diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index f4f7b03000..8438b68f93 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -51,7 +51,7 @@ void safety_setter_thread() {
 
   // switch to SILENT when CarVin param is read
   while (true) {
-    if (do_exit || !panda->connected){
+    if (do_exit || !panda->connected) {
       safety_setter_thread_running = false;
       return;
     };
@@ -72,7 +72,7 @@ void safety_setter_thread() {
   std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {
-    if (do_exit || !panda->connected){
+    if (do_exit || !panda->connected) {
       safety_setter_thread_running = false;
       return;
     };
@@ -124,7 +124,7 @@ bool usb_connect() {
     // Convert to hex for offroad
     char fw_sig_hex_buf[16] = {0};
     const uint8_t *fw_sig_buf = fw_sig->data();
-    for (size_t i = 0; i < 8; i++){
+    for (size_t i = 0; i < 8; i++) {
       fw_sig_hex_buf[2*i] = NIBBLE_TO_HEX((uint8_t)fw_sig_buf[i] >> 4);
       fw_sig_hex_buf[2*i+1] = NIBBLE_TO_HEX((uint8_t)fw_sig_buf[i] & 0xF);
     }
@@ -146,7 +146,7 @@ bool usb_connect() {
   }
 #endif
 
-  if (tmp_panda->has_rtc){
+  if (tmp_panda->has_rtc) {
     setenv("TZ","UTC",1);
     struct tm sys_time = util::get_time();
     struct tm rtc_time = tmp_panda->get_rtc();
@@ -199,7 +199,7 @@ void can_send_thread(bool fake_send) {
   while (!do_exit && panda->connected) {
     Message * msg = subscriber->receive();
 
-    if (!msg){
+    if (!msg) {
       if (errno == EINTR) {
         do_exit = true;
       }
@@ -211,7 +211,7 @@ void can_send_thread(bool fake_send) {
 
     //Dont send if older than 1 second
     if (nanos_since_boot() - event.getLogMonoTime() < 1e9) {
-      if (!fake_send){
+      if (!fake_send) {
         panda->can_send(event.getSendcan());
       }
     }
@@ -241,7 +241,7 @@ void can_recv_thread() {
     if (remaining > 0) {
       std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
     } else {
-      if (ignition){
+      if (ignition) {
         LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
       }
       next_frame_time = cur_time;
@@ -292,7 +292,7 @@ void panda_state_thread(bool spoofing_started) {
 
 #ifndef __x86_64__
     bool power_save_desired = !ignition;
-    if (pandaState.power_save_enabled != power_save_desired){
+    if (pandaState.power_save_enabled != power_save_desired) {
       panda->set_power_saving(power_save_desired);
     }
 
@@ -317,12 +317,12 @@ void panda_state_thread(bool spoofing_started) {
     }
 
     // Write to rtc once per minute when no ignition present
-    if ((panda->has_rtc) && !ignition && (no_ignition_cnt % 120 == 1)){
+    if ((panda->has_rtc) && !ignition && (no_ignition_cnt % 120 == 1)) {
       // Write time to RTC if it looks reasonable
       setenv("TZ","UTC",1);
       struct tm sys_time = util::get_time();
 
-      if (util::time_valid(sys_time)){
+      if (util::time_valid(sys_time)) {
         struct tm rtc_time = panda->get_rtc();
         double seconds = difftime(mktime(&rtc_time), mktime(&sys_time));
 
@@ -388,7 +388,7 @@ void panda_state_thread(bool spoofing_started) {
 
     size_t i = 0;
     for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-        f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_TIM9); f++){
+        f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_TIM9); f++) {
       if (fault_bits.test(f)) {
         faults.set(i, cereal::PandaState::FaultType(f));
         i++;
@@ -415,11 +415,11 @@ void hardware_control_thread() {
     cnt++;
     sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 
-    if (!Hardware::PC() && sm.updated("deviceState")){
+    if (!Hardware::PC() && sm.updated("deviceState")) {
       // Charging mode
       bool charging_disabled = sm["deviceState"].getDeviceState().getChargingDisabled();
-      if (charging_disabled != prev_charging_disabled){
-        if (charging_disabled){
+      if (charging_disabled != prev_charging_disabled) {
+        if (charging_disabled) {
           panda->set_usb_power_mode(cereal::PandaState::UsbPowerMode::CLIENT);
           LOGW("TURN OFF CHARGING!\n");
         } else {
@@ -432,15 +432,15 @@ void hardware_control_thread() {
 
     // Other pandas don't have fan/IR to control
     if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
-    if (sm.updated("deviceState")){
+    if (sm.updated("deviceState")) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
-      if (fan_speed != prev_fan_speed || cnt % 100 == 0){
+      if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
         panda->set_fan_speed(fan_speed);
         prev_fan_speed = fan_speed;
       }
     }
-    if (sm.updated("driverCameraState")){
+    if (sm.updated("driverCameraState")) {
       auto event = sm["driverCameraState"];
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
       last_front_frame_t = event.getLogMonoTime();
@@ -455,11 +455,11 @@ void hardware_control_thread() {
     }
     // Disable ir_pwr on front frame timeout
     uint64_t cur_t = nanos_since_boot();
-    if (cur_t - last_front_frame_t > 1e9){
+    if (cur_t - last_front_frame_t > 1e9) {
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0){
+    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
@@ -492,10 +492,10 @@ void pigeon_thread() {
 
     // Parse message header
     if (ignition && recv.length() >= 3) {
-      if (recv[0] == (char)ublox::PREAMBLE1 && recv[1] == (char)ublox::PREAMBLE2){
+      if (recv[0] == (char)ublox::PREAMBLE1 && recv[1] == (char)ublox::PREAMBLE2) {
         const char msg_cls = recv[2];
         uint64_t t = nanos_since_boot();
-        if (t > last_recv_time[msg_cls]){
+        if (t > last_recv_time[msg_cls]) {
           last_recv_time[msg_cls] = t;
         }
       }
@@ -512,12 +512,12 @@ void pigeon_thread() {
     }
 
     // Check based on null bytes
-    if (ignition && recv.length() > 0 && recv[0] == (char)0x00){
+    if (ignition && recv.length() > 0 && recv[0] == (char)0x00) {
       need_reset = true;
       LOGW("received invalid ublox message while onroad, resetting panda GPS");
     }
 
-    if (recv.length() > 0){
+    if (recv.length() > 0) {
       pigeon_publish_raw(pm, recv);
     }
 
@@ -559,7 +559,7 @@ int main() {
   err = set_core_affinity(Hardware::TICI() ? 4 : 3);
   LOG("set affinity returns %d", err);
 
-  while (!do_exit){
+  while (!do_exit) {
     std::vector<std::thread> threads;
     threads.push_back(std::thread(panda_state_thread, getenv("STARTED") != nullptr));
 
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 1b563b53d6..d755850650 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -11,7 +11,7 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/common/util.h"
 
-Panda::Panda(){
+Panda::Panda() {
   // init libusb
   int err = libusb_init(&ctx);
   if (err != 0) { goto fail; }
@@ -50,14 +50,14 @@ fail:
   throw std::runtime_error("Error connecting to panda");
 }
 
-Panda::~Panda(){
+Panda::~Panda() {
   std::lock_guard lk(usb_lock);
   cleanup();
   connected = false;
 }
 
-void Panda::cleanup(){
-  if (dev_handle){
+void Panda::cleanup() {
+  if (dev_handle) {
     libusb_release_interface(dev_handle, 0);
     libusb_close(dev_handle);
   }
@@ -80,7 +80,7 @@ int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigne
   int err;
   const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
 
-  if (!connected){
+  if (!connected) {
     return LIBUSB_ERROR_NO_DEVICE;
   }
 
@@ -97,7 +97,7 @@ int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned
   int err;
   const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE;
 
-  if (!connected){
+  if (!connected) {
     return LIBUSB_ERROR_NO_DEVICE;
   }
 
@@ -114,7 +114,7 @@ int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int lengt
   int err;
   int transferred = 0;
 
-  if (!connected){
+  if (!connected) {
     return 0;
   }
 
@@ -139,7 +139,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
   int err;
   int transferred = 0;
 
-  if (!connected){
+  if (!connected) {
     return 0;
   }
 
@@ -162,7 +162,7 @@ int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length
   return transferred;
 }
 
-void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param){
+void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, int safety_param) {
   usb_write(0xdc, (uint16_t)safety_model, safety_param);
 }
 
@@ -177,7 +177,7 @@ cereal::PandaState::PandaType Panda::get_hw_type() {
   return (cereal::PandaState::PandaType)(hw_query[0]);
 }
 
-void Panda::set_rtc(struct tm sys_time){
+void Panda::set_rtc(struct tm sys_time) {
   // tm struct has year defined as years since 1900
   usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0);
   usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0);
@@ -188,7 +188,7 @@ void Panda::set_rtc(struct tm sys_time){
   usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0);
 }
 
-struct tm Panda::get_rtc(){
+struct tm Panda::get_rtc() {
   struct __attribute__((packed)) timestamp_t {
     uint16_t year; // Starts at 0
     uint8_t month;
@@ -212,11 +212,11 @@ struct tm Panda::get_rtc(){
   return new_time;
 }
 
-void Panda::set_fan_speed(uint16_t fan_speed){
+void Panda::set_fan_speed(uint16_t fan_speed) {
   usb_write(0xb1, fan_speed, 0);
 }
 
-uint16_t Panda::get_fan_speed(){
+uint16_t Panda::get_fan_speed() {
   uint16_t fan_speed_rpm = 0;
   usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm));
   return fan_speed_rpm;
@@ -226,17 +226,17 @@ void Panda::set_ir_pwr(uint16_t ir_pwr) {
   usb_write(0xb0, ir_pwr, 0);
 }
 
-health_t Panda::get_state(){
+health_t Panda::get_state() {
   health_t health {0};
   usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health));
   return health;
 }
 
-void Panda::set_loopback(bool loopback){
+void Panda::set_loopback(bool loopback) {
   usb_write(0xe5, loopback, 0);
 }
 
-std::optional<std::vector<uint8_t>> Panda::get_firmware_version(){
+std::optional<std::vector<uint8_t>> Panda::get_firmware_version() {
   std::vector<uint8_t> fw_sig_buf(128);
   int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64);
   int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64);
@@ -249,19 +249,19 @@ std::optional<std::string> Panda::get_serial() {
   return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
 }
 
