Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305)

Updated Python code with Python 3.6+ features: - utf-8 encoding is now the default (PEP 3120) - Replace list comprehensions by Generator Expressions (PEP 289) - Replace yield loop by yield from (PEP 380) - Remove the (object) subclass when defining a class - Replace the IOError alias by OSError (PEP 3151) - Define sets with curly braces {} instead of set() - Remove "r" parameter from open function, which is default Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com> Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com> Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com> Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
2021-12-24 20:18:39 +01:00 · 2021-12-24 20:18:39 +01:00 · 332f568a82
parent 6fd3d50d79
commit 332f568a82
39 changed files with 62 additions and 67 deletions
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -34,7 +34,7 @@ from selfdrive.version import get_version, get_origin, get_short_branch, get_com

 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
-LOCAL_PORT_WHITELIST = set([8022])
+LOCAL_PORT_WHITELIST = {8022}

 LOG_ATTR_NAME = 'user.upload'
 LOG_ATTR_VALUE_MAX_UNIX_TIME = int.to_bytes(2147483647, 4, sys.byteorder)
@ -287,7 +287,7 @@ def listUploadQueue():

@dispatcher.add_method
 def cancelUpload(upload_id):
-  upload_ids = set(item.id for item in list(upload_queue.queue))
+  upload_ids = {item.id for item in list(upload_queue.queue)}
  if upload_id not in upload_ids:
    return 404

@ -338,7 +338,7 @@ def getPublicKey():
  if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
    return None

-  with open(PERSIST + '/comma/id_rsa.pub', 'r') as f:
+  with open(PERSIST + '/comma/id_rsa.pub') as f:
    return f.read()


@ -419,7 +419,7 @@ def log_handler(end_event):
          curr_time = int(time.time())
          log_path = os.path.join(SWAGLOG_DIR, log_entry)
          setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
-          with open(log_path, "r") as f:
+          with open(log_path) as f:
            jsonrpc = {
              "method": "forwardLogs",
              "params": {
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@ -30,7 +30,7 @@ class TestAthenadMethods(unittest.TestCase):
    athenad.ROOT = tempfile.mkdtemp()
    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
    athenad.Api = MockApi
-    athenad.LOCAL_PORT_WHITELIST = set([cls.SOCKET_PORT])
+    athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}

  def setUp(self):
    MockParams.restore_defaults()
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@ -69,7 +69,7 @@ class TestBoardd(unittest.TestCase):
        for __ in range(random.randrange(100)):
          bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
          addr = random.randrange(1, 1<<29)
-          dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))])
+          dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
          sent_msgs[bus].add((addr, dat))
          to_send.append(make_can_msg(addr, dat, bus))
        sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -68,7 +68,7 @@ def _get_interface_names():
      model_names = __import__(f'selfdrive.car.{brand_name}.values', fromlist=['CAR']).CAR
      model_names = [getattr(model_names, c) for c in model_names.__dict__.keys() if not c.startswith("__")]
      brand_names[brand_name] = model_names
-    except (ImportError, IOError):
+    except (ImportError, OSError):
      pass

  return brand_names
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@ -28,7 +28,7 @@ def get_attr_from_cars(attr, result=dict, combine_brands=True):
      elif isinstance(attr_values, list):
        result += attr_values

-    except (ImportError, IOError):
+    except (ImportError, OSError):
      pass

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

--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from __future__ import print_function
 import math
 from cereal import car
 from opendbc.can.parser import CANParser
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -1385,9 +1385,9 @@ STEER_THRESHOLD = {
  CAR.CRV_EU: 400,
 }

-HONDA_NIDEC_ALT_PCM_ACCEL = set([CAR.ODYSSEY])
-HONDA_NIDEC_ALT_SCM_MESSAGES = set([CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
-                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE])
-HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
-                   CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E])
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = set([CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G])
+HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
+HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
+                                    CAR.PILOT, CAR.PILOT_2019, CAR.PASSPORT, CAR.RIDGELINE}
+HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
+                   CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -987,19 +987,19 @@ CHECKSUM = {

