Merge branch 'master' into civic22_master

docs/CARS.md

@@ -152,7 +152,7 @@
 | Subaru    | Crosstrek 2018-20             | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Forester 2019-21              | EyeSight          | Stock            | 0mph               | 0mph         |
 | Subaru    | Impreza 2017-19               | EyeSight          | Stock            | 0mph               | 0mph         |
-| Volkswagen| Arteon 2021<sup>4</sup>       | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| Arteon 2018, 2021<sup>4</sup> | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Atlas 2018-19                 | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| California 2021<sup>4</sup>   | Driver Assistance | Stock            | 0mph               | 32mph        |
 | Volkswagen| e-Golf 2014, 2019-20          | Driver Assistance | Stock            | 0mph               | 0mph         |

selfdrive/athena/athenad.py

@@ -34,7 +34,7 @@ from selfdrive.version import get_version, get_origin, get_short_branch, get_com
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
-LOCAL_PORT_WHITELIST = set([8022])
+LOCAL_PORT_WHITELIST = {8022}
 
 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@@ -287,7 +287,7 @@ def listUploadQueue():
 
 @dispatcher.add_method
 def cancelUpload(upload_id):
-  upload_ids = set(item.id for item in list(upload_queue.queue))
+  upload_ids = {item.id for item in list(upload_queue.queue)}
   if upload_id not in upload_ids:
     return 404
 
@@ -338,7 +338,7 @@ def getPublicKey():
   if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
     return None
 
-  with open(PERSIST + '/comma/id_rsa.pub', 'r') as f:
+  with open(PERSIST + '/comma/id_rsa.pub') as f:
     return f.read()
 
 
@@ -419,7 +419,7 @@ def log_handler(end_event):
           curr_time = int(time.time())
           log_path = os.path.join(SWAGLOG_DIR, log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
-          with open(log_path, "r") as f:
+          with open(log_path) as f:
             jsonrpc = {
               "method": "forwardLogs",
               "params": {

selfdrive/athena/tests/test_athenad.py

@@ -30,7 +30,7 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.ROOT = tempfile.mkdtemp()
     athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
     athenad.Api = MockApi
-    athenad.LOCAL_PORT_WHITELIST = set([cls.SOCKET_PORT])
+    athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setUp(self):
     MockParams.restore_defaults()

selfdrive/boardd/tests/test_boardd_loopback.py

@@ -69,7 +69,7 @@ class TestBoardd(unittest.TestCase):
         for __ in range(random.randrange(100)):
           bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
           addr = random.randrange(1, 1<<29)
-          dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
+          dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
           sent_msgs[bus].add((addr, dat))
           to_send.append(make_can_msg(addr, dat, bus))
         sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))

selfdrive/car/car_helpers.py

@@ -68,7 +68,7 @@ def _get_interface_names():
       model_names = __import__(f'selfdrive.car.{brand_name}.values', fromlist=['CAR']).CAR
       model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
       brand_names[brand_name] = model_names
-    except (ImportError, IOError):
+    except (ImportError, OSError):
       pass
 
   return brand_names

selfdrive/car/fingerprints.py

@@ -28,7 +28,7 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True):
       elif isinstance(attr_values, list):
         result += attr_values
 
-    except (ImportError, IOError):
+    except (ImportError, OSError):
       pass
 
   return result

selfdrive/car/fw_versions.py

@@ -221,7 +221,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   if match_count >= 2:
     if log:
       cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
-    return set([candidate])
+    return {candidate}
   else:
     return set()
 

selfdrive/car/gm/radar_interface.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from __future__ import print_function
 import math
 from cereal import car
 from opendbc.can.parser import CANParser

selfdrive/car/honda/values.py

@@ -1421,10 +1421,10 @@ STEER_THRESHOLD = {
   CAR.CRV_EU: 400,
 }
 
-HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
-HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-                   CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E])
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
-HONDA_RADARLESS = set([CAR.CIVIC_22, ])
+HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
+HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
+                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE}
+HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
+                   CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
+HONDA_RADARLESS = {CAR.CIVIC_22, }

selfdrive/car/hyundai/values.py

@@ -987,19 +987,19 @@ CHECKSUM = {
 
 FEATURES = {
   # which message has the gear
-  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
-  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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]),
+  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, 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},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022},
 }
 
-HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022])  # these cars use a different gas signal
-EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022}  # these cars use a different gas signal
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = set([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_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022])
+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_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, 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.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py

selfdrive/car/mazda/values.py

@@ -247,7 +247,7 @@ DBC = {
 }
 
 # Gen 1 hardware: same CAN messages and same camera
-GEN1 = set([CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6])
+GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6}
 
 # Cars with a steering lockout
-STEER_LOCKOUT_CAR = set([CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6])
+STEER_LOCKOUT_CAR = {CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6}

selfdrive/car/toyota/values.py

@@ -536,6 +536,7 @@ FW_VERSIONS = {
       b'\x018966312P9200\x00\x00\x00\x00',
       b'\x018966312P9300\x00\x00\x00\x00',
       b'\x018966312Q2300\x00\x00\x00\x00',
+      b'\x018966312Q8000\x00\x00\x00\x00',
       b'\x018966312R0000\x00\x00\x00\x00',
       b'\x018966312R0100\x00\x00\x00\x00',
       b'\x018966312R1000\x00\x00\x00\x00',
@@ -583,6 +584,7 @@ FW_VERSIONS = {
       b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
       b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
       b'F152602191\x00\x00\x00\x00\x00\x00',
@@ -768,6 +770,7 @@ FW_VERSIONS = {
       b'\x01896630EB2100\x00\x00\x00\x00',
       b'\x01896630EB2200\x00\x00\x00\x00',
       b'\x01896630EC4000\x00\x00\x00\x00',
+      b'\x01896630ED9000\x00\x00\x00\x00',
       b'\x01896630EE1000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1636,11 +1639,11 @@ DBC = {
 
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
                 CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2])
+                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2}
 
-NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
+NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH])
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}

selfdrive/car/volkswagen/values.py

@@ -101,19 +101,24 @@ class CAR:
 FW_VERSIONS = {
   CAR.ARTEON_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x873G0906259F \xf1\x890004',
       b'\xf1\x873G0906259P \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158L \xf1\x893611',
+      b'\xf1\x870GC300011L \xf1\x891401',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
       b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x875Q0907572J \xf1\x890654',
     ],
   },
   CAR.ATLAS_MK1: {
@@ -292,6 +297,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906024AK\xf1\x899937',
       b'\xf1\x8704E906024AS\xf1\x899912',
       b'\xf1\x8704E906024B \xf1\x895594',
+      b'\xf1\x8704E906024C \xf1\x899970',
       b'\xf1\x8704E906024L \xf1\x895595',
       b'\xf1\x8704E906024L \xf1\x899970',
       b'\xf1\x8704E906027MS\xf1\x896223',
@@ -306,6 +312,7 @@ FW_VERSIONS = {
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\02314171231313500314611011630169333463100',
+      b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1314171231313500314611011630169333463100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314642011650169333463100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\02314171231313500314643011650169333463100',
       b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\02311170031313300314240011150119333433100',
@@ -322,6 +329,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572N \xf1\x890681',
+      b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },

selfdrive/controls/controlsd.py

@@ -346,7 +346,7 @@ class Controls:
         self.events.add(EventName.localizerMalfunction)
 
       # Check if all manager processes are running
-      not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
+      not_running = {p.name for p in self.sm['managerState'].processes if not p.running}
       if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
         self.events.add(EventName.processNotRunning)
 

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -349,7 +349,7 @@ class LongitudinalMpc():
     self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
     self.accel_limit_arr[:,0] = -10.
     self.accel_limit_arr[:,1] = 10.
-    x_obstacle = 1e5*np.ones((N+1))
+    x_obstacle = 1e5*np.ones(N+1)
     self.params = np.concatenate([self.accel_limit_arr,
                              x_obstacle[:,None],
                              self.prev_a[:,None]], axis=1)

selfdrive/controls/radard.py

@@ -135,7 +135,7 @@ class RadarD():
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
     idens = list(sorted(self.tracks.keys()))
-    track_pts = list([self.tracks[iden].get_key_for_cluster() for iden in idens])
+    track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens]
 
     # If we have multiple points, cluster them
     if len(track_pts) > 1:

selfdrive/debug/cpu_usage_stat.py

@@ -118,6 +118,6 @@ if __name__ == "__main__":
       l.sort(key=lambda x: -x[1])
       for x in l:
         print(x[2])
-      print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format(
+      print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
         sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
       ))

selfdrive/debug/internal/sensor_test_bootloop.py

@@ -17,7 +17,7 @@ except PermissionError:
   print("WARNING: failed to make /dev/shm")
 
 try:
-  with open('/tmp/sensor-test-results.json', 'r') as infile:
+  with open('/tmp/sensor-test-results.json') as infile:
     data = json.load(infile)
 except Exception:
   data = {'sensor-pass': 0, 'sensor-fail': 0}

selfdrive/debug/run_process_on_route.py

@@ -23,7 +23,7 @@ if __name__ == "__main__":
   outputs = replay_process(cfg, inputs)
 