-void Panda::set_power_saving(bool power_saving){
+void Panda::set_power_saving(bool power_saving) {
   usb_write(0xe7, power_saving, 0);
 }
 
-void Panda::set_usb_power_mode(cereal::PandaState::UsbPowerMode power_mode){
+void Panda::set_usb_power_mode(cereal::PandaState::UsbPowerMode power_mode) {
   usb_write(0xe6, (uint16_t)power_mode, 0);
 }
 
-void Panda::send_heartbeat(){
+void Panda::send_heartbeat() {
   usb_write(0xf3, 1, 0);
 }
 
-void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list){
+void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
   static std::vector<uint32_t> send;
   const int msg_count = can_data_list.size();
 
diff --git a/selfdrive/boardd/pigeon.cc b/selfdrive/boardd/pigeon.cc
index d28b970694..002288c6ec 100644
--- a/selfdrive/boardd/pigeon.cc
+++ b/selfdrive/boardd/pigeon.cc
@@ -27,26 +27,26 @@ const std::string nack = "\xb5\x62\x05\x00\x02\x00";
 const std::string sos_ack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x01\x00\x00\x00";
 const std::string sos_nack = "\xb5\x62\x09\x14\x08\x00\x02\x00\x00\x00\x00\x00\x00\x00";
 
-Pigeon * Pigeon::connect(Panda * p){
+Pigeon * Pigeon::connect(Panda * p) {
   PandaPigeon * pigeon = new PandaPigeon();
   pigeon->connect(p);
 
   return pigeon;
 }
 
-Pigeon * Pigeon::connect(const char * tty){
+Pigeon * Pigeon::connect(const char * tty) {
   TTYPigeon * pigeon = new TTYPigeon();
   pigeon->connect(tty);
 
   return pigeon;
 }
 
-bool Pigeon::wait_for_ack(const std::string &ack, const std::string &nack){
+bool Pigeon::wait_for_ack(const std::string &ack, const std::string &nack) {
   std::string s;
-  while (!do_exit){
+  while (!do_exit) {
     s += receive();
 
-    if (s.find(ack) != std::string::npos){
+    if (s.find(ack) != std::string::npos) {
       LOGD("Received ACK from ublox");
       return true;
     } else if (s.find(nack) != std::string::npos) {
@@ -62,17 +62,17 @@ bool Pigeon::wait_for_ack(const std::string &ack, const std::string &nack){
   return false;
 }
 
-bool Pigeon::wait_for_ack(){
+bool Pigeon::wait_for_ack() {
   return wait_for_ack(ack, nack);
 }
 
-bool Pigeon::send_with_ack(const std::string &cmd){
+bool Pigeon::send_with_ack(const std::string &cmd) {
   send(cmd);
   return wait_for_ack();
 }
 
 void Pigeon::init() {
-  for (int i = 0; i < 10; i++){
+  for (int i = 0; i < 10; i++) {
     if (do_exit) return;
     LOGW("panda GPS start");
 
@@ -118,7 +118,7 @@ void Pigeon::init() {
     if (!send_with_ack("\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74"s)) continue;
 
     auto time = util::get_time();
-    if (util::time_valid(time)){
+    if (util::time_valid(time)) {
       LOGW("Sending current time to ublox");
       send(ublox::build_ubx_mga_ini_time_utc(time));
     }
@@ -129,7 +129,7 @@ void Pigeon::init() {
   LOGE("failed to initialize panda GPS");
 }
 
-void Pigeon::stop(){
+void Pigeon::stop() {
   LOGW("Storing almanac in ublox flash");
 
   // Controlled GNSS stop
@@ -172,7 +172,7 @@ std::string PandaPigeon::receive() {
   std::string r;
   r.reserve(0x1000 + 0x40);
   unsigned char dat[0x40];
-  while (r.length() < 0x1000){
+  while (r.length() < 0x1000) {
     int len = panda->usb_read(0xe0, 1, 0, dat, sizeof(dat));
     if (len <= 0) break;
     r.append((char*)dat, len);
@@ -185,7 +185,7 @@ void PandaPigeon::set_power(bool power) {
   panda->usb_write(0xd9, power, 0);
 }
 
-PandaPigeon::~PandaPigeon(){
+PandaPigeon::~PandaPigeon() {
 }
 
 void handle_tty_issue(int err, const char func[]) {
@@ -194,7 +194,7 @@ void handle_tty_issue(int err, const char func[]) {
 
 void TTYPigeon::connect(const char * tty) {
   pigeon_tty_fd = open(tty, O_RDWR);
-  if (pigeon_tty_fd < 0){
+  if (pigeon_tty_fd < 0) {
     handle_tty_issue(errno, __func__);
     assert(pigeon_tty_fd >= 0);
   }
@@ -222,9 +222,9 @@ void TTYPigeon::connect(const char * tty) {
   assert(err == 0);
 }
 
-void TTYPigeon::set_baud(int baud){
+void TTYPigeon::set_baud(int baud) {
   speed_t baud_const = 0;
-  switch(baud){
+  switch(baud) {
   case 9600:
     baud_const = B9600;
     break;
@@ -264,11 +264,11 @@ std::string TTYPigeon::receive() {
   std::string r;
   r.reserve(0x1000 + 0x40);
   char dat[0x40];
-  while (r.length() < 0x1000){
+  while (r.length() < 0x1000) {
     int len = read(pigeon_tty_fd, dat, sizeof(dat));
     if(len < 0) {
       handle_tty_issue(len, __func__);
-    } else if (len == 0){
+    } else if (len == 0) {
       break;
     } else {
       r.append(dat, len);
@@ -278,7 +278,7 @@ std::string TTYPigeon::receive() {
   return r;
 }
 
-void TTYPigeon::set_power(bool power){
+void TTYPigeon::set_power(bool power) {
 #ifdef QCOM2
   int err = 0;
   err += gpio_init(GPIO_UBLOX_RST_N, true);
@@ -292,6 +292,6 @@ void TTYPigeon::set_power(bool power){
 #endif
 }
 
-TTYPigeon::~TTYPigeon(){
+TTYPigeon::~TTYPigeon() {
   close(pigeon_tty_fd);
 }
diff --git a/selfdrive/camerad/cameras/camera_common.cc b/selfdrive/camerad/cameras/camera_common.cc
index 67bfd742df..a99c2b900a 100644
--- a/selfdrive/camerad/cameras/camera_common.cc
+++ b/selfdrive/camerad/cameras/camera_common.cc
@@ -163,7 +163,7 @@ bool CameraBuf::acquire() {
 }
 
 void CameraBuf::release() {
-  if (release_callback){
+  if (release_callback) {
     release_callback((void*)camera_state, cur_buf_idx);
   }
 }
diff --git a/selfdrive/camerad/cameras/camera_frame_stream.cc b/selfdrive/camerad/cameras/camera_frame_stream.cc
index a03feb132f..ff789d8483 100644
--- a/selfdrive/camerad/cameras/camera_frame_stream.cc
+++ b/selfdrive/camerad/cameras/camera_frame_stream.cc
@@ -50,7 +50,7 @@ void run_frame_stream(CameraState &camera, const char* frame_pkt) {
   size_t buf_idx = 0;
   while (!do_exit) {
     sm.update(1000);
-    if(sm.updated(frame_pkt)){
+    if(sm.updated(frame_pkt)) {
       auto msg = static_cast<capnp::DynamicStruct::Reader>(sm[frame_pkt]);
       auto frame = msg.get(frame_pkt).as<capnp::DynamicStruct>();
       camera.buf.camera_bufs_metadata[buf_idx] = {
diff --git a/selfdrive/camerad/cameras/camera_qcom.cc b/selfdrive/camerad/cameras/camera_qcom.cc
index fef06fa343..187663431c 100644
--- a/selfdrive/camerad/cameras/camera_qcom.cc
+++ b/selfdrive/camerad/cameras/camera_qcom.cc
@@ -848,7 +848,7 @@ static void parse_autofocus(CameraState *s, uint8_t *d) {
 
 static std::optional<float> get_accel_z(SubMaster *sm) {
   sm->update(0);
-  if(sm->updated("sensorEvents")){
+  if(sm->updated("sensorEvents")) {
     for (auto event : (*sm)["sensorEvents"].getSensorEvents()) {
       if (event.which() == cereal::SensorEventData::ACCELERATION) {
         if (auto v = event.getAcceleration().getV(); v.size() >= 3)
diff --git a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
index d15e388d4a..74db2bc1c2 100644
--- a/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
+++ b/selfdrive/camerad/transforms/rgb_to_yuv_test.cc
@@ -145,8 +145,8 @@ int main(int argc, char** argv) {
   int counter = 0;
   srand (time(NULL));
 
-  for (int i = 0; i < 100; i++){
-    for (int i = 0; i < width * height * 3; i++){
+  for (int i = 0; i < 100; i++) {
+    for (int i = 0; i < width * height * 3; i++) {
       rgb_frame[i] = (uint8_t)rand();
     }
 
diff --git a/selfdrive/clocksd/clocksd.cc b/selfdrive/clocksd/clocksd.cc
index f3057b8e27..951a92467f 100644
--- a/selfdrive/clocksd/clocksd.cc
+++ b/selfdrive/clocksd/clocksd.cc
@@ -53,7 +53,7 @@ int main() {
     if (err < 0) break;
 #else
   // Just run at 1Hz on apple
-  while (!do_exit){
+  while (!do_exit) {
     util::sleep_for(1000);
 #endif
 
diff --git a/selfdrive/common/gpio.cc b/selfdrive/common/gpio.cc
index 5c2c2d85bb..033d6da4f7 100644
--- a/selfdrive/common/gpio.cc
+++ b/selfdrive/common/gpio.cc
@@ -10,22 +10,22 @@
 // We assume that all pins have already been exported on boot,
 // and that we have permission to write to them.
 
