Pyupgrade 3.6: Update syntax with Python 3.6+ features (#23305)

Updated Python code with Python 3.6+ features:
- utf-8 encoding is now the default (PEP 3120)
- Replace list comprehensions by Generator Expressions (PEP 289)
- Replace yield loop by yield from (PEP 380)
- Remove the (object) subclass when defining a class
- Replace the IOError alias by OSError (PEP 3151)
- Define sets with curly braces {} instead of set()
- Remove "r" parameter from open function, which is default

Co-Authored-By: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-Authored-By: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>

Co-authored-by: Adeeb Shihadeh <8762862+adeebshihadeh@users.noreply.github.com>
Co-authored-by: GregorKikelj <96022003+GregorKikelj@users.noreply.github.com>
old-commit-hash: 332f568a8241fba9459cb70c76840b9670e6993a

selfdrive/debug/cpu_usage_stat.py

@@ -118,6 +118,6 @@ if __name__ == "__main__":
       l.sort(key=lambda x: -x[1])
       for x in l:
         print(x[2])
-      print('avg sum: {0:.2%} over {1} samples {2} seconds\n'.format(
+      print('avg sum: {:.2%} over {} samples {} seconds\n'.format(
         sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL
       ))

selfdrive/debug/internal/sensor_test_bootloop.py

@@ -17,7 +17,7 @@ except PermissionError:
   print("WARNING: failed to make /dev/shm")
 
 try:
-  with open('/tmp/sensor-test-results.json', 'r') as infile:
+  with open('/tmp/sensor-test-results.json') as infile:
     data = json.load(infile)
 except Exception:
   data = {'sensor-pass': 0, 'sensor-fail': 0}

selfdrive/debug/run_process_on_route.py

@@ -23,7 +23,7 @@ if __name__ == "__main__":
   outputs = replay_process(cfg, inputs)
 
   # Remove message generated by the process under test and merge in the new messages
-  produces = set(o.which() for o in outputs)
+  produces = {o.which() for o in outputs}
   inputs = [i for i in inputs if i.which() not in produces]
   outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)