Run mypy commit hook (#1591)

* run mypy commit hook

* fix mypy errors
old-commit-hash: 3d08dcc3b27936cb14c0eae63605be9a6c077380

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 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 common.params import Params
 from selfdrive.car.chrysler.values import CAR as CHRYSLER
-from selfdrive.car.subaru.values import CAR as SUBARU
-from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
+from selfdrive.car.fingerprints import all_known_cars
+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'] = ""