-int gpio_init(int pin_nr, bool output){
+int gpio_init(int pin_nr, bool output) {
   char pin_dir_path[50];
   int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
                            "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if(pin_dir_path_len <= 0){
+  if(pin_dir_path_len <= 0) {
     return -1;
   }
   const char *value = output ? "out" : "in";
   return util::write_file(pin_dir_path, (void*)value, strlen(value));
 }
 
-int gpio_set(int pin_nr, bool high){
+int gpio_set(int pin_nr, bool high) {
   char pin_val_path[50];
   int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
                            "/sys/class/gpio/gpio%d/value", pin_nr);
-  if(pin_val_path_len <= 0){
+  if(pin_val_path_len <= 0) {
     return -1;
   }
   return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
diff --git a/selfdrive/common/i2c.cc b/selfdrive/common/i2c.cc
index 652e0b5c25..80738be801 100644
--- a/selfdrive/common/i2c.cc
+++ b/selfdrive/common/i2c.cc
@@ -19,21 +19,21 @@ extern "C" {
   #include <i2c/smbus.h>
 }
 
-I2CBus::I2CBus(uint8_t bus_id){
+I2CBus::I2CBus(uint8_t bus_id) {
   char bus_name[20];
   snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
 
   i2c_fd = open(bus_name, O_RDWR);
-  if(i2c_fd < 0){
+  if(i2c_fd < 0) {
     throw std::runtime_error("Failed to open I2C bus");
   }
 }
 
-I2CBus::~I2CBus(){
-  if(i2c_fd >= 0){ close(i2c_fd); }
+I2CBus::~I2CBus() {
+  if(i2c_fd >= 0) { close(i2c_fd); }
 }
 
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len){
+int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
   int ret = 0;
 
   ret = ioctl(i2c_fd, I2C_SLAVE, device_address);
@@ -46,7 +46,7 @@ fail:
   return ret;
 }
 
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data){
+int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
   int ret = 0;
 
   ret = ioctl(i2c_fd, I2C_SLAVE, device_address);
@@ -61,14 +61,14 @@ fail:
 
 #else
 
-I2CBus::I2CBus(uint8_t bus_id){
+I2CBus::I2CBus(uint8_t bus_id) {
   UNUSED(bus_id);
   i2c_fd = -1;
 }
 
-I2CBus::~I2CBus(){}
+I2CBus::~I2CBus() {}
 
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len){
+int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
   UNUSED(device_address);
   UNUSED(register_address);
   UNUSED(buffer);
@@ -76,7 +76,7 @@ int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t
   return -1;
 }
 
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data){
+int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
   UNUSED(device_address);
   UNUSED(register_address);
   UNUSED(data);
diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index cb3cac825a..a0c3d3b516 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -42,9 +42,9 @@ void params_sig_handler(int signal) {
   params_do_exit = 1;
 }
 
-int fsync_dir(const char* path){
+int fsync_dir(const char* path) {
   int fd = HANDLE_EINTR(open(path, O_RDONLY, 0755));
-  if (fd < 0){
+  if (fd < 0) {
     return -1;
   }
 
diff --git a/selfdrive/common/util.cc b/selfdrive/common/util.cc
index 6bd2913d08..fd2e46db13 100644
--- a/selfdrive/common/util.cc
+++ b/selfdrive/common/util.cc
@@ -118,7 +118,7 @@ bool file_exists(const std::string& fn) {
 
 std::string getenv_default(const char* env_var, const char * suffix, const char* default_val) {
   const char* env_val = getenv(env_var);
-  if (env_val != NULL){
+  if (env_val != NULL) {
     return std::string(env_val) + std::string(suffix);
   } else {
     return std::string(default_val);
@@ -155,7 +155,7 @@ std::string dir_name(std::string const &path) {
   return path.substr(0, pos);
 }
 
-struct tm get_time(){
+struct tm get_time() {
   time_t rawtime;
   time(&rawtime);
 
@@ -165,7 +165,7 @@ struct tm get_time(){
   return sys_time;
 }
 
-bool time_valid(struct tm sys_time){
+bool time_valid(struct tm sys_time) {
   int year = 1900 + sys_time.tm_year;
   int month = 1 + sys_time.tm_mon;
   return (year > 2020) || (year == 2020 && month >= 10);
diff --git a/selfdrive/common/watchdog.cc b/selfdrive/common/watchdog.cc
index fe95e23fde..33307f7200 100644
--- a/selfdrive/common/watchdog.cc
+++ b/selfdrive/common/watchdog.cc
@@ -10,7 +10,7 @@
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
-bool watchdog_kick(){
+bool watchdog_kick() {
   std::string fn = watchdog_fn_prefix + std::to_string(getpid());
   std::string cur_t = std::to_string(nanos_since_boot());
 
diff --git a/selfdrive/controls/lib/cluster/fastcluster.cpp b/selfdrive/controls/lib/cluster/fastcluster.cpp
index 6b0af725ce..d2b557d6f5 100644
--- a/selfdrive/controls/lib/cluster/fastcluster.cpp
+++ b/selfdrive/controls/lib/cluster/fastcluster.cpp
@@ -188,11 +188,11 @@ extern "C" {
   //   out = allocated integer array of size n * (n - 1) / 2 for result
   void hclust_pdist(int n, int m, double* pts, double* out) {
     int ii = 0;
-    for (int i = 0; i < n; i++){
-      for (int j = i + 1; j < n; j++){
+    for (int i = 0; i < n; i++) {
+      for (int j = i + 1; j < n; j++) {
         // Compute euclidian distance
         double d = 0;
-        for (int k = 0; k < m; k ++){
+        for (int k = 0; k < m; k ++) {
           double error = pts[i * m + k] - pts[j * m + k];
           d += (error * error);
         }
diff --git a/selfdrive/controls/lib/cluster/test.cpp b/selfdrive/controls/lib/cluster/test.cpp
index 208867775d..d4e4fa5361 100644
--- a/selfdrive/controls/lib/cluster/test.cpp
+++ b/selfdrive/controls/lib/cluster/test.cpp
@@ -5,7 +5,7 @@ extern "C" {
 }
 
 
-int main(int argc, const char* argv[]){
+int main(int argc, const char* argv[]) {
   const int n = 11;
   const int m = 3;
   double* pts = new double[n*m]{59.26000137, -9.35999966, -5.42500019,
@@ -25,7 +25,7 @@ int main(int argc, const char* argv[]){
 
   cluster_points_centroid(n, m, pts, 2.5 * 2.5, idx);
 
-  for (int i = 0; i < n; i++){
+  for (int i = 0; i < n; i++) {
     assert(idx[i] == correct_idx[i]);
   }
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c b/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
index 39cff8f2a8..a535562318 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
+++ b/selfdrive/controls/lib/longitudinal_mpc_model/longitudinal_mpc.c
@@ -31,7 +31,7 @@ typedef struct {
   double cost;
 } log_t;
 
-void init(double xCost, double vCost, double aCost, double accelCost, double jerkCost){
+void init(double xCost, double vCost, double aCost, double accelCost, double jerkCost) {
   acado_initializeSolver();
   int    i;
   const int STEP_MULTIPLIER = 3;
@@ -50,7 +50,7 @@ void init(double xCost, double vCost, double aCost, double accelCost, double jer
 
   for (i = 0; i < N; i++) {
     int f = 1;
-    if (i > 4){
+    if (i > 4) {
       f = STEP_MULTIPLIER;
     }
     // Setup diagonal entries
@@ -67,7 +67,7 @@ void init(double xCost, double vCost, double aCost, double accelCost, double jer
 
 }
 
-void init_with_simulation(double v_ego){
+void init_with_simulation(double v_ego) {
   int i;
 
   double x_ego = 0.0;
@@ -75,8 +75,8 @@ void init_with_simulation(double v_ego){
   double dt = 0.2;
   double t = 0.0;
 
-  for (i = 0; i < N + 1; ++i){
-    if (i > 4){
+  for (i = 0; i < N + 1; ++i) {
+    if (i > 4) {
       dt = 0.6;
     }
 
@@ -95,10 +95,10 @@ void init_with_simulation(double v_ego){
 }
 
 int run_mpc(state_t * x0, log_t * solution,
-            double x_poly[4], double v_poly[4], double a_poly[4]){
+            double x_poly[4], double v_poly[4], double a_poly[4]) {
   int i;
 
-  for (i = 0; i < N + 1; ++i){
+  for (i = 0; i < N + 1; ++i) {
     acadoVariables.od[i*NOD+0] = x_poly[0];
     acadoVariables.od[i*NOD+1] = x_poly[1];
     acadoVariables.od[i*NOD+2] = x_poly[2];
@@ -123,13 +123,13 @@ int run_mpc(state_t * x0, log_t * solution,
   acado_preparationStep();
   acado_feedbackStep();
 
-  for (i = 0; i <= N; i++){
+  for (i = 0; i <= N; i++) {
     solution->x_ego[i] = acadoVariables.x[i*NX];
     solution->v_ego[i] = acadoVariables.x[i*NX+1];
     solution->a_ego[i] = acadoVariables.x[i*NX+2];
     solution->t[i] = acadoVariables.x[i*NX+3];
 
-    if (i < N){
+    if (i < N) {
       solution->j_ego[i] = acadoVariables.u[i];
     }
   }
diff --git a/selfdrive/hardware/eon/hardware.h b/selfdrive/hardware/eon/hardware.h
index afd1f77be4..bcd1aaba74 100644
--- a/selfdrive/hardware/eon/hardware.h
+++ b/selfdrive/hardware/eon/hardware.h
@@ -50,7 +50,7 @@ public:
   }
 
   static void close_activities() {
-    if(launched_activity){
+    if(launched_activity) {
       std::system("pm disable com.android.settings && pm enable com.android.settings");
     }
   }
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index a9df5f1170..74f4ad7852 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -190,7 +190,7 @@ void Localizer::handle_sensors(double current_time, const capnp::List<cereal::Se
     const cereal::SensorEventData::Reader& sensor_reading = log[i];
 
     // Ignore empty readings (e.g. in case the magnetometer had no data ready)
-    if (sensor_reading.getTimestamp() == 0){
+    if (sensor_reading.getTimestamp() == 0) {
       continue;
     }
 
@@ -247,7 +247,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
     return;
   }
 
-  if (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK){
+  if (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK) {
     return;
   }
 
@@ -308,7 +308,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
   VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
   VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
 
-  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)){
+  if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
     return;
   }
 
@@ -334,7 +334,7 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
 void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
   if (log.getRpyCalib().size() > 0) {
     auto calib = floatlist2vector(log.getRpyCalib());
-    if ((calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)){
+    if ((calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
       return;
     }
 
