Linter python (#299)

* Added pyflakes and Pylint for python

* Actually run linter in CI

* some simple pyflakes changes

* Add flake8 to panda reqs for linter test

* flake8 errors are fixed

* run flake8 in regression tests

* meant to run flake8

* hack to ignore unused import

* bug

* fix bugs in tucan_loopback

* Another fix by using set_safety_mode

* added pylintrc file

* more fixes and enabled pylint as well

* Fix pylint in circleci

* added linter to readme

.circleci/config.yml

@@ -92,6 +92,20 @@ jobs:
           command: |
             docker run language_check /bin/bash -c "cd /panda/tests/language; ./test_language.py"
 
+  linter_python:
+    machine:
+      docker_layer_caching: true
+    steps:
+      - checkout
+      - run:
+          name: Build image
+          command: "docker build -t linter_python -f tests/linter_python/Dockerfile ."
+      - run:
+          name: Run linter python test
+          command: |
+            docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./flake8_panda.sh"
+            docker run linter_python /bin/bash -c "cd /panda/tests/linter_python; PYTHONPATH=/ ./pylint_panda.sh"
+
 workflows:
   version: 2
   main:
@@ -101,3 +115,4 @@ workflows:
       - build
       - safety_replay
       - language_check
+      - linter_python

README.md

@@ -108,6 +108,8 @@ to ensure that the behavior remains unchanged.
     * compiling the code in various configuration and flashing it both through USB and WiFi.
     * Receiving, sending and forwarding CAN messages on all buses, over USB and WiFi.
 
+In addition, we run [Pylint](https://www.pylint.org/) and [Flake8](https://github.com/PyCQA/flake8) linters on all python files within the panda repo.
+
 Hardware
 ------
 

__init__.py

@@ -1 +1 @@
-from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial
+from .python import Panda, PandaWifiStreaming, PandaDFU, ESPROM, CesantaFlasher, flash_release, BASEDIR, ensure_st_up_to_date, build_st, PandaSerial  # noqa: F401

board/tools/enter_download_mode.py

@@ -11,7 +11,7 @@ def enter_download_mode(device):
 
   try:
     handle.controlWrite(usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE, 0xd1, 0, 0, b'')
-  except (usb1.USBErrorIO, usb1.USBErrorPipe) as e:
+  except (usb1.USBErrorIO, usb1.USBErrorPipe):
     print("Device download mode enabled.")
     time.sleep(1)
   else:

crypto/getcertheader.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import sys
-import struct
 from Crypto.PublicKey import RSA
 
 def egcd(a, b):

examples/can_bit_transition.py

@@ -1,6 +1,4 @@
 #!/usr/bin/env python3
-
-import binascii
 import csv
 import sys
 

examples/can_unique.py

@@ -13,10 +13,8 @@
 # 0,344,c000c00000000000
 
 
-import binascii
 import csv
 import sys
-from panda import Panda
 
 class Message():
   """Details about a specific message ID."""

examples/get_panda_password.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import sys
 from panda import Panda
 
 def get_panda_password():

examples/query_vin_and_stats.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import time
 import struct
-import binascii
 from panda import Panda
 from hexdump import hexdump
 from panda.python.isotp import isotp_send, isotp_recv

python/__init__.py

@@ -10,10 +10,10 @@ import time
 import traceback
 import subprocess
 from .dfu import PandaDFU
-from .esptool import ESPROM, CesantaFlasher
-from .flash_release import flash_release
-from .update import ensure_st_up_to_date
-from .serial import PandaSerial
+from .esptool import ESPROM, CesantaFlasher  # noqa: F401
+from .flash_release import flash_release  # noqa: F401
+from .update import ensure_st_up_to_date  # noqa: F401
+from .serial import PandaSerial  # noqa: F401
 from .isotp import isotp_send, isotp_recv
 
 __version__ = '0.0.9'
@@ -27,10 +27,10 @@ def build_st(target, mkfile="Makefile"):
   from panda import BASEDIR
   cmd = 'cd %s && make -f %s clean && make -f %s %s >/dev/null' % (os.path.join(BASEDIR, "board"), mkfile, mkfile, target)
   try:
-    output = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
-  except subprocess.CalledProcessError as exception:
-    output = exception.output
-    returncode = exception.returncode
+    _ = subprocess.check_output(cmd, stderr=subprocess.STDOUT, shell=True)
+  except subprocess.CalledProcessError:
+    #output = exception.output
+    #returncode = exception.returncode
     raise
 
 def parse_can_buffer(dat):
@@ -558,7 +558,7 @@ class Panda(object):
   def kline_ll_recv(self, cnt, bus=2):
     echo = bytearray()
     while len(echo) != cnt:
-      ret = str(self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo)))
+      ret = self._handle.controlRead(Panda.REQUEST_OUT, 0xe0, bus, 0, cnt-len(echo))
       if DEBUG and len(ret) > 0:
         print("kline recv: " + binascii.hexlify(ret))
       echo += ret

python/dfu.py

@@ -1,8 +1,6 @@
-
 import os
 import usb1
 import struct
-import time
 import binascii
 
 # *** DFU mode ***
@@ -116,6 +114,6 @@ class PandaDFU(object):
     self.status()
     try:
       self._handle.controlWrite(0x21, DFU_DNLOAD, 2, 0, b"")
-      stat = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
+      _ = str(self._handle.controlRead(0x21, DFU_GETSTATUS, 0, 0, 6))
     except Exception:
       pass

python/esptool.py

@@ -29,7 +29,7 @@ import subprocess
 import sys
 import tempfile
 import time
-import traceback
+#import traceback
 import usb1
 
 __version__ = "1.2"
@@ -44,7 +44,7 @@ class FakePort(object):
 
   @property
   def baudrate(self):
-    return self._baudrate
+    return self.baudrate
 