 FEATURES = {
  # which message has the gear
-  "use_cluster_gears": set([CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA]),
-  "use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER]),
-  "use_elect_gears": set([CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
+  "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
+  "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021,CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022},

  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": set([CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022]),
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022},
 }

-HYBRID_CAR = set([CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022])  # these cars use a different gas signal
-EV_CAR = set([CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV])
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022}  # these cars use a different gas signal
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}

 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = set([CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022])
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_NIRO_EV, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}

 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -247,7 +247,7 @@ DBC = {
 }

 # Gen 1 hardware: same CAN messages and same camera
-GEN1 = set([CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6])
+GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6}

 # Cars with a steering lockout
-STEER_LOCKOUT_CAR = set([CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6])
+STEER_LOCKOUT_CAR = {CAR.CX5, CAR.CX9, CAR.MAZDA3, CAR.MAZDA6}
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -1639,11 +1639,11 @@ DBC = {


 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2,
                CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2])
+                CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2}

-NO_DSU_CAR = TSS2_CAR | set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH])
+NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}

 # no resume button press required
-NO_STOP_TIMER_CAR = TSS2_CAR | set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH])
+NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH}
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -346,7 +346,7 @@ class Controls:
        self.events.add(EventName.localizerMalfunction)

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

--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@ -349,7 +349,7 @@ class LongitudinalMpc():
    self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
    self.accel_limit_arr[:,0] = -10.
    self.accel_limit_arr[:,1] = 10.
-    x_obstacle = 1e5*np.ones((N+1))
+    x_obstacle = 1e5*np.ones(N+1)
    self.params = np.concatenate([self.accel_limit_arr,
                             x_obstacle[:,None],
                             self.prev_a[:,None]], axis=1)
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@ -135,7 +135,7 @@ class RadarD():
      self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])

    idens = list(sorted(self.tracks.keys()))
-    track_pts = list([self.tracks[iden].get_key_for_cluster() for iden in idens])
+    track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens]

    # If we have multiple points, cluster them
    if len(track_pts) > 1:
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/selfdrive/debug/cpu_usage_stat.py
@ -118,6 +118,6 @@ if __name__ == "__main__":
      l.sort(key=lambda x: -x[1])
      for x in l:
        print(x[2])
-      print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format(
+      print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
        sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
      ))
--- a/selfdrive/debug/internal/sensor_test_bootloop.py
+++ b/selfdrive/debug/internal/sensor_test_bootloop.py
@ -17,7 +17,7 @@ except PermissionError:
  print("WARNING: failed to make /dev/shm")

 try:
-  with open('/tmp/sensor-test-results.json', 'r') as infile:
+  with open('/tmp/sensor-test-results.json') as infile:
    data = json.load(infile)
 except Exception:
  data = {'sensor-pass': 0, 'sensor-fail': 0}
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@ -23,7 +23,7 @@ if __name__ == "__main__":
  outputs = replay_process(cfg, inputs)

  # Remove message generated by the process under test and merge in the new messages
-  produces = set(o.which() for o in outputs)
+  produces = {o.which() for o in outputs}
  inputs = [i for i in inputs if i.which() not in produces]
  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)

--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@ -158,7 +158,7 @@ class LiveKalman():
    delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)

    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
-    delta_quat = sp.Matrix(np.ones((4)))
+    delta_quat = sp.Matrix(np.ones(4))
    delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[States.ECEF_ORIENTATION_ERR, :])
    err_function_sym[States.ECEF_POS, :] = sp.Matrix(nom_x[States.ECEF_POS, :] + delta_x[States.ECEF_POS_ERR, :])
    err_function_sym[States.ECEF_ORIENTATION, 0] = quat_matrix_r(nom_x[States.ECEF_ORIENTATION, 0]) * delta_quat
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@ -232,7 +232,7 @@ class LocKalman():