@@ -352,7 +352,7 @@ void Localizer::reset_kalman(double current_time) {
 
 void Localizer::finite_check(double current_time) {
   bool all_finite = this->kf->get_x().array().isFinite().all() or this->kf->get_P().array().isFinite().all();
-  if (!all_finite){
+  if (!all_finite) {
     LOGE("Non-finite values detected, kalman reset");
     this->reset_kalman(current_time);
   }
@@ -364,7 +364,7 @@ void Localizer::time_check(double current_time) {
   }
   double filter_time = this->kf->get_filter_time();
   bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
-  if (big_time_gap){
+  if (big_time_gap) {
     LOGE("Time gap of over 10s detected, kalman reset");
     this->reset_kalman(current_time);
   }
diff --git a/selfdrive/locationd/ublox_msg.h b/selfdrive/locationd/ublox_msg.h
index c314bc651e..b8a48ad2da 100644
--- a/selfdrive/locationd/ublox_msg.h
+++ b/selfdrive/locationd/ublox_msg.h
@@ -46,7 +46,7 @@ namespace ublox {
     uint32_t tAccNs;
   } __attribute__((packed));
 
-  inline std::string ubx_add_checksum(const std::string &msg){
+  inline std::string ubx_add_checksum(const std::string &msg) {
     assert(msg.size() > 2);
 
     uint8_t ck_a = 0, ck_b = 0;
diff --git a/selfdrive/locationd/ubloxd.cc b/selfdrive/locationd/ubloxd.cc
index 37724b5a2a..3a6c5f1a8f 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/selfdrive/locationd/ubloxd.cc
@@ -25,7 +25,7 @@ int main() {
 
   while (!do_exit) {
     Message * msg = subscriber->receive();
-    if (!msg){
+    if (!msg) {
       if (errno == EINTR) {
         do_exit = true;
       }
diff --git a/selfdrive/logcatd/logcatd_systemd.cc b/selfdrive/logcatd/logcatd_systemd.cc
index 6e140e4b50..7c7800dfea 100644
--- a/selfdrive/logcatd/logcatd_systemd.cc
+++ b/selfdrive/logcatd/logcatd_systemd.cc
@@ -29,7 +29,7 @@ int main(int argc, char *argv[]) {
     assert(err >= 0);
 
     // Wait for new message if we didn't receive anything
-    if (err == 0){
+    if (err == 0) {
       err = sd_journal_wait(journal, 1000 * 1000);
       assert (err >= 0);
       continue; // Try again
@@ -43,12 +43,12 @@ int main(int argc, char *argv[]) {
     size_t length;
     std::map<std::string, std::string> kv;
 
-    SD_JOURNAL_FOREACH_DATA(journal, data, length){
+    SD_JOURNAL_FOREACH_DATA(journal, data, length) {
       std::string str((char*)data, length);
 
       // Split "KEY=VALUE"" on "=" and put in map
       std::size_t found = str.find("=");
-      if (found != std::string::npos){
+      if (found != std::string::npos) {
         kv[str.substr(0, found)] = str.substr(found + 1, std::string::npos);
       }
     }
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index d2ed9ff88c..69ec02a83e 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -172,7 +172,7 @@ void encoder_thread(int cam_idx) {
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   while (!do_exit) {
-    if (!vipc_client.connect(false)){
+    if (!vipc_client.connect(false)) {
       util::sleep_for(100);
       continue;
     }
@@ -198,7 +198,7 @@ void encoder_thread(int cam_idx) {
     while (!do_exit) {
       VisionIpcBufExtra extra;
       VisionBuf* buf = vipc_client.recv(&extra);
-      if (buf == nullptr){
+      if (buf == nullptr) {
         continue;
       }
 
@@ -381,7 +381,7 @@ int main(int argc, char** argv) {
       Message * last_msg = nullptr;
       while (!do_exit) {
         Message * msg = sock->receive(true);
-        if (!msg){
+        if (!msg) {
           break;
         }
         delete last_msg;
@@ -469,7 +469,7 @@ int main(int argc, char** argv) {
   LOGW("closing logger");
   logger_close(&s.logger, &do_exit);
 
-  if (do_exit.power_failure){
+  if (do_exit.power_failure) {
     LOGE("power failure");
     sync();
   }
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 00ea945299..cdbe7d8a54 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -42,10 +42,10 @@ void calibration_thread(bool wide_camera) {
 
   while (!do_exit) {
     sm.update(100);
-    if(sm.updated("liveCalibration")){
+    if(sm.updated("liveCalibration")) {
       auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
       Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
-      for (int i = 0; i < 4*3; i++){
+      for (int i = 0; i < 4*3; i++) {
         extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
       }
 
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 0524640d29..648a8e0fc4 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -168,7 +168,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
   return ret;
 }
 
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred){
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred) {
   // make msg
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverState();
diff --git a/selfdrive/modeld/test/polyfit/main.cc b/selfdrive/modeld/test/polyfit/main.cc
index 84f4993181..9780ff5a42 100644
--- a/selfdrive/modeld/test/polyfit/main.cc
+++ b/selfdrive/modeld/test/polyfit/main.cc
@@ -7,7 +7,7 @@
 
 Eigen::Matrix<float, MODEL_PATH_DISTANCE, POLYFIT_DEGREE> vander;
 
-void poly_init(){
+void poly_init() {
   // Build Vandermonde matrix
   for(int i = 0; i < MODEL_PATH_DISTANCE; i++) {
     for(int j = 0; j < POLYFIT_DEGREE; j++) {
diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc
index 590fa51e8e..f5d68bdee5 100644
--- a/selfdrive/sensord/sensors/bmx055_accel.cc
+++ b/selfdrive/sensord/sensors/bmx055_accel.cc
@@ -7,17 +7,17 @@
 
 BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
 
-int BMX055_Accel::init(){
+int BMX055_Accel::init() {
   int ret = 0;
   uint8_t buffer[1];
 
   ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != BMX055_ACCEL_CHIP_ID){
+  if(buffer[0] != BMX055_ACCEL_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
     ret = -1;
     goto fail;
@@ -25,17 +25,17 @@ int BMX055_Accel::init(){
 
   // High bandwidth
   // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE);
-  // if (ret < 0){
+  // if (ret < 0) {
   //   goto fail;
   // }
 
   // Low bandwidth
   ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
   ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
@@ -43,7 +43,7 @@ fail:
   return ret;
 }
 
-void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event){
+void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) {
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[6];
   int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc
index c8e9e35651..f0e3034e3f 100644
--- a/selfdrive/sensord/sensors/bmx055_gyro.cc
+++ b/selfdrive/sensord/sensors/bmx055_gyro.cc
@@ -10,17 +10,17 @@
 
 BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
 
-int BMX055_Gyro::init(){
+int BMX055_Gyro::init() {
   int ret = 0;
   uint8_t buffer[1];
 
   ret =read_register(BMX055_GYRO_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != BMX055_GYRO_CHIP_ID){
+  if(buffer[0] != BMX055_GYRO_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_GYRO_CHIP_ID);
     ret = -1;
     goto fail;
@@ -28,25 +28,25 @@ int BMX055_Gyro::init(){
 
   // High bandwidth
   // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
-  // if (ret < 0){
+  // if (ret < 0) {
   //   goto fail;
   // }
 
   // Low bandwidth
   ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
   // 116 Hz filter
   ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
   // +- 125 deg/s range
   ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
@@ -54,7 +54,7 @@ fail:
   return ret;
 }
 
-void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event){
+void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) {
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[6];
   int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc
index b00feba4fd..e7a8de9098 100644
--- a/selfdrive/sensord/sensors/bmx055_magn.cc
+++ b/selfdrive/sensord/sensors/bmx055_magn.cc
@@ -65,7 +65,7 @@ static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t
 
 BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
 
-int BMX055_Magn::init(){
+int BMX055_Magn::init() {
   int ret;
   uint8_t buffer[1];
   uint8_t trim_x1y1[2] = {0};
@@ -79,7 +79,7 @@ int BMX055_Magn::init(){
 
   // suspend -> sleep
   ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Enabling power failed: %d", ret);
     goto fail;
   }
@@ -87,12 +87,12 @@ int BMX055_Magn::init(){
 
   // read chip ID
   ret = read_register(BMX055_MAGN_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != BMX055_MAGN_CHIP_ID){
+  if(buffer[0] != BMX055_MAGN_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_MAGN_CHIP_ID);
     return -1;
   }
@@ -139,12 +139,12 @@ int BMX055_Magn::init(){
   // Chose NXY = 7, NZ = 12, which gives 125 Hz,
   // and has the same ratio as the high accuracy preset
   ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
   ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
@@ -155,7 +155,7 @@ int BMX055_Magn::init(){
   return ret;
 }
 
-bool BMX055_Magn::perform_self_test(){
+bool BMX055_Magn::perform_self_test() {
   uint8_t buffer[8];
   int16_t x, y;
   int16_t neg_z, pos_z;
@@ -189,16 +189,16 @@ bool BMX055_Magn::perform_self_test(){
   int16_t diff = pos_z - neg_z;
   bool passed = (diff > 180) && (diff < 240);
 
-  if (!passed){
+  if (!passed) {
     LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
   }
 
   return passed;
 }
 
-bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z){
+bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) {
   bool ready = buffer[6] & 0x1;
-  if (ready){
+  if (ready) {
     int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
     int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
     int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
@@ -213,7 +213,7 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *
 }
 
 
-void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event){
+void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) {
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[8];
   int16_t _x, _y, x, y, z;
@@ -221,7 +221,7 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event){
   int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
   assert(len == sizeof(buffer));
 
-  if (parse_xyz(buffer, &_x, &_y, &z)){
+  if (parse_xyz(buffer, &_x, &_y, &z)) {
     event.setSource(cereal::SensorEventData::SensorSource::BMX055);
     event.setVersion(2);
     event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc
index b5cb893a03..339a987ce0 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.cc
+++ b/selfdrive/sensord/sensors/bmx055_temp.cc
@@ -8,17 +8,17 @@
 
 BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
 
-int BMX055_Temp::init(){
+int BMX055_Temp::init() {
   int ret = 0;
   uint8_t buffer[1];
 
   ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != BMX055_ACCEL_CHIP_ID){
+  if(buffer[0] != BMX055_ACCEL_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
     ret = -1;
     goto fail;
@@ -28,7 +28,7 @@ fail:
   return ret;
 }
 
-void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event){
+void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) {
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[1];
   int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc
index b993349e83..812a41fa8a 100644
--- a/selfdrive/sensord/sensors/file_sensor.cc
+++ b/selfdrive/sensord/sensors/file_sensor.cc
@@ -9,6 +9,6 @@ int FileSensor::init() {
   return file.is_open() ? 0 : 1;
 }
 
-FileSensor::~FileSensor(){
+FileSensor::~FileSensor() {
   file.close();
 }
diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/selfdrive/sensord/sensors/i2c_sensor.cc
index 0e7b8ef986..88e17a3c09 100644
--- a/selfdrive/sensord/sensors/i2c_sensor.cc
+++ b/selfdrive/sensord/sensors/i2c_sensor.cc
@@ -1,23 +1,23 @@
 #include "i2c_sensor.h"
 
-int16_t read_12_bit(uint8_t lsb, uint8_t msb){
+int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
   uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
   return int16_t(combined) / (1 << 4);
 }
 
-int16_t read_16_bit(uint8_t lsb, uint8_t msb){
+int16_t read_16_bit(uint8_t lsb, uint8_t msb) {
   uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb);
   return int16_t(combined);
 }
 
 
-I2CSensor::I2CSensor(I2CBus *bus) : bus(bus){
+I2CSensor::I2CSensor(I2CBus *bus) : bus(bus) {
 }
 
-int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len){
+int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) {
   return bus->read_register(get_device_address(), register_address, buffer, len);
 }
 
-int I2CSensor::set_register(uint register_address, uint8_t data){
+int I2CSensor::set_register(uint register_address, uint8_t data) {
   return bus->set_register(get_device_address(), register_address, data);
 }
diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc
index 9601a78182..4d00d37bda 100644
--- a/selfdrive/sensord/sensors/light_sensor.cc
+++ b/selfdrive/sensord/sensors/light_sensor.cc
@@ -5,7 +5,7 @@
 #include "selfdrive/common/timing.h"
 #include "selfdrive/sensord/sensors/constants.h"
 
-void LightSensor::get_event(cereal::SensorEventData::Builder &event){
+void LightSensor::get_event(cereal::SensorEventData::Builder &event) {
   uint64_t start_time = nanos_since_boot();
   file.clear();
   file.seekg(0);
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
index 27b882a4f5..17ec1f900f 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc
@@ -7,17 +7,17 @@
 
 LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {}
 
-int LSM6DS3_Accel::init(){
+int LSM6DS3_Accel::init() {
   int ret = 0;
   uint8_t buffer[1];
 
   ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != LSM6DS3_ACCEL_CHIP_ID){
+  if(buffer[0] != LSM6DS3_ACCEL_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_ACCEL_CHIP_ID);
     ret = -1;
     goto fail;
@@ -25,7 +25,7 @@ int LSM6DS3_Accel::init(){
 
   // TODO: set scale and bandwith. Default is +- 2G, 50 Hz
   ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
@@ -34,7 +34,7 @@ fail:
   return ret;
 }
 
-void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event){
+void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) {
 
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[6];
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
index ae651f2cbd..eae91e4425 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
@@ -11,17 +11,17 @@
 
 LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus) : I2CSensor(bus) {}
 
-int LSM6DS3_Gyro::init(){
+int LSM6DS3_Gyro::init() {
   int ret = 0;
   uint8_t buffer[1];
 
   ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != LSM6DS3_GYRO_CHIP_ID){
+  if(buffer[0] != LSM6DS3_GYRO_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_GYRO_CHIP_ID);
     ret = -1;
     goto fail;
@@ -29,7 +29,7 @@ int LSM6DS3_Gyro::init(){
 
   // TODO: set scale. Default is +- 250 deg/s
   ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
-  if (ret < 0){
+  if (ret < 0) {
     goto fail;
   }
 
@@ -38,7 +38,7 @@ fail:
   return ret;
 }
 
-void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event){
+void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) {
 
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[6];
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
index 3b9e90f5e6..d6972f929a 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc
+++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc
@@ -7,17 +7,17 @@
 
 LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
 
-int LSM6DS3_Temp::init(){
+int LSM6DS3_Temp::init() {
   int ret = 0;
   uint8_t buffer[1];
 
   ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1);
-  if(ret < 0){
+  if(ret < 0) {
     LOGE("Reading chip ID failed: %d", ret);
     goto fail;
   }
 
-  if(buffer[0] != LSM6DS3_TEMP_CHIP_ID){
+  if(buffer[0] != LSM6DS3_TEMP_CHIP_ID) {
     LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID);
     ret = -1;
     goto fail;
@@ -27,7 +27,7 @@ fail:
   return ret;
 }
 
-void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event){
+void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) {
 
   uint64_t start_time = nanos_since_boot();
   uint8_t buffer[2];
diff --git a/selfdrive/sensord/sensors_qcom.cc b/selfdrive/sensord/sensors_qcom.cc
index 64a6eccc40..fcdb9a72d7 100644
--- a/selfdrive/sensord/sensors_qcom.cc
+++ b/selfdrive/sensord/sensors_qcom.cc
@@ -189,7 +189,7 @@ void sensor_loop() {
 
       pm.send("sensorEvents", msg);
 
-      if (re_init_sensors){
+      if (re_init_sensors) {
         LOGE("Resetting sensors");
         re_init_sensors = false;
         break;
diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc
index d0f8cf00eb..d143c209d5 100644
--- a/selfdrive/sensord/sensors_qcom2.cc
+++ b/selfdrive/sensord/sensors_qcom2.cc
@@ -59,9 +59,9 @@ int sensor_loop() {
   sensors.push_back(&light);
 
 
-  for (Sensor * sensor : sensors){
+  for (Sensor * sensor : sensors) {
     int err = sensor->init();
-    if (err < 0){
+    if (err < 0) {
       LOGE("Error initializing sensors");
       return -1;
     }
@@ -69,14 +69,14 @@ int sensor_loop() {
 
   PubMaster pm({"sensorEvents"});
 
-  while (!do_exit){
+  while (!do_exit) {
     std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
 
     const int num_events = sensors.size();
     MessageBuilder msg;
     auto sensor_events = msg.initEvent().initSensorEvents(num_events);
 
-    for (int i = 0; i < num_events; i++){
+    for (int i = 0; i < num_events; i++) {
       auto event = sensor_events[i];
       sensors[i]->get_event(event);
     }
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index db3c40d56d..760649ed0d 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -434,7 +434,7 @@ void ui_nvg_init(UIState *s) {
   ui_resize(s, s->fb_w, s->fb_h);
 }
 
-void ui_resize(UIState *s, int width, int height){
+void ui_resize(UIState *s, int width, int height) {
   s->fb_w = width;
   s->fb_h = height;
 
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
index 771af0fcfa..5ebadf2385 100644
--- a/selfdrive/ui/qt/api.cc
+++ b/selfdrive/ui/qt/api.cc
@@ -90,7 +90,7 @@ HttpRequest::HttpRequest(QObject *parent, const QString &requestURL, const QStri
   }
 }
 
-void HttpRequest::sendRequest(const QString &requestURL){
+void HttpRequest::sendRequest(const QString &requestURL) {
   QString token;
   if(create_jwt) {
     token = CommaApi::create_jwt();
@@ -110,12 +110,12 @@ void HttpRequest::sendRequest(const QString &requestURL){
   connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished);
 }
 
-void HttpRequest::requestTimeout(){
+void HttpRequest::requestTimeout() {
   reply->abort();
 }
 
 // This function should always emit something
-void HttpRequest::requestFinished(){
+void HttpRequest::requestFinished() {
   if (reply->error() != QNetworkReply::OperationCanceledError) {
     networkTimer->stop();
     QString response = reply->readAll();
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index e51e1e75f9..eae8619cb4 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -72,7 +72,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 
     // TODO: Handle this without exposing pointer to map widget
     // Hide map first if visible, then hide sidebar
-    if (onroad->map != nullptr && onroad->map->isVisible()){
+    if (onroad->map != nullptr && onroad->map->isVisible()) {
       onroad->map->setVisible(false);
     } else if (!sidebar->isVisible()) {
       sidebar->setVisible(true);
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index a104297f86..c1ec372cf7 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -22,7 +22,7 @@ const float MAP_SCALE = 2;
 
 
 MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings) {
-  if (DRAW_MODEL_PATH){
+  if (DRAW_MODEL_PATH) {
     sm = new SubMaster({"liveLocationKalman", "modelV2"});
   } else {
     sm = new SubMaster({"liveLocationKalman"});
@@ -55,7 +55,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings) {
 
   geoservice_provider = new QGeoServiceProvider("mapbox", parameters);
   routing_manager = geoservice_provider->routingManager();
-  if (routing_manager == nullptr){
+  if (routing_manager == nullptr) {
     qDebug() << geoservice_provider->errorString();
     assert(routing_manager);
   }
@@ -76,7 +76,7 @@ MapWindow::~MapWindow() {
 
 void MapWindow::initLayers() {
   // This doesn't work from initializeGL
-  if (!m_map->layerExists("modelPathLayer")){
+  if (!m_map->layerExists("modelPathLayer")) {
     QVariantMap modelPath;
     modelPath["id"] = "modelPathLayer";
     modelPath["type"] = "line";
@@ -86,7 +86,7 @@ void MapWindow::initLayers() {
     m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
     m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
   }
-  if (!m_map->layerExists("navLayer")){
+  if (!m_map->layerExists("navLayer")) {
     QVariantMap nav;
     nav["id"] = "navLayer";
     nav["type"] = "line";
@@ -96,7 +96,7 @@ void MapWindow::initLayers() {
     m_map->setPaintProperty("navLayer", "line-width", 7.5);
     m_map->setLayoutProperty("navLayer", "line-cap", "round");
   }
-  if (!m_map->layerExists("carPosLayer")){
+  if (!m_map->layerExists("carPosLayer")) {
     m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
 
     QVariantMap carPos;
@@ -133,14 +133,14 @@ void MapWindow::timerUpdate() {
       last_position = coordinate;
       last_bearing = bearing;
 
-      if (pan_counter == 0){
+      if (pan_counter == 0) {
         m_map->setCoordinate(coordinate);
         m_map->setBearing(bearing);
       } else {
         pan_counter--;
       }
 