   @baudrate.setter
   def baudrate(self, x):
@@ -434,7 +434,7 @@ class BaseFirmwareImage(object):
 
     def write_v1_header(self, f, segments):
         f.write(struct.pack('<BBBBI', ESPROM.ESP_IMAGE_MAGIC, len(segments),
-                            self.flash_mode, self.flash_size_freq, self.entrypoint))
+                            self.flash_mode, self.flash_size_freq, self.entrypoint))  # pylint: disable=no-member
 
 
 class ESPFirmwareImage(BaseFirmwareImage):
@@ -864,7 +864,7 @@ def write_mem(esp, args):
 
 
 def dump_mem(esp, args):
-    f = file(args.filename, 'wb')
+    f = open(args.filename, 'wb')
     for i in range(args.size / 4):
         d = esp.read_reg(args.address + (i * 4))
         f.write(struct.pack('<I', d))
@@ -944,7 +944,7 @@ def make_image(args):
     if len(args.segfile) != len(args.segaddr):
         raise FatalError('Number of specified files does not match number of specified addresses')
     for (seg, addr) in zip(args.segfile, args.segaddr):
-        data = file(seg, 'rb').read()
+        data = open(seg, 'rb').read()
         image.add_segment(addr, data)
     image.entrypoint = args.entrypoint
     image.save(args.output)
@@ -1026,7 +1026,7 @@ def read_flash(esp, args):
     t = time.time() - t
     print('\rRead %d bytes at 0x%x in %.1f seconds (%.1f kbit/s)...'
            % (len(data), args.address, t, len(data) / t * 8 / 1000))
-    file(args.filename, 'wb').write(data)
+    open(args.filename, 'wb').write(data)
 
 
 def _verify_flash(flasher, args, flash_params=None):
@@ -1235,7 +1235,7 @@ class AddrFilenamePairAction(argparse.Action):
         for i in range(0,len(values),2):
             try:
                 address = int(values[i],0)
-            except ValueError as e:
+            except ValueError:
                 raise argparse.ArgumentError(self,'Address "%s" must be a number' % values[i])
             try:
                 argfile = open(values[i + 1], 'rb')

python/update.py

@@ -12,7 +12,6 @@ def ensure_st_up_to_date():
 
   panda = None
   panda_dfu = None
-  should_flash_recover = False
 
   while 1:
     # break on normal mode Panda

setup.py

@@ -13,7 +13,7 @@
 import codecs
 import os
 import re
-from setuptools import setup, Extension
+from setuptools import setup
 
 here = os.path.abspath(os.path.dirname(__file__))
 

tests/automated/0_builds.py

@@ -1,4 +1,3 @@
-import os
 from panda import build_st
 
 def test_build_panda():

tests/automated/1_program.py

@@ -1,6 +1,4 @@
-import os
-from panda import Panda
-from .helpers import panda_type_to_serial, test_white_and_grey, test_all_pandas, panda_connect_and_init
+from .helpers import test_all_pandas, panda_connect_and_init
 
 @test_all_pandas
 @panda_connect_and_init

tests/automated/2_usb_to_can.py

@@ -1,5 +1,3 @@
-
-import os
 import sys
 import time
 from panda import Panda
@@ -180,6 +178,6 @@ def test_gmlan_bad_toggle(p):
 @test_all_pandas
 @panda_connect_and_init
 def test_serial_debug(p):
-  junk = p.serial_read(Panda.SERIAL_DEBUG)
+  _ = p.serial_read(Panda.SERIAL_DEBUG)  # junk
   p.call_control_api(0xc0)
   assert(p.serial_read(Panda.SERIAL_DEBUG).startswith(b"can "))

tests/automated/3_wifi.py

@@ -1,5 +1,3 @@
-
-import os
 import time
 from panda import Panda
 from .helpers import connect_wifi, test_white, test_all_pandas, panda_type_to_serial, panda_connect_and_init

tests/automated/4_wifi_functionality.py

@@ -1,8 +1,6 @@
-
 import time
 from panda import Panda
 from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
-from nose.tools import timed, assert_equal, assert_less, assert_greater
 
 @test_white
 @panda_type_to_serial

tests/automated/5_wifi_udp.py

@@ -3,7 +3,7 @@ import sys
 import time
 from .helpers import time_many_sends, connect_wifi, test_white, panda_type_to_serial
 from panda import Panda, PandaWifiStreaming
-from nose.tools import timed, assert_equal, assert_less, assert_greater
+from nose.tools import assert_less, assert_greater
 
 @test_white
 @panda_type_to_serial

tests/automated/6_two_panda.py

@@ -171,7 +171,7 @@ def test_black_loopback(panda0, panda1):
       time.sleep(0.1)
 
       # check for receive
-      cans_echo = send_panda.can_recv()
+      _ = send_panda.can_recv()  # cans echo
       cans_loop = recv_panda.can_recv()
 
       loop_buses = []

tests/automated/helpers.py

@@ -2,13 +2,12 @@ import os
 import sys
 import time
 import random
-import binascii
 import subprocess
 import requests
 import _thread
 from functools import wraps
 from panda import Panda
-from nose.tools import timed, assert_equal, assert_less, assert_greater
+from nose.tools import assert_equal
 from parameterized import parameterized, param
 
 SPEED_NORMAL = 500

tests/black_loopback_test.py

@@ -11,9 +11,6 @@ import time
 import random
 import argparse
 
-from hexdump import hexdump
-from itertools import permutations
-
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
 from panda import Panda
 
@@ -33,7 +30,7 @@ def run_test(sleep_duration):
   pandas[0] = Panda(pandas[0])
   pandas[1] = Panda(pandas[1])
 
-  # find out the hardware types  
+  # find out the hardware types
   if not pandas[0].is_black() or not pandas[1].is_black():
     print("Connect two black pandas to run this test!")
     assert False
@@ -66,14 +63,14 @@ def run_test(sleep_duration):
   test_buses(pandas[0], pandas[1], test_array, sleep_duration)
   print("***************** TESTING (1 --> 0) *****************")
   test_buses(pandas[1], pandas[0], test_array, sleep_duration)
-	
+
 
 def test_buses(send_panda, recv_panda, test_array, sleep_duration):
   for send_bus, send_obd, recv_obd, recv_buses in test_array:
     send_panda.send_heartbeat()
     recv_panda.send_heartbeat()
     print("\nSend bus:", send_bus, " Send OBD:", send_obd, " Recv OBD:", recv_obd)
-    
+
     # set OBD on pandas
     send_panda.set_gmlan(True if send_obd else None)
     recv_panda.set_gmlan(True if recv_obd else None)
@@ -92,7 +89,7 @@ def test_buses(send_panda, recv_panda, test_array, sleep_duration):
     time.sleep(0.1)
 
     # check for receive
-    cans_echo = send_panda.can_recv()
+    _ = send_panda.can_recv()  # cans echo
     cans_loop = recv_panda.can_recv()
 
     loop_buses = []
@@ -101,7 +98,7 @@ def test_buses(send_panda, recv_panda, test_array, sleep_duration):
       loop_buses.append(loop[3])
     if len(cans_loop) == 0:
       print("  No loop")
-    
+
     # test loop buses
     recv_buses.sort()
     loop_buses.sort()

tests/black_white_loopback_test.py

@@ -11,9 +11,6 @@ import time
 import random
 import argparse
 
-from hexdump import hexdump
-from itertools import permutations
-
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
 from panda import Panda
 
@@ -118,10 +115,10 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
 
     # check for receive
     if direction:
-      cans_echo = black_panda.can_recv()
+      _ = black_panda.can_recv()  # can echo
       cans_loop = other_panda.can_recv()
     else:
-      cans_echo = other_panda.can_recv()
+      _ = other_panda.can_recv()  # can echo
       cans_loop = black_panda.can_recv()
 
     loop_buses = []

tests/black_white_relay_endurance.py

@@ -11,9 +11,6 @@ import time
 import random
 import argparse
 
-from hexdump import hexdump
-from itertools import permutations
-
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
 from panda import Panda
 
@@ -42,7 +39,7 @@ def run_test(sleep_duration):
 
   black_panda = None
   other_panda = None
-  
+
   # find out which one is black
   if pandas[0].is_black() and not pandas[1].is_black():
     black_panda = pandas[0]
@@ -69,7 +66,7 @@ def run_test(sleep_duration):
     test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration)
     test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration)
     counter += 1
-    
+
     runtime = time.time() - start_time
     print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors, "Runtime: ", runtime)
 
@@ -80,7 +77,7 @@ def run_test(sleep_duration):
       black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
       time.sleep(1)
       temp_start_time = time.time()
-	
+
 
 def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
   global nonzero_bus_errors, zero_bus_errors, content_errors
@@ -94,7 +91,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
     black_panda.send_heartbeat()
     other_panda.send_heartbeat()
     print("\ntest can: ", send_bus, " OBD: ", obd)
-    
+
     # set OBD on black panda
     black_panda.set_gmlan(True if obd else None)
 
@@ -109,7 +106,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
         other_panda.can_clear(recv_bus)
       else:
 	      black_panda.can_clear(recv_bus)
-    
+
     black_panda.can_recv()
     other_panda.can_recv()
 
@@ -124,10 +121,10 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
 
     # check for receive
     if direction:
-      cans_echo = black_panda.can_recv()
+      _ = black_panda.can_recv()  # cans echo
       cans_loop = other_panda.can_recv()
     else:
-      cans_echo = other_panda.can_recv()
+      _ = other_panda.can_recv()  # cans echo
       cans_loop = black_panda.can_recv()
 
     loop_buses = []
@@ -141,7 +138,7 @@ def test_buses(black_panda, other_panda, direction, test_array, sleep_duration):
       print("  No loop")
       if not os.getenv("NOASSERT"):
         assert False
-    
+
     # test loop buses
     recv_buses.sort()
     loop_buses.sort()

tests/black_white_relay_test.py

@@ -10,9 +10,6 @@ import time
 import random
 import argparse
 
-from hexdump import hexdump
-from itertools import permutations
-
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
 from panda import Panda
 
@@ -46,7 +43,7 @@ def run_test(sleep_duration):
 
   black_panda = None
   other_panda = None
-  
+
   if type0 == "\x03" and type1 != "\x03":
     black_panda = pandas[0]
     other_panda = pandas[1]
@@ -86,15 +83,15 @@ def run_test(sleep_duration):
       assert False
 
     counter += 1
-    print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)	
+    print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors)
 
 def test_buses(black_panda, other_panda, test_obj):
   global content_errors
   send_bus, obd, recv_buses = test_obj
-    
+
   black_panda.send_heartbeat()
   other_panda.send_heartbeat()
-    
+
   # Set OBD on send panda
   other_panda.set_gmlan(True if obd else None)
 
@@ -103,7 +100,7 @@ def test_buses(black_panda, other_panda, test_obj):
 
   for recv_bus in recv_buses:
     black_panda.can_clear(recv_bus)
-    
+
   black_panda.can_recv()
   other_panda.can_recv()
 
@@ -114,7 +111,7 @@ def test_buses(black_panda, other_panda, test_obj):
   time.sleep(0.05)
 
   # check for receive
-  cans_echo = other_panda.can_recv()
+  _ = other_panda.can_recv()  # can echo
   cans_loop = black_panda.can_recv()
 
   loop_buses = []
@@ -122,7 +119,7 @@ def test_buses(black_panda, other_panda, test_obj):
     if (loop[0] != at) or (loop[2] != st):
       content_errors += 1
     loop_buses.append(loop[3])
-    
+
   # test loop buses
   recv_buses.sort()
   loop_buses.sort()

tests/elm_car_simulator.py

@@ -109,9 +109,9 @@ class ELMCarSimulator():
             print("    LIN Reply (%x)" % to_addr, binascii.hexlify(msg))
 
