fix formatting!

examples/joystick.py

@@ -11,6 +11,7 @@ from kbhit import KBHit
 from opendbc.car.structs import CarControl
 from opendbc.car.panda_runner import PandaRunner
 
+
 class Keyboard:
   def __init__(self):
     self.kb = KBHit()
@@ -37,6 +38,7 @@ class Keyboard:
       return False
     return True
 
+
 class Joystick:
   def __init__(self, gamepad=False):
     # TODO: find a way to get this from API, perhaps "inputs" doesn't support it
@@ -72,10 +74,12 @@ class Joystick:
       return False
     return True
 
+
 def joystick_thread(joystick):
   while True:
     joystick.update()
 
+
 def main(joystick):
   threading.Thread(target=joystick_thread, args=(joystick,), daemon=True).start()
   with PandaRunner() as p:

examples/kbhit.py

@@ -6,6 +6,7 @@ from select import select
 
 STDIN_FD = sys.stdin.fileno()
 
+
 class KBHit:
   def __init__(self) -> None:
     self.set_kbhit_terminal()

opendbc/can/dbc.py

@@ -16,7 +16,6 @@ from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
 
 
-
 class SignalType:
   DEFAULT = 0
   COUNTER = 1
@@ -47,7 +46,6 @@ class Signal:
   calc_checksum: 'Callable[[int, Signal, bytearray], int] | None' = None
 
 
-
 @dataclass
 class Msg:
   name: str
@@ -70,6 +68,7 @@ SGM_RE = re.compile(r"^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d)([+-]) \(([0-9.+\-eE]
 VAL_RE = re.compile(r"^VAL_ (\w+) (\w+) (.*);")
 VAL_SPLIT_RE = re.compile(r'["]+')
 
+
 @dataclass
 class DBC:
   name: str

opendbc/can/parser.py

@@ -11,7 +11,6 @@ MAX_BAD_COUNTER = 5
 CAN_INVALID_CNT = 5
 
 
-
 def get_raw_value(dat: bytes | bytearray, sig: Signal) -> int:
   ret = 0
   i = sig.msb // 8
@@ -118,6 +117,7 @@ class VLDict(dict):
       self.parser._add_message(key)
     return super().__getitem__(key)
 
+
 class CANParser:
   def __init__(self, dbc_name: str, messages: list[tuple[str | int, int]], bus: int):
     self.dbc_name: str = dbc_name

opendbc/can/tests/benchmark.py

@@ -38,6 +38,7 @@ def _benchmark(checks, n):
   avg_nanos = et / len(can_msgs)
   print('[%d] %.1fms to pack, %.1fms to parse %s messages, avg: %dns' % (n, pack_dt/1e6, et/1e6, len(can_msgs), avg_nanos))
 
+
 if __name__ == "__main__":
   # python -m cProfile -s cumulative  benchmark.py
   _benchmark([('ACC_CONTROL', 10)], 1)

opendbc/can/tests/test_checksums.py

@@ -5,7 +5,7 @@ from opendbc.can import CANPacker, CANParser
 class TestCanChecksums:
 
   def verify_checksum(self, subtests, dbc_file: str, msg_name: str, msg_addr: int, test_messages: list[bytes],
-                      checksum_field: str = 'CHECKSUM', counter_field = 'COUNTER'):
+                      checksum_field: str = 'CHECKSUM', counter_field='COUNTER'):
     """
     Verify that opendbc calculates payload CRCs/checksums matching those received in known-good sample messages
     Depends on all non-zero bits in the sample message having a corresponding DBC signal, add UNKNOWN signals if needed

opendbc/can/tests/test_packer_parser.py

@@ -228,6 +228,7 @@ class TestCanParserPacker:
     packer = CANPacker(dbc_file)
 
     i = 0
+
     def send_msg(blank=False):
       nonlocal i
       i += 1

opendbc/car/__init__.py

@@ -77,6 +77,7 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
 
 DbcDict = dict[StrEnum, str]
 
+
 class Bus(StrEnum):
   pt = auto()
   cam = auto()

opendbc/car/ccp.py

@@ -4,6 +4,7 @@ import struct
 from enum import IntEnum, Enum
 from dataclasses import dataclass
 
+
 @dataclass
 class ExchangeStationIdsReturn:
   id_length: int
@@ -11,26 +12,31 @@ class ExchangeStationIdsReturn:
   available: int
   protected: int
 
+
 @dataclass
 class GetDaqListSizeReturn:
   list_size: int
   first_pid: int
 
+
 @dataclass
 class GetSessionStatusReturn:
   status: int
   info: int | None
 
+
 @dataclass
 class DiagnosticServiceReturn:
   length: int
   type: int
 
+
 @dataclass
 class ActionServiceReturn:
   length: int
   type: int
 
+
 class COMMAND_CODE(IntEnum):
   CONNECT = 0x01
   SET_MTA = 0x02
@@ -61,6 +67,7 @@ class COMMAND_CODE(IntEnum):
   PROGRAM_6 = 0x22
   DNLOAD_6 = 0x23
 
+
 COMMAND_RETURN_CODES = {
   0x00: "acknowledge / no error",
   0x01: "DAQ processor overload",
@@ -82,16 +89,20 @@ COMMAND_RETURN_CODES = {
   0x36: "resource/function not available",
 }
 
+
 class BYTE_ORDER(Enum):
   LITTLE_ENDIAN = '<'
   BIG_ENDIAN = '>'
 
+
 class CommandTimeoutError(Exception):
   pass
 
+
 class CommandCounterError(Exception):
   pass
 
+
 class CommandResponseError(Exception):
   def __init__(self, message, return_code):
     super().__init__()
@@ -101,8 +112,9 @@ class CommandResponseError(Exception):
   def __str__(self):
     return self.message
 
+
 class CcpClient:
-  def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, byte_order: BYTE_ORDER=BYTE_ORDER.BIG_ENDIAN, debug=False):
+  def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int = 0, byte_order: BYTE_ORDER = BYTE_ORDER.BIG_ENDIAN, debug=False):
     self.tx_addr = tx_addr
     self.rx_addr = rx_addr
     self.can_bus = bus

opendbc/car/chrysler/chryslercan.py

@@ -5,6 +5,7 @@ from opendbc.car.chrysler.values import RAM_CARS
 GearShifter = structs.CarState.GearShifter
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 
+
 def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
   # LKAS_HUD - Controls what lane-keeping icon is displayed
 

opendbc/car/chrysler/interface.py

@@ -18,7 +18,7 @@ class CarInterface(CarInterfaceBase):
     ret.dashcamOnly = candidate in RAM_HD
 
     # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
-    ret.radarUnavailable = True # Bus.radar not in DBC[candidate][Bus.radar]
+    ret.radarUnavailable = True  # Bus.radar not in DBC[candidate][Bus.radar]
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 

opendbc/car/chrysler/radar_interface.py

@@ -9,6 +9,7 @@ RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
 LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
+
 def _create_radar_can_parser(car_fingerprint):
   if Bus.radar not in DBC[car_fingerprint]:
     return None
@@ -28,6 +29,7 @@ def _create_radar_can_parser(car_fingerprint):
 
   return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
 
+
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
     return (address - RADAR_MSGS_C[0]) // 2
@@ -35,6 +37,7 @@ def _address_to_track(address):
     return (address - RADAR_MSGS_D[0]) // 2
   raise ValueError("radar received unexpected address %d" % address)
 
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)

opendbc/car/chrysler/values.py

@@ -18,6 +18,7 @@ class ChryslerFlags(IntFlag):
   # Detected flags
   HIGHER_MIN_STEERING_SPEED = 1
 
+
 @dataclass
 class ChryslerCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC)"

opendbc/car/common/conversions.py

@@ -1,5 +1,6 @@
 import numpy as np
 
+
 class Conversions:
   # Speed
   MPH_TO_KPH = 1.609344

opendbc/car/common/pid.py

@@ -1,6 +1,7 @@
 import numpy as np
 from numbers import Number
 
+
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p

opendbc/car/common/simple_kalman.py

@@ -38,7 +38,7 @@ class KF1D:
     # self.K = np.transpose(K)
 
   def update(self, meas):
-    #self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
+    # self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
     x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
     x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
     self.x0_0 = x0_0

opendbc/car/ford/carcontroller.py

@@ -85,7 +85,7 @@ class CarController(CarControllerBase):
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
     fcw_alert = hud_control.visualAlert == VisualAlert.fcw
 
-    ### acc buttons ###
+    # acc buttons ###
     if CC.cruiseControl.cancel:
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
@@ -97,7 +97,7 @@ class CarController(CarControllerBase):
     elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
 
-    ### lateral control ###
+    # lateral control ###
     # send steer msg at 20Hz
     if (self.frame % CarControllerParams.STEER_STEP) == 0:
       # Bronco and some other cars consistently overshoot curv requests
@@ -131,7 +131,7 @@ class CarController(CarControllerBase):
     if (self.frame % CarControllerParams.LKA_STEP) == 0:
       can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
 
-    ### longitudinal control ###
+    # longitudinal control ###
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       accel = actuators.accel
@@ -172,7 +172,7 @@ class CarController(CarControllerBase):
       self.accel = accel
       self.gas = gas
 
-    ### ui ###
+    # ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
     # send lkas ui msg at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:

opendbc/car/ford/radar_interface.py

@@ -150,7 +150,7 @@ class RadarInterface(RadarInterfaceBase):
         self.valid_cnt[ii] += 1
       else:
         self.valid_cnt[ii] = max(self.valid_cnt[ii] - 1, 0)
-      #print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
+      # print ii, self.valid_cnt[ii], cpt['VALID'], cpt['X_Rel'], cpt['Angle']
 
       # radar point only valid if there have been enough valid measurements
       if self.valid_cnt[ii] > 0:

opendbc/car/ford/tests/test_ford.py

@@ -133,7 +133,7 @@ class TestFordFW:
 
     # model year hint in between the range should match
     live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
-    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,})
+    candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw, })
     assert candidates == {expected_fingerprint}
 
     # unseen model year hint should not match

opendbc/car/ford/values.py

@@ -86,6 +86,7 @@ class FordCarDocs(CarDocs):
     if CP.carFingerprint in (CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_EXPEDITION_MK4):
       self.setup_video = "https://www.youtube.com/watch?v=MewJc9LYp9M"
 
+
 @dataclass
 class FordPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {
@@ -113,6 +114,7 @@ class FordCANFDPlatformConfig(FordPlatformConfig):
     super().init()
     self.flags |= FordFlags.CANFD
 
+
 @dataclass
 class FordF150LightningPlatform(FordCANFDPlatformConfig):
   def init(self):

opendbc/car/gm/carstate.py

@@ -177,4 +177,3 @@ class CarState(CarStateBase):
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
       Bus.loopback: CANParser(DBC[CP.carFingerprint][Bus.pt], loopback_messages, 128),
     }
-

opendbc/car/gm/gmcan.py

@@ -84,7 +84,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
 
     # TODO: this is to have GM bringing the car to complete stop,
     # but currently it conflicts with OP controls, so turned off. Not set by all cars
-    #elif near_stop:
+    # elif near_stop:
     #  mode = 0xb
 
   brake = (0x1000 - apply_brake) & 0xfff
@@ -137,7 +137,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
   spd = int(speed_ms * 16) & 0xfff
   accel = 0 & 0xfff
   # 0 if in park/neutral, 0x10 if in reverse, 0x08 for D/L
-  #stick = 0x08
+  # stick = 0x08
   near_range_cutoff = 0x27
   near_range_mode = 1 if spd <= near_range_cutoff else 0
   far_range_mode = 1 - near_range_mode

opendbc/car/gm/values.py

@@ -106,6 +106,7 @@ class GMASCMPlatformConfig(GMPlatformConfig):
     # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
     self.car_docs = []
 
+
 @dataclass
 class GMSDGMPlatformConfig(GMPlatformConfig):
   def init(self):
@@ -202,12 +203,14 @@ class CruiseButtons:
   MAIN = 5
   CANCEL = 6
 
+
 class AccState:
   OFF = 0
   ACTIVE = 1
   FAULTED = 3
   STANDSTILL = 4
 
+
 class CanBus:
   POWERTRAIN = 0
   OBSTACLE = 1

opendbc/car/honda/interface.py

@@ -88,7 +88,7 @@ class CarInterface(CarInterfaceBase):
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
-      ret.longitudinalActuatorDelay = 0.5 # s
+      ret.longitudinalActuatorDelay = 0.5  # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
@@ -200,7 +200,7 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.HONDA_E:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]  # TODO: can probably use some tuning
 
     else:
       raise ValueError(f"unsupported car {candidate}")

opendbc/car/honda/values.py

@@ -10,6 +10,7 @@ Ecu = structs.CarParams.Ecu
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 GearShifter = structs.CarState.GearShifter
 
+
 class CarControllerParams:
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
@@ -75,6 +76,7 @@ class HondaFlags(IntFlag):
   HAS_EPB = 512
   ALLOW_MANUAL_TRANS = 1024
 
+
 # Car button codes
 class CruiseButtons:
   RES_ACCEL = 4

opendbc/car/hyundai/hyundaican.py

@@ -3,6 +3,7 @@ from opendbc.car.hyundai.values import CAR, HyundaiFlags
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
+
 def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
@@ -123,6 +124,7 @@ def create_lfahda_mfc(packer, enabled):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
+
 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
   commands = []
 
@@ -131,11 +133,11 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
     "TauGapSet": hud_control.leadDistanceBars,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
-    "ObjValid": 1, # close lead makes controls tighter
-    "ACC_ObjStatus": 1, # close lead makes controls tighter
+    "ObjValid": 1,  # close lead makes controls tighter
+    "ACC_ObjStatus": 1,  # close lead makes controls tighter
     "ACC_ObjLatPos": 0,
     "ACC_ObjRelSpd": 0,
-    "ACC_ObjDist": 1, # close lead makes controls tighter
+    "ACC_ObjDist": 1,  # close lead makes controls tighter
     }
   commands.append(packer.make_can_msg("SCC11", 0, scc11_values))
 
@@ -159,12 +161,12 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
   commands.append(packer.make_can_msg("SCC12", 0, scc12_values))
 
   scc14_values = {
-    "ComfortBandUpper": 0.0, # stock usually is 0 but sometimes uses higher values
-    "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values
-    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
-    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
-    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+    "ComfortBandUpper": 0.0,  # stock usually is 0 but sometimes uses higher values
+    "ComfortBandLower": 0.0,  # stock usually is 0 but sometimes uses higher values
+    "JerkUpperLimit": upper_jerk,  # stock usually is 1.0 but sometimes uses higher values
+    "JerkLowerLimit": 5.0,  # stock usually is 0.5 but sometimes uses higher values
+    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4,  # stock will always be 4 instead of 0 after first disengage
+    "ObjGap": 2 if hud_control.leadVisible else 0,  # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
@@ -185,6 +187,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
 
   return commands
 
+
 def create_acc_opt(packer, CP):
   commands = []
 
@@ -200,12 +203,13 @@ def create_acc_opt(packer, CP):
   if not (CP.flags & HyundaiFlags.CAMERA_SCC):
     fca12_values = {
       "FCA_DrvSetState": 2,
-      "FCA_USM": 1, # AEB disabled
+      "FCA_USM": 1,  # AEB disabled
     }
     commands.append(packer.make_can_msg("FCA12", 0, fca12_values))
 
   return commands
 
+
 def create_frt_radar_opt(packer):
   frt_radar11_values = {
     "CF_FCA_Equip_Front_Radar": 1,

opendbc/car/hyundai/hyundaicanfd.py

@@ -66,6 +66,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque)
 
   return ret
 
+
 def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
   suppress_msg = "CAM_0x362" if lka_steering_alt else "CAM_0x2a4"
   msg_bytes = 32 if lka_steering_alt else 24
@@ -78,6 +79,7 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
   values["RIGHT_LANE_LINE"] = 0
   return packer.make_can_msg(suppress_msg, CAN.ACAN, values)
 
+
 def create_buttons(packer, CP, CAN, cnt, btn):
   values = {
     "COUNTER": cnt,
@@ -88,6 +90,7 @@ def create_buttons(packer, CP, CAN, cnt, btn):
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
+
 def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   # TODO: why do we copy different values here?
   if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
@@ -118,6 +121,7 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
+
 def create_lfahda_cluster(packer, CAN, enabled):
   values = {
     "HDA_ICON": 1 if enabled else 0,

opendbc/car/hyundai/radar_interface.py

@@ -10,6 +10,7 @@ RADAR_MSG_COUNT = 32
 
 # POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/
 
+
 def get_radar_can_parser(CP):
   if Bus.radar not in DBC[CP.carFingerprint]:
     return None

opendbc/car/hyundai/values.py

@@ -12,8 +12,8 @@ Ecu = CarParams.Ecu
 
 
 class CarControllerParams:
-  ACCEL_MIN = -3.5 # m/s
-  ACCEL_MAX = 2.0 # m/s
+  ACCEL_MIN = -3.5  # m/s
+  ACCEL_MAX = 2.0  # m/s
 
   def __init__(self, CP):
     self.STEER_DELTA_UP = 3

opendbc/car/interfaces.py

@@ -210,11 +210,11 @@ class CarInterfaceBase(ABC):
     ret.wheelSpeedFactor = 1.0
 
     ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
-    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
+    ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
     ret.openpilotLongitudinalControl = False
     ret.stopAccel = -2.0
-    ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
+    ret.stoppingDecelRate = 0.8  # brake_travel/s while trying to stop
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.longitudinalTuning.kf = 1.
@@ -294,7 +294,7 @@ class CarStateBase(ABC):
     R = 0.3
     A = [[1.0, DT_CTRL], [0.0, 1.0]]
     C = [[1.0, 0.0]]
-    x0=[[0.0], [0.0]]
+    x0 = [[0.0], [0.0]]
     K = get_kalman_gain(DT_CTRL, np.array(A), np.array(C), np.array(Q), R)
     self.v_ego_kf = KF1D(x0=x0, A=A, C=C[0], K=K)
 
@@ -387,6 +387,7 @@ INTERFACE_ATTR_FILE = {
 
 # interface-specific helpers
 
+
 def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: bool = False) -> dict[str | StrEnum, Any]:
   # read all the folders in opendbc/car and return a dict where:
   # - keys are all the car models or brand names

opendbc/car/isotp.py

@@ -3,6 +3,7 @@ import time
 
 DEBUG = False
 
+
 def msg(x):
   if DEBUG:
     print("S:", binascii.hexlify(x))
@@ -10,7 +11,10 @@ def msg(x):
   ret = bytes([len(x)]) + x
   return ret.ljust(8, b"\x00")
 
+
 kmsgs = []
+
+
 def recv(panda, cnt, addr, nbus):
   global kmsgs
   ret = []
@@ -27,6 +31,7 @@ def recv(panda, cnt, addr, nbus):
     kmsgs = nmsgs[-256:]
   return ret
 
+
 def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
   msg = recv(panda, 1, addr, bus)[0]
 
@@ -60,6 +65,7 @@ def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
 
 # **** import below this line ****
 
+
 def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
   if recvaddr is None:
     recvaddr = addr + 8
@@ -102,6 +108,7 @@ def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
           panda.can_send(addr, dat, bus)
           time.sleep(rate)
 
+
 def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
   if sendaddr is None:
     sendaddr = addr - 8

opendbc/car/mazda/mazdacan.py

@@ -23,12 +23,12 @@ def create_steering_control(packer, CP, frame, apply_torque, lkas):
   tmp = steering_angle + 2048
   ahi = tmp >> 10
   amd = (tmp & 0x3FF) >> 2
-  amd = (amd >> 4) | (( amd & 0xF) << 4)
+  amd = (amd >> 4) | ((amd & 0xF) << 4)
   alo = (tmp & 0x3) << 2
 
   ctr = frame % 16
   # bytes:     [    1  ] [ 2 ] [             3               ]  [           4         ]
-  csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - ( er2 << 4) - (b1 << 5)
+  csum = 249 - ctr - hi - lo - (lnv << 3) - er1 - (ldw << 7) - (er2 << 4) - (b1 << 5)
 