-      if (zoom_counter == 0){
+      if (zoom_counter == 0) {
         static FirstOrderFilter velocity_filter(velocity, 10, 0.1);
         m_map->setZoom(util::map_val<float>(velocity_filter.update(velocity), 0, 30, MAX_ZOOM, MIN_ZOOM));
       } else {
@@ -171,7 +171,7 @@ void MapWindow::timerUpdate() {
     if (segment.isValid()) {
       auto cur_maneuver = segment.maneuver();
       auto attrs = cur_maneuver.extendedAttributes();
-      if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")){
+      if (cur_maneuver.isValid() && attrs.contains("mapbox.banner_instructions")) {
         float along_geometry = distance_along_geometry(segment.path(), to_QGeoCoordinate(last_position));
         float distance = std::max(0.0f, float(segment.distance()) - along_geometry);
         emit distanceChanged(distance);
@@ -179,7 +179,7 @@ void MapWindow::timerUpdate() {
         m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
 
         auto banner = attrs["mapbox.banner_instructions"].toList();
-        if (banner.size()){
+        if (banner.size()) {
           map_instructions->setVisible(true);
 
           auto banner_0 = banner[0].toMap();
@@ -189,12 +189,12 @@ void MapWindow::timerUpdate() {
       }
 
       auto next_segment = segment.nextRouteSegment();
-      if (next_segment.isValid()){
+      if (next_segment.isValid()) {
         auto next_maneuver = next_segment.maneuver();
-        if (next_maneuver.isValid()){
+        if (next_maneuver.isValid()) {
           float next_maneuver_distance = next_maneuver.position().distanceTo(to_QGeoCoordinate(last_position));
           // Switch to next route segment
-          if (next_maneuver_distance < REROUTE_DISTANCE && next_maneuver_distance > last_maneuver_distance){
+          if (next_maneuver_distance < REROUTE_DISTANCE && next_maneuver_distance > last_maneuver_distance) {
             segment = next_segment;
 
             recompute_backoff = std::max(0, recompute_backoff - 1);
@@ -217,7 +217,7 @@ void MapWindow::timerUpdate() {
 
   update();
 
-  if (!segment.isValid()){
+  if (!segment.isValid()) {
     map_instructions->setVisible(false);
   }
 
@@ -247,7 +247,7 @@ void MapWindow::paintGL() {
   m_map->render();
 }
 
-static float get_time_typical(const QGeoRouteSegment &segment){
+static float get_time_typical(const QGeoRouteSegment &segment) {
   auto maneuver = segment.maneuver();
   auto attrs = maneuver.extendedAttributes();
   return attrs.contains("mapbox.duration_typical") ? attrs["mapbox.duration_typical"].toDouble() : segment.travelTime();
@@ -263,7 +263,7 @@ void MapWindow::recomputeRoute() {
     return;
   }
 
-  if (*new_destination != nav_destination){
+  if (*new_destination != nav_destination) {
     setVisible(true); // Show map on destination set/change
     should_recompute = true;
   }
@@ -354,8 +354,8 @@ void MapWindow::clearRoute() {
 }
 
 
-bool MapWindow::shouldRecompute(){
-  if (!segment.isValid()){
+bool MapWindow::shouldRecompute() {
+  if (!segment.isValid()) {
     return true;
   }
 
@@ -363,7 +363,7 @@ bool MapWindow::shouldRecompute(){
   float min_d = REROUTE_DISTANCE + 1;
   auto path = segment.path();
   auto cur = to_QGeoCoordinate(last_position);
-  for (size_t i = 0; i < path.size() - 1; i++){
+  for (size_t i = 0; i < path.size() - 1; i++) {
     auto a = path[i];
     auto b = path[i+1];
     if (a.distanceTo(b) < 1.0) {
@@ -381,7 +381,7 @@ void MapWindow::mousePressEvent(QMouseEvent *ev) {
   ev->accept();
 }
 
-void MapWindow::mouseMoveEvent(QMouseEvent *ev){
+void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
   QPointF delta = ev->localPos() - m_lastPos;
 
   if (!delta.isNull()) {
@@ -409,7 +409,7 @@ void MapWindow::wheelEvent(QWheelEvent *ev) {
 }
 
 bool MapWindow::event(QEvent *event) {
-  if (event->type() == QEvent::Gesture){
+  if (event->type() == QEvent::Gesture) {
     return gestureEvent(static_cast<QGestureEvent*>(event));
   }
 
@@ -417,7 +417,7 @@ bool MapWindow::event(QEvent *event) {
 }
 
 bool MapWindow::gestureEvent(QGestureEvent *event) {
-  if (QGesture *pinch = event->gesture(Qt::PinchGesture)){
+  if (QGesture *pinch = event->gesture(Qt::PinchGesture)) {
     pinchTriggered(static_cast<QPinchGesture *>(pinch));
   }
   return true;
@@ -440,7 +440,7 @@ void MapWindow::offroadTransition(bool offroad) {
   last_bearing = {};
 }
 
-MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent){
+MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
   QHBoxLayout *layout_outer = new QHBoxLayout;
   layout_outer->setContentsMargins(11, 50, 11, 11);
   {
@@ -490,7 +490,7 @@ MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent){
   setPalette(pal);
 }
 
-void MapInstructions::updateDistance(float d){
+void MapInstructions::updateDistance(float d) {
   QString distance_str;
 
   if (QUIState::ui_state.scene.is_metric) {
@@ -517,7 +517,7 @@ void MapInstructions::updateDistance(float d){
   distance->setText(distance_str);
 }
 
-void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool full){
+void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool full) {
   // Need multiple calls to adjustSize for it to properly resize
   // seems like it takes a little bit of time for the images to change and
   // the size can only be changed afterwards
@@ -530,9 +530,9 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
   primary_str += p["text"].toString();
 
   // Show arrow with direction
-  if (p.contains("type")){
+  if (p.contains("type")) {
     QString fn = "../assets/navigation/direction_" + p["type"].toString();
-    if (p.contains("modifier")){
+    if (p.contains("modifier")) {
       fn += "_" + p["modifier"].toString();
     }
     fn +=  + ".png";
@@ -548,12 +548,12 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
   QString icon_fn;
   for (auto &c : components) {
     auto cc = c.toMap();
-    if (cc["type"].toString() == "icon"){
+    if (cc["type"].toString() == "icon") {
       icon_fn = cc["imageBaseURL"].toString() + "@3x.png";
     }
   }
 
-  if (banner.contains("secondary") && full){
+  if (banner.contains("secondary") && full) {
     auto s = banner["secondary"].toMap();
     secondary_str += s["text"].toString();
   }
@@ -561,12 +561,12 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
   clearLayout(lane_layout);
   bool has_lanes = false;
 
-  if (banner.contains("sub") && full){
+  if (banner.contains("sub") && full) {
     auto s = banner["sub"].toMap();
     auto components = s["components"].toList();
     for (auto &c : components) {
       auto cc = c.toMap();
-      if (cc["type"].toString() == "lane"){
+      if (cc["type"].toString() == "lane") {
         has_lanes = true;
 
         bool left = false;
@@ -574,7 +574,7 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
         bool right = false;
         bool active = cc["active"].toBool();
 
-        for (auto &dir : cc["directions"].toList()){
+        for (auto &dir : cc["directions"].toList()) {
           auto d = dir.toString();
           left |= d.contains("left");
           straight |= d.contains("straight");
@@ -585,7 +585,7 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
         QString fn = "../assets/navigation/direction_";
         if (left) {
           fn += "turn_left";
-        } else if (right){
+        } else if (right) {
           fn += "turn_right";
         } else if (straight) {
           fn += "turn_straight";
@@ -607,7 +607,7 @@ void MapInstructions::updateInstructions(QMap<QString, QVariant> banner, bool fu
   last_banner = banner;
 }
 
-MapETA::MapETA(QWidget * parent) : QWidget(parent){
+MapETA::MapETA(QWidget * parent) : QWidget(parent) {
   QHBoxLayout *layout_outer = new QHBoxLayout;
   layout_outer->setContentsMargins(20, 25, 20, 25);
 
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index e841a6f1d4..16730e6c5c 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -23,7 +23,7 @@ QMapbox::CoordinatesCollections model_to_collection(
   auto x = line.getX();
   auto y = line.getY();
   auto z = line.getZ();
-  for (int i = 0; i < x.size(); i++){
+  for (int i = 0; i < x.size(); i++) {
     Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
     Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
     QMapbox::Coordinate coordinate(point_geodetic.lat, point_geodetic.lon);
@@ -38,7 +38,7 @@ QMapbox::CoordinatesCollections model_to_collection(
   return collections;
 }
 
-QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c){
+QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c) {
   QMapbox::Coordinates coordinates;
   coordinates.push_back(c);
 
@@ -53,7 +53,7 @@ QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c){
 QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list) {
   QMapbox::Coordinates coordinates;
 
-  for (auto &c : coordinate_list){
+  for (auto &c : coordinate_list) {
     QMapbox::Coordinate coordinate(c.latitude(), c.longitude());
     coordinates.push_back(coordinate);
   }
@@ -66,19 +66,19 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordina
   return collections;
 }
 
-static QGeoCoordinate sub(QGeoCoordinate v, QGeoCoordinate w){
+static QGeoCoordinate sub(QGeoCoordinate v, QGeoCoordinate w) {
   return QGeoCoordinate(v.latitude() - w.latitude(), v.longitude() - w.longitude());
 }
 
-static QGeoCoordinate add(QGeoCoordinate v, QGeoCoordinate w){
+static QGeoCoordinate add(QGeoCoordinate v, QGeoCoordinate w) {
   return QGeoCoordinate(v.latitude() + w.latitude(), v.longitude() + w.longitude());
 }
 
-static QGeoCoordinate mul(QGeoCoordinate v, float c){
+static QGeoCoordinate mul(QGeoCoordinate v, float c) {
   return QGeoCoordinate(c * v.latitude(), c * v.longitude());
 }
 
-static float dot(QGeoCoordinate v, QGeoCoordinate w){
+static float dot(QGeoCoordinate v, QGeoCoordinate w) {
   return v.latitude() * w.latitude() + v.longitude() * w.longitude();
 }
 
@@ -122,7 +122,7 @@ std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
   if (doc.isNull()) return {};
 
