Run mypy commit hook (#1591)

* run mypy commit hook

* fix mypy errors

.gitignore

@@ -61,3 +61,4 @@ cppcheck_report.txt
 htmlcov
 pandaextra
 
+.mypy_cache/

.pre-commit-config.yaml

@@ -6,6 +6,11 @@ repos:
     -   id: check-json
     -   id: check-xml
     -   id: check-yaml
+-   repo: https://github.com/pre-commit/mirrors-mypy
+    rev: master
+    hooks:
+    -   id: mypy
+        exclude: '^(pyextra)|(external)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
 -   repo: https://gitlab.com/PyCQA/flake8
     rev: master
     hooks:

Pipfile

@@ -73,6 +73,7 @@ pygame = "==2.0.0.dev8"
 pprofile = "*"
 pyprof2calltree = "*"
 pre-commit = "*"
+mypy = "*"
 
 [packages]
 atomicwrites = "*"

Pipfile.lock

@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "681eef4e45758b560f2f76736c039d051c62cc910e6bc7556b3add318110dea0"
+            "sha256": "ebed80be69f5b38143ddf30e96b8d7f6d3214a4296088276e01795f15ad6e1c2"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -90,9 +90,9 @@
         },
         "crcmod": {
             "hashes": [
-                "sha256:737fb308fa2ce9aed2e29075f0d5980d4a89bfbec48a368c607c5c63b3efb90e",
-                "sha256:69a2e5c6c36d0f096a7beb4cd34e5f882ec5fd232efb710cdb85d4ff196bd52e",
                 "sha256:50586ab48981f11e5b117523d97bb70864a2a1af246cf6e4f5c4a21ef4611cd1",
+                "sha256:69a2e5c6c36d0f096a7beb4cd34e5f882ec5fd232efb710cdb85d4ff196bd52e",
+                "sha256:737fb308fa2ce9aed2e29075f0d5980d4a89bfbec48a368c607c5c63b3efb90e",
                 "sha256:dc7051a0db5f2bd48665a990d3ec1cc305a466a77358ca4492826f41f283601e"
             ],
             "index": "pypi",
@@ -361,29 +361,29 @@
         },
         "pillow": {
             "hashes": [
-                "sha256:ccc9ad2460eb5bee5642eaf75a0438d7f8887d484490d5117b98edd7f33118b7",
-                "sha256:12e4bad6bddd8546a2f9771485c7e3d2b546b458ae8ff79621214119ac244523",
-                "sha256:0e2a3bceb0fd4e0cb17192ae506d5f082b309ffe5fc370a5667959c9b2f85fa3",
                 "sha256:04766c4930c174b46fd72d450674612ab44cca977ebbcc2dde722c6933290107",
+                "sha256:0e2a3bceb0fd4e0cb17192ae506d5f082b309ffe5fc370a5667959c9b2f85fa3",
+                "sha256:0f01e63c34f0e1e2580cc0b24e86a5ccbbfa8830909a52ee17624c4193224cd9",
+                "sha256:12e4bad6bddd8546a2f9771485c7e3d2b546b458ae8ff79621214119ac244523",
                 "sha256:1f694e28c169655c50bb89a3fa07f3b854d71eb47f50783621de813979ba87f3",
+                "sha256:3d25dd8d688f7318dca6d8cd4f962a360ee40346c15893ae3b95c061cdbc4079",
+                "sha256:4b02b9c27fad2054932e89f39703646d0c543f21d3cc5b8e05434215121c28cd",
+                "sha256:70e3e0d99a0dcda66283a185f80697a9b08806963c6149c8e6c5f452b2aa59c0",
+                "sha256:9744350687459234867cbebfe9df8f35ef9e1538f3e729adbd8fde0761adb705",
+                "sha256:a0b49960110bc6ff5fead46013bcb8825d101026d466f3a4de3476defe0fb0dd",
                 "sha256:ae2b270f9a0b8822b98655cb3a59cdb1bd54a34807c6c56b76dd2e786c3b7db3",
                 "sha256:b37bb3bd35edf53125b0ff257822afa6962649995cbdfde2791ddb62b239f891",
+                "sha256:b532bcc2f008e96fd9241177ec580829dee817b090532f43e54074ecffdcd97f",
                 "sha256:b67a6c47ed963c709ed24566daa3f95a18f07d3831334da570c71da53d97d088",
+                "sha256:b943e71c2065ade6fef223358e56c167fc6ce31c50bc7a02dd5c17ee4338e8ac",
+                "sha256:ccc9ad2460eb5bee5642eaf75a0438d7f8887d484490d5117b98edd7f33118b7",
                 "sha256:d23e2aa9b969cf9c26edfb4b56307792b8b374202810bd949effd1c6e11ebd6d",
-                "sha256:0f01e63c34f0e1e2580cc0b24e86a5ccbbfa8830909a52ee17624c4193224cd9",
+                "sha256:eaa83729eab9c60884f362ada982d3a06beaa6cc8b084cf9f76cae7739481dfa",
                 "sha256:ee94fce8d003ac9fd206496f2707efe9eadcb278d94c271f129ab36aa7181344",
