enable flake8 E502: backslash is redundant between brackets

.pre-commit-config.yaml

@@ -17,7 +17,7 @@ repos:
     -   id: flake8
         exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
         args:
-        - --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E265,E266,E302,E305,E402,E501,E502,E722,E741,W504
+        - --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E265,E266,E302,E305,E402,E501,E722,E741,W504
         - --statistics
 -   repo: local
     hooks:

common/transformations/coordinates.py

@@ -51,7 +51,7 @@ def ecef2geodetic(ecef, radians=False):
   S = np.cbrt(1 + C + np.sqrt(C * C + 2 * C))
   P = F / (3 * pow((S + 1 / S + 1), 2) * G * G)
   Q = np.sqrt(1 + 2 * esq * esq * P)
-  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) - \
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a * a*(1 + 1.0 / Q) -
         P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r)
   U = np.sqrt(pow((r - esq * r_0), 2) + z * z)
   V = np.sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z)

panda

@@ -1 +1 @@
-Subproject commit 8039638482ebedb9cd10cb1eac083631919ac95e
+Subproject commit eba113cb677b53b868f166dd2437347698b1341e

selfdrive/car/chrysler/interface.py

@@ -70,7 +70,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = []
 
     # events
-    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low], \
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
                                        gas_resume_speed=2.)
 
     if ret.vEgo < self.CP.minSteerSpeed:

selfdrive/car/gm/carcontroller.py

@@ -67,7 +67,7 @@ class CarController():
     self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
-  def update(self, enabled, CS, frame, actuators, \
+  def update(self, enabled, CS, frame, actuators,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params

selfdrive/car/gm/interface.py

@@ -182,9 +182,9 @@ class CarInterface(CarInterfaceBase):
     # In GM, PCM faults out if ACC command overlaps user gas.
     enabled = c.enabled and not self.CS.out.gasPressed
 
-    can_sends = self.CC.update(enabled, self.CS, self.frame, \
+    can_sends = self.CC.update(enabled, self.CS, self.frame,
                                c.actuators,
-                               hud_v_cruise, c.hudControl.lanesVisible, \
+                               hud_v_cruise, c.hudControl.lanesVisible,
                                c.hudControl.leadVisible, c.hudControl.visualAlert)
 
     self.frame += 1

selfdrive/car/honda/carcontroller.py

@@ -96,8 +96,8 @@ class CarController():
 
     self.params = CarControllerParams(CP)
 
-  def update(self, enabled, CS, frame, actuators, \
+  def update(self, enabled, CS, frame, actuators,
-             pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
+             pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params

selfdrive/car/honda/carstate.py

@@ -269,7 +269,7 @@ class CarState(CarStateBase):
       ret.cruiseState.speedOffset = calc_cruise_offset(0, ret.vEgo)
       if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.ACCORDH, CAR.CRV_HYBRID, CAR.INSIGHT):
         ret.brakePressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] != 0 or \
-                          (self.brake_switch and self.brake_switch_prev and \
+                          (self.brake_switch and self.brake_switch_prev and
                           cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
         self.brake_switch_prev = self.brake_switch
         self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']

selfdrive/controls/controlsd.py

@@ -44,12 +44,12 @@ class Controls:
     # Setup sockets
     self.pm = pm
     if self.pm is None:
-      self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', \
+      self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
                                      'carControl', 'carEvents', 'carParams'])
 
     self.sm = sm
     if self.sm is None:
-      self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', \
+      self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
 
     self.can_sock = can_sock
@@ -76,8 +76,8 @@ class Controls:
               internet_needed or not openpilot_enabled_toggle
 
     # detect sound card presence and ensure successful init
-    sounds_available = not os.path.isfile('/EON') or (os.path.isfile('/proc/asound/card0/state') \
+    sounds_available = (not os.path.isfile('/EON') or (os.path.isfile('/proc/asound/card0/state') and
-                            and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+                        open('/proc/asound/card0/state').read().strip() == 'ONLINE'))
 
     car_recognized = self.CP.carName != 'mock'
     # If stock camera is disconnected, we loaded car controls and it's not dashcam mode
@@ -184,7 +184,7 @@ class Controls:
         self.events.add(EventName.preLaneChangeLeft)
       else:
         self.events.add(EventName.preLaneChangeRight)
-    elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting, \
+    elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
                                         LaneChangeState.laneChangeFinishing]:
       self.events.add(EventName.laneChange)
 

selfdrive/controls/lib/longcontrol.py

@@ -24,7 +24,7 @@ def long_control_state_trans(active, long_control_state, v_ego, v_target, v_pid,
                              output_gb, brake_pressed, cruise_standstill):
   """Update longitudinal control state machine"""
   stopping_condition = (v_ego < 2.0 and cruise_standstill) or \
-                       (v_ego < STOPPING_EGO_SPEED and \
+                       (v_ego < STOPPING_EGO_SPEED and
                         ((v_pid < STOPPING_TARGET_SPEED and v_target < STOPPING_TARGET_SPEED) or
                         brake_pressed))
 

selfdrive/controls/lib/pathplanner.py

@@ -106,7 +106,7 @@ class PathPlanner():
       self.lane_change_direction = LaneChangeDirection.none
     else:
       torque_applied = sm['carState'].steeringPressed and \
-                       ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or \
+                       ((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                         (sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
       lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob

selfdrive/controls/lib/pid.py

@@ -73,7 +73,7 @@ class PIController():
 
