Update Flake8 config (#1624)
* update flake8 checks * add E502 * no whitespace warnings * fix violations * no W391 Co-authored-by: Jason Young <jason@comma.ai>pull/1636/head
Adeeb
GitHub
parent
eebdf52ff5
commit
367155168a
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@ -20,9 +20,10 @@ repos:
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rev: master
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hooks:
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- id: flake8
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exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
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exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
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args:
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- --ignore=E111,E114,E121,E122,E123,E124,E126,E127,E128,E201,E202,E203,E226,E241,E265,E266,E302,E305,E402,E501,E722,E741,W504,W391
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- --select=E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
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- --max-line-length=240
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- --statistics
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- repo: local
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hooks:
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@ -46,7 +46,7 @@ class MockParams():
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def __init__(self):
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self.params = {
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"DongleId": b"0000000000000000",
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"GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private"
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"GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private" # noqa: E501
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}
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def get(self, k, encoding=None):
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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@ -1,3 +1,5 @@
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# flake8: noqa
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from cereal import car
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from selfdrive.car import dbc_dict
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Ecu = car.CarParams.Ecu
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@ -184,7 +184,8 @@ class CarState(CarStateBase):
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self.prev_cruise_setting = self.cruise_setting
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# ******************* parse out can *******************
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT): # TODO: find wheels moving bit in dbc
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# TODO: find wheels moving bit in dbc
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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ret.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
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ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN'])
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -233,7 +234,8 @@ class CarState(CarStateBase):
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ret.rightBlinker = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER'] != 0
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self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH,
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CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT):
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self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
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main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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@ -1,3 +1,5 @@
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# flake8: noqa
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from cereal import car
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from selfdrive.car import dbc_dict
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@ -59,7 +59,8 @@ class CarState(CarStateBase):
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ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
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# TODO: refactor gear parsing in function
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# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, as this seems to be standard over all cars, but is not the preferred method.
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# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
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# as this seems to be standard over all cars, but is not the preferred method.
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if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
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if cp.vl["CLU15"]["CF_Clu_InhibitD"] == 1:
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ret.gearShifter = GearShifter.drive
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@ -1,3 +1,5 @@
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# flake8: noqa
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from cereal import car
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from selfdrive.car import dbc_dict
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Ecu = car.CarParams.Ecu
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@ -82,7 +82,8 @@ class IsoTpParallelQuery():
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id_addr = rx_addr or tx_addr[0]
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sub_addr = tx_addr[1]
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can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr, self.bus, sub_addr=sub_addr, debug=self.debug)
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can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr,
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self.bus, sub_addr=sub_addr, debug=self.debug)
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max_len = 8 if sub_addr is None else 7
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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STEER_THRESHOLD = 1.0
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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from cereal import car
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Ecu = car.CarParams.Ecu
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@ -1,3 +1,5 @@
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# flake8: noqa
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from selfdrive.car import dbc_dict
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class CarControllerParams:
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@ -1,3 +1,5 @@
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# flake8: noqa
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import unittest
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import numpy as np
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from cereal import car
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@ -1,4 +1,5 @@
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#!/usr/bin/env python3
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# flake8: noqa
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# put 2 fingeprints and print the diffs
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f1 = {
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@ -95,7 +95,8 @@ class Localizer():
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device_from_ecef = rot_from_quat(predicted_state[States.ECEF_ORIENTATION]).T
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vel_device = device_from_ecef.dot(vel_ecef)
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device_from_ecef_eul = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]).T
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idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop))
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idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + \
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list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop))
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condensed_cov = predicted_cov[idxs][:, idxs]
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HH = H(*list(np.concatenate([device_from_ecef_eul, vel_ecef])))
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vel_device_cov = HH.dot(condensed_cov).dot(HH.T)
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@ -119,7 +119,8 @@ class GNSSKalman():
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self.dim_state = self.x_initial.shape[0]
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# init filter
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self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, self.dim_state, maha_test_kinds=self.maha_test_kinds)
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self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
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self.dim_state, maha_test_kinds=self.maha_test_kinds)
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self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
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@property
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@ -1,3 +1,5 @@
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# flake8: noqa
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import numpy as np
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pts = np.array([3.1261718, 3.1642578, 3.0548828, 3.1125, 3.190625, 3.01875, 2.9816406, 3.1222656, 2.9728515, 2.9826171, 3.034375, 3.0392578, 3.1642578, 3.0792968, 3.0011718, 3.0705078, 2.9904296, 3.0089843, 3.0597656, 3.0978515, 2.9210937, 2.9992187, 2.9474609, 2.9621093, 2.9289062, 2.89375, 2.7975585, 2.9015625, 2.8175781, 2.9132812, 2.8175781, 2.7501953, 2.8332031, 2.8166015, 2.7638671, 2.8878906, 2.7599609, 2.6999023, 2.6720703, 2.6398437, 2.7243164, 2.6120117, 2.6588867, 2.5558593, 2.5978515, 2.5485351, 2.4269531, 2.5001953, 2.4855468, 2.4367187, 2.2973144, 2.2812011, 2.2890136, 2.39375, 2.2836425, 2.3815429, 2.2138183, 2.1964843, 2.1840332, 2.1759765, 2.0421875, 2.1034667, 2.0281494, 2.0880859, 1.9706542, 1.9276855, 1.8522155, 1.8991821, 1.7780273, 1.8180053, 1.8326843, 1.8270385, 1.7182128, 1.6439941, 1.5360839, 1.68385, 1.4584472, 1.5955322, 1.6002929, 1.4157226, 1.4704101, 1.2936523, 1.2990234, 1.4281738, 1.4357421, 1.409375, 1.2511718, 1.2194335, 1.1554687, 1.043164, 1.0954101, 1.0392578, 1.0895507, 1.0880859, 0.897168, 0.83369142, 0.86494142, 0.87763673, 0.85322267, 0.72968751, 0.57832032, 0.73066407, 0.78828126, 0.69160157, 0.64375, 0.5919922, 0.5529297, 0.52070314, 0.60957032, 0.51093751, 0.3576172, 0.49921876, 0.284375, 0.21992187, 0.25214845, 0.30683595, 0.30976564, 0.2716797, 0.22089843, 0.25507814, 0.084179685, 0.071484372, 0.1828125, 0.15644531, 0.13789062, 0.054882813, 0.021679688, -0.091601565, -0.0203125, -0.13359375, -0.037890624, -0.29765624, -0.15605469, -0.30351561, -0.055468749, -0.22148438, -0.246875, -0.31718749, -0.25468749, -0.35234374, -0.16484375, -0.56523436, -0.56523436, -0.39921874, -0.58671874, -0.45585936, -0.50859374, -0.44023436, -0.42656249, -0.56328124, -0.70195311, -0.403125, -0.76445311, -0.98710936, -0.7625, -0.75273436, -0.825, -0.996875, -0.86210936, -0.99492186, -0.85625, -0.88359374, -0.97148436, -1.0320313, -1.1609375, -1.1296875, -1.0203125, -1.0691407, -1.2371094, -1.1277344, -1.2214844, -1.1921875, -1.2996094, -1.2917969, -1.3699219, -1.434375, -1.3699219, -1.3601563, -1.5730469, -1.3152344, -1.4851563, -1.48125, -1.5925782, -1.746875, -1.5847657, -1.6003907, -1.5984375, -1.7703125, -1.8328125, -1.8152344, -1.9714844, -1.9421875])
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@ -239,7 +239,8 @@ class Plant():
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# print at 5hz
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if (self.frame % (self.rate//5)) == 0:
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print("%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
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print("%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s"
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% (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
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# ******** publish the car ********
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vls_tuple = namedtuple('vls', [
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@ -8,7 +8,9 @@ def upload_file(path, name):
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from azure.storage.blob import BlockBlobService
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sas_token = os.getenv("TOKEN", None)
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if sas_token is None:
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sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
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cmd = "az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions \
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lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv"
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sas_token = subprocess.check_output(cmd, shell=True).decode().strip("\n")
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service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
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service.create_blob_from_path("openpilotci", name, path)
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return "https://commadataci.blob.core.windows.net/openpilotci/" + name
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@ -461,7 +461,8 @@ if __name__ == "__main__":
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# Start unlogger
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print("Start unlogger")
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unlogger_cmd = [os.path.join(BASEDIR, 'tools/replay/unlogger.py'), route, '/tmp']
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unlogger = subprocess.Popen(unlogger_cmd + ['--disable', 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams', '--no-interactive'], preexec_fn=os.setsid) # pylint: disable=subprocess-popen-preexec-fn
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disable_socks = 'frame,encodeIdx,plan,pathPlan,liveLongitudinalMpc,radarState,controlsState,liveTracks,liveMpc,sendcan,carState,carControl,carEvents,carParams'
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unlogger = subprocess.Popen(unlogger_cmd + ['--disable', disable_socks, '--no-interactive'], preexec_fn=os.setsid) # pylint: disable=subprocess-popen-preexec-fn
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print("Check sockets")
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extra_socks = []
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@ -17,7 +17,8 @@ from selfdrive.swaglog import cloudlog
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import cereal.messaging as messaging
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from selfdrive.loggerd.config import get_available_percent
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from selfdrive.pandad import get_expected_signature
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from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, get_battery_current, get_battery_voltage, get_usb_present
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from selfdrive.thermald.power_monitoring import PowerMonitoring, get_battery_capacity, get_battery_status, \
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get_battery_current, get_battery_voltage, get_usb_present
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FW_SIGNATURE = get_expected_signature()
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@ -280,7 +280,8 @@ def attempt_update():
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upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
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new_version = cur_hash != upstream_hash
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git_fetch_result = len(git_fetch_output) > 0 and (git_fetch_output != "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n")
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err_msg = "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n"
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git_fetch_result = len(git_fetch_output) > 0 and (git_fetch_output != err_msg)
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cloudlog.info("comparing %s to %s" % (cur_hash, upstream_hash))
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if new_version or git_fetch_result:
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@ -67,7 +67,8 @@ try:
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dirty_files = subprocess.check_output(["git", "diff-index", branch, "--"], encoding='utf8')
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commit = subprocess.check_output(["git", "rev-parse", "--verify", "HEAD"], encoding='utf8').rstrip()
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origin_commit = subprocess.check_output(["git", "rev-parse", "--verify", branch], encoding='utf8').rstrip()
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cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch, dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
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cloudlog.event("dirty comma branch", version=version, dirty=dirty, origin=origin, branch=branch,
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dirty_files=dirty_files, commit=commit, origin_commit=origin_commit)
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except subprocess.CalledProcessError:
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dirty = True
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@ -13,7 +13,7 @@ def get_token():
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with open(os.path.join(CONFIG_DIR, 'auth.json')) as f:
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auth = json.load(f)
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return auth['access_token']
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except:
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except Exception:
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raise MissingAuthConfigError('Authenticate with tools/lib/auth.py')
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def set_token(token):
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@ -73,7 +73,8 @@ class MultiLogIterator(object):
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|||
self._idx += 1
|
||||
else:
|
||||
self._idx = 0
|
||||
self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) if i == len(self._log_readers) or self._log_paths[i] is not None)
|
||||
self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1)
|
||||
if i == len(self._log_readers) or self._log_paths[i] is not None)
|
||||
# wraparound
|
||||
if self._current_log == len(self._log_readers):
|
||||
if self._wraparound:
|
||||
|
|
|
|||
|
|
@ -66,7 +66,8 @@ def ui_thread(addr, frame_address):
|
|||
top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
|
||||
|
||||
frame = messaging.sub_sock('frame', addr=addr, conflate=True)
|
||||
sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', 'liveTracks', 'model', 'liveMpc', 'liveParameters', 'pathPlan'], addr=addr)
|
||||
sm = messaging.SubMaster(['carState', 'plan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
|
||||
'liveTracks', 'model', 'liveMpc', 'liveParameters', 'pathPlan'], addr=addr)
|
||||
|
||||
calibration = None
|
||||
img = np.zeros((480, 640, 3), dtype='uint8')
|
||||
|
|
|
|||
|
|
@ -102,6 +102,6 @@ if __name__ == "__main__":
|
|||
try:
|
||||
replay(args.segment, args.loop)
|
||||
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
|
||||
except:
|
||||
except Exception:
|
||||
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
|
||||
raise
|
||||
|
|
|
|||
Loading…
Reference in New Issue