         PHYS_ADDR = 0x80
-        FUNC_ADDR = 0xC0
+        #FUNC_ADDR = 0xC0
         RECV = 0xF1
-        SEND = 0x33 # Car OBD Functional Address
+        #SEND = 0x33 # Car OBD Functional Address
         headers = struct.pack("BBB", PHYS_ADDR | len(msg), RECV, to_addr)
         if not self.__silent:
             print("    Sending LIN", binascii.hexlify(headers+msg),
@@ -172,7 +172,7 @@ class ELMCarSimulator():
 
         while not self.__stop:
             for address, ts, data, src in self.panda.can_recv():
-                if self.__on and src is 0 and len(data) == 8 and data[0] >= 2:
+                if self.__on and src == 0 and len(data) == 8 and data[0] >= 2:
                     if not self.__silent:
                         print("Processing CAN message", src, hex(address), binascii.hexlify(data))
                     self.__can_process_msg(data[1], data[2], address, ts, data, src)

tests/elm_wifi.py

@@ -1,16 +1,14 @@
-
 import os
 import sys
 import time
 import socket
 import select
-import pytest
 import struct
 
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
-from . import elm_car_simulator
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), "..", ".."))
 from panda import Panda
+from panda.tests import elm_car_simulator
 
 def elm_connect():
     s = socket.create_connection(("192.168.0.10", 35000))
@@ -234,35 +232,35 @@ def test_elm_send_lin_multiline_msg():
 
         send_compare(s, b'0902\r', # headers OFF, Spaces ON
                      b"BUS INIT: OK\r"
-                     "49 02 01 00 00 00 31 \r"
-                     "49 02 02 44 34 47 50 \r"
-                     "49 02 03 30 30 52 35 \r"
-                     "49 02 04 35 42 31 32 \r"
-                     "49 02 05 33 34 35 36 \r\r>")
+                     b"49 02 01 00 00 00 31 \r"
+                     b"49 02 02 44 34 47 50 \r"
+                     b"49 02 03 30 30 52 35 \r"
+                     b"49 02 04 35 42 31 32 \r"
+                     b"49 02 05 33 34 35 36 \r\r>")
 
         send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
         send_compare(s, b'0902\r', # Headers OFF, Spaces OFF
                      b"49020100000031\r"
-                     "49020244344750\r"
-                     "49020330305235\r"
-                     "49020435423132\r"
-                     "49020533343536\r\r>")
+                     b"49020244344750\r"
+                     b"49020330305235\r"
+                     b"49020435423132\r"
+                     b"49020533343536\r\r>")
 
         send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
         send_compare(s, b'0902\r', # Headers ON, Spaces OFF
                      b"87F1104902010000003105\r"
-                     "87F11049020244344750E4\r"
-                     "87F11049020330305235BD\r"
-                     "87F11049020435423132B1\r"
-                     "87F11049020533343536AA\r\r>")
+                     b"87F11049020244344750E4\r"
+                     b"87F11049020330305235BD\r"
+                     b"87F11049020435423132B1\r"
+                     b"87F11049020533343536AA\r\r>")
 
         send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces ON
         send_compare(s, b'0902\r', # Headers ON, Spaces ON
                      b"87 F1 10 49 02 01 00 00 00 31 05 \r"
-                     "87 F1 10 49 02 02 44 34 47 50 E4 \r"
-                     "87 F1 10 49 02 03 30 30 52 35 BD \r"
-                     "87 F1 10 49 02 04 35 42 31 32 B1 \r"
-                     "87 F1 10 49 02 05 33 34 35 36 AA \r\r>")
+                     b"87 F1 10 49 02 02 44 34 47 50 E4 \r"
+                     b"87 F1 10 49 02 03 30 30 52 35 BD \r"
+                     b"87 F1 10 49 02 04 35 42 31 32 B1 \r"
+                     b"87 F1 10 49 02 05 33 34 35 36 AA \r\r>")
     finally:
         sim.stop()
         sim.join()
@@ -461,7 +459,7 @@ def test_elm_send_can_multimsg():
         sim.can_add_extra_noise(b'\x03\x41\x0D\xFA', addr=0x7E9)# Inject message into the stream
         send_compare(s, b'010D\r',
                      b"7E8 03 41 0D 53 \r"
-                     "7E9 03 41 0D FA \r\r>") # Check it was ignored.
+                     b"7E9 03 41 0D FA \r\r>") # Check it was ignored.
     finally:
         sim.stop()
         sim.join()
@@ -503,28 +501,28 @@ def test_elm_send_can_multiline_msg():
 
         send_compare(s, b'0902\r', # headers OFF, Spaces ON
                      b"014 \r"
-                     "0: 49 02 01 31 44 34 \r"
-                     "1: 47 50 30 30 52 35 35 \r"
-                     "2: 42 31 32 33 34 35 36 \r\r>")
+                     b"0: 49 02 01 31 44 34 \r"
+                     b"1: 47 50 30 30 52 35 35 \r"
+                     b"2: 42 31 32 33 34 35 36 \r\r>")
 
         send_compare(s, b'ATS0\r', b'OK\r\r>') # Spaces OFF
         send_compare(s, b'0902\r', # Headers OFF, Spaces OFF
                      b"014\r"
-                     "0:490201314434\r"
-                     "1:47503030523535\r"
-                     "2:42313233343536\r\r>")
+                     b"0:490201314434\r"
+                     b"1:47503030523535\r"
+                     b"2:42313233343536\r\r>")
 