    err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs):
-      delta_quat = sp.Matrix(np.ones((4)))
+      delta_quat = sp.Matrix(np.ones(4))
      delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :])
      err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat
    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs):
--- a/selfdrive/locationd/test/ublox.py
+++ b/selfdrive/locationd/test/ublox.py
@ -338,7 +338,7 @@ class UBloxDescriptor:
          ret += '%s, ' % v[a]
        ret = ret[:-2] + '], '
      elif isinstance(v, str):
-        ret += '%s="%s", ' % (f, v.rstrip(' \0'))
+        ret += '{}="{}", '.format(f, v.rstrip(' \0'))
      else:
        ret += '%s=%s, ' % (f, v)
    for r in msg._recs:
@ -774,10 +774,9 @@ class UBlox:
  def read(self, n):
    '''read some bytes'''
    if self.use_sendrecv:
-      import socket
      try:
        return self.dev.recv(n)
-      except socket.error:
+      except OSError:
        return ''
    return self.dev.read(n)

--- a/selfdrive/loggerd/tests/test_deleter.py
+++ b/selfdrive/loggerd/tests/test_deleter.py
@ -18,7 +18,7 @@ class TestDeleter(UploaderTestCase):

  def setUp(self):
    self.f_type = "fcamera.hevc"
-    super(TestDeleter, self).setUp()
+    super().setUp()
    self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
    deleter.os.statvfs = self.fake_statvfs
    deleter.ROOT = self.root
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/selfdrive/loggerd/tests/test_uploader.py
@ -39,7 +39,7 @@ cloudlog.addHandler(log_handler)

 class TestUploader(UploaderTestCase):
  def setUp(self):
-    super(TestUploader, self).setUp()
+    super().setUp()
    log_handler.reset()

  def start_thread(self):
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@ -29,7 +29,7 @@ def unblock_stdout():

      try:
        sys.stdout.write(dat.decode('utf8'))
-      except (OSError, IOError, UnicodeDecodeError):
+      except (OSError, UnicodeDecodeError):
        pass

    # os.wait() returns a tuple with the pid and a 16 bit value
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@ -262,7 +262,7 @@ class DaemonProcess(ManagerProcess):

    cloudlog.info(f"starting daemon {self.name}")
    proc = subprocess.Popen(['python', '-m', self.module],  # pylint: disable=subprocess-popen-preexec-fn
-                               stdin=open('/dev/null', 'r'),
+                               stdin=open('/dev/null'),
                               stdout=open('/dev/null', 'w'),
                               stderr=open('/dev/null', 'w'),
                               preexec_fn=os.setpgrp)
--- a/selfdrive/pandad.py
+++ b/selfdrive/pandad.py
@ -30,7 +30,7 @@ def flash_panda(panda_serial : str) -> Panda:

  panda_version = "bootstub" if panda.bootstub else panda.get_version()
  panda_signature = b"" if panda.bootstub else panda.get_signature()
-  cloudlog.warning("Panda %s connected, version: %s, signature %s, expected %s" % (
+  cloudlog.warning("Panda {} connected, version: {}, signature {}, expected {}".format(
    panda_serial,
    panda_version,
    panda_signature.hex()[:16],
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@ -58,7 +58,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
  if ignore_msgs is None:
    ignore_msgs = []

-  log1, log2 = [list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2)]
+  log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))

  if len(log1) != len(log2):
    cnt1 = Counter(m.which() for m in log1)
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -89,7 +89,7 @@ class DumbSocket:

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

  def wait_for_update(self):
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -143,7 +143,7 @@ if __name__ == "__main__":

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

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

  return fingerprints
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@ -81,7 +81,7 @@ def set_eon_fan(val):
    try:
      i = [0x1, 0x3 | 0, 0x3 | 0x08, 0x3 | 0x10][val]
      bus.write_i2c_block_data(0x3d, 0, [i])
-    except IOError:
+    except OSError:
      # tusb320
      if val == 0:
        bus.write_i2c_block_data(0x67, 0xa, [0])
--- a/selfdrive/ui/qt/python_helpers.py
+++ b/selfdrive/ui/qt/python_helpers.py
@ -1,4 +1,3 @@
-
 import os
 from cffi import FFI