                 "sha256:f455efb7a98557412dc6f8e463c1faf1f1911ec2432059fa3e582b6000fc90e2",
                 "sha256:f46e0e024346e1474083c729d50de909974237c72daca05393ee32389dabe457",
-                "sha256:b943e71c2065ade6fef223358e56c167fc6ce31c50bc7a02dd5c17ee4338e8ac",
-                "sha256:3d25dd8d688f7318dca6d8cd4f962a360ee40346c15893ae3b95c061cdbc4079",
-                "sha256:9744350687459234867cbebfe9df8f35ef9e1538f3e729adbd8fde0761adb705",
-                "sha256:f784aad988f12c80aacfa5b381ec21fd3f38f851720f652b9f33facc5101cf4d",
-                "sha256:eaa83729eab9c60884f362ada982d3a06beaa6cc8b084cf9f76cae7739481dfa",
                 "sha256:f54be399340aa602066adb63a86a6a5d4f395adfdd9da2b9a0162ea808c7b276",
-                "sha256:b532bcc2f008e96fd9241177ec580829dee817b090532f43e54074ecffdcd97f",
+                "sha256:f784aad988f12c80aacfa5b381ec21fd3f38f851720f652b9f33facc5101cf4d"
-                "sha256:4b02b9c27fad2054932e89f39703646d0c543f21d3cc5b8e05434215121c28cd",
-                "sha256:70e3e0d99a0dcda66283a185f80697a9b08806963c6149c8e6c5f452b2aa59c0",
-                "sha256:a0b49960110bc6ff5fead46013bcb8825d101026d466f3a4de3476defe0fb0dd"
             ],
             "index": "pypi",
             "version": "==7.1.2"
@@ -1229,11 +1229,11 @@
         },
         "google-auth": {
             "hashes": [
-                "sha256:73b141d122942afe12e8bfdcb6900d5df35c27d39700f078363ba0b1298ad33b",
+                "sha256:1b3732b121917124adfe602de148ef5cba351792cf9527f99e6b61b84f74a7f5",
-                "sha256:fbf25fee328c0828ef293459d9c649ef84ee44c0b932bb999d19df0ead1b40cf"
+                "sha256:7a9119c4ed518e4ea596cc896e6c567b923b57db40be70e5aec990055aea85d3"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==1.15.0"
+            "version": "==1.16.0"
         },
         "google-auth-oauthlib": {
             "hashes": [
@@ -1739,6 +1739,33 @@
             "markers": "python_version >= '3.5'",
             "version": "==4.7.6"
         },
+        "mypy": {
+            "hashes": [
+                "sha256:15b948e1302682e3682f11f50208b726a246ab4e6c1b39f9264a8796bb416aa2",
+                "sha256:219a3116ecd015f8dca7b5d2c366c973509dfb9a8fc97ef044a36e3da66144a1",
+                "sha256:3b1fc683fb204c6b4403a1ef23f0b1fac8e4477091585e0c8c54cbdf7d7bb164",
+                "sha256:3beff56b453b6ef94ecb2996bea101a08f1f8a9771d3cbf4988a61e4d9973761",
+                "sha256:7687f6455ec3ed7649d1ae574136835a4272b65b3ddcf01ab8704ac65616c5ce",
+                "sha256:7ec45a70d40ede1ec7ad7f95b3c94c9cf4c186a32f6bacb1795b60abd2f9ef27",
+                "sha256:86c857510a9b7c3104cf4cde1568f4921762c8f9842e987bc03ed4f160925754",
+                "sha256:8a627507ef9b307b46a1fea9513d5c98680ba09591253082b4c48697ba05a4ae",
+                "sha256:8dfb69fbf9f3aeed18afffb15e319ca7f8da9642336348ddd6cab2713ddcf8f9",
+                "sha256:a34b577cdf6313bf24755f7a0e3f3c326d5c1f4fe7422d1d06498eb25ad0c600",
+                "sha256:a8ffcd53cb5dfc131850851cc09f1c44689c2812d0beb954d8138d4f5fc17f65",
+                "sha256:b90928f2d9eb2f33162405f32dde9f6dcead63a0971ca8a1b50eb4ca3e35ceb8",
+                "sha256:c56ffe22faa2e51054c5f7a3bc70a370939c2ed4de308c690e7949230c995913",
+                "sha256:f91c7ae919bbc3f96cd5e5b2e786b2b108343d1d7972ea130f7de27fdd547cf3"
+            ],
+            "index": "pypi",
+            "version": "==0.770"
+        },
+        "mypy-extensions": {
+            "hashes": [
+                "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d",
+                "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"
+            ],
+            "version": "==0.4.3"
+        },
         "nbconvert": {
             "hashes": [
                 "sha256:21fb48e700b43e82ba0e3142421a659d7739b65568cc832a13976a77be16b523",
@@ -1945,29 +1972,29 @@
         },
         "pillow": {
             "hashes": [
-                "sha256:ccc9ad2460eb5bee5642eaf75a0438d7f8887d484490d5117b98edd7f33118b7",
-                "sha256:12e4bad6bddd8546a2f9771485c7e3d2b546b458ae8ff79621214119ac244523",
-                "sha256:0e2a3bceb0fd4e0cb17192ae506d5f082b309ffe5fc370a5667959c9b2f85fa3",
                 "sha256:04766c4930c174b46fd72d450674612ab44cca977ebbcc2dde722c6933290107",
+                "sha256:0e2a3bceb0fd4e0cb17192ae506d5f082b309ffe5fc370a5667959c9b2f85fa3",
+                "sha256:0f01e63c34f0e1e2580cc0b24e86a5ccbbfa8830909a52ee17624c4193224cd9",
+                "sha256:12e4bad6bddd8546a2f9771485c7e3d2b546b458ae8ff79621214119ac244523",
                 "sha256:1f694e28c169655c50bb89a3fa07f3b854d71eb47f50783621de813979ba87f3",
+                "sha256:3d25dd8d688f7318dca6d8cd4f962a360ee40346c15893ae3b95c061cdbc4079",
+                "sha256:4b02b9c27fad2054932e89f39703646d0c543f21d3cc5b8e05434215121c28cd",
+                "sha256:70e3e0d99a0dcda66283a185f80697a9b08806963c6149c8e6c5f452b2aa59c0",
+                "sha256:9744350687459234867cbebfe9df8f35ef9e1538f3e729adbd8fde0761adb705",
+                "sha256:a0b49960110bc6ff5fead46013bcb8825d101026d466f3a4de3476defe0fb0dd",
                 "sha256:ae2b270f9a0b8822b98655cb3a59cdb1bd54a34807c6c56b76dd2e786c3b7db3",
                 "sha256:b37bb3bd35edf53125b0ff257822afa6962649995cbdfde2791ddb62b239f891",
+                "sha256:b532bcc2f008e96fd9241177ec580829dee817b090532f43e54074ecffdcd97f",
                 "sha256:b67a6c47ed963c709ed24566daa3f95a18f07d3831334da570c71da53d97d088",
+                "sha256:b943e71c2065ade6fef223358e56c167fc6ce31c50bc7a02dd5c17ee4338e8ac",
+                "sha256:ccc9ad2460eb5bee5642eaf75a0438d7f8887d484490d5117b98edd7f33118b7",
                 "sha256:d23e2aa9b969cf9c26edfb4b56307792b8b374202810bd949effd1c6e11ebd6d",
-                "sha256:0f01e63c34f0e1e2580cc0b24e86a5ccbbfa8830909a52ee17624c4193224cd9",
+                "sha256:eaa83729eab9c60884f362ada982d3a06beaa6cc8b084cf9f76cae7739481dfa",
                 "sha256:ee94fce8d003ac9fd206496f2707efe9eadcb278d94c271f129ab36aa7181344",
                 "sha256:f455efb7a98557412dc6f8e463c1faf1f1911ec2432059fa3e582b6000fc90e2",
                 "sha256:f46e0e024346e1474083c729d50de909974237c72daca05393ee32389dabe457",
-                "sha256:b943e71c2065ade6fef223358e56c167fc6ce31c50bc7a02dd5c17ee4338e8ac",
-                "sha256:3d25dd8d688f7318dca6d8cd4f962a360ee40346c15893ae3b95c061cdbc4079",
-                "sha256:9744350687459234867cbebfe9df8f35ef9e1538f3e729adbd8fde0761adb705",
-                "sha256:f784aad988f12c80aacfa5b381ec21fd3f38f851720f652b9f33facc5101cf4d",
-                "sha256:eaa83729eab9c60884f362ada982d3a06beaa6cc8b084cf9f76cae7739481dfa",
                 "sha256:f54be399340aa602066adb63a86a6a5d4f395adfdd9da2b9a0162ea808c7b276",
-                "sha256:b532bcc2f008e96fd9241177ec580829dee817b090532f43e54074ecffdcd97f",
+                "sha256:f784aad988f12c80aacfa5b381ec21fd3f38f851720f652b9f33facc5101cf4d"
-                "sha256:4b02b9c27fad2054932e89f39703646d0c543f21d3cc5b8e05434215121c28cd",
-                "sha256:70e3e0d99a0dcda66283a185f80697a9b08806963c6149c8e6c5f452b2aa59c0",
-                "sha256:a0b49960110bc6ff5fead46013bcb8825d101026d466f3a4de3476defe0fb0dd"
             ],
             "index": "pypi",
             "version": "==7.1.2"
@@ -2019,6 +2046,7 @@
         "protobuf": {
             "hashes": [
                 "sha256:304e08440c4a41a0f3592d2a38934aad6919d692bb0edfb355548786728f9a5e",
+                "sha256:49ef8ab4c27812a89a76fa894fe7a08f42f2147078392c0dee51d4a444ef6df5",
                 "sha256:50b5fee674878b14baea73b4568dc478c46a31dd50157a5b5d2f71138243b1a9",
                 "sha256:5524c7020eb1fb7319472cb75c4c3206ef18b34d6034d2ee420a60f99cddeb07",
