pre-commit pylint (#1580)

* "The commit-hook project sounds interesting though. I would definitely merge something that runs flake8 and pylint on the modified files!"
-  pd0wm, https://github.com/commaai/openpilot/pull/1575#issuecomment-634974344

* add pylint to pre-commit and make everything pass

* Remove uncommented stuff

Co-authored-by: J <user@4800.lan>
old-commit-hash: bd06434243

.pre-commit-config.yaml

@@ -0,0 +1,18 @@
+repos:
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: master
+    hooks:
+    -   id: check-ast
+    -   id: check-json
+    -   id: check-xml
+    -   id: check-yaml
+-   repo: local
+    hooks:
+    -   id: pylint
+        name: pylint
+        entry: pylint
+        language: system
+        types: [python]
+        exclude: '^(pyextra)|(external)/'
+        args:
+        - --disable=R,C,W

.pylintrc

@@ -3,7 +3,7 @@
 # A comma-separated list of package or module names from where C extensions may
 # be loaded. Extensions are loading into the active Python interpreter and may
 # run arbitrary code
-extension-pkg-whitelist=scipy
+extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
 
 # Add files or directories to the blacklist. They should be base names, not
 # paths.

Pipfile

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:48daf8ab5c86410503faaec54272993937b8dc2fd6793243689e91872f53136f
-size 2026
+oid sha256:c4ea33acc8b1f639f0719f436989886263a67271decbcf29ab8907208161da03
+size 2043

Pipfile.lock

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:6268aff3b5943f5f279e1c0c89f17914309d6245cfe5de3c64c8cd75c3acadda
-size 156137
+oid sha256:34b9162abbc667c0b14f418f43668422491613c32bfe8a7d8da86b3fc256350f
+size 165941

common/url_file.py

@@ -1,3 +1,5 @@
+# pylint: skip-file
+
 import os
 import time
 import tempfile

common/window.py

@@ -27,10 +27,10 @@ class Window():
   def getkey(self):
     while 1:
       event = pygame.event.wait()
-      if event.type == QUIT:
+      if event.type == pygame.QUIT:
         pygame.quit()
         sys.exit()
-      if event.type == KEYDOWN:
+      if event.type == pygame.KEYDOWN:
         return event.key
 
   def getclick(self):
@@ -47,4 +47,3 @@ if __name__ == "__main__":
     print("draw")
     img += 1
     win.draw(img)
-

scripts/waste.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from multiprocessing import Process
-from setproctitle import setproctitle
+from setproctitle import setproctitle  # pylint: disable=no-name-in-module
 import os
 import numpy as np
 from common.realtime import sec_since_boot
@@ -32,4 +32,3 @@ def main(gctx=None):
 
 if __name__ == "__main__":
   main()
-

selfdrive/controls/tests/test_clustering.py

@@ -1,3 +1,5 @@
+# pylint: skip-file
+
 import time
 import unittest
 import numpy as np

selfdrive/debug/internal/cycle_alerts.py

@@ -1,50 +0,0 @@
-# USAGE: python cycle_alerts.py [duration_millis=1000]
-# Then start manager
-
-import argparse
-import time
-
-import cereal.messaging as messaging
-from selfdrive.controls.lib.alerts import ALERTS
-
-def now_millis(): return time.time() * 1000
-
-default_alerts = sorted(ALERTS, key=lambda alert: (alert.alert_size, len(alert.alert_text_2)))
-
-def cycle_alerts(duration_millis, alerts=None):
-    if alerts is None:
-      alerts = default_alerts
-
-    controls_state = messaging.pub_sock('controlsState')
-
-    last_pop_millis = now_millis()
-    alert = alerts.pop()
-    while 1:
-        if (now_millis() - last_pop_millis) > duration_millis:
-            alerts.insert(0, alert)
-            alert = alerts.pop()
-            last_pop_millis = now_millis()
-            print('sending {}'.format(str(alert)))
-
-        dat = messaging.new_message('controlsState')
-
-        dat.controlsState.alertType = alert.alert_type
-        dat.controlsState.alertText1 = alert.alert_text_1
-        dat.controlsState.alertText2 = alert.alert_text_2
-        dat.controlsState.alertSize = alert.alert_size
-        dat.controlsState.alertStatus = alert.alert_status
-        dat.controlsState.alertSound = alert.audible_alert
-        controls_state.send(dat.to_bytes())
-
-        time.sleep(0.01)
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser()
-    parser.add_argument('--duration', type=int, default=1000)
-    parser.add_argument('--alert-types', nargs='+')
-    args = parser.parse_args()
-    alerts = None
-    if args.alert_types:
-      alerts = [next(a for a in ALERTS if a.alert_type==alert_type) for alert_type in args.alert_types]
-
-    cycle_alerts(args.duration, alerts=alerts)