       # Update when changing i will move the control away from the limits
       # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or \
+      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
           (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
          not freeze_integrator:
         self.i = i

selfdrive/controls/tests/test_monitoring.py

@@ -83,11 +83,11 @@ class TestMonitoring(unittest.TestCase):
   def test_fully_distracted_driver(self):
     events_output, d_status = run_DState_seq(always_distracted, always_false, always_true, always_false)
     self.assertTrue(len(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
-    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL +\
+    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PRE_TIME_TILL_TERMINAL +
                       ((_DISTRACTED_PRE_TIME_TILL_TERMINAL-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
-    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL +\
+    self.assertEqual(events_output[int((_DISTRACTED_TIME-_DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
                       ((_DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
-    self.assertEqual(events_output[int((_DISTRACTED_TIME +\
+    self.assertEqual(events_output[int((_DISTRACTED_TIME +
                       ((_TEST_TIMESPAN-10-_DISTRACTED_TIME)/2))/DT_DMON)].names[0], EventName.driverDistracted)
     self.assertIs(type(d_status.awareness), float)
 
@@ -95,11 +95,11 @@ class TestMonitoring(unittest.TestCase):
   def test_fully_invisible_driver(self):
     events_output = run_DState_seq(always_no_face, always_false, always_true, always_false)[0]
     self.assertTrue(len(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
-    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL +\
+    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PRE_TIME_TILL_TERMINAL +
                       ((_AWARENESS_PRE_TIME_TILL_TERMINAL-_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
-    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL +\
+    self.assertEqual(events_output[int((_AWARENESS_TIME-_AWARENESS_PROMPT_TIME_TILL_TERMINAL +
                       ((_AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
-    self.assertEqual(events_output[int((_AWARENESS_TIME +\
+    self.assertEqual(events_output[int((_AWARENESS_TIME +
                       ((_TEST_TIMESPAN-10-_AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive)
 
   # 3. op engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel

tools/livedm/livedm.py

@@ -49,23 +49,23 @@ if __name__ == "__main__":
       img = np.zeros((320, 160, 3))
       if faceProb > 0.4:
         cv2.putText(img, 'you', (int(facePosition[0]*160+40), int(facePosition[1]*320+110)), cv2.FONT_ITALIC, 0.5, (255, 255, 0))
-        cv2.rectangle(img, (int(facePosition[0]*160+40), int(facePosition[1]*320+120)),\
+        cv2.rectangle(img, (int(facePosition[0]*160+40), int(facePosition[1]*320+120)),
                     (int(facePosition[0]*160+120), int(facePosition[1]*320+200)), (255, 255, 0), 1)
 
         not_blink = evt.driverMonitoring.leftBlinkProb + evt.driverMonitoring.rightBlinkProb < 1
 
         if evt.driverMonitoring.leftEyeProb > 0.6:
-          cv2.line(img, (int(facePosition[0]*160+95), int(facePosition[1]*320+140)),\
+          cv2.line(img, (int(facePosition[0]*160+95), int(facePosition[1]*320+140)),
                       (int(facePosition[0]*160+105), int(facePosition[1]*320+140)), (255, 255, 0), 2)
           if not_blink:
-            cv2.line(img, (int(facePosition[0]*160+99), int(facePosition[1]*320+143)),\
+            cv2.line(img, (int(facePosition[0]*160+99), int(facePosition[1]*320+143)),
                       (int(facePosition[0]*160+101), int(facePosition[1]*320+143)), (255, 255, 0), 2)
 
         if evt.driverMonitoring.rightEyeProb > 0.6:
-          cv2.line(img, (int(facePosition[0]*160+55), int(facePosition[1]*320+140)),\
+          cv2.line(img, (int(facePosition[0]*160+55), int(facePosition[1]*320+140)),
                       (int(facePosition[0]*160+65), int(facePosition[1]*320+140)), (255, 255, 0), 2)
           if not_blink:
-            cv2.line(img, (int(facePosition[0]*160+59), int(facePosition[1]*320+143)),\
+            cv2.line(img, (int(facePosition[0]*160+59), int(facePosition[1]*320+143)),
                       (int(facePosition[0]*160+61), int(facePosition[1]*320+143)), (255, 255, 0), 2)
 
       else: