
 def read_tz(x):
   if x is None:

system/camerad/test/test_exposure.py

@@ -18,7 +18,9 @@ class TestCamerad(unittest.TestCase):
     ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
     return ret
 
-  def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])):
+  def _is_exposure_okay(self, i, med_mean=None):
+    if med_mean is None:
+      med_mean = np.array([[0.2,0.4],[0.2,0.6]])
     h, w = i.shape[:2]
     i = i[h//10:9*h//10,w//10:9*w//10]
     med_ex, mean_ex = med_mean

system/hardware/tici/hardware.py

@@ -83,6 +83,17 @@ def affine_irq(val, action):
   for i in irqs:
     sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
+@lru_cache
+def get_device_type():
+  # lru_cache and cache can cause memory leaks when used in classes
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+  # TODO: remove this with AGNOS 7+
+  if model.startswith('Qualcomm'):
+    model = 'tici'
+  return model
+
 class Tici(HardwareBase):
   @cached_property
   def bus(self):
@@ -105,15 +116,8 @@ class Tici(HardwareBase):
     with open("/VERSION") as f:
       return f.read().strip()
 
-  @lru_cache
   def get_device_type(self):
-    with open("/sys/firmware/devicetree/base/model") as f:
-      model = f.read().strip('\x00')
-    model = model.split('comma ')[-1]
-    # TODO: remove this with AGNOS 7+
-    if model.startswith('Qualcomm'):
-      model = 'tici'
-    return model
+    return get_device_type()
 
   def get_sound_card_online(self):
     if os.path.isfile('/proc/asound/card0/state'):

system/sensord/rawgps/rawgpsd.py

@@ -446,7 +446,7 @@ def main() -> NoReturn:
         report.source = 1  # glonass
         measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
       else:
-        assert False
+        raise RuntimeError(f"invalid log_type: {log_type}")
 
       for k,v in dat.items():
         if k == "version":

system/sensord/rawgps/structs.py

@@ -317,8 +317,7 @@ def parse_struct(ss):
     elif typ in ["uint64", "uint64_t"]:
       st += "Q"
     else:
-      print("unknown type", typ)
-      assert False
+      raise RuntimeError(f"unknown type {typ}")
     if '[' in nam:
       cnt = int(nam.split("[")[1].split("]")[0])
       st += st[-1]*(cnt-1)
@@ -333,7 +332,7 @@ def dict_unpacker(ss, camelcase = False):
   if camelcase:
     nams = [name_to_camelcase(x) for x in nams]
   sz = calcsize(st)
-  return lambda x: dict(zip(nams, unpack_from(st, x))), sz
+  return lambda x: dict(zip(nams, unpack_from(st, x), strict=True)), sz
 
 def relist(dat):
   list_keys = set()

system/ubloxd/tests/ublox.py

@@ -185,8 +185,8 @@ class UBloxAttrDict(dict):
   def __getattr__(self, name):
     try:
       return self.__getitem__(name)
-    except KeyError:
-      raise AttributeError(name)
+    except KeyError as e:
+      raise RuntimeError(f"ublock invalid attr: {name}") from e
 
   def __setattr__(self, name, value):
     if name in self.__dict__:
@@ -270,7 +270,7 @@ class UBloxDescriptor:
       return
 
     size2 = struct.calcsize(self.format2)
-    for c in range(count):
+    for _ in range(count):
       r = UBloxAttrDict()
       if size2 > len(buf):
         raise UBloxError("INVALID_SIZE=%u, " % len(buf))
@@ -573,10 +573,10 @@ class UBloxMessage:
     '''allow access to message fields'''
     try:
       return self._fields[name]
-    except KeyError:
+    except KeyError as e:
       if name == 'recs':
         return self._recs
-      raise AttributeError(name)
+      raise AttributeError(name) from e
 
   def __setattr__(self, name, value):
     '''allow access to message fields'''

tools/gpstest/rpc_server.py

@@ -128,7 +128,7 @@ class RemoteCheckerService(rpyc.Service):
         if pos_geo is None or len(pos_geo) == 0:
           continue
 
-        match  = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon]))
+        match  = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True))
         match &= abs(pos_geo[2] - salt) < ALT_DELTA
         if match:
           match_cnt += 1

tools/gpstest/test_gps.py

@@ -30,7 +30,7 @@ def create_backup(pigeon):
   pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
   try:
     if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK):
-      assert False, "Could not store almanac"
+      raise RuntimeError("Could not store almanac")
   except TimeoutError:
     pass
 

tools/lib/framereader.py

@@ -70,8 +70,8 @@ def ffprobe(fn, fmt=None):
 
   try:
     ffprobe_output = subprocess.check_output(cmd)
-  except subprocess.CalledProcessError:
-    raise DataUnreadableError(fn)
+  except subprocess.CalledProcessError as e:
+    raise DataUnreadableError(fn) from e
 
   return json.loads(ffprobe_output)
 
@@ -86,8 +86,8 @@ def vidindex(fn, typ):
        tempfile.NamedTemporaryFile() as index_f:
     try:
       subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name])
-    except subprocess.CalledProcessError:
-      raise DataUnreadableError(f"vidindex failed on file {fn}")
+    except subprocess.CalledProcessError as e:
+      raise DataUnreadableError(f"vidindex failed on file {fn}") from e
     with open(index_f.name, "rb") as f:
       index = f.read()
     with open(prefix_f.name, "rb") as f:
@@ -418,7 +418,7 @@ class VideoStreamDecompressor:
         elif self.pix_fmt == "yuv444p":
           ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w))
         else:
-          assert False
+          raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}")
         yield ret
 
       result_code = self.proc.wait()

tools/lib/logreader.py

@@ -98,7 +98,7 @@ class LogReader:
       for e in ents:
         _ents.append(e)
     except capnp.KjException:
-      warnings.warn("Corrupted events detected", RuntimeWarning)
+      warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
     self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
     self._ts = [x.logMonoTime for x in self._ents]