                 "sha256:612bc97e42b22af10ba25e4140963fbaa4c5181487d163f4eb55b0b15b3dfcd2",
@@ -2026,6 +2054,7 @@
                 "sha256:85b94d2653b0fdf6d879e39d51018bf5ccd86c81c04e18a98e9888694b98226f",
                 "sha256:87535dc2d2ef007b9d44e309d2b8ea27a03d2fa09556a72364d706fcb7090828",
                 "sha256:a7ab28a8f1f043c58d157bceb64f80e4d2f7f1b934bc7ff5e7f7a55a337ea8b0",
+                "sha256:a96f8fc625e9ff568838e556f6f6ae8eca8b4837cdfb3f90efcb7c00e342a2eb",
                 "sha256:b5a114ea9b7fc90c2cc4867a866512672a47f66b154c6d7ee7e48ddb68b68122",
                 "sha256:be04fe14ceed7f8641e30f36077c1a654ff6f17d0c7a5283b699d057d150d82a",
                 "sha256:bff02030bab8b969f4de597543e55bd05e968567acb25c0a87495a31eb09e925",
@@ -2722,10 +2751,10 @@
         },
         "tensorboard": {
             "hashes": [
-                "sha256:9a2a2dc9856187679e93f3c95e5dc771dd47e3257db09767b4be118d734b4dc2"
+                "sha256:a3feb73e1221c0a512398ad2cd08570fb082d8a2ba364aa0562543ecbd3659ef"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==2.2.1"
+            "version": "==2.2.2"
         },
         "tensorboard-plugin-wit": {
             "hashes": [
@@ -2816,6 +2845,40 @@
             ],
             "version": "==4.3.3"
         },
+        "typed-ast": {
+            "hashes": [
+                "sha256:0666aa36131496aed8f7be0410ff974562ab7eeac11ef351def9ea6fa28f6355",
+                "sha256:0c2c07682d61a629b68433afb159376e24e5b2fd4641d35424e462169c0a7919",
+                "sha256:249862707802d40f7f29f6e1aad8d84b5aa9e44552d2cc17384b209f091276aa",
+                "sha256:24995c843eb0ad11a4527b026b4dde3da70e1f2d8806c99b7b4a7cf491612652",
+                "sha256:269151951236b0f9a6f04015a9004084a5ab0d5f19b57de779f908621e7d8b75",
+                "sha256:4083861b0aa07990b619bd7ddc365eb7fa4b817e99cf5f8d9cf21a42780f6e01",
+                "sha256:498b0f36cc7054c1fead3d7fc59d2150f4d5c6c56ba7fb150c013fbc683a8d2d",
+                "sha256:4e3e5da80ccbebfff202a67bf900d081906c358ccc3d5e3c8aea42fdfdfd51c1",
+                "sha256:6daac9731f172c2a22ade6ed0c00197ee7cc1221aa84cfdf9c31defeb059a907",
+                "sha256:715ff2f2df46121071622063fc7543d9b1fd19ebfc4f5c8895af64a77a8c852c",
+                "sha256:73d785a950fc82dd2a25897d525d003f6378d1cb23ab305578394694202a58c3",
+                "sha256:8c8aaad94455178e3187ab22c8b01a3837f8ee50e09cf31f1ba129eb293ec30b",
+                "sha256:8ce678dbaf790dbdb3eba24056d5364fb45944f33553dd5869b7580cdbb83614",
+                "sha256:aaee9905aee35ba5905cfb3c62f3e83b3bec7b39413f0a7f19be4e547ea01ebb",
+                "sha256:bcd3b13b56ea479b3650b82cabd6b5343a625b0ced5429e4ccad28a8973f301b",
+                "sha256:c9e348e02e4d2b4a8b2eedb48210430658df6951fa484e59de33ff773fbd4b41",
+                "sha256:d205b1b46085271b4e15f670058ce182bd1199e56b317bf2ec004b6a44f911f6",
+                "sha256:d43943ef777f9a1c42bf4e552ba23ac77a6351de620aa9acf64ad54933ad4d34",
+                "sha256:d5d33e9e7af3b34a40dc05f498939f0ebf187f07c385fd58d591c533ad8562fe",
+                "sha256:fc0fea399acb12edbf8a628ba8d2312f583bdbdb3335635db062fa98cf71fca4",
+                "sha256:fe460b922ec15dd205595c9b5b99e2f056fd98ae8f9f56b888e7a17dc2b757e7"
+            ],
+            "version": "==1.4.1"
+        },
+        "typing-extensions": {
+            "hashes": [
+                "sha256:6e95524d8a547a91e08f404ae485bbb71962de46967e1b71a0cb89af24e761c5",
+                "sha256:79ee589a3caca649a9bfd2a8de4709837400dfa00b6cc81962a1e6a1815969ae",
+                "sha256:f8d2bd89d25bc39dabe7d23df520442fa1d8969b82544370e03d88b5a591c392"
+            ],
+            "version": "==3.7.4.2"
+        },
         "urllib3": {
             "hashes": [
                 "sha256:3018294ebefce6572a474f0604c2021e33b3fd8006ecd11d62107a5d2a963527",