   QJsonObject json = doc.object();
-  if (json["latitude"].isDouble() && json["longitude"].isDouble()){
+  if (json["latitude"].isDouble() && json["longitude"].isDouble()) {
     QMapbox::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
     return coord;
   } else {
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index ffb1b82c2c..2e3bcb9d53 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -23,7 +23,7 @@ void NetworkStrengthWidget::paintEvent(QPaintEvent* event) {
 
 // Networking functions
 
-Networking::Networking(QWidget* parent, bool show_advanced) : QWidget(parent), show_advanced(show_advanced){
+Networking::Networking(QWidget* parent, bool show_advanced) : QWidget(parent), show_advanced(show_advanced) {
   s = new QStackedLayout;
 
   QLabel* warning = new QLabel("Network manager is inactive!");
@@ -39,7 +39,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QWidget(parent), s
   attemptInitialization();
 }
 
-void Networking::attemptInitialization(){
+void Networking::attemptInitialization() {
   // Checks if network manager is active
   try {
     wifi = new WifiManager(this);
@@ -55,7 +55,7 @@ void Networking::attemptInitialization(){
     QPushButton* advancedSettings = new QPushButton("Advanced");
     advancedSettings->setStyleSheet("margin-right: 30px;");
     advancedSettings->setFixedSize(350, 100);
-    connect(advancedSettings, &QPushButton::released, [=](){ s->setCurrentWidget(an); });
+    connect(advancedSettings, &QPushButton::released, [=]() { s->setCurrentWidget(an); });
     vlayout->addSpacing(10);
     vlayout->addWidget(advancedSettings, 0, Qt::AlignRight);
     vlayout->addSpacing(10);
@@ -70,7 +70,7 @@ void Networking::attemptInitialization(){
   s->addWidget(wifiScreen);
 
   an = new AdvancedNetworking(this, wifi);
-  connect(an, &AdvancedNetworking::backPress, [=](){s->setCurrentWidget(wifiScreen);});
+  connect(an, &AdvancedNetworking::backPress, [=]() { s->setCurrentWidget(wifiScreen); });
   s->addWidget(an);
 
   setStyleSheet(R"(
@@ -92,7 +92,7 @@ void Networking::attemptInitialization(){
   ui_setup_complete = true;
 }
 
-void Networking::refresh(){
+void Networking::refresh() {
   if (!this->isVisible()) {
     return;
   }
@@ -127,7 +127,7 @@ void Networking::wrongPassword(const QString &ssid) {
 
 // AdvancedNetworking functions
 
-AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWidget(parent), wifi(wifi){
+AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWidget(parent), wifi(wifi) {
 
   QVBoxLayout* vlayout = new QVBoxLayout;
   vlayout->setMargin(40);
@@ -136,7 +136,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   // Back button
   QPushButton* back = new QPushButton("Back");
   back->setFixedSize(500, 100);
-  connect(back, &QPushButton::released, [=](){emit backPress();});
+  connect(back, &QPushButton::released, [=]() { emit backPress(); });
   vlayout->addWidget(back, 0, Qt::AlignLeft);
 
   // Enable tethering layout
@@ -146,7 +146,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   vlayout->addWidget(horizontal_line(), 0);
 
   // Change tethering password
-  editPasswordButton = new ButtonControl("Tethering Password", "EDIT", "", [=](){
+  editPasswordButton = new ButtonControl("Tethering Password", "EDIT", "", [=]() {
     QString pass = InputDialog::getText("Enter new tethering password", 8);
     if (pass.size()) {
       wifi->changeTetheringPassword(pass);
@@ -169,7 +169,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   setLayout(vlayout);
 }
 
-void AdvancedNetworking::refresh(){
+void AdvancedNetworking::refresh() {
   ipLabel->setText(wifi->ipv4_address);
   update();
 }
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 6cfc2e13b9..5443642645 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -104,7 +104,7 @@ void TermsPage::showEvent(QShowEvent *event) {
   )");
 }
 
-void TermsPage::enableAccept(){
+void TermsPage::enableAccept() {
   accept_btn->setText("Accept");
   accept_btn->setEnabled(true);
   return;
@@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
   uninstall_btn->setStyleSheet("background-color: #E22C2C;");
   buttons->addWidget(uninstall_btn);
 
-  QObject::connect(uninstall_btn, &QPushButton::released, [=](){
+  QObject::connect(uninstall_btn, &QPushButton::released, [=]() {
     if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) {
       Params().putBool("DoUninstall", true);
     }
@@ -174,13 +174,13 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   TermsPage* terms = new TermsPage(this);
   addWidget(terms);
 
-  connect(terms, &TermsPage::acceptedTerms, [=](){
+  connect(terms, &TermsPage::acceptedTerms, [=]() {
     Params().put("HasAcceptedTerms", current_terms_version);
     updateActiveScreen();
   });
 
   TrainingGuide* tr = new TrainingGuide(this);
-  connect(tr, &TrainingGuide::completedTraining, [=](){
+  connect(tr, &TrainingGuide::completedTraining, [=]() {
     Params().put("CompletedTrainingVersion", current_training_version);
     updateActiveScreen();
   });
@@ -189,11 +189,11 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   DeclinePage* declinePage = new DeclinePage(this);
   addWidget(declinePage);
 
-  connect(terms, &TermsPage::declinedTerms, [=](){
+  connect(terms, &TermsPage::declinedTerms, [=]() {
     setCurrentIndex(2);
   });
 
-  connect(declinePage, &DeclinePage::getBack, [=](){
+  connect(declinePage, &DeclinePage::getBack, [=]() {
     updateActiveScreen();
   });
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index addccf3890..51a76c2257 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -92,8 +92,8 @@ TogglesPanel::TogglesPanel(QWidget *parent) : QWidget(parent) {
   bool record_lock = Params().getBool("RecordFrontLock");
   record_toggle->setEnabled(!record_lock);
 
-  for(ParamControl *toggle : toggles){
-    if(toggles_list->count() != 0){
+  for(ParamControl *toggle : toggles) {
+    if(toggles_list->count() != 0) {
       toggles_list->addWidget(horizontal_line());
     }
     toggles_list->addWidget(toggle);
@@ -164,7 +164,7 @@ DevicePanel::DevicePanel(QWidget* parent) : QWidget(parent) {
     }
   }, "", this));
 
-  for(auto &btn : offroad_btns){
+  for(auto &btn : offroad_btns) {
     device_layout->addWidget(horizontal_line());
     QObject::connect(parent, SIGNAL(offroadTransition(bool)), btn, SLOT(setEnabled(bool)));
     device_layout->addWidget(btn);
@@ -240,7 +240,7 @@ void SoftwarePanel::updateLabels() {
   QString lastUpdateTime = "";
 
   std::string last_update_param = params.get("LastUpdateTime");
-  if (!last_update_param.empty()){
+  if (!last_update_param.empty()) {
     QDateTime lastUpdateDate = QDateTime::fromString(QString::fromStdString(last_update_param + "Z"), Qt::ISODate);
     lastUpdateTime = timeAgo(lastUpdateDate);
   }
@@ -363,7 +363,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   };
 
 #ifdef ENABLE_MAPS
-  if (!Params().get("MapboxToken").empty()){
+  if (!Params().get("MapboxToken").empty()) {
     panels.push_back({"Navigation", new MapPanel(this)});
   }
 #endif
@@ -424,15 +424,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   )");
 }
 
-void SettingsWindow::hideEvent(QHideEvent *event){
+void SettingsWindow::hideEvent(QHideEvent *event) {
 #ifdef QCOM
   HardwareEon::close_activities();
 #endif
 
   // TODO: this should be handled by the Dialog classes
   QList<QWidget*> children = findChildren<QWidget *>();
-  for(auto &w : children){
-    if(w->metaObject()->superClass()->className() == QString("QDialog")){
+  for(auto &w : children) {
+    if(w->metaObject()->superClass()->className() == QString("QDialog")) {
       w->close();
     }
   }
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 747e587930..d2d93a3149 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -70,7 +70,7 @@ WifiManager::WifiManager(QWidget* parent) : QWidget(parent) {
   adapter = get_adapter();
 
   bool has_adapter = adapter != "";
-  if (!has_adapter){
+  if (!has_adapter) {
     throw std::runtime_error("Error connecting to NetworkManager");
   }
 
@@ -110,12 +110,12 @@ void WifiManager::refreshNetworks() {
 
 }
 
-QString WifiManager::get_ipv4_address(){
-  if (raw_adapter_state != state_connected){
+QString WifiManager::get_ipv4_address() {
+  if (raw_adapter_state != state_connected) {
     return "";
   }
   QVector<QDBusObjectPath> conns = get_active_connections();
-  for (auto &p : conns){
+  for (auto &p : conns) {
     QString active_connection = p.path();
     QDBusInterface nm(nm_service, active_connection, props_iface, bus);
     nm.setTimeout(dbus_timeout);
@@ -132,7 +132,7 @@ QString WifiManager::get_ipv4_address(){
       const QDBusArgument &arr = get_response<QDBusArgument>(nm2.call("Get", ipv4config_iface, "AddressData"));
       QMap<QString, QVariant> pth2;
       arr.beginArray();
-      while (!arr.atEnd()){
+      while (!arr.atEnd()) {
         arr >> pth2;
         QString ipv4 = pth2.value("address").value<QString>();
         arr.endArray();
@@ -280,7 +280,7 @@ QVector<QDBusObjectPath> WifiManager::get_active_connections() {
 }
 
 void WifiManager::clear_connections(const QString &ssid) {
-  for(QDBusObjectPath path : list_connections()){
+  for(QDBusObjectPath path : list_connections()) {
     QDBusInterface nm2(nm_service, path.path(), nm_settings_conn_iface, bus);
     nm2.setTimeout(dbus_timeout);
 
@@ -392,7 +392,7 @@ void WifiManager::disconnect() {
   }
 }
 
-QVector<QDBusObjectPath> WifiManager::list_connections(){
+QVector<QDBusObjectPath> WifiManager::list_connections() {
   QVector<QDBusObjectPath> connections;
   QDBusInterface nm(nm_service, nm_settings_path, nm_settings_iface, bus);
   nm.setTimeout(dbus_timeout);
@@ -409,10 +409,10 @@ QVector<QDBusObjectPath> WifiManager::list_connections(){
   return connections;
 }
 
-bool WifiManager::activate_wifi_connection(const QString &ssid){
+bool WifiManager::activate_wifi_connection(const QString &ssid) {
   QString devicePath = get_adapter();
 
