diff --git a/common/realtime.py b/common/realtime.py index 697e81636..d577680ae 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -39,7 +39,7 @@ def set_realtime_priority(level: int) -> None: def set_core_affinity(core: int) -> None: if not PC: - os.sched_setaffinity(0, [core,]) + os.sched_setaffinity(0, [core,]) # type: ignore[attr-defined] def config_realtime_process(core: int, priority: int) -> None: diff --git a/common/spinner.py b/common/spinner.py index 27b765196..57242d644 100644 --- a/common/spinner.py +++ b/common/spinner.py @@ -24,7 +24,7 @@ class Spinner(): except BrokenPipeError: pass - def update_progress(self, cur: int, total: int): + def update_progress(self, cur: float, total: float): self.update(str(round(100 * cur / total))) def close(self): diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 48a257ab4..f68cd9181 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -1,5 +1,5 @@ from enum import IntEnum -from typing import Dict, Union, Callable +from typing import Dict, Union, Callable, List, Optional from cereal import log, car import cereal.messaging as messaging @@ -42,33 +42,33 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()} class Events: def __init__(self): - self.events = [] - self.static_events = [] + self.events: List[int] = [] + self.static_events: List[int] = [] self.events_prev = dict.fromkeys(EVENTS.keys(), 0) @property - def names(self): + def names(self) -> List[int]: return self.events - def __len__(self): + def __len__(self) -> int: return len(self.events) - def add(self, event_name, static=False): + def add(self, event_name: int, static: bool=False) -> None: if static: self.static_events.append(event_name) self.events.append(event_name) - def clear(self): + def clear(self) -> None: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} self.events = self.static_events.copy() - def any(self, event_type): + def any(self, event_type: str) -> bool: for e in self.events: if event_type in EVENTS.get(e, {}).keys(): return True return False - def create_alerts(self, event_types, callback_args=None): + def create_alerts(self, event_types: List[str], callback_args=None): if callback_args is None: callback_args = [] @@ -129,7 +129,7 @@ class Alert: self.creation_delay = creation_delay self.alert_type = "" - self.event_type = None + self.event_type: Optional[str] = None def __str__(self) -> str: return f"{self.alert_text_1}/{self.alert_text_2} {self.priority} {self.visual_alert} {self.audible_alert}" @@ -139,14 +139,14 @@ class Alert: class NoEntryAlert(Alert): - def __init__(self, alert_text_2, visual_alert=VisualAlert.none): + def __init__(self, alert_text_2: str, visual_alert: car.CarControl.HUDControl.VisualAlert=VisualAlert.none): super().__init__("openpilot Unavailable", alert_text_2, AlertStatus.normal, AlertSize.mid, Priority.LOW, visual_alert, AudibleAlert.refuse, 3.) class SoftDisableAlert(Alert): - def __init__(self, alert_text_2): + def __init__(self, alert_text_2: str): super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, AlertStatus.userPrompt, AlertSize.full, Priority.MID, VisualAlert.steerRequired, @@ -155,13 +155,13 @@ class SoftDisableAlert(Alert): # less harsh version of SoftDisable, where the condition is user-triggered class UserSoftDisableAlert(SoftDisableAlert): - def __init__(self, alert_text_2): + def __init__(self, alert_text_2: str): super().__init__(alert_text_2), self.alert_text_1 = "openpilot will disengage" class ImmediateDisableAlert(Alert): - def __init__(self, alert_text_2): + def __init__(self, alert_text_2: str): super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, AlertStatus.critical, AlertSize.full, Priority.HIGHEST, VisualAlert.steerRequired, diff --git a/selfdrive/hardware/base.py b/selfdrive/hardware/base.py index d2bcce6a1..77ddcbc2d 100644 --- a/selfdrive/hardware/base.py +++ b/selfdrive/hardware/base.py @@ -1,11 +1,12 @@ from abc import abstractmethod, ABC from collections import namedtuple +from typing import Dict ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic']) class HardwareBase(ABC): @staticmethod - def get_cmdline(): + def get_cmdline() -> Dict[str, str]: with open('/proc/cmdline') as f: cmdline = f.read() return {kv[0]: kv[1] for kv in [s.split('=') for s in cmdline.split(' ')] if len(kv) == 2} diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 5ffb17ac5..61bc56b80 