[bot] Update Python packages (#34140)

* Update Python packages

* pin

* fstring

* this too

---------

Co-authored-by: Vehicle Researcher <user@comma.ai>
Co-authored-by: Maxime Desroches <desroches.maxime@gmail.com>

pyproject.toml

@@ -31,6 +31,9 @@ dependencies = [
   # body / webrtcd
   "aiohttp",
   "aiortc",
+  # aiortc does not put an upper bound on pyopenssl and is now incompatible
+  # with the latest release
+  "pyopenssl < 24.3.0",
   "pyaudio",
 
   # panda
@@ -239,6 +242,7 @@ exclude = [
   "cereal",
   "panda",
   "opendbc",
+  "opendbc_repo",
   "rednose_repo",
   "tinygrad_repo",
   "teleoprtc",

scripts/code_stats.py

@@ -37,7 +37,7 @@ for f in sorted(pyf):
   lns = len(src.split("\n"))
   tree = ast.parse(src)
   Analyzer().visit(tree)
-  print("%5d %s %s" % (lns, f, xbit))
+  print(f"{lns:5d} {f} {xbit}")
   if 'test' in f:
     testlns += lns
   elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
@@ -47,8 +47,8 @@ for f in sorted(pyf):
   else:
     tlns += lns
 
-print("%d lines of openpilot python" % tlns)
-print("%d lines of car ports" % carlns)
-print("%d lines of tools/scripts/debug" % scriptlns)
-print("%d lines of tests" % testlns)
+print(f"{tlns} lines of openpilot python")
+print(f"{carlns} lines of car ports")
+print(f"{scriptlns} lines of tools/scripts/debug")
+print(f"{testlns} lines of tests")
 #print(sorted(list(imps)))

scripts/waste.py

@@ -16,9 +16,9 @@ def waste(core):
   j = 0
   while 1:
     if (i % 100) == 0:
-      setproctitle("%3d: %8d" % (core, i))
+      setproctitle(f"{core:3d}: {i:8d}")
       lt = time.monotonic()
-      print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
+      print(f"{core:3d}: {i:8d} {lt-st:f}  {j:.2f}")
       st = lt
     i += 1
     j = np.sum(np.matmul(m1, m2))

selfdrive/debug/can_printer.py

@@ -28,7 +28,7 @@ def can_printer(bus, max_msg, addr, ascii_decode):
         x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
         freq = len(msgs[_addr]) / (time.monotonic() - start)
         if max_msg is None or _addr < max_msg:
-          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
+          dd += f"{_addr:04X}({_addr:4d})({len(msgs[_addr]):6d})({freq:3}dHz) {x.ljust(20)} {a}\n"
       print(dd)
       lp = time.monotonic()
 

selfdrive/debug/fingerprint_from_route.py

@@ -22,7 +22,7 @@ def get_fingerprint(lr):
           msgs[c.address] = len(c.dat)
 
   # show CAN fingerprint
-  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
   print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n")
   print(fingerprint)
 

selfdrive/debug/get_fingerprint.py

@@ -25,7 +25,7 @@ while True:
     if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
       msgs[c.address] = len(c.dat)
 
-  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
+  fingerprint = ', '.join(f"{v[0]}: {v[1]}" for v in sorted(msgs.items()))
 
   print(f"number of messages {len(msgs)}:")
   print(f"fingerprint {fingerprint}")

selfdrive/selfdrived/tests/test_alerts.py

@@ -42,7 +42,7 @@ class TestAlerts:
 
     for name, e in events.items():
       if not name.endswith("DEPRECATED"):
-        fail_msg = "%s @%d not in EVENTS" % (name, e)
+        fail_msg = f"{name} @{e} not in EVENTS"
         assert e in EVENTS.keys(), fail_msg
 
   # ensure alert text doesn't exceed allowed width

system/hardware/pc/hardware.py

@@ -21,7 +21,7 @@ class Pc(HardwareBase):
     print("uninstall")
 
   def get_imei(self, slot):
-    return "%015d" % random.randint(0, 1 << 32)
+    return f"{random.randint(0, 1 << 32):015d}"
 
   def get_serial(self):
     return "cccccccc"

system/hardware/tici/hardware.py

@@ -323,8 +323,8 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    return ThermalConfig(cpu=(["cpu%d-silver-usr" % i for i in range(4)] +
-                              ["cpu%d-gold-usr" % i for i in range(4)], 1000),
+    return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
+                              [f"cpu{i}-gold-usr" for i in range(4)], 1000),
                          gpu=(("gpu0-usr", "gpu1-usr"), 1000),
                          mem=("ddr-usr", 1000),
                          bat=(None, 1),

system/qcomgpsd/qcomgpsd.py

@@ -273,7 +273,7 @@ def main() -> NoReturn:
 
     (pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
     if pending_msgs > 0:
-      cloudlog.debug("have %d pending messages" % pending_msgs)
+      cloudlog.debug(f"have {pending_msgs} pending messages")
     assert log_outer_length == len(inner_log_packet)
 
     (log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
@@ -283,7 +283,7 @@ def main() -> NoReturn:
       continue
 
     if DEBUG:
-      print("%.4f: got log: %x len %d" % (time.time(), log_type, len(log_payload)))
+      print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}")
 
     if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT:
       msg = messaging.new_message('qcomGnss', valid=True)

system/qcomgpsd/structs.py

@@ -322,7 +322,7 @@ def parse_struct(ss):
       cnt = int(nam.split("[")[1].split("]")[0])
       st += st[-1]*(cnt-1)
       for i in range(cnt):
-        nams.append("%s[%d]" % (nam.split("[")[0], i))
+        nams.append(f'{nam.split("[")[0]}[{i}]')
     else:
       nams.append(nam)
   return st, nams

system/ubloxd/tests/print_gps_stats.py

@@ -13,7 +13,7 @@ if __name__ == "__main__":
       cnos = []
       for m in ug.measurementReport.measurements:
         cnos.append(m.cno)
-      print("Sats: %d   Accuracy: %.2f m   cnos" % (ug.measurementReport.numMeas, gle.horizontalAccuracy), sorted(cnos))
+      print(f"Sats: {ug.measurementReport.numMeas}   Accuracy: {gle.horizontalAccuracy:.2f} m   cnos", sorted(cnos))
     except Exception:
       pass
     sm.update()

tools/camerastream/compressed_vipc.py

@@ -101,9 +101,9 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
       pc_latency = (time.monotonic()-time_q[0])*1000
       time_q = time_q[1:]
       if debug:
-        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
-              % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
-                 process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+        print(f"{len(msgs):2d} {evta.idx.encodeId:4d} {evt.logMonoTime/1e9:.3f} {evta.idx.timestampEof/1e6:.3f} \
+            roll {frame_latency:6.2f} ms latency {process_latency:6.2f} ms + {network_latency:6.2f} ms + {pc_latency:6.2f} ms \
+            = {process_latency+network_latency+pc_latency:6.2f} ms", len(evta.data), sock_name)
 
 
 class CompressedVipc:

tools/latencylogger/latency_logger.py

@@ -168,9 +168,9 @@ def print_timestamps(timestamps, durations, start_times, relative):
       print("  "+service)
       events = timestamps[frame_id][service]
       for event, time in sorted(events, key = lambda x: x[1]):
-        print("    "+'%-53s%-53s' %(event, str((time-t0)/1e6)))
+        print("    "+f'{event:<53s}{str((time-t0)/1e6):<53s}')
       for event, time in durations[frame_id][service]:
-        print("    "+'%-53s%-53s' %(event, str(time*1000)))
+        print("    "+f'{event:<53s}{str(time*1000):<53s}')
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
   plt.rcParams.update({'font.size': 18})

tools/scripts/fetch_image_from_route.py

@@ -31,11 +31,11 @@ print("got api response")
 
 segments = r.json()[camera]
 if segment >= len(segments):
-  raise Exception("segment %d not found, got %d segments" % (segment, len(segments)))
+  raise Exception(f"segment {segment} not found, got {len(segments)} segments")
 
 fr = FrameReader(segments[segment])
 if frame >= fr.frame_count:
-  raise Exception("frame %d not found, got %d frames" % (frame, fr.frame_count))
+  raise Exception("frame {frame} not found, got {fr.frame_count} frames")
 
 im = Image.fromarray(fr.get(frame, count=1, pix_fmt="rgb24")[0])
 fn = f"uxxx_{route.replace('|', '_')}_{segment}_{frame}.png"

tools/sim/lib/manual_ctrl.py

@@ -133,8 +133,8 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
     button_name_list.append(btn_name)
     button_states[btn_name] = 0
 
-  print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list)))
-  print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list)))
+  print(f'{num_axes} axes found: {", ".join(axis_name_list)}')
+  print(f'{num_buttons} buttons found: {", ".join(button_name_list)}')
 
   # Enable FF
   import evdev