   # bytes      [ 5 ] [ 6 ] [    7   ]
   csum = csum - ahi - amd - alo - b2
@@ -50,7 +50,7 @@ def create_steering_control(packer, CP, frame, apply_torque, lkas):
       "LKAS_REQUEST": apply_torque,
       "CTR": ctr,
       "ERR_BIT_1": er1,
-      "LINE_NOT_VISIBLE" : lnv,
+      "LINE_NOT_VISIBLE": lnv,
       "LDW": ldw,
       "BIT_1": b1,
       "ERR_BIT_2": er2,

opendbc/car/nissan/carcontroller.py

@@ -24,7 +24,7 @@ class CarController(CarControllerBase):
 
     can_sends = []
 
-    ### STEER ###
+    # STEER ###
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     # windup slower

opendbc/car/panda_runner.py

@@ -6,6 +6,7 @@ from opendbc.car.car_helpers import get_car
 from opendbc.car.can_definitions import CanData
 from opendbc.car.structs import CarParams, CarControl
 
+
 class PandaRunner(AbstractContextManager):
   def __enter__(self):
     self.p = Panda()
@@ -52,6 +53,7 @@ class PandaRunner(AbstractContextManager):
     self.p.can_send_many(can_sends, timeout=25)
     self.p.send_heartbeat()
 
+
 if __name__ == "__main__":
   with PandaRunner() as p:
     print(p.read())

opendbc/car/rivian/radar_interface.py

@@ -8,6 +8,7 @@ from opendbc.car.rivian.values import DBC
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
 
+
 def get_radar_can_parser(CP):
   messages = [(f"RADAR_TRACK_{addr:x}", 20) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
   return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)

opendbc/car/rivian/riviancan.py

@@ -35,7 +35,7 @@ def create_lka_steering(packer, frame, acm_lka_hba_cmd, apply_torque, enabled, a
     # TODO: what are these used for?
     "ACM_ldwWarnTypeState": 2,  # always 2
     "ACM_ldwWarnTimingState": 1,  # always 1
-    #"ACM_lkaHandsoffDisplayWarning": 1,  # TODO: we can send this when openpilot wants you to pay attention
+    # "ACM_lkaHandsoffDisplayWarning": 1,  # TODO: we can send this when openpilot wants you to pay attention
   }
 
   data = packer.make_can_msg("ACM_lkaHbaCmd", 0, values)[1]

opendbc/car/secoc.py

@@ -3,6 +3,7 @@ import struct
 from Crypto.Hash import CMAC
 from Crypto.Cipher import AES
 
+
 def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg):
   # TODO: clean up conversion to and from hex
 
@@ -22,7 +23,7 @@ def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg):
   # Step 3: Calculate CMAC (28 bit)
   cmac = CMAC.new(key, ciphermod=AES)
   cmac.update(to_auth)
-  mac = cmac.digest().hex()[:7] # truncated MAC
+  mac = cmac.digest().hex()[:7]  # truncated MAC
 
   # Step 4: Build message
   # [Payload (32 bit)][Message Counter Flag (2 bit)][Reset Flag (2 bit)][Authenticator (28 bit)]
@@ -32,12 +33,13 @@ def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg):
 
   return (addr, payload, bus)
 
-def build_sync_mac(key, trip_cnt, reset_cnt, id_=0xf):
-  id_ = struct.pack('>H', id_) # 16
-  trip_cnt = struct.pack('>H', trip_cnt) # 16
-  reset_cnt = struct.pack('>I', reset_cnt << 12)[:-1] # 20 + 4 padding
 
-  to_auth = id_ + trip_cnt + reset_cnt # SecOC 11.4.1.1 page 138
+def build_sync_mac(key, trip_cnt, reset_cnt, id_=0xf):
+  id_ = struct.pack('>H', id_)  # 16
+  trip_cnt = struct.pack('>H', trip_cnt)  # 16
+  reset_cnt = struct.pack('>I', reset_cnt << 12)[:-1]  # 20 + 4 padding
+
+  to_auth = id_ + trip_cnt + reset_cnt  # SecOC 11.4.1.1 page 138
 
   cmac = CMAC.new(key, ciphermod=AES)
   cmac.update(to_auth)

opendbc/car/subaru/subarucan.py

@@ -25,7 +25,8 @@ def create_steering_control_angle(packer, apply_torque, steer_req):
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+
+def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long_enabled=False, brake_cmd=False, cruise_throttle=0):
   values = {s: es_distance_msg[s] for s in [
     "CHECKSUM",
     "Signal1",
@@ -61,7 +62,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
 
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
-    values["Cruise_Throttle"] = 1818 # inactive throttle
+    values["Cruise_Throttle"] = 1818  # inactive throttle
 
   return packer.make_can_msg("ES_Distance", bus, values)
 
@@ -129,6 +130,7 @@ def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert
 
   return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
+
 def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
   values = {s: dashstatus_msg[s] for s in [
     "CHECKSUM",
@@ -167,7 +169,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
     values["Cruise_Disengaged"] = 0
     values["Car_Follow"] = int(lead_visible)
 
-    values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
+    values["PCB_Off"] = 1  # AEB is not presevered, so show the PCB_Off on dash
     values["LDW_Off"] = 0
     values["Cruise_Fault"] = 0
 
@@ -177,6 +179,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
 
   return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
+
 def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",
@@ -203,6 +206,7 @@ def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brak
 
   return packer.make_can_msg("ES_Brake", CanBus.main, values)
 
+
 def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cruise_rpm):
   values = {s: es_status_msg[s] for s in [
     "CHECKSUM",

opendbc/car/tesla/interface.py

@@ -31,6 +31,6 @@ class CarInterface(CarInterfaceBase):
       ret.vEgoStarting = 0.1
       ret.stoppingDecelRate = 0.3
 
-    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X) # dashcam only, pending find invalidLkasSetting signal
+    ret.dashcamOnly = candidate in (CAR.TESLA_MODEL_X)  # dashcam only, pending find invalidLkasSetting signal
 
     return ret

opendbc/car/tests/routes.py

@@ -59,7 +59,7 @@ routes = [
   CarTestRoute("83a4e056c7072678/2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1),
   CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2),
   CarTestRoute("61a1b9e7a4eae0f6/00000000--79d85d1315", FORD.FORD_EXPEDITION_MK4),
-  #TestRoute("f1b4c567731f4a1b/2018-04-30--10-15-35", FORD.FUSION),
+  # TestRoute("f1b4c567731f4a1b/2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9/2018-12-02--12-10-44", GM.GMC_ACADIA),
   CarTestRoute("aa20e335f61ba898/2019-02-05--16-59-04", GM.BUICK_REGAL),
@@ -316,7 +316,7 @@ routes = [
   CarTestRoute("7dc058789994da80/00000112--adb970f6a8", TESLA.TESLA_MODEL_3),
   CarTestRoute("46cdc864ec865f4b/00000007--42f94db730", TESLA.TESLA_MODEL_Y),
   CarTestRoute("2c912ca5de3b1ee9/0000025d--6eb6bcbca4", TESLA.TESLA_MODEL_Y, segment=4),
-  CarTestRoute("bdda168c0c35fad7/00000001--5c5a36ec06", TESLA.TESLA_MODEL_X), # openpilot longitudinal
+  CarTestRoute("bdda168c0c35fad7/00000001--5c5a36ec06", TESLA.TESLA_MODEL_X),  # openpilot longitudinal
 
   # Segments that test specific issues
   # Controls mismatch due to standstill threshold

opendbc/car/toyota/radar_interface.py

@@ -20,6 +20,7 @@ def _create_radar_can_parser(car_fingerprint):
 
   return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
 
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)

opendbc/car/toyota/toyotacan.py

@@ -70,8 +70,8 @@ def create_pcs_commands(packer, accel, active, mass):
     "DSS1GDRV": min(accel, 0),     # accel
     "PCSALM": 1 if active else 0,  # goes high same time as PRECOLLISION_ACTIVE
     "IBTRGR": 1 if active else 0,  # unknown
-    "PBATRGR": 1 if active else 0, # noisy actuation bit?
-    "PREFILL": 1 if active else 0, # goes on and off before DSS1GDRV
+    "PBATRGR": 1 if active else 0,  # noisy actuation bit?
+    "PREFILL": 1 if active else 0,  # goes on and off before DSS1GDRV
     "AVSTRGR": 1 if active else 0,
   }
   msg2 = packer.make_can_msg("PRE_COLLISION_2", 0, values2)