   # Remove message generated by the process under test and merge in the new messages
-  produces = set(o.which() for o in outputs)
+  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)
 

selfdrive/locationd/models/live_kf.py

@@ -158,7 +158,7 @@ class LiveKalman():
     delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
 
     err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
-    delta_quat = sp.Matrix(np.ones((4)))
+    delta_quat = sp.Matrix(np.ones(4))
     delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
     err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
     err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat

selfdrive/locationd/models/loc_kf.py

@@ -232,7 +232,7 @@ class LocKalman():
 
     err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
     for q_idx, q_err_idx in zip(q_idxs, q_err_idxs):
-      delta_quat = sp.Matrix(np.ones((4)))
+      delta_quat = sp.Matrix(np.ones(4))
       delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :])
       err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat
     for p_idx, p_err_idx in zip(p_idxs, p_err_idxs):

selfdrive/locationd/test/ublox.py

@@ -338,7 +338,7 @@ class UBloxDescriptor:
           ret += '%s, ' % v[a]
         ret = ret[:-2] + '], '
       elif isinstance(v, str):
-        ret += '%s="%s", ' % (f, v.rstrip(' \0'))
+        ret += '{}="{}", '.format(f, v.rstrip(' \0'))
       else:
         ret += '%s=%s, ' % (f, v)
     for r in msg._recs:
@@ -774,10 +774,9 @@ class UBlox:
   def read(self, n):
     '''read some bytes'''
     if self.use_sendrecv:
-      import socket
       try:
         return self.dev.recv(n)
-      except socket.error:
+      except OSError:
         return ''
     return self.dev.read(n)
 

selfdrive/loggerd/tests/test_deleter.py

@@ -18,7 +18,7 @@ class TestDeleter(UploaderTestCase):
 
   def setUp(self):
     self.f_type = "fcamera.hevc"
-    super(TestDeleter, self).setUp()
+    super().setUp()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
     deleter.os.statvfs = self.fake_statvfs
     deleter.ROOT = self.root

selfdrive/loggerd/tests/test_uploader.py

@@ -39,7 +39,7 @@ cloudlog.addHandler(log_handler)
 
 class TestUploader(UploaderTestCase):
   def setUp(self):
-    super(TestUploader, self).setUp()
+    super().setUp()
     log_handler.reset()
 
   def start_thread(self):

selfdrive/manager/helpers.py

@@ -29,7 +29,7 @@ def unblock_stdout():
 
       try:
         sys.stdout.write(dat.decode('utf8'))
-      except (OSError, IOError, UnicodeDecodeError):
+      except (OSError, UnicodeDecodeError):
         pass
 
     # os.wait() returns a tuple with the pid and a 16 bit value

selfdrive/manager/process.py

@@ -262,7 +262,7 @@ class DaemonProcess(ManagerProcess):
 
     cloudlog.info(f"starting daemon {self.name}")
     proc = subprocess.Popen(['python', '-m', self.module],  # pylint: disable=subprocess-popen-preexec-fn
-                               stdin=open('/dev/null', 'r'),
+                               stdin=open('/dev/null'),
                                stdout=open('/dev/null', 'w'),
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)

selfdrive/pandad.py

@@ -30,7 +30,7 @@ def flash_panda(panda_serial : str) -> Panda:
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
   panda_signature = b"" if panda.bootstub else panda.get_signature()
-  cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
+  cloudlog.warning("Panda {} connected, version: {}, signature {}, expected {}".format(
     panda_serial,
     panda_version,
     panda_signature.hex()[:16],

selfdrive/test/process_replay/compare_logs.py

@@ -58,7 +58,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   if ignore_msgs is None:
     ignore_msgs = []
 