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -8,6 +8,7 @@ and the image input into the neural network is not corrected for roll. import os import copy +from typing import NoReturn import numpy as np import cereal.messaging as messaging from cereal import log @@ -183,11 +184,11 @@ class Calibrator(): msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread] return msg - def send_data(self, pm): + def send_data(self, pm) -> None: pm.send('liveCalibration', self.get_msg()) -def calibrationd_thread(sm=None, pm=None): +def calibrationd_thread(sm=None, pm=None) -> NoReturn: if sm is None: sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry']) @@ -215,7 +216,7 @@ def calibrationd_thread(sm=None, pm=None): calibrator.send_data(pm) -def main(sm=None, pm=None): +def main(sm=None, pm=None) -> NoReturn: calibrationd_thread(sm, pm) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 5bbb4bd97..4b97855f3 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -22,7 +22,7 @@ MAX_BUILD_PROGRESS = 100 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt')) -def build(spinner, dirty=False): +def build(spinner: Spinner, dirty: bool = False) -> None: env = os.environ.copy() env['SCONS_PROGRESS'] = "1" nproc = os.cpu_count() @@ -30,6 +30,7 @@ def build(spinner, dirty=False): for retry in [True, False]: scons = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None compile_output = [] diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py index 7ac71ae37..b07362dd4 100644 --- a/selfdrive/manager/helpers.py +++ b/selfdrive/manager/helpers.py @@ -5,7 +5,7 @@ import errno import signal -def unblock_stdout(): +def unblock_stdout() -> None: # get a non-blocking stdout child_pid, child_pty = os.forkpty() if child_pid != 0: # parent diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 196673d46..76106e473 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -5,6 +5,7 @@ import signal import subprocess import sys import traceback +from typing import List, Tuple, Union import cereal.messaging as messaging import selfdrive.crash as crash @@ -25,7 +26,7 @@ from selfdrive.version import is_dirty, get_commit, get_version, get_origin, get sys.path.append(os.path.join(BASEDIR, "pyextra")) -def manager_init(): +def manager_init() -> None: # update system time from panda set_time(cloudlog) @@ -35,7 +36,7 @@ def manager_init(): params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) - default_params = [ + default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), ("HasAcceptedTerms", "0"), ("OpenpilotEnabledToggle", "1"), @@ -56,7 +57,7 @@ def manager_init(): # is this dashcam? if os.getenv("PASSIVE") is not None: - params.put_bool("Passive", bool(int(os.getenv("PASSIVE")))) + params.put_bool("Passive", bool(int(os.getenv("PASSIVE", "0")))) if params.get("Passive") is None: raise Exception("Passive must be set to continue") @@ -99,12 +100,12 @@ def manager_init(): device=HARDWARE.get_device_type()) -def manager_prepare(): +def manager_prepare() -> None: for p in managed_processes.values(): p.prepare() -def manager_cleanup(): +def manager_cleanup() -> None: # send signals to kill all procs for p in managed_processes.values(): p.stop(block=False) @@ -116,7 +117,7 @@ def manager_cleanup(): cloudlog.info("everything is dead") -def manager_thread(): +def manager_thread() -> None: cloudlog.bind(daemon="manager") cloudlog.info("manager start") cloudlog.info({"environ": os.environ}) @@ -128,8 +129,7 @@ def manager_thread(): ignore += ["manage_athenad", "uploader"] if os.getenv("NOBOARD") is not None: ignore.append("pandad") - if os.getenv("BLOCK") is not None: - ignore += os.getenv("BLOCK").split(",") + ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] ensure_running(managed_processes.values(), started=False, not_run=ignore) @@ -176,7 +176,7 @@ def manager_thread(): break -def main(): +def main() -> None: prepare_only = os.getenv("PREPAREONLY") is not None manager_init() diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 45331a46f..a423b1ff8 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -4,6 +4,7 @@ import signal import struct import time import subprocess +from typing import Optional, List, ValuesView from abc import ABC, abstractmethod from multiprocessing import Process @@ -22,7 +23,7 @@ WATCHDOG_FN = "/dev/shm/wd_" ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None -def launcher(proc, name): +def launcher(proc: str, name: str) -> None: try: # import the process mod = importlib.import_module(proc) @@ -37,7 +38,7 @@ def launcher(proc, name): cloudlog.bind(daemon=name) # exec the process - mod.main() + getattr(mod, 'main')() except KeyboardInterrupt: cloudlog.warning(f"child {proc} got SIGINT") except Exception: @@ -47,13 +48,13 @@ def launcher(proc, name): raise -def nativelauncher(pargs, cwd): +def nativelauncher(pargs: List[str], cwd: str) -> None: # exec the process os.chdir(cwd) os.execvp(pargs[0], pargs) -def join_process(process, timeout): +def join_process(process: Process, timeout: float) -> None: # Process().join(timeout) will hang due to a python 3 bug: https://bugs.python.org/issue28382 # We have to poll the exitcode instead t = time.monotonic() @@ -65,7 +66,8 @@ class ManagerProcess(ABC): unkillable = False daemon = False sigkill = False - proc = None + persistent = False + proc: Optional[Process] = None enabled = True name = "" @@ -75,24 +77,25 @@ class ManagerProcess(ABC): shutting_down = False @abstractmethod - def prepare(self): + def prepare(self) -> None: pass @abstractmethod - def start(self): + def start(self) -> None: pass - def restart(self): + def restart(self) -> None: self.stop() self.start() - def check_watchdog(self, started): + def check_watchdog(self, started: bool) -> None: if self.watchdog_max_dt is None or self.proc is None: return try: fn = WATCHDOG_FN + str(self.proc.pid) - self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] + # TODO: why can't pylint find struct.unpack? + self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member except Exception: pass @@ -106,9 +109,9 @@ class ManagerProcess(ABC): else: self.watchdog_seen = True - def stop(self, retry=True, block=True): + def stop(self, retry: bool=True, block: bool=True) -> Optional[int]: if self.proc is None: - return + return None if self.proc.exitcode is None: if not self.shutting_down: @@ -118,7 +121,7 @@ class ManagerProcess(ABC): self.shutting_down = True if not block: - return + return None join_process(self.proc, 5) @@ -148,7 +151,7 @@ class ManagerProcess(ABC): return ret - def signal(self, sig): + def signal(self, sig: int) -> None: if self.proc is None: return @@ -156,6 +159,10 @@ class ManagerProcess(ABC): if self.proc.exitcode is not None and self.proc.pid is not None: return + # Can't signal if we don't have a pid + if self.proc.pid is None: + return + cloudlog.info(f"sending signal {sig} to {self.name}") os.kill(self.proc.pid, sig) @@ -182,10 +189,10 @@ class NativeProcess(ManagerProcess): self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt - def prepare(self): + def prepare(self) -> None: pass - def start(self): + def start(self) -> None: # In case we only tried a non blocking stop we need to stop it before restarting if self.shutting_down: self.stop() @@ -212,12 +219,12 @@ class PythonProcess(ManagerProcess): self.sigkill = sigkill self.watchdog_max_dt = watchdog_max_dt - def prepare(self): + def prepare(self) -> None: if self.enabled: cloudlog.info(f"preimporting {self.module}") importlib.import_module(self.module) - def start(self): + def start(self) -> None: # In case we only tried a non blocking stop we need to stop it before restarting if self.shutting_down: self.stop() @@ -242,10 +249,10 @@ class DaemonProcess(ManagerProcess): self.enabled = enabled self.persistent = True - def prepare(self): + def prepare(self) -> None: pass - def start(self): + def start(self) -> None: params = Params() pid = params.get(self.param_name, encoding='utf-8') @@ -269,11 +276,11 @@ class DaemonProcess(ManagerProcess): params.put(self.param_name, str(proc.pid)) - def stop(self, retry=True, block=True): + def stop(self, retry=True, block=True) -> None: pass -def ensure_running(procs, started, driverview=False, not_run=None): +def ensure_running(procs: ValuesView[ManagerProcess], started: bool, driverview: bool=False, not_run: Optional[List[str]]=None) -> None: if not_run is None: not_run = [] @@ -284,7 +291,8 @@ def ensure_running(procs, started, driverview=False, not_run=None): p.stop(block=False) elif p.persistent: p.start() - elif p.driverview and driverview: + elif getattr(p, 'driverview', False) and driverview: + # TODO: why is driverview an argument here? can this be done with the name? p.start() elif started: p.start() diff --git