-  for(QDBusObjectPath path : list_connections()){
+  for(QDBusObjectPath path : list_connections()) {
     QDBusInterface nm2(nm_service, path.path(), nm_settings_conn_iface, bus);
     nm2.setTimeout(dbus_timeout);
 
@@ -438,10 +438,10 @@ bool WifiManager::activate_wifi_connection(const QString &ssid){
   return false;
 }
 //Functions for tethering
-bool WifiManager::activate_tethering_connection(){
+bool WifiManager::activate_tethering_connection() {
   QString devicePath = get_adapter();
 
-  for(QDBusObjectPath path : list_connections()){
+  for(QDBusObjectPath path : list_connections()) {
     QDBusInterface nm2(nm_service, path.path(), nm_settings_conn_iface, bus);
     nm2.setTimeout(dbus_timeout);
 
@@ -466,7 +466,7 @@ bool WifiManager::activate_tethering_connection(){
   }
   return false;
 }
-void WifiManager::addTetheringConnection(){
+void WifiManager::addTetheringConnection() {
   Connection connection;
   connection["connection"]["id"] = "Hotspot";
   connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}');
@@ -498,7 +498,7 @@ void WifiManager::addTetheringConnection(){
 }
 
 void WifiManager::enableTethering() {
-  if(activate_tethering_connection()){
+  if(activate_tethering_connection()) {
     return;
   }
   addTetheringConnection();
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 3b20e251ce..9eabc84b26 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -48,7 +48,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
 #ifdef ENABLE_MAPS
   if (!offroad) {
     QString token = QString::fromStdString(Params().get("MapboxToken"));
-    if (map == nullptr && !token.isEmpty()){
+    if (map == nullptr && !token.isEmpty()) {
       QMapboxGLSettings settings;
       if (!Hardware::PC()) {
         settings.setCacheDatabasePath("/data/mbgl-cache.db");
@@ -227,7 +227,7 @@ void NvgWindow::initializeGL() {
 
 void NvgWindow::update(const UIState &s) {
   // Connecting to visionIPC requires opengl to be current
-  if (s.vipc_client->connected){
+  if (s.vipc_client->connected) {
     makeCurrent();
   }
   repaint();
diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc
index 601589eceb..3d9561a307 100644
--- a/selfdrive/ui/qt/request_repeater.cc
+++ b/selfdrive/ui/qt/request_repeater.cc
@@ -4,7 +4,7 @@ RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, con
                                  int period) : HttpRequest(parent, requestURL, cacheKey) {
   timer = new QTimer(this);
   timer->setTimerType(Qt::VeryCoarseTimer);
-  QObject::connect(timer, &QTimer::timeout, [=](){
+  QObject::connect(timer, &QTimer::timeout, [=]() {
     if (!QUIState::ui_state.scene.started && QUIState::ui_state.awake && reply == NULL) {
       sendRequest(requestURL);
     }
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
index 0708b30db8..1e26208b3b 100644
--- a/selfdrive/ui/qt/text.cc
+++ b/selfdrive/ui/qt/text.cc
@@ -28,7 +28,7 @@ int main(int argc, char *argv[]) {
   layout->addWidget(scroll, 0, 0, Qt::AlignTop);
 
   // Scroll to the bottom
-  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=](){
+  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
     scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
   });
 
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index a3b23f36cd..7cea41a182 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -59,8 +59,8 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   setStyleSheet("background-color: transparent;");
 }
 
-void AbstractControl::hideEvent(QHideEvent *e){
-  if(description != nullptr){
+void AbstractControl::hideEvent(QHideEvent *e) {
+  if(description != nullptr) {
     description->hide();
   }
 }
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 80b533cb12..c3737ff0e4 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -74,7 +74,7 @@ int InputDialog::exec() {
   return QDialog::exec();
 }
 
-void InputDialog::show(){
+void InputDialog::show() {
   setMainWindow(this);
 }
 
@@ -84,7 +84,7 @@ void InputDialog::handleInput(const QString &s) {
   }
 
   if (!QString::compare(s,"⏎")) {
-    if (line->text().length() >= minLength){
+    if (line->text().length() >= minLength) {
       done(QDialog::Accepted);
       emitText(line->text());
     } else {
@@ -102,14 +102,14 @@ void InputDialog::handleInput(const QString &s) {
   line->insert(s.left(1));
 }
 
-void InputDialog::setMessage(const QString &message, bool clearInputField){
+void InputDialog::setMessage(const QString &message, bool clearInputField) {
   label->setText(message);
-  if (clearInputField){
+  if (clearInputField) {
     line->setText("");
   }
 }
 
-void InputDialog::setMinLength(int length){
+void InputDialog::setMinLength(int length) {
   minLength = length;
 }
 
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
index b9992f4b2f..cf3b5124fc 100644
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -2,7 +2,7 @@
 
 #include <QScrollBar>
 
-ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent){
+ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
   setWidget(w);
   setWidgetResizable(true);
   setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -42,6 +42,6 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent){
   scroller->setScrollerProperties(sp);
 }
 
-void ScrollView::hideEvent(QHideEvent *e){
+void ScrollView::hideEvent(QHideEvent *e) {
   verticalScrollBar()->setValue(0);
 }
diff --git a/selfdrive/ui/qt/widgets/setup.cc b/selfdrive/ui/qt/widgets/setup.cc
index 615b22b709..1333867ea1 100644
--- a/selfdrive/ui/qt/widgets/setup.cc
+++ b/selfdrive/ui/qt/widgets/setup.cc
@@ -27,11 +27,11 @@ PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) {
   connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh);
 }
 
-void PairingQRWidget::showEvent(QShowEvent *event){
+void PairingQRWidget::showEvent(QShowEvent *event) {
   refresh();
 }
 
-void PairingQRWidget::refresh(){
+void PairingQRWidget::refresh() {
   Params params;
   QString IMEI = QString::fromStdString(params.get("IMEI"));
   QString serial = QString::fromStdString(params.get("HardwareSerial"));
@@ -254,7 +254,7 @@ void SetupWidget::parseError(const QString &response) {
   mainLayout->setCurrentIndex(0);
 }
 
-void SetupWidget::showQrCode(){
+void SetupWidget::showQrCode() {
   showQr = true;
   mainLayout->setCurrentIndex(1);
 }
diff --git a/selfdrive/ui/qt/widgets/toggle.cc b/selfdrive/ui/qt/widgets/toggle.cc
index c07ada2313..f60d97613d 100644
--- a/selfdrive/ui/qt/widgets/toggle.cc
+++ b/selfdrive/ui/qt/widgets/toggle.cc
@@ -35,12 +35,12 @@ void Toggle::paintEvent(QPaintEvent *e) {
 }
 
 void Toggle::mouseReleaseEvent(QMouseEvent *e) {
-  if(!enabled){
+  if(!enabled) {
     return;
   }
   const int left = _radius;
   const int right = width() - _radius;
-  if(_x_circle != left && _x_circle != right){
+  if(_x_circle != left && _x_circle != right) {
     //Don't parse touch events, while the animation is running
     return;
   }
@@ -65,13 +65,13 @@ void Toggle::enterEvent(QEvent *e) {
   QAbstractButton::enterEvent(e);
 }
 
-bool Toggle::getEnabled(){
+bool Toggle::getEnabled() {
   return enabled;
 }
 
-void Toggle::setEnabled(bool value){
+void Toggle::setEnabled(bool value) {
   enabled = value;
-  if(value){
+  if(value) {
     circleColor.setRgb(0xfafafa);
     green.setRgb(0x33ab4c);
   }else{
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index ea5ae1ce0d..61af427eba 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -29,7 +29,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(onboardingWindow);
 
   main_layout->setCurrentWidget(onboardingWindow);
-  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=](){
+  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
     onboardingDone = true;
     closeSettings();
   });
@@ -55,8 +55,8 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   )");
 }
 
-void MainWindow::offroadTransition(bool offroad){
-  if(!offroad){
+void MainWindow::offroadTransition(bool offroad) {
+  if(!offroad) {
     closeSettings();
   }
 }
@@ -77,7 +77,7 @@ void MainWindow::reviewTrainingGuide() {
   onboardingWindow->updateActiveScreen();
 }
 
-bool MainWindow::eventFilter(QObject *obj, QEvent *event){
+bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
   // wake screen on tap
   if (event->type() == QEvent::MouseButtonPress) {
     device.setAwake(true, true);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ceac224508..07c72c948d 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -121,7 +121,7 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
   update_line_data(s, model_position, 0.5, 1.22, &scene.track_vertices, max_idx);
 }
 
-static void update_sockets(UIState *s){
+static void update_sockets(UIState *s) {
   s->sm->update(0);
 }
 
@@ -184,12 +184,12 @@ static void update_state(UIState *s) {
     for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
       if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
         auto accel = sensor.getAcceleration().getV();
-        if (accel.totalSize().wordCount){ // TODO: sometimes empty lists are received. Figure out why
+        if (accel.totalSize().wordCount) { // TODO: sometimes empty lists are received. Figure out why
           scene.accel_sensor = accel[2];
         }
       } else if (!scene.started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
         auto gyro = sensor.getGyroUncalibrated().getV();
-        if (gyro.totalSize().wordCount){
+        if (gyro.totalSize().wordCount) {
           scene.gyro_sensor = gyro[1];
         }
       }
@@ -221,14 +221,14 @@ static void update_params(UIState *s) {
 
 static void update_vision(UIState *s) {
   if (!s->vipc_client->connected && s->scene.started) {
-    if (s->vipc_client->connect(false)){
+    if (s->vipc_client->connect(false)) {
       ui_init_vision(s);
     }
   }
 
-  if (s->vipc_client->connected){
+  if (s->vipc_client->connected) {
     VisionBuf * buf = s->vipc_client->recv();
-    if (buf != nullptr){
+    if (buf != nullptr) {
       s->last_frame = buf;
     } else if (!Hardware::PC()) {
       LOGE("visionIPC receive timeout");
@@ -263,7 +263,7 @@ static void update_status(UIState *s) {
       ui_resize(s, s->fb_w, s->fb_h);
 
       // Choose vision ipc client
-      if (s->wide_camera){
+      if (s->wide_camera) {
         s->vipc_client = s->vipc_client_wide;
       } else {
         s->vipc_client = s->vipc_client_rear;