-  log1, log2 = [list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)]
+  log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))
 
   if len(log1) != len(log2):
     cnt1 = Counter(m.which() for m in log1)

selfdrive/test/process_replay/process_replay.py

@@ -89,7 +89,7 @@ class DumbSocket:
 
 class FakeSubMaster(messaging.SubMaster):
   def __init__(self, services):
-    super(FakeSubMaster, self).__init__(services, addr=None)
+    super().__init__(services, addr=None)
     self.sock = {s: DumbSocket(s) for s in services}
     self.update_called = threading.Event()
     self.update_ready = threading.Event()
@@ -111,7 +111,7 @@ class FakeSubMaster(messaging.SubMaster):
   def update_msgs(self, cur_time, msgs):
     wait_for_event(self.update_called)
     self.update_called.clear()
-    super(FakeSubMaster, self).update_msgs(cur_time, msgs)
+    super().update_msgs(cur_time, msgs)
     self.update_ready.set()
 
   def wait_for_update(self):

selfdrive/test/process_replay/test_processes.py

@@ -143,7 +143,7 @@ if __name__ == "__main__":
 
   # check to make sure all car brands are tested
   if FULL_TEST:
-    tested_cars = set(c.lower() for c, _ in segments)
+    tested_cars = {c.lower() for c, _ in segments}
     untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
     assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
 

selfdrive/test/test_fingerprints.py

@@ -19,7 +19,7 @@ def _get_fingerprints():
     car_name = car_folder.split('/')[-1]
     try:
       fingerprints[car_name] = __import__(f'selfdrive.car.{car_name}.values', fromlist=['FINGERPRINTS']).FINGERPRINTS
-    except (ImportError, IOError, AttributeError):
+    except (ImportError, OSError, AttributeError):
       pass
 
   return fingerprints

selfdrive/thermald/thermald.py

@@ -81,7 +81,7 @@ def set_eon_fan(val):
     try:
       i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
       bus.write_i2c_block_data(0x3d, 0, [i])
-    except IOError:
+    except OSError:
       # tusb320
       if val == 0:
         bus.write_i2c_block_data(0x67, 0xa, [0])

selfdrive/ui/qt/offroad/networking.cc

@@ -158,7 +158,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(roamingToggle);
 
   // APN settings
-  ButtonControl *editApnButton = new ButtonControl("APN settings", "EDIT");
+  ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT");
   connect(editApnButton, &ButtonControl::clicked, [=]() {
     const bool roamingEnabled = params.getBool("GsmRoaming");
     const QString cur_apn = QString::fromStdString(params.get("GsmApn"));

selfdrive/ui/qt/offroad/settings.cc

@@ -38,7 +38,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
     {
       "IsLdwEnabled",
       "Enable Lane Departure Warnings",
-      "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31mph (50kph).",
+      "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).",
       "../assets/offroad/icon_warning.png",
     },
     {

selfdrive/ui/qt/onroad.cc

@@ -163,8 +163,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
 // OnroadHud
 OnroadHud::OnroadHud(QWidget *parent) : QWidget(parent) {
-  engage_img = QPixmap("../assets/img_chffr_wheel.png").scaled(img_size, img_size, Qt::KeepAspectRatio, Qt::SmoothTransformation);
-  dm_img = QPixmap("../assets/img_driver_face.png").scaled(img_size, img_size, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
+  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
 
   connect(this, &OnroadHud::valueChanged, [=] { update(); });
 }

selfdrive/ui/qt/python_helpers.py

@@ -1,4 +1,3 @@
-
 import os
 from cffi import FFI
 

selfdrive/ui/replay/camera.cc

@@ -3,8 +3,6 @@
 #include <cassert>
 #include <iostream>
 
-const int YUV_BUF_COUNT = 50;
-
 CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS], bool send_yuv) : send_yuv(send_yuv) {
   for (int i = 0; i < MAX_CAMERAS; ++i) {
     std::tie(cameras_[i].width, cameras_[i].height) = camera_size[i];
@@ -29,7 +27,7 @@ void CameraServer::startVipcServer() {
       std::cout << "camera[" << cam.type << "] frame size " << cam.width << "x" << cam.height << std::endl;
       vipc_server_->create_buffers(cam.rgb_type, UI_BUF_COUNT, true, cam.width, cam.height);
       if (send_yuv) {
-        vipc_server_->create_buffers(cam.yuv_type, YUV_BUF_COUNT, false, cam.width, cam.height);
+        vipc_server_->create_buffers(cam.yuv_type, YUV_BUFFER_COUNT, false, cam.width, cam.height);
       }
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));