selfdrive/debug/internal/sounds/test_sound_stability.py

@@ -6,7 +6,7 @@ import datetime
 import random
 
 from common.basedir import BASEDIR
-from selfdrive import messaging
+import cereal.messaging as messaging
 
 if __name__ == "__main__":
 

selfdrive/debug/internal/test_paramsd.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# pylint: skip-file
+
 import numpy as np
 import math
 from tqdm import tqdm

selfdrive/locationd/models/loc_kf.py

@@ -443,8 +443,6 @@ class LocKalman():
       r = self.predict_and_update_orb_features(data, t, kind)
     elif kind == ObservationKind.MSCKF_TEST:
       r = self.predict_and_update_msckf_test(data, t, kind)
-    elif kind == ObservationKind.FEATURE_TRACK_TEST:
-      r = self.predict_and_update_feature_track_test(data, t, kind)
     elif kind == ObservationKind.ODOMETRIC_SPEED:
       r = self.predict_and_update_odo_speed(data, t, kind)
     else:

selfdrive/loggerd/ethernetsniffer.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# pylint: skip-file
+
 import cereal.messaging as messaging
 import pcap
 
@@ -13,4 +15,3 @@ def main():
 
 if __name__ == "__main__":
   main()
-

selfdrive/test/process_replay/inject_model.py

@@ -85,8 +85,3 @@ def inject_model(msgs, segment_name):
   assert abs(len(new_msgs) - len(list(msgs))) < 2
 
   return new_msgs
-
-
-
-if __name__ == "__main__":
-  inject_model("0375fdf7b1ce594d|2019-06-13--08-32-25/3")

selfdrive/test/test_eon_fan.py

@@ -2,7 +2,7 @@
 
 import sys
 import time
-from selfdrive.thermald import setup_eon_fan, set_eon_fan
+from selfdrive.thermald.thermald import setup_eon_fan, set_eon_fan
 
 if __name__ == "__main__":
   val = 0
@@ -18,5 +18,3 @@ if __name__ == "__main__":
     time.sleep(2)
     val += 1
     val %= 4
-
-

selfdrive/test/test_leeco_alt_fan.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# pylint: skip-file
+
 import time
 from smbus2 import SMBus
 
@@ -18,4 +20,3 @@ def setup_leon_fan():
   bus.close()
 
 setup_leon_fan()
-

selfdrive/test/test_leeco_fan.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# pylint: skip-file
+
 import time
 from smbus2 import SMBus
 
@@ -20,4 +22,3 @@ def setup_leon_fan():
   bus.close()
 
 setup_leon_fan()
-

tools/lib/framereader.py

@@ -1,3 +1,5 @@
+# pylint: skip-file
+
 import os
 import sys
 import json

tools/lib/kbhit.py

@@ -1,18 +1,17 @@
 #!/usr/bin/env python
-import os
 import sys
 import termios
 import atexit
 from select import select
 
+
 class KBHit:
-  
   def __init__(self):
     '''Creates a KBHit object that you can call to do various keyboard things.
     '''
 
-    self.set_kbhit_terminal()      
-  
+    self.set_kbhit_terminal()
+
   def set_kbhit_terminal(self):
     # Save the terminal settings
     self.fd = sys.stdin.fileno()
@@ -29,12 +28,8 @@ class KBHit:
   def set_normal_term(self):
     ''' Resets to normal terminal.  On Windows this is a no-op.
     '''
-    
-    if os.name == 'nt':
-      pass
-    
-    else:
-      termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
+
+    termios.tcsetattr(self.fd, termios.TCSAFLUSH, self.old_term)
 
 
   def getch(self):
@@ -42,7 +37,7 @@ class KBHit:
       Should not be called in the same program as getarrow().
     '''
     return sys.stdin.read(1)
-            
+
 
   def getarrow(self):
     ''' Returns an arrow-key code after kbhit() has been called. Codes are
@@ -52,29 +47,23 @@ class KBHit:
     3 : left
     Should not be called in the same program as getch().
     '''
-    
-    if os.name == 'nt':
-      msvcrt.getch() # skip 0xE0
-      c = msvcrt.getch()
-      vals = [72, 77, 80, 75]
-      
-    else:
-      c = sys.stdin.read(3)[2]
-      vals = [65, 67, 66, 68]
-    
+
+    c = sys.stdin.read(3)[2]
+    vals = [65, 67, 66, 68]
+
     return vals.index(ord(c.decode('utf-8')))
-    
+
 
   def kbhit(self):
     ''' Returns True if keyboard character was hit, False otherwise.
-    '''    
+    '''
     dr,dw,de = select([sys.stdin], [], [], 0)
     return dr != []
-  
-  
-# Test    
+
+
+# Test
 if __name__ == "__main__":
-  
+
   kb = KBHit()
 
   print('Hit any key, or ESC to exit')
@@ -86,7 +75,5 @@ if __name__ == "__main__":
       if ord(c) == 27: # ESC
         break
       print(c)
-       
-  kb.set_normal_term()
-    
 
+  kb.set_normal_term()

tools/lib/mkvparse/mkvgen.py

@@ -4,7 +4,7 @@ import random
 import math
 
 # Simple hacky Matroska generator
-# Reads mp3 file "q.mp3" and jpeg images from img/0.jpg, img/1.jpg and so on and 
+# Reads mp3 file "q.mp3" and jpeg images from img/0.jpg, img/1.jpg and so on and
 # writes Matroska file with mjpeg and mp3 to stdout
 
 # License=MIT
@@ -71,7 +71,7 @@ def random_uid():
     def rint():
         return int(random.random()*(0x100**4))
     return ben(rint()) + ben(rint()) + ben(rint()) + ben(rint())
-    
+
 
 def example():
     write_ebml_header(sys.stdout, "matroska", 2, 2)
@@ -133,7 +133,7 @@ def example():
     def mp3framesgenerator(f):
         debt=""
         while True:
-            for i in xrange(0,len(debt)+1):
+            for i in range(0,len(debt)+1):
                 if i >= len(debt)-1:
                     debt = debt + f.read(8192)
                     break
@@ -144,13 +144,13 @@ def example():
                         #   sys.stderr.write("len="+str(i)+"\n")
                         debt = debt[i:]
                         break
-                    
+
 
     mp3 = mp3framesgenerator(mp3file)
-    mp3.next()
+    next(mp3)
 
 
-    for i in xrange(0,530):
+    for i in range(0,530):
         framefile = open("img/"+str(i)+".jpg", "rb")
         framedata = framefile.read()
         framefile.close()
@@ -168,8 +168,8 @@ def example():
                     + framedata
                     )))
 
-        for u in xrange(0,4):
-            mp3f=mp3.next()
+        for u in range(0,4):
+            mp3f=next(mp3)
             if random.random()<1:
                 sys.stdout.write(ebml_element(0x1F43B675, "" # Cluster
                     + ebml_element(0xE7, ben(i*26*4+u*26)) # TimeCode, uint, milliseconds

tools/lib/mkvparse/mkvindex.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-# Copyright (c) 2016, Comma.ai, Inc.
+# flake8: noqa
 
 import re
 import binascii
@@ -15,7 +15,7 @@ class MatroskaIndex(mkvparse.MatroskaHandler):
     self.frameindex = []
 
   def tracks_available(self):
-    _, self.config_record = self.tracks[1]['CodecPrivate']
+    _, self.config_record = self.tracks[1]['CodecPrivate']  # pylint: disable=no-member
 
   def frame(self, track_id, timestamp, pos, length, more_laced_frames, duration,
         keyframe, invisible, discardable):
@@ -62,4 +62,3 @@ def simple_gen(of, config_record, w, h, framedata):
     + ebml_element(0xE7, ben(0)) # TimeCode, uint, milliseconds
     # + ebml_element(0xA7, ben(0)) # Position, uint
     + ''.join(blocks)))
-

tools/lib/mkvparse/mkvparse.py

@@ -7,6 +7,7 @@
 # No proper EOF handling unfortunately
 
 # See "mkvuser.py" for the example
+# pylint: skip-file
 
 import traceback
 from struct import unpack
@@ -15,7 +16,7 @@ import sys
 import datetime
 
 if sys.version < '3':
-    range=xrange
+    range=xrange # pylint disable=undefined-variable
 else:
     #identity=lambda x:x
     def ord(something):
@@ -159,7 +160,7 @@ def read_fixedlength_number(f, length, signed=False):
     buf = f.read(length)
     (r, pos) = parse_fixedlength_number(buf, 0, length, signed)
     return r
-    
+
 def read_ebml_element_header(f):
     '''
         Read Element ID and size
@@ -180,10 +181,10 @@ class EbmlElementType:
     FLOAT=7
     DATE=8
 
-    JUST_GO_ON=10 # For "Segment". 
-    # Actually MASTER, but don't build the tree for all subelements, 
+    JUST_GO_ON=10 # For "Segment".
+    # Actually MASTER, but don't build the tree for all subelements,
     # interpreting all child elements as if they were top-level elements
-    
+
 
 EET=EbmlElementType
 
@@ -510,7 +511,7 @@ def read_ebml_element_tree(f, total_size):
     while(total_size>0):
         (id_, size, hsize) = read_ebml_element_header(f)
         if size == -1:
-            sys.stderr.write("mkvparse: Element %x without size? Damaged data? Skipping %d bytes\n" % (id_, size, total_size))
+            sys.stderr.write("mkvparse: Element %x without size? Damaged data? Skipping %d bytes\n" % (id_, size, total_size)) # pylint disable=too-many-format-args
             f.read(total_size);
             break;
         if size>total_size:
@@ -523,9 +524,9 @@ def read_ebml_element_tree(f, total_size):
             (type_, name) = element_types_names[id_]
         data = read_simple_element(f, type_, size)
         total_size-=(size+hsize)
-        childs.append((name, (type_, data))) 
+        childs.append((name, (type_, data)))
     return childs
-                
+
 
 class MatroskaHandler:
     """ User for mkvparse should override these methods """
@@ -569,7 +570,7 @@ def handle_block(buffer, buffer_pos, handler, cluster_timecode, timecode_scale=1
         handler.frame(tracknum, block_timecode, buffer_pos+pos, len(buffer)-pos,
                       0, duration, f_keyframe, f_invisible, f_discardable)
         return
-    
+
     numframes = ord(buffer[pos]); pos+=1
     numframes+=1
 
@@ -628,9 +629,9 @@ def resync(f):
             if b2 == b"\x54\xAE\x6B":
                 (seglen ,x )= read_matroska_number(f)
                 return (0x1654AE6B, seglen, x+4) # tracks
-                
-                
-    
+
+
+
 
 def mkvparse(f, handler):
     '''
@@ -655,14 +656,14 @@ def mkvparse(f, handler):
                     (id_, size, hsize) = read_ebml_element_header(f)
                 except StopIteration:
                     break;
-                if not (id_ in element_types_names): 
+                if not (id_ in element_types_names):
                     sys.stderr.write("mkvparse: Unknown element with id %x and size %d\n"%(id_, size))
                     (resync_element_id, resync_element_size, resync_element_headersize) = resync(f)
                     if resync_element_id:
                         continue;
                     else:
                         break;
-            else: 
+            else:
                 id_ = resync_element_id
                 size=resync_element_size
                 hsize=resync_element_headersize
@@ -686,7 +687,7 @@ def mkvparse(f, handler):
                 continue;
             else:
                 break;
-        
+
         if name=="EBML" and type(data) == list:
             d = dict(tree)
             if 'EBMLReadVersion' in d:
@@ -694,12 +695,12 @@ def mkvparse(f, handler):
             if 'DocTypeReadVersion' in d:
                 if d['DocTypeReadVersion'][1]>2: sys.stderr.write("mkvparse: Warning: DocTypeReadVersion too big\n")
             dt = d['DocType'][1]
-            if dt != "matroska" and dt != "webm": 
+            if dt != "matroska" and dt != "webm":
                 sys.stderr.write("mkvparse: Warning: EBML DocType is not \"matroska\" or \"webm\"")
         elif name=="Info" and type(data) == list:
             handler.segment_info = tree
             handler.segment_info_available()
-            
+
             d = dict(tree)
             if "TimecodeScale" in d:
                 timecode_scale = d["TimecodeScale"][1]

tools/replay/unlog_segment.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+# pylint: skip-file
+
 import argparse
 import bisect
 import select

tools/replay/unlogger.py

@@ -421,7 +421,7 @@ def main(argv):
         if not p.is_alive():
           [p.terminate() for p in subprocesses.values()]
           exit()
-      signal.signal(signal.SIGCHLD, signal.SIGIGN)
+      signal.signal(signal.SIGCHLD, signal.SIG_IGN)
     signal.signal(signal.SIGCHLD, exit_if_children_dead)
 
     if args.interactive:

tools/sim/bridge.py

@@ -79,7 +79,7 @@ def go(q):
   threading.Thread(target=health_function).start()
   threading.Thread(target=fake_driver_monitoring).start()
 
-  import carla
+  import carla  # pylint: disable=import-error
   client = carla.Client("127.0.0.1", 2000)
   client.set_timeout(5.0)
   world = client.load_world('Town04')
@@ -231,7 +231,7 @@ if __name__ == "__main__":
     print("WARNING: NO CARLA")
     while 1:
       time.sleep(1)
-    
+
   from multiprocessing import Process, Queue
   q = Queue()
   p = Process(target=go, args=(q,))
@@ -246,4 +246,3 @@ if __name__ == "__main__":
     # start input poll for keyboard
     from lib.keyboard_ctrl import keyboard_poll_thread
     keyboard_poll_thread(q)
-

tools/sim/lib/can.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
 from opendbc.can.packer import CANPacker
-from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp  # pylint: disable=no-name-in-module
 from selfdrive.car.honda.values import FINGERPRINTS, CAR
 from selfdrive.car import crc8_pedal
 import math
@@ -88,4 +88,3 @@ def sendcan_function(sendcan):
     steer_torque = 0.0
 
   return (gas, brake, steer_torque)
-

tools/sim/lib/manual_ctrl.py

@@ -132,8 +132,8 @@ def wheel_poll_thread(q):
   print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
 
   # Enable FF
-  import evdev
-  from evdev import ecodes, InputDevice, ff
+  import evdev  # pylint: disable=import-error
+  from evdev import ecodes, InputDevice, ff  # pylint: disable=import-error
   device = evdev.list_devices()[0]
   evtdev = InputDevice(device)
   val = 24000

tools/streamer/streamerd.py

@@ -1,4 +1,6 @@
 #!/usr/bin/env python
+# pylint: skip-file
+
 import os
 import sys
 import zmq