         send_compare(s, b'ATH1\r', b'OK\r\r>') # Headers ON
         send_compare(s, b'0902\r', # Headers ON, Spaces OFF
                      b"7E81014490201314434\r"
-                     "7E82147503030523535\r"
-                     "7E82242313233343536\r\r>")
+                     b"7E82147503030523535\r"
+                     b"7E82242313233343536\r\r>")
 
         send_compare(s, b'ATS1\r', b'OK\r\r>') # Spaces ON
         send_compare(s, b'0902\r', # Headers ON, Spaces ON
                      b"7E8 10 14 49 02 01 31 44 34 \r"
-                     "7E8 21 47 50 30 30 52 35 35 \r"
-                     "7E8 22 42 31 32 33 34 35 36 \r\r>")
+                     b"7E8 21 47 50 30 30 52 35 35 \r"
+                     b"7E8 22 42 31 32 33 34 35 36 \r\r>")
     finally:
         sim.stop()
         sim.join()

tests/gmbitbang/recv.py

@@ -1,17 +1,16 @@
 #!/usr/bin/env python3
-import time
 from panda import Panda
 
 p = Panda()
 p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 p.set_gmlan(bus=2)
-#p.can_send(0xaaa, "\x00\x00", bus=3)
+#p.can_send(0xaaa, b"\x00\x00", bus=3)
 last_add = None
 while 1:
   ret = p.can_recv()
   if len(ret) > 0:
     add = ret[0][0]
-    if last_add is not None and add != last_add+1:
-      print("MISS %d %d" % (last_add, add))
+    if last_add is not None and add != last_add + 1:
+      print("MISS: ", last_add, add)
     last_add = add
     print(ret)

tests/gmbitbang/rigol.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# pylint: skip-file
 import numpy as np
 import visa
 import matplotlib.pyplot as plt

tests/language/test_language.py

@@ -20,7 +20,7 @@ if __name__ == "__main__":
         res = subprocess.check_output(cmd, shell=True, stderr=subprocess.STDOUT)
         print(res)
         found_bad_language = True
-      except subprocess.CalledProcessError as e:
+      except subprocess.CalledProcessError:
         pass
   if found_bad_language:
     sys.exit("Failed: found bad language")

tests/linter_python/.pylintrc

@@ -0,0 +1,585 @@
+[MASTER]
+
+# A comma-separated list of package or module names from where C extensions may
+# be loaded. Extensions are loading into the active Python interpreter and may
+# run arbitrary code
+extension-pkg-whitelist=scipy
+
+# Add files or directories to the blacklist. They should be base names, not
+# paths.
+ignore=CVS
+
+# Add files or directories matching the regex patterns to the blacklist. The
+# regex matches against base names, not paths.
+ignore-patterns=
+
+# Python code to execute, usually for sys.path manipulation such as
+# pygtk.require().
+#init-hook=
+
+# Use multiple processes to speed up Pylint.
+jobs=4
+
+# List of plugins (as comma separated values of python modules names) to load,
+# usually to register additional checkers.
+load-plugins=
+
+# Pickle collected data for later comparisons.
+persistent=yes
+
+# Specify a configuration file.
+#rcfile=
+
+# When enabled, pylint would attempt to guess common misconfiguration and emit
+# user-friendly hints instead of false-positive error messages
+suggestion-mode=yes
+
+# Allow loading of arbitrary C extensions. Extensions are imported into the
+# active Python interpreter and may run arbitrary code.
+unsafe-load-any-extension=no
+
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=print-statement,
+        parameter-unpacking,
+        unpacking-in-except,
+        old-raise-syntax,
+        backtick,
+        long-suffix,
+        old-ne-operator,
+        old-octal-literal,
+        import-star-module-level,
+        non-ascii-bytes-literal,
+        raw-checker-failed,
+        bad-inline-option,
+        locally-disabled,
+        locally-enabled,
+        file-ignored,
+        suppressed-message,
+        useless-suppression,
+        deprecated-pragma,
+        apply-builtin,
+        basestring-builtin,
+        buffer-builtin,
+        cmp-builtin,
+        coerce-builtin,
+        execfile-builtin,
+        file-builtin,
+        long-builtin,
+        raw_input-builtin,
+        reduce-builtin,
+        standarderror-builtin,
+        unicode-builtin,
+        xrange-builtin,
+        coerce-method,
+        delslice-method,
+        getslice-method,
+        setslice-method,
+        no-absolute-import,
+        old-division,
+        dict-iter-method,
+        dict-view-method,
+        next-method-called,
+        metaclass-assignment,
+        indexing-exception,
+        raising-string,
+        reload-builtin,
+        oct-method,
+        hex-method,
+        nonzero-method,
+        cmp-method,
+        input-builtin,
+        round-builtin,
+        intern-builtin,
+        unichr-builtin,
+        map-builtin-not-iterating,
+        zip-builtin-not-iterating,
+        range-builtin-not-iterating,
+        filter-builtin-not-iterating,
+        using-cmp-argument,
+        eq-without-hash,
+        div-method,
+        idiv-method,
+        rdiv-method,
+        exception-message-attribute,
+        invalid-str-codec,
+        sys-max-int,
+        bad-python3-import,
+        deprecated-string-function,
+        deprecated-str-translate-call,
+        deprecated-itertools-function,
+        deprecated-types-field,
+        next-method-defined,
+        dict-items-not-iterating,
+        dict-keys-not-iterating,
+        dict-values-not-iterating,
+        bad-indentation,
+        line-too-long,
+        missing-docstring,
+        multiple-statements,
+        bad-continuation,
+        invalid-name,
+        too-many-arguments,
+        too-many-locals,
+        superfluous-parens,
+        bad-whitespace,
+        too-many-instance-attributes,
+        wrong-import-position,
+        ungrouped-imports,
+        wrong-import-order,
+        protected-access,
+        trailing-whitespace,
+        too-many-branches,
+        too-few-public-methods,
+        too-many-statements,
+        trailing-newlines,
+        attribute-defined-outside-init,
+        too-many-return-statements,
+        too-many-public-methods,
+        unused-argument,
+        old-style-class,
+        no-init,
+        len-as-condition,
+        unneeded-not,
+        no-self-use,
+        multiple-imports,
+        no-else-return,
+        logging-not-lazy,
+        fixme,
+        redefined-outer-name,
+        unused-variable,
+        unsubscriptable-object,
+        expression-not-assigned,
+        too-many-boolean-expressions,
+        consider-using-ternary,
+        invalid-unary-operand-type,
+        relative-import,
+        deprecated-lambda
+
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+enable=c-extension-no-member
+
+
+[REPORTS]
+
+# Python expression which should return a note less than 10 (10 is the highest
+# note). You have access to the variables errors warning, statement which
+# respectively contain the number of errors / warnings messages and the total
+# number of statements analyzed. This is used by the global evaluation report
+# (RP0004).
+evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
+
+# Template used to display messages. This is a python new-style format string
+# used to format the message information. See doc for all details
+#msg-template=
+
+# Set the output format. Available formats are text, parseable, colorized, json
+# and msvs (visual studio).You can also give a reporter class, eg
+# mypackage.mymodule.MyReporterClass.
+output-format=text
+
+# Tells whether to display a full report or only the messages
+reports=no
+
+# Activate the evaluation score.
+score=yes
+
+
+[REFACTORING]
+
+# Maximum number of nested blocks for function / method body
+max-nested-blocks=5
+
+# Complete name of functions that never returns. When checking for
+# inconsistent-return-statements if a never returning function is called then
+# it will be considered as an explicit return statement and no message will be
+# printed.
+never-returning-functions=optparse.Values,sys.exit
+
+
+[LOGGING]
+
+# Logging modules to check that the string format arguments are in logging
+# function parameter format
+logging-modules=logging
+
+
+[SPELLING]
+
+# Limits count of emitted suggestions for spelling mistakes
+max-spelling-suggestions=4
+
+# Spelling dictionary name. Available dictionaries: none. To make it working
+# install python-enchant package.
+spelling-dict=
+
+# List of comma separated words that should not be checked.
+spelling-ignore-words=
+
+# A path to a file that contains private dictionary; one word per line.
+spelling-private-dict-file=
+
+# Tells whether to store unknown words to indicated private dictionary in
+# --spelling-private-dict-file option instead of raising a message.
+spelling-store-unknown-words=no
+
+
+[MISCELLANEOUS]
+
+# List of note tags to take in consideration, separated by a comma.
+notes=FIXME,
+      XXX,
+      TODO
+
+
+[SIMILARITIES]
+
+# Ignore comments when computing similarities.
+ignore-comments=yes
+
+# Ignore docstrings when computing similarities.
+ignore-docstrings=yes
+
+# Ignore imports when computing similarities.
+ignore-imports=no
+
+# Minimum lines number of a similarity.
+min-similarity-lines=4
+
+
+[TYPECHECK]
+
+# List of decorators that produce context managers, such as
+# contextlib.contextmanager. Add to this list to register other decorators that
+# produce valid context managers.
+contextmanager-decorators=contextlib.contextmanager
+
+# List of members which are set dynamically and missed by pylint inference
+# system, and so shouldn't trigger E1101 when accessed. Python regular
+# expressions are accepted.
+generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.*
+
+# Tells whether missing members accessed in mixin class should be ignored. A
+# mixin class is detected if its name ends with "mixin" (case insensitive).
+ignore-mixin-members=yes
+
+# This flag controls whether pylint should warn about no-member and similar
+# checks whenever an opaque object is returned when inferring. The inference
+# can return multiple potential results while evaluating a Python object, but
+# some branches might not be evaluated, which results in partial inference. In
+# that case, it might be useful to still emit no-member and other checks for
+# the rest of the inferred objects.
+ignore-on-opaque-inference=yes
+
+# List of class names for which member attributes should not be checked (useful
+# for classes with dynamically set attributes). This supports the use of
+# qualified names.
+ignored-classes=optparse.Values,thread._local,_thread._local
+