selfdrive/ui/tests/cycle_offroad_alerts.py

@@ -18,7 +18,7 @@ if __name__ == "__main__":
   while True:
     print("setting alert update")
     params.put_bool("UpdateAvailable", True)
-    r = open(os.path.join(BASEDIR, "RELEASES.md"), "r").read()
+    r = open(os.path.join(BASEDIR, "RELEASES.md")).read()
     r = r[:r.find('\n\n')]  # Slice latest release notes
     params.put("ReleaseNotes", r + "\n")
 

selfdrive/updated.py

@@ -380,7 +380,7 @@ def main():
   ov_lock_fd = open(LOCK_FILE, 'w')
   try:
     fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
-  except IOError as e:
+  except OSError as e:
     raise RuntimeError("couldn't get overlay lock; is another instance running?") from e
 
   # Set low io priority

tools/lib/auth.py

@@ -109,7 +109,7 @@ def login(method):
     if 'code' in web_server.query_params:
       break
     elif 'error' in web_server.query_params:
-      print('Authentication Error: "%s". Description: "%s" ' % (
+      print('Authentication Error: "{}". Description: "{}" '.format(
         web_server.query_params['error'],
         web_server.query_params.get('error_description')), file=sys.stderr)
       break

tools/lib/framereader.py

@@ -572,15 +572,13 @@ class StreamFrameReader(StreamGOPReader, GOPFrameReader):
 
 def GOPFrameIterator(gop_reader, pix_fmt):
   dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
-  for frame in dec.read():
-    yield frame
+  yield from dec.read()
 
 
 def FrameIterator(fn, pix_fmt, **kwargs):
   fr = FrameReader(fn, **kwargs)
   if isinstance(fr, GOPReader):
-    for v in GOPFrameIterator(fr, pix_fmt):
-      yield v
+    yield from GOPFrameIterator(fr, pix_fmt)
   else:
     for i in range(fr.frame_count):
       yield fr.get(i, pix_fmt=pix_fmt)[0]

tools/lib/logreader.py

@@ -12,7 +12,7 @@ except ImportError:
 from cereal import log as capnp_log
 
 # this is an iterator itself, and uses private variables from LogReader
-class MultiLogIterator(object):
+class MultiLogIterator:
   def __init__(self, log_paths, wraparound=False):
     self._log_paths = log_paths
     self._wraparound = wraparound
@@ -74,7 +74,7 @@ class MultiLogIterator(object):
     return True
 
 
-class LogReader(object):
+class LogReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False):
     data_version = None
     _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)

tools/lib/route.py

@@ -18,7 +18,7 @@ CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
 DCAMERA_FILENAMES = ['dcamera.hevc']
 ECAMERA_FILENAMES = ['ecamera.hevc']
 
-class Route(object):
+class Route:
   def __init__(self, route_name, data_dir=None):
     self.files = None
     self.route_name = route_name.replace('_', '|')
@@ -155,7 +155,7 @@ class Route(object):
       raise ValueError(f'Could not find segments for route {self.route_name} in data directory {data_dir}')
     return sorted(segments, key=lambda seg: seg.canonical_name.segment_num)
 
-class RouteSegment(object):
+class RouteSegment:
   def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
     self._name = RouteSegmentName(name)
     self.log_path = log_path
@@ -173,7 +173,7 @@ class RouteSegment(object):
   def canonical_name(self):
     return self._name
 
-class RouteSegmentName(object):
+class RouteSegmentName:
   def __init__(self, name_str):
     self._segment_name_str = name_str
     self._route_name_str, num_str = self._segment_name_str.rsplit("--", 1)

tools/lib/url_file.py

@@ -22,7 +22,7 @@ def hash_256(link):
   return hsh
 
 
-class URLFile(object):
+class URLFile:
   _tlocal = threading.local()
 
   def __init__(self, url, debug=False, cache=None):
@@ -70,7 +70,7 @@ class URLFile(object):
       return self._length
     file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length")
     if os.path.exists(file_length_path) and not self._force_download:
-      with open(file_length_path, "r") as file_length:
+      with open(file_length_path) as file_length:
           content = file_length.read()
           self._length = int(content)
           return self._length

tools/sim/bridge.py

@@ -93,7 +93,7 @@ class Camerad:
     rgb_cl = cl_array.to_device(self.queue, rgb)
     yuv_cl = cl_array.empty_like(rgb_cl)
     self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), np.int32((rgb.size / 2)))
+    yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2))
     eof = self.frame_id * 0.05
 
     # TODO: remove RGB send once the last RGB vipc subscriber is removed