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

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

  # Set low io priority
--- a/tools/lib/auth.py
+++ b/tools/lib/auth.py
@ -109,7 +109,7 @@ def login(method):
    if 'code' in web_server.query_params:
      break
    elif 'error' in web_server.query_params:
-      print('Authentication Error: "%s". Description: "%s" ' % (
+      print('Authentication Error: "{}". Description: "{}" '.format(
        web_server.query_params['error'],
        web_server.query_params.get('error_description')), file=sys.stderr)
      break
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@ -572,15 +572,13 @@ class StreamFrameReader(StreamGOPReader, GOPFrameReader):

 def GOPFrameIterator(gop_reader, pix_fmt):
  dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
-  for frame in dec.read():
-    yield frame
+  yield from dec.read()


 def FrameIterator(fn, pix_fmt, **kwargs):
  fr = FrameReader(fn, **kwargs)
  if isinstance(fr, GOPReader):
-    for v in GOPFrameIterator(fr, pix_fmt):
-      yield v
+    yield from GOPFrameIterator(fr, pix_fmt)
  else:
    for i in range(fr.frame_count):
      yield fr.get(i, pix_fmt=pix_fmt)[0]
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@ -12,7 +12,7 @@ except ImportError:
 from cereal import log as capnp_log

 # this is an iterator itself, and uses private variables from LogReader
-class MultiLogIterator(object):
+class MultiLogIterator:
  def __init__(self, log_paths, wraparound=False):
    self._log_paths = log_paths
    self._wraparound = wraparound
@ -74,7 +74,7 @@ class MultiLogIterator(object):
    return True


-class LogReader(object):
+class LogReader:
  def __init__(self, fn, canonicalize=True, only_union_types=False):
    data_version = None
    _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@ -18,7 +18,7 @@ CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
 DCAMERA_FILENAMES = ['dcamera.hevc']
 ECAMERA_FILENAMES = ['ecamera.hevc']

-class Route(object):
+class Route:
  def __init__(self, route_name, data_dir=None):
    self.files = None
    self.route_name = route_name.replace('_', '|')
@ -155,7 +155,7 @@ class Route(object):
      raise ValueError(f'Could not find segments for route {self.route_name} in data directory {data_dir}')
    return sorted(segments, key=lambda seg: seg.canonical_name.segment_num)

-class RouteSegment(object):
+class RouteSegment:
  def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
    self._name = RouteSegmentName(name)
    self.log_path = log_path
@ -173,7 +173,7 @@ class RouteSegment(object):
  def canonical_name(self):
    return self._name

-class RouteSegmentName(object):
+class RouteSegmentName:
  def __init__(self, name_str):
    self._segment_name_str = name_str
    self._route_name_str, num_str = self._segment_name_str.rsplit("--", 1)
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@ -22,7 +22,7 @@ def hash_256(link):
  return hsh


-class URLFile(object):
+class URLFile:
  _tlocal = threading.local()

  def __init__(self, url, debug=False, cache=None):
@ -70,7 +70,7 @@ class URLFile(object):
      return self._length
    file_length_path = os.path.join(CACHE_DIR, hash_256(self._url) + "_length")
    if os.path.exists(file_length_path) and not self._force_download:
-      with open(file_length_path, "r") as file_length:
+      with open(file_length_path) as file_length:
          content = file_length.read()
          self._length = int(content)
          return self._length
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@ -93,7 +93,7 @@ class Camerad:
    rgb_cl = cl_array.to_device(self.queue, rgb)
    yuv_cl = cl_array.empty_like(rgb_cl)
    self.krnl(self.queue, (np.int32(self.Wdiv4), np.int32(self.Hdiv4)), None, rgb_cl.data, yuv_cl.data).wait()
-    yuv = np.resize(yuv_cl.get(), np.int32((rgb.size / 2)))
+    yuv = np.resize(yuv_cl.get(), np.int32(rgb.size / 2))
    eof = self.frame_id * 0.05

    # TODO: remove RGB send once the last RGB vipc subscriber is removed