+# List of module names for which member attributes should not be checked
+# (useful for modules/projects where namespaces are manipulated during runtime
+# and thus existing member attributes cannot be deduced by static analysis. It
+# supports qualified module names, as well as Unix pattern matching.
+ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
+
+# Show a hint with possible names when a member name was not found. The aspect
+# of finding the hint is based on edit distance.
+missing-member-hint=yes
+
+# The minimum edit distance a name should have in order to be considered a
+# similar match for a missing member name.
+missing-member-hint-distance=1
+
+# The total number of similar names that should be taken in consideration when
+# showing a hint for a missing member.
+missing-member-max-choices=1
+
+
+[VARIABLES]
+
+# List of additional names supposed to be defined in builtins. Remember that
+# you should avoid to define new builtins when possible.
+additional-builtins=
+
+# Tells whether unused global variables should be treated as a violation.
+allow-global-unused-variables=yes
+
+# List of strings which can identify a callback function by name. A callback
+# name must start or end with one of those strings.
+callbacks=cb_,
+          _cb
+
+# A regular expression matching the name of dummy variables (i.e. expectedly
+# not used).
+dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
+
+# Argument names that match this expression will be ignored. Default to name
+# with leading underscore
+ignored-argument-names=_.*|^ignored_|^unused_
+
+# Tells whether we should check for unused import in __init__ files.
+init-import=no
+
+# List of qualified module names which can have objects that can redefine
+# builtins.
+redefining-builtins-modules=six.moves,past.builtins,future.builtins
+
+
+[FORMAT]
+
+# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
+expected-line-ending-format=
+
+# Regexp for a line that is allowed to be longer than the limit.
+ignore-long-lines=^\s*(# )?<?https?://\S+>?$
+
+# Number of spaces of indent required inside a hanging  or continued line.
+indent-after-paren=4
+
+# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
+# tab).
+indent-string='  '
+
+# Maximum number of characters on a single line.
+max-line-length=100
+
+# Maximum number of lines in a module
+max-module-lines=1000
+
+# List of optional constructs for which whitespace checking is disabled. `dict-
+# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
+# `trailing-comma` allows a space between comma and closing bracket: (a, ).
+# `empty-line` allows space-only lines.
+no-space-check=trailing-comma,
+               dict-separator
+
+# Allow the body of a class to be on the same line as the declaration if body
+# contains single statement.
+single-line-class-stmt=no
+
+# Allow the body of an if to be on the same line as the test if there is no
+# else.
+single-line-if-stmt=no
+
+
+[BASIC]
+
+# Naming style matching correct argument names
+argument-naming-style=snake_case
+
+# Regular expression matching correct argument names. Overrides argument-
+# naming-style
+#argument-rgx=
+
+# Naming style matching correct attribute names
+attr-naming-style=snake_case
+
+# Regular expression matching correct attribute names. Overrides attr-naming-
+# style
+#attr-rgx=
+
+# Bad variable names which should always be refused, separated by a comma
+bad-names=foo,
+          bar,
+          baz,
+          toto,
+          tutu,
+          tata
+
+# Naming style matching correct class attribute names
+class-attribute-naming-style=any
+
+# Regular expression matching correct class attribute names. Overrides class-
+# attribute-naming-style
+#class-attribute-rgx=
+
+# Naming style matching correct class names
+class-naming-style=PascalCase
+
+# Regular expression matching correct class names. Overrides class-naming-style
+#class-rgx=
+
+# Naming style matching correct constant names
+const-naming-style=UPPER_CASE
+
+# Regular expression matching correct constant names. Overrides const-naming-
+# style
+#const-rgx=
+
+# Minimum line length for functions/classes that require docstrings, shorter
+# ones are exempt.
+docstring-min-length=-1
+
+# Naming style matching correct function names
+function-naming-style=snake_case
+
+# Regular expression matching correct function names. Overrides function-
+# naming-style
+#function-rgx=
+
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           ex,
+           Run,
+           _
+
+# Include a hint for the correct naming format with invalid-name
+include-naming-hint=no
+
+# Naming style matching correct inline iteration names
+inlinevar-naming-style=any
+
+# Regular expression matching correct inline iteration names. Overrides
+# inlinevar-naming-style
+#inlinevar-rgx=
+
+# Naming style matching correct method names
+method-naming-style=snake_case
+
+# Regular expression matching correct method names. Overrides method-naming-
+# style
+#method-rgx=
+
+# Naming style matching correct module names
+module-naming-style=snake_case
+
+# Regular expression matching correct module names. Overrides module-naming-
+# style
+#module-rgx=
+
+# Colon-delimited sets of names that determine each other's naming style when
+# the name regexes allow several styles.
+name-group=
+
+# Regular expression which should only match function or class names that do
+# not require a docstring.
+no-docstring-rgx=^_
+
+# List of decorators that produce properties, such as abc.abstractproperty. Add
+# to this list to register other decorators that produce valid properties.
+property-classes=abc.abstractproperty
+
+# Naming style matching correct variable names
+variable-naming-style=snake_case
+
+# Regular expression matching correct variable names. Overrides variable-
+# naming-style
+#variable-rgx=
+
+
+[DESIGN]
+
+# Maximum number of arguments for function / method
+max-args=5
+
+# Maximum number of attributes for a class (see R0902).
+max-attributes=7
+
+# Maximum number of boolean expressions in a if statement
+max-bool-expr=5
+
+# Maximum number of branch for function / method body
+max-branches=12
+
+# Maximum number of locals for function / method body
+max-locals=15
+
+# Maximum number of parents for a class (see R0901).
+max-parents=7
+
+# Maximum number of public methods for a class (see R0904).
+max-public-methods=20
+
+# Maximum number of return / yield for function / method body
+max-returns=6
+
+# Maximum number of statements in function / method body
+max-statements=50
+
+# Minimum number of public methods for a class (see R0903).
+min-public-methods=2
+
+
+[CLASSES]
+
+# List of method names used to declare (i.e. assign) instance attributes.
+defining-attr-methods=__init__,
+                      __new__,
+                      setUp
+
+# List of member names, which should be excluded from the protected access
+# warning.
+exclude-protected=_asdict,
+                  _fields,
+                  _replace,
+                  _source,
+                  _make
+
+# List of valid names for the first argument in a class method.
+valid-classmethod-first-arg=cls
+
+# List of valid names for the first argument in a metaclass class method.
+valid-metaclass-classmethod-first-arg=mcs
+
+
+[IMPORTS]
+
+# Allow wildcard imports from modules that define __all__.
+allow-wildcard-with-all=no
+
+# Analyse import fallback blocks. This can be used to support both Python 2 and
+# 3 compatible code, which means that the block might have code that exists
+# only in one or another interpreter, leading to false positives when analysed.
+analyse-fallback-blocks=no
+
+# Deprecated modules which should not be used, separated by a comma
+deprecated-modules=regsub,
+                   TERMIOS,
+                   Bastion,
+                   rexec
+
+# Create a graph of external dependencies in the given file (report RP0402 must
+# not be disabled)
+ext-import-graph=
+
+# Create a graph of every (i.e. internal and external) dependencies in the
+# given file (report RP0402 must not be disabled)
+import-graph=
+
+# Create a graph of internal dependencies in the given file (report RP0402 must
+# not be disabled)
+int-import-graph=
+
+# Force import order to recognize a module as part of the standard
+# compatibility libraries.
+known-standard-library=
+
+# Force import order to recognize a module as part of a third party library.
+known-third-party=enchant
+
+
+[EXCEPTIONS]
+
+# Exceptions that will emit a warning when being caught. Defaults to
+# "Exception"
+overgeneral-exceptions=Exception

tests/linter_python/Dockerfile

@@ -0,0 +1,19 @@
+FROM ubuntu:16.04
+
+RUN apt-get update && apt-get install -y make python python-pip locales curl git zlib1g-dev libffi-dev bzip2 libssl-dev
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
+
+ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
+RUN pyenv install 3.7.3
+RUN pyenv global 3.7.3
+RUN pyenv rehash
+
+COPY tests/linter_python/requirements.txt requirements.txt
+RUN pip install -r requirements.txt
+COPY . /panda

tests/linter_python/flake8_panda.sh

@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+
+RESULT=$(python3 -m flake8 --select=F $(find ../../ -type f | grep -v "/boardesp/" | grep -v "/cppcheck/" | grep "\.py$"))
+if [[ $RESULT  ]]; then
+	echo "Pyflakes found errors in the code. Please fix and try again"
+	echo "$RESULT"
+	exit 1
+fi

tests/linter_python/pylint_panda.sh

@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+
+python3 -m pylint --disable=R,C,W $(find ../../ -type f | grep -v "/boardesp/" | grep -v "/cppcheck/" | grep "\.py$")
+
+exit_status=$?
+(( res = exit_status & 3 ))
+
+if [[ $res != 0  ]]; then
+	echo "Pylint found errors in the code. Please fix and try again"
+	exit 1
+fi

tests/linter_python/requirements.txt

@@ -0,0 +1,12 @@
+cffi==1.11.4
+numpy==1.14.5
+libusb1==1.6.6
+requests
+flake8==3.7.8
+pylint==2.4.2
+coverage
+pycrypto==2.6.1
+hexdump>=3.3
+nose
+tqdm>=4.14.0
+parameterized

tests/pedal/enter_canloader.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import sys
 import time
 import struct
 import argparse

tests/safety/test_cadillac.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 2

tests/safety/test_chrysler.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
-import csv
-import glob
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 3

tests/safety/test_gm.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 7

tests/safety/test_honda.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_BRAKE = 255

tests/safety/test_honda_bosch.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import unittest
-import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_BRAKE = 255

tests/safety/test_hyundai.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 3

tests/safety/test_subaru.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 50

tests/safety/test_toyota.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 10

tests/safety/test_toyota_ipas.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 IPAS_OVERRIDE_THRESHOLD = 200
@@ -233,8 +233,8 @@ class TestToyotaSafety(unittest.TestCase):
         self.safety.safety_tx_hook(self._ipas_control_msg(a, 1))
         self.safety.set_controls_allowed(1)
         self.safety.safety_rx_hook(self._speed_msg(s))
-        max_delta_up = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V) * 2 / 3. + 1.)
-        max_delta_down = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU) * 2 / 3. + 1.)
+        #max_delta_up = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_V) * 2 / 3. + 1.)
+        #max_delta_down = int(np.interp(s, ANGLE_DELTA_BP, ANGLE_DELTA_VU) * 2 / 3. + 1.)
         self.safety.safety_rx_hook(self._angle_meas_msg(a))
         self.assertTrue(self.safety.get_controls_allowed())
         self.safety.safety_rx_hook(self._angle_meas_msg(a + 150))

tests/safety/test_volkswagen.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 import numpy as np
-import libpandasafety_py
+import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
 
 MAX_RATE_UP = 10

tests/safety_replay/replay_drive.py

@@ -2,12 +2,9 @@
 
 import os
 import sys
-from panda import Panda
 import panda.tests.safety.libpandasafety_py as libpandasafety_py
-from panda.tests.safety_replay.helpers import is_steering_msg, get_steer_torque, \
-                                              set_desired_torque_last, package_can_msg, \
-                                              init_segment
-from tools.lib.logreader import LogReader
+from panda.tests.safety_replay.helpers import package_can_msg, init_segment
+from tools.lib.logreader import LogReader  # pylint: disable=import-error
 
 # replay a drive to check for safety violations
 def replay_drive(lr, safety_mode, param):

tests/safety_replay/test_safety_replay.py

@@ -5,7 +5,7 @@ import requests
 
 from panda import Panda
 from replay_drive import replay_drive
-from tools.lib.logreader import LogReader
+from tools.lib.logreader import LogReader  # pylint: disable=import-error
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 

tests/spam_can.py

@@ -2,7 +2,6 @@
 
 import os
 import sys
-import time
 import random
 
 sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
@@ -21,4 +20,4 @@ if __name__ == "__main__":
     st = get_test_string()[0:8]
     bus = random.randint(0, 2)
     p.can_send(at, st, bus)
-    #print("Sent message on bus: ", bus)
+    #print("Sent message on bus: ", bus)

tests/throughput_test.py

@@ -25,7 +25,7 @@ if __name__ == "__main__":
   #  p_in.can_recv()
   #sys.exit(0)
 
-  p_out.set_controls_allowed(True)
+  p_out.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   set_out, set_in = set(), set()
 

tests/tucan_loopback.py

@@ -33,7 +33,7 @@ def run_test_w_pandas(pandas, sleep_duration):
   print("H", h)
 
   for hh in h:
-    hh.set_controls_allowed(True)
+    hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   # test both directions
   for ho in permutations(list(range(len(h))), r=2):
@@ -70,8 +70,8 @@ def run_test_w_pandas(pandas, sleep_duration):
       time.sleep(sleep_duration)
 
     # **** test can line loopback ****
-#    for bus, gmlan in [(0, None), (1, False), (2, False), (1, True), (2, True)]:
-for bus, gmlan in [(0, None), (1, None)]:
+    #    for bus, gmlan in [(0, None), (1, False), (2, False), (1, True), (2, True)]:
+    for bus, gmlan in [(0, None), (1, None)]:
       print("\ntest can", bus)
       # flush
       cans_echo = panda0.can_recv()