a/selfdrive/pandad.py b/selfdrive/pandad.py index 7eef5c2a3..3b1e15f53 100755 --- a/selfdrive/pandad.py +++ b/selfdrive/pandad.py @@ -4,7 +4,7 @@ import os import usb1 import time import subprocess -from typing import List +from typing import List, NoReturn from functools import cmp_to_key from panda import DEFAULT_FW_FN, DEFAULT_H7_FW_FN, MCU_TYPE_H7, Panda, PandaDFU @@ -76,7 +76,7 @@ def panda_sort_cmp(a : Panda, b : Panda): # last resort: sort by serial number return a.get_usb_serial() < b.get_usb_serial() -def main() -> None: +def main() -> NoReturn: while True: try: # Flash all Pandas in DFU mode diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 9c0736391..8e24eb3cf 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -2,6 +2,7 @@ import random import threading import time from statistics import mean +from typing import Optional from cereal import log from common.params import Params, put_nonblocking @@ -135,7 +136,7 @@ class PowerMonitoring: except Exception: cloudlog.exception("Power monitoring calculation failed") - def _perform_integration(self, t, current_power): + def _perform_integration(self, t: float, current_power: float) -> None: with self.integration_lock: try: if self.last_measurement_time: @@ -150,14 +151,14 @@ class PowerMonitoring: cloudlog.exception("Integration failed") # Get the power usage - def get_power_used(self): + def get_power_used(self) -> int: return int(self.power_used_uWh) - def get_car_battery_capacity(self): + def get_car_battery_capacity(self) -> int: return int(self.car_battery_capacity_uWh) # See if we need to disable charging - def should_disable_charging(self, ignition, in_car, offroad_timestamp): + def should_disable_charging(self, ignition: bool, in_car: bool, offroad_timestamp: Optional[float]) -> bool: if offroad_timestamp is None: return False diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 28d21620f..4ddf37f41 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -3,7 +3,7 @@ import datetime import os import time from pathlib import Path -from typing import Dict, Optional, Tuple +from typing import Dict, NoReturn, Optional, Tuple from collections import namedtuple, OrderedDict import psutil @@ -152,7 +152,7 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex set_offroad_alert(offroad_alert, show_alert, extra_text) -def thermald_thread(): +def thermald_thread() -> NoReturn: pm = messaging.PubMaster(['deviceState']) @@ -163,11 +163,11 @@ def thermald_thread(): fan_speed = 0 count = 0 - onroad_conditions = { + onroad_conditions: Dict[str, bool] = { "ignition": False, } - startup_conditions = {} - startup_conditions_prev = {} + startup_conditions: Dict[str, bool] = {} + startup_conditions_prev: Dict[str, bool] = {} off_ts = None started_ts = None @@ -424,7 +424,7 @@ def thermald_thread(): count += 1 -def main(): +def main() -> NoReturn: thermald_thread() diff --git a/selfdrive/timezoned.py b/selfdrive/timezoned.py index 74da5fe35..6a7e9122c 100755 --- a/selfdrive/timezoned.py +++ b/selfdrive/timezoned.py @@ -3,6 +3,7 @@ import json import os import time import subprocess +from typing import NoReturn import requests from timezonefinder import TimezoneFinder @@ -30,7 +31,7 @@ def set_timezone(valid_timezones, timezone): cloudlog.exception(f"Error setting timezone to {timezone}") -def main(): +def main() -> NoReturn: params = Params() tf = TimezoneFinder() diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index e69de0093..df96c222c 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -7,6 +7,7 @@ import signal import subprocess import time import glob +from typing import NoReturn import sentry_sdk @@ -197,7 +198,7 @@ def report_tombstone_apport(fn): pass -def main(): +def main() -> NoReturn: clear_apport_folder() # Clear apport folder on start, otherwise duplicate crashes won't register initial_tombstones = set(get_tombstones()) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 695b84e15..1a8779861 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -370,7 +370,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: return new_version -def main(): +def main() -> None: params = Params() if params.get_bool("DisableUpdates"): @@ -400,7 +400,7 @@ def main(): overlay_init.unlink(missing_ok=True) first_run = True - last_fetch_time = 0 + last_fetch_time = 0.0 update_failed_count = 0 # Set initial params for offroad alerts