opendbc/car/toyota/values.py

@@ -147,7 +147,7 @@ class CAR(Platforms):
     TOYOTA_AVALON.specs,
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   )
-  TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
+  TOYOTA_AVALON_TSS2 = ToyotaTSS2PlatformConfig(  # TSS 2.5
     [
       ToyotaCarDocs("Toyota Avalon 2022"),
       ToyotaCarDocs("Toyota Avalon Hybrid 2022"),
@@ -163,7 +163,7 @@ class CAR(Platforms):
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_DSU,
   )
-  TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig( # TSS 2.5
+  TOYOTA_CAMRY_TSS2 = ToyotaTSS2PlatformConfig(  # TSS 2.5
     [
       ToyotaCarDocs("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]),
       ToyotaCarDocs("Toyota Camry Hybrid 2021-24"),
@@ -294,7 +294,7 @@ class CAR(Platforms):
     CarSpecs(mass=1170, wheelbase=2.55, steerRatio=14.80, tireStiffnessFactor=0.5533),
     flags=ToyotaFlags.RADAR_ACC,
   )
-  TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
+  TOYOTA_MIRAI = ToyotaTSS2PlatformConfig(  # TSS 2.5
     [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
   )
@@ -399,7 +399,7 @@ class CAR(Platforms):
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
-  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON), \
+  (0x128, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_AVALON),
                                                                                                                       1, 3, b'\xf4\x01\x90\x83\x00\x37'),
   (0x128, (CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
   (0x141, (CAR.TOYOTA_PRIUS, CAR.TOYOTA_RAV4H, CAR.LEXUS_RX, CAR.LEXUS_NX, CAR.TOYOTA_RAV4, CAR.TOYOTA_COROLLA, CAR.TOYOTA_HIGHLANDER, CAR.TOYOTA_AVALON,

opendbc/car/uds.py

@@ -36,12 +36,14 @@ class SERVICE_TYPE(IntEnum):
   TRANSFER_DATA = 0x36
   REQUEST_TRANSFER_EXIT = 0x37
 
+
 class SESSION_TYPE(IntEnum):
   DEFAULT = 1
   PROGRAMMING = 2
   EXTENDED_DIAGNOSTIC = 3
   SAFETY_SYSTEM_DIAGNOSTIC = 4
 
+
 class RESET_TYPE(IntEnum):
   HARD = 1
   KEY_OFF_ON = 2
@@ -49,31 +51,37 @@ class RESET_TYPE(IntEnum):
   ENABLE_RAPID_POWER_SHUTDOWN = 4
   DISABLE_RAPID_POWER_SHUTDOWN = 5
 
+
 class ACCESS_TYPE(IntEnum):
   REQUEST_SEED = 1
   SEND_KEY = 2
 
+
 class CONTROL_TYPE(IntEnum):
   ENABLE_RX_ENABLE_TX = 0
   ENABLE_RX_DISABLE_TX = 1
   DISABLE_RX_ENABLE_TX = 2
   DISABLE_RX_DISABLE_TX = 3
 
+
 class MESSAGE_TYPE(IntEnum):
   NORMAL = 1
   NETWORK_MANAGEMENT = 2
   NORMAL_AND_NETWORK_MANAGEMENT = 3
 
+
 class TIMING_PARAMETER_TYPE(IntEnum):
   READ_EXTENDED_SET = 1
   SET_TO_DEFAULT_VALUES = 2
   READ_CURRENTLY_ACTIVE = 3
   SET_TO_GIVEN_VALUES = 4
 
+
 class DTC_SETTING_TYPE(IntEnum):
   ON = 1
   OFF = 2
 
+
 class RESPONSE_EVENT_TYPE(IntEnum):
   STOP_RESPONