Enable more flake8 checks (#1602)

* enable some more flake8 checks

* some more quick ones

* bump opendbc

* e401

* e711 e712

* e115 e116

* e222

* e301

* remove that

* e129

* e701 e702

* e125 e131

* e227

* e306

* e262

* W503

* e713

* e704

* e731

* bump opendbc

* fix some e722

tools/carcontrols/joystick_test.py

@@ -51,7 +51,7 @@ pygame.joystick.init()
 textPrint = TextPrint()
 
 # -------- Main Program Loop -----------
-while done==False:
+while not done:
     # EVENT PROCESSING STEP
     for event in pygame.event.get(): # User did something
         if event.type == pygame.QUIT: # If user clicked close
@@ -122,4 +122,4 @@ while done==False:
 # Close the window and quit.
 # If you forget this line, the program will 'hang'
 # on exit if running from IDLE.
-pygame.quit ()
+pygame.quit()

tools/lib/route.py

@@ -111,10 +111,12 @@ class RouteSegment(object):
     self.camera_path = camera_path
 
   @property
-  def name(self): return str(self._name)
+  def name(self):
+    return str(self._name)
 
   @property
-  def canonical_name(self): return self._name
+  def canonical_name(self):
+    return self._name
 
 class RouteSegmentName(object):
   def __init__(self, name_str):
@@ -123,6 +125,8 @@ class RouteSegmentName(object):
     self._num = int(num_str)
 
   @property
-  def segment_num(self): return self._num
+  def segment_num(self):
+    return self._num
 
-  def __str__(self): return self._segment_name_str
+  def __str__(self):
+    return self._segment_name_str

tools/lib/route_framereader.py

@@ -82,5 +82,8 @@ class RouteFrameReader(object):
     for fr in frs:
       fr.close()
 
-  def __enter__(self): return self
-  def __exit__(self, type, value, traceback): self.close()
+  def __enter__(self):
+    return self
+
+  def __exit__(self, type, value, traceback):
+    self.close()

tools/replay/lib/ui_helpers.py

@@ -73,7 +73,7 @@ def draw_path(y, x, color, img, calibration, top_down, lid_color=None):
     uv_model > 0, axis=1), uv_model[:, 0] < img.shape[1] - 1, uv_model[:, 1] <
                                                   img.shape[0] - 1))]
 
-  for i, j  in ((-1, 0), (0, -1), (0, 0), (0, 1), (1, 0)):
+  for i, j in ((-1, 0), (0, -1), (0, 0), (0, 1), (1, 0)):
     img[uv_model_dots[:, 1] + i, uv_model_dots[:, 0] + j] = color
 
   # draw lidar path point on lidar
@@ -88,12 +88,12 @@ def draw_path(y, x, color, img, calibration, top_down, lid_color=None):
 def draw_steer_path(speed_ms, curvature, color, img,
                     calibration, top_down, VM, lid_color=None):
   path_x = np.arange(101.)
-  path_y =  np.multiply(path_x, np.tan(np.arcsin(np.clip(path_x * curvature, -0.999, 0.999)) / 2.))
+  path_y = np.multiply(path_x, np.tan(np.arcsin(np.clip(path_x * curvature, -0.999, 0.999)) / 2.))
 
   draw_path(path_y, path_x, color, img, calibration, top_down, lid_color)
 
 def draw_lead_car(closest, top_down):
-  if closest != None:
+  if closest is not None:
     closest_y = int(round(UP.lidar_car_y - closest * UP.lidar_zoom))
     if closest_y > 0:
       top_down[1][int(round(UP.lidar_car_x - METER_WIDTH * 2)):int(
@@ -118,12 +118,10 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
                     "p": (0,1,1),
                     "m": (1,0,1) }
 
-  if bigplots == True:
+  if bigplots:
     fig = plt.figure(figsize=(6.4, 7.0))
-  elif bigplots == False:
-    fig = plt.figure()
   else:
-    fig = plt.figure(figsize=bigplots)
+    fig = plt.figure()
 
   fig.set_facecolor((0.2,0.2,0.2))
 
@@ -135,7 +133,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
     ax.patch.set_facecolor((0.4, 0.4, 0.4))
     axs.append(ax)
 
-  plots = [] ;idxs = [] ;plot_select = []
+  plots, idxs, plot_select = [], [], []
   for i, pl_list in enumerate(plot_names):
     for j, item in enumerate(pl_list):
       plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],

tools/replay/unlogger.py

@@ -341,15 +341,19 @@ def get_arg_parser():
   parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?",
                       help="The route whose messages will be published.")
   parser.add_argument("data_dir", nargs='?', default=os.getenv('UNLOGGER_DATA_DIR'),
-		      help="Path to directory in which log and camera files are located.")
+          help="Path to directory in which log and camera files are located.")
 
   parser.add_argument("--no-loop", action="store_true", help="Stop at the end of the replay.")
 
-  key_value_pair = lambda x: x.split("=")
+  def key_value_pair(x):
+    return x.split("=")
+
   parser.add_argument("address_mapping", nargs="*", type=key_value_pair,
       help="Pairs <service>=<zmq_addr> to publish <service> on <zmq_addr>.")
 
-  comma_list = lambda x: x.split(",")
+  def comma_list(x):
+    return x.split(",")
+
   to_mock_group = parser.add_mutually_exclusive_group()
   to_mock_group.add_argument("--min", action="store_true", default=os.getenv("MIN"))
   to_mock_group.add_argument("--enabled", default=os.getenv("ENABLED"), type=comma_list)

tools/sim/bridge.py

@@ -200,7 +200,7 @@ def go(q):
     speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) * 3.6
     can_function(pm, speed, fake_wheel.angle, rk.frame, cruise_button=cruise_button, is_engaged=is_openpilot_engaged)
 
-    if rk.frame%1 == 0: # 20Hz?
+    if rk.frame % 1 == 0: # 20Hz?
       throttle_op, brake_op, steer_torque_op = sendcan_function(sendcan)
       # print(" === torq, ",steer_torque_op, " ===")
       if is_openpilot_engaged:

tools/sim/lib/can.py

@@ -28,8 +28,8 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
 
   msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
 
-  values = {"COUNTER_PEDAL": idx&0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx&0xF}, -1)[2][:-1])
+  values = {"COUNTER_PEDAL": idx & 0xF}
+  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
   values["CHECKSUM_PEDAL"] = checksum
   msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
 
@@ -56,7 +56,7 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
   msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
 
   # radar
-  if idx%5 == 0:
+  if idx % 5 == 0:
     msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
     for i in range(16):
       msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))

tools/sim/lib/manual_ctrl.py

@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 # set up wheel
-import os, struct, array
+import array
+import os
+import struct
 from fcntl import ioctl
 
 # Iterate over the joystick devices.

tools/webcam/accept_terms.py

@@ -6,4 +6,4 @@ if __name__ == '__main__':
   params = Params()
   params.put("HasAcceptedTerms", str(terms_version, 'utf-8'))
   params.put("CompletedTrainingVersion", str(training_version, 'utf-8'))
-  print("Terms Accepted!")
+  print("Terms Accepted!")