common/params.py

@@ -22,10 +22,7 @@ file in place without messing with <params_dir>/d.
 """
 import time
 import os
-import string
-import binascii
 import errno
-import sys
 import shutil
 import fcntl
 import tempfile
@@ -401,22 +398,3 @@ def put_nonblocking(key, val):
   t = threading.Thread(target=f, args=(key, val))
   t.start()
   return t
-
-
-if __name__ == "__main__":
-  params = Params()
-  if len(sys.argv) > 2:
-    params.put(sys.argv[1], sys.argv[2])
-  else:
-    for k in keys:
-      pp = params.get(k)
-      if pp is None:
-        print("%s is None" % k)
-      elif all(chr(c) in string.printable for c in pp):
-        print("%s = %s" % (k, pp))
-      else:
-        print("%s = %s" % (k, binascii.hexlify(pp)))
-
-  # Test multiprocess:
-  # seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
-  # while python common/params.py DongleId; do sleep 0.05; done

common/spinner.py

@@ -40,7 +40,7 @@ class Spinner():
     self.close()
 
 
-class FakeSpinner():
+class FakeSpinner(Spinner):
   def __init__(self):
     pass
 

common/text_window.py

@@ -43,7 +43,7 @@ class TextWindow():
     self.close()
 
 
-class FakeTextWindow():
+class FakeTextWindow(TextWindow):
   def __init__(self, s):
     pass
 

mypy.ini

@@ -0,0 +1,4 @@
+[mypy]
+python_version = 3.8
+ignore_missing_imports = True
+

selfdrive/athena/athenad.py

@@ -1,29 +1,31 @@
 #!/usr/bin/env python3
-import json
+import base64
-import os
 import hashlib
 import io
+import json
+import os
+import queue
 import random
 import select
 import socket
-import time
 import threading
-import base64
+import time
-import requests
-import queue
 from collections import namedtuple
 from functools import partial
+from typing import Any
+
+import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
-from websocket import create_connection, WebSocketTimeoutException, ABNF
+from websocket import ABNF, WebSocketTimeoutException, create_connection
-from selfdrive.loggerd.config import ROOT
 
 import cereal.messaging as messaging
+from cereal.services import service_list
 from common import android
-from common.basedir import PERSIST
 from common.api import Api
+from common.basedir import PERSIST
 from common.params import Params
 from common.realtime import sec_since_boot
-from cereal.services import service_list
+from selfdrive.loggerd.config import ROOT
 from selfdrive.swaglog import cloudlog
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
@@ -31,10 +33,10 @@ HANDLER_THREADS = os.getenv('HANDLER_THREADS', 4)
 LOCAL_PORT_WHITELIST = set([8022])
 
 dispatcher["echo"] = lambda s: s
-payload_queue = queue.Queue()
+payload_queue: Any = queue.Queue()
-response_queue = queue.Queue()
+response_queue: Any = queue.Queue()
-upload_queue = queue.Queue()
+upload_queue: Any = queue.Queue()
-cancelled_uploads = set()
+cancelled_uploads: Any = set()
 UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id'])
 
 def handle_long_poll(ws):

selfdrive/car/fw_versions.py

@@ -1,15 +1,17 @@
 #!/usr/bin/env python3
-import traceback
 import struct
+import traceback
+from typing import Any
+
 from tqdm import tqdm
 
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.swaglog import cloudlog
-from selfdrive.car.fingerprints import get_attr_from_cars, FW_VERSIONS
-from selfdrive.car.toyota.values import CAR as TOYOTA
 import panda.python.uds as uds
-
 from cereal import car
+from selfdrive.car.fingerprints import FW_VERSIONS, get_attr_from_cars
+from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.swaglog import cloudlog
+
 Ecu = car.CarParams.Ecu
 
 
@@ -213,7 +215,7 @@ if __name__ == "__main__":
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
 
-  extra = None
+  extra: Any = None
   if args.scan:
     extra = {}
     # Honda

selfdrive/crash.py

@@ -9,7 +9,7 @@ from selfdrive.swaglog import cloudlog
 from common.android import ANDROID
 
 if os.getenv("NOLOG") or os.getenv("NOCRASH") or not ANDROID:
-  def capture_exception(*exc_info):
+  def capture_exception(*args, **kwargs):
     pass
   def bind_user(**kwargs):
     pass

selfdrive/debug/check_freq.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# type: ignore
+
 import argparse
 import numpy as np
 from collections import defaultdict, deque

selfdrive/debug/check_lag.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# type: ignore
+
 import cereal.messaging as messaging
 from cereal.services import service_list
 

selfdrive/debug/cpu_usage_stat.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 import psutil
 import time
 import os

selfdrive/debug/internal/get_fingerprint_from_route.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 
 import sys
 from tools.lib.logreader import MultiLogIterator

selfdrive/debug/internal/measure_steering_accuracy.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# type: ignore
+
 import os
 import argparse
 import signal
@@ -28,7 +30,7 @@ if __name__ == "__main__":
   stats = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0})
   cnt = 0
   total_error = 0
-  
+
   while messaging.recv_one(carControl):
     sm.update()
     msg_cnt += 1

selfdrive/debug/internal/measure_torque_time_to_max.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# type: ignore
+
 import os
 import argparse
 import struct

selfdrive/debug/mpc/test_mpc_wobble.py

@@ -1,4 +1,5 @@
 #! /usr/bin/env python
+# type: ignore
 import matplotlib.pyplot as plt
 from selfdrive.controls.lib.lateral_mpc import libmpc_py
 from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT

selfdrive/debug/mpc/tune_lateral.py

@@ -1,4 +1,6 @@
 #! /usr/bin/env python
+# type: ignore
+
 import numpy as np
 from collections import OrderedDict
 import matplotlib.pyplot as plt

selfdrive/debug/mpc/tune_longitudinal.py

@@ -1,4 +1,5 @@
 #! /usr/bin/env python
+# type: ignore
 import numpy as np
 import matplotlib.pyplot as plt
 from selfdrive.controls.lib.longitudinal_mpc import libmpc_py

selfdrive/debug/test_fw_query_on_routes.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# type: ignore
+
 import argparse
 import os
 import traceback

selfdrive/locationd/models/car_kf.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
-import sys
 import math
+import sys
+from typing import Any, Dict
 
 import numpy as np
 import sympy as sp
@@ -58,7 +59,7 @@ class CarKalman(KalmanFilter):
   ])
   P_initial = Q.copy()
 
-  obs_noise = {
+  obs_noise : Dict[int, Any] = {
     ObservationKind.STEER_ANGLE: np.atleast_2d(math.radians(0.01)**2),
     ObservationKind.ANGLE_OFFSET_FAST: np.atleast_2d(math.radians(10.0)**2),
     ObservationKind.STEER_RATIO: np.atleast_2d(5.0**2),

selfdrive/locationd/models/gnss_kf.py

@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
 import sys
+from typing import List
 
 import numpy as np
 import sympy as sp
 
-from selfdrive.locationd.models.constants import ObservationKind
 from rednose.helpers.ekf_sym import EKF_sym, gen_code
+from selfdrive.locationd.models.constants import ObservationKind
 from selfdrive.locationd.models.loc_kf import parse_pr, parse_prr
 
 
@@ -39,7 +40,7 @@ class GNSSKalman():
                (.1)**2, (0)**2, (0.005)**2,
                .1**2, (.01)**2])
 
-  maha_test_kinds = []  # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
+  maha_test_kinds: List[int] = []  # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
 
   @staticmethod
   def generate_code(generated_dir):

selfdrive/locationd/test/ci_test.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 import subprocess
 import os
 import sys

selfdrive/locationd/test/ubloxd.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 
 import os
 import serial

selfdrive/locationd/test/ubloxd_easy.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 
 import os
 from selfdrive.locationd.test import ublox

selfdrive/locationd/test/ubloxd_py_test.py

@@ -1,3 +1,5 @@
+# type: ignore
+
 import sys
 import os
 

selfdrive/manager.py

@@ -9,8 +9,10 @@ import shutil
 import subprocess
 import datetime
 import textwrap
+from typing import Dict, List
 from selfdrive.swaglog import cloudlog, add_logentries_handler
 
+
 from common.basedir import BASEDIR, PARAMS
 from common.android import ANDROID
 WEBCAM = os.getenv("WEBCAM") is not None
@@ -99,7 +101,7 @@ if not prebuilt:
     # Read progress from stderr and update spinner
     while scons.poll() is None:
       try:
-        line = scons.stderr.readline()
+        line = scons.stderr.readline()  # type: ignore
         if line is None:
           continue
         line = line.rstrip()
@@ -117,7 +119,7 @@ if not prebuilt:
 
     if scons.returncode != 0:
       # Read remaining output
-      r = scons.stderr.read().split(b'\n')
+      r = scons.stderr.read().split(b'\n')   # type: ignore
       compile_output += r
 
       if retry:
@@ -194,7 +196,7 @@ daemon_processes = {
   "manage_athenad": ("selfdrive.athena.manage_athenad", "AthenadPid"),
 }
 
-running = {}
+running: Dict[str, Process] = {}
 def get_running():
   return running
 
@@ -202,7 +204,7 @@ def get_running():
 unkillable_processes = ['camerad']
 
 # processes to end with SIGINT instead of SIGTERM
-interrupt_processes = []
+interrupt_processes: List[str] = []
 
 # processes to end with SIGKILL instead of SIGTERM
 kill_processes = ['sensord', 'paramsd']

selfdrive/test/longitudinal_maneuvers/plant_ui.py

@@ -1,119 +0,0 @@
-#!/usr/bin/env python3
-import pygame # pylint: disable=import-error
-from selfdrive.test.longitudinal_maneuvers.plant import Plant
-from selfdrive.car.honda.values import CruiseButtons
-import numpy as np
-import cereal.messaging as messaging
-import math
-
-CAR_WIDTH = 2.0
-CAR_LENGTH = 4.5
-
-METER = 8
-
-def rot_center(image, angle):
-  """rotate an image while keeping its center and size"""
-  orig_rect = image.get_rect()
-  rot_image = pygame.transform.rotate(image, angle)
-  rot_rect = orig_rect.copy()
-  rot_rect.center = rot_image.get_rect().center
-  rot_image = rot_image.subsurface(rot_rect).copy()
-  return rot_image
-
-def car_w_color(c):
-  car = pygame.Surface((METER*CAR_LENGTH, METER*CAR_LENGTH))  # pylint: disable=too-many-function-args
-  car.set_alpha(0)
-  car.fill((10,10,10))
-  car.set_alpha(128)
-  pygame.draw.rect(car, c, (METER*1.25, 0, METER*CAR_WIDTH, METER*CAR_LENGTH), 1)
-  return car
-
-if __name__ == "__main__":
-  pygame.init()
-  display = pygame.display.set_mode((1000, 1000))
-  pygame.display.set_caption('Plant UI')
-
-  car = car_w_color((255,0,255))
-  leadcar = car_w_color((255,0,0))
-
-  carx, cary, heading = 10.0, 50.0, 0.0
-
-  plant = Plant(100, distance_lead = 40.0)
-
-  control_offset = 2.0
-  control_pts = list(zip(np.arange(0, 100.0, 10.0), [50.0 + control_offset]*10))
-
-  def pt_to_car(pt):
-    x,y = pt
-    x -= carx
-    y -= cary
-    rx = x * math.cos(-heading) + y * -math.sin(-heading)
-    ry = x * math.sin(-heading) + y * math.cos(-heading)
-    return rx, ry
-
-  def pt_from_car(pt):
-    x,y = pt
-    rx = x * math.cos(heading) + y * -math.sin(heading)
-    ry = x * math.sin(heading) + y * math.cos(heading)
-    rx += carx
-    ry += cary
-    return rx, ry
-
-  while 1:
-    if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
-      cruise_buttons = CruiseButtons.RES_ACCEL
-    else:
-      cruise_buttons = 0
-
-    md = messaging.new_message('model')
-    md.model.frameId = 0
-    for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
-      x.points = [0.0]*50
-      x.prob = 0.0
-      x.std = 1.0
-
-    car_pts = [pt_to_car(pt) for pt in control_pts]
-
-    print(car_pts)
-
-    car_poly = np.polyfit([x[0] for x in car_pts], [x[1] for x in car_pts], 3)
-    md.model.path.points = np.polyval(car_poly, np.arange(0, 50)).tolist()
-    md.model.path.prob = 1.0
-    Plant.model.send(md.to_bytes())
-
-    plant.step(cruise_buttons = cruise_buttons, v_lead = 2.0, publish_model = False)
-
-    display.fill((10,10,10))
-
-    carx += plant.speed * plant.ts * math.cos(heading)
-    cary += plant.speed * plant.ts * math.sin(heading)
-
-    # positive steering angle = steering right
-    print(plant.angle_steer)
-    heading += plant.angle_steer * plant.ts
-    print(heading)
-
-    # draw my car
-    display.blit(pygame.transform.rotate(car, 90-math.degrees(heading)), (carx*METER, cary*METER))
-
-    # draw control pts
-    for x,y in control_pts:
-      pygame.draw.circle(display, (255,255,0), (int(x * METER),int(y * METER)), 2)
-
-    # draw path
-    path_pts = zip(np.arange(0, 50), md.model.path.points)
-
-    for x,y in path_pts:
-      x,y = pt_from_car((x,y))
-      pygame.draw.circle(display, (0,255,0), (int(x * METER),int(y * METER)), 1)
-
-    """
-    # draw lead car
-    dl = (plant.distance_lead - plant.distance) + 4.5
-    lx = carx + dl * math.cos(heading)
-    ly = cary + dl * math.sin(heading)
-
-    display.blit(pygame.transform.rotate(leadcar, 90-math.degrees(heading)), (lx*METER, ly*METER))
-    """
-
-    pygame.display.flip()

selfdrive/test/process_replay/compare_logs.py

@@ -8,7 +8,7 @@ import dictdiffer
 if "CI" in os.environ:
   tqdm = lambda x: x
 else:
-  from tqdm import tqdm
+  from tqdm import tqdm  # type: ignore
 
 from tools.lib.logreader import LogReader
 

selfdrive/test/process_replay/flycheck_compare_logs.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+import bz2
+import os
+import sys
+import numbers
+
+import dictdiffer
+if "CI" in os.environ:
+  tqdm = lambda x: x
+else:
+  from tqdm import tqdm  # type: ignore
+
+from tools.lib.logreader import LogReader
+
+def save_log(dest, log_msgs):
+  dat = b""
+  for msg in tqdm(log_msgs):
+    dat += msg.as_builder().to_bytes()
+  dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+   f.write(dat)
+
+def remove_ignored_fields(msg, ignore):
+  msg = msg.as_builder()
+  for key in ignore:
+    attr = msg
+    keys = key.split(".")
+    if msg.which() not in key and len(keys) > 1:
+      continue
+
+    for k in keys[:-1]:
+      try:
+        attr = getattr(msg, k)
+      except:
+        break
+    else:
+      v = getattr(attr, keys[-1])
+      if isinstance(v, bool):
+        val = False
+      elif isinstance(v, numbers.Number):
+        val = 0
+      else:
+        raise NotImplementedError
+      setattr(attr, keys[-1], val)
+  return msg.as_reader()
+
+def compare_logs(log1, log2, ignore_fields=[], ignore_msgs=[]):
+  filter_msgs = lambda m: m.which() not in ignore_msgs
+  log1, log2 = [list(filter(filter_msgs, log)) for log in (log1, log2)]
+  assert len(log1) == len(log2), "logs are not same length: " + str(len(log1)) + " VS " + str(len(log2))
+
+  diff = []
+  for msg1, msg2 in tqdm(zip(log1, log2)):
+    if msg1.which() != msg2.which():
+      print(msg1, msg2)
+      raise Exception("msgs not aligned between logs")
+
+    msg1_bytes = remove_ignored_fields(msg1, ignore_fields).as_builder().to_bytes()
+    msg2_bytes = remove_ignored_fields(msg2, ignore_fields).as_builder().to_bytes()
+
+    if msg1_bytes != msg2_bytes:
+      msg1_dict = msg1.to_dict(verbose=True)
+      msg2_dict = msg2.to_dict(verbose=True)
+      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields, tolerance=0)
+      diff.extend(dd)
+  return diff
+
+if __name__ == "__main__":
+  log1 = list(LogReader(sys.argv[1]))
+  log2 = list(LogReader(sys.argv[2]))
+  print(compare_logs(log1, log2, sys.argv[3:]))

selfdrive/test/process_replay/process_replay.py

@@ -7,7 +7,7 @@ import importlib
 if "CI" in os.environ:
   tqdm = lambda x: x
 else:
-  from tqdm import tqdm
+  from tqdm import tqdm   # type: ignore
 
 from cereal import car, log
 from selfdrive.car.car_helpers import get_car

selfdrive/test/process_replay/test_processes.py

@@ -2,13 +2,14 @@
 import argparse
 import os
 import sys
+from typing import Any
 
 from selfdrive.car.car_helpers import interface_names
-from selfdrive.test.process_replay.process_replay import replay_process, CONFIGS
 from selfdrive.test.process_replay.compare_logs import compare_logs
+from selfdrive.test.process_replay.process_replay import (CONFIGS,
+                                                          replay_process)
 from tools.lib.logreader import LogReader
 
-
 INJECT_MODEL = 0
 
 segments = [
@@ -134,7 +135,7 @@ if __name__ == "__main__":
     untested = (set(interface_names) - set(excluded_interfaces)) - tested_cars
     assert len(untested) == 0, "Cars missing routes: %s" % (str(untested))
 
-  results = {}
+  results: Any = {}
   for car_brand, segment in segments:
     if (cars_whitelisted and car_brand.upper() not in args.whitelist_cars) or \
         (not cars_whitelisted and car_brand.upper() in args.blacklist_cars):

selfdrive/test/test_car_models.py

@@ -1,27 +1,28 @@
 #!/usr/bin/env python3
-import time
 import os
-import sys
 import signal
 import subprocess
+import sys
+import time
+from typing import List, cast
+
 import requests
-from cereal import car
 
-import selfdrive.manager as manager
 import cereal.messaging as messaging
-from common.params import Params
+import selfdrive.manager as manager
+from cereal import car
 from common.basedir import BASEDIR
-from selfdrive.car.fingerprints import all_known_cars
+from common.params import Params
-from selfdrive.car.honda.values import CAR as HONDA
-from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.car.gm.values import CAR as GM
-from selfdrive.car.ford.values import CAR as FORD
-from selfdrive.car.hyundai.values import CAR as HYUNDAI
 from selfdrive.car.chrysler.values import CAR as CHRYSLER
-from selfdrive.car.subaru.values import CAR as SUBARU
+from selfdrive.car.fingerprints import all_known_cars
-from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
+from selfdrive.car.ford.values import CAR as FORD
+from selfdrive.car.gm.values import CAR as GM
+from selfdrive.car.honda.values import CAR as HONDA
+from selfdrive.car.hyundai.values import CAR as HYUNDAI
 from selfdrive.car.nissan.values import CAR as NISSAN
-
+from selfdrive.car.subaru.values import CAR as SUBARU
+from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
 
 os.environ['NOCRASH'] = '1'
 
@@ -363,7 +364,7 @@ routes = {
   },
 }
 
-passive_routes = [
+passive_routes: List[str] = [
 ]
 
 forced_dashcam_routes = [
@@ -436,7 +437,7 @@ if __name__ == "__main__":
 
     os.environ['SKIP_FW_QUERY'] = "1"
     if checks.get('fingerprintSource', None) == 'fixed':
-      os.environ['FINGERPRINT'] = checks['carFingerprint']
+      os.environ['FINGERPRINT'] = cast(str, checks['carFingerprint'])
     else:
       os.environ['FINGERPRINT'] = ""
 

tools/lib/auth.py

@@ -5,9 +5,10 @@ from http.server import HTTPServer, BaseHTTPRequestHandler
 from urllib.parse import urlencode, parse_qs
 from tools.lib.api import CommaApi, APIError
 from tools.lib.auth_config import set_token
+from typing import Dict, Any
 
 class ClientRedirectServer(HTTPServer):
-  query_params = {}
+  query_params: Dict[str, Any] = {}
 
 class ClientRedirectHandler(BaseHTTPRequestHandler):
   def do_GET(self):

tools/replay/lib/ui_helpers.py

@@ -1,15 +1,16 @@
 from collections import namedtuple
+from typing import Any, Dict, Tuple
 
 import matplotlib
 import matplotlib.pyplot as plt
 import numpy as np
 import pygame
 
-from tools.lib.lazy_property import lazy_property
-from selfdrive.config import UIParams as UP
 from selfdrive.config import RADAR_TO_CAMERA
+from selfdrive.config import UIParams as UP
 from selfdrive.controls.lib.lane_planner import (compute_path_pinv,
                                                  model_polyfit)
+from tools.lib.lazy_property import lazy_property
 
 RED = (255, 0, 0)
 GREEN = (0, 255, 0)
@@ -34,7 +35,7 @@ METER_WIDTH = 20
 
 ModelUIData = namedtuple("ModelUIData", ["cpath", "lpath", "rpath", "lead", "lead_future"])
 
-_COLOR_CACHE = {}
+_COLOR_CACHE : Dict[Tuple[int, int, int], Any] = {}
 def find_color(lidar_surface, color):
   if color in _COLOR_CACHE:
     return _COLOR_CACHE[color]

tools/replay/rqplot.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# type: ignore
 import sys
 import matplotlib.pyplot as plt
 import numpy as np
@@ -78,4 +79,3 @@ if __name__ == "__main__":
 
     # just a bit of wait to avoid 100% CPU usage
     time.sleep(0.001)
-

tools/sim/bridge.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# type: ignore
 import time
 import math
 import atexit

tools/sim/lib/keyboard_ctrl.py

@@ -1,8 +1,9 @@
 import sys
 import termios
 import time
-from termios import (BRKINT, VMIN, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN,
+from termios import (BRKINT, CS8, CSIZE, ECHO, ICANON, ICRNL, IEXTEN, INPCK,
-                     INPCK, ISIG, ISTRIP, IXON, PARENB, VTIME)
+                     ISIG, ISTRIP, IXON, PARENB, VMIN, VTIME)
+from typing import Any
 
 # Indexes for termios list.
 IFLAG = 0
@@ -53,7 +54,7 @@ def test(q):
 
 if __name__ == '__main__':
   from multiprocessing import Process, Queue
-  q = Queue()
+  q : Any = Queue()
   p = Process(target=test, args=(q,))
   p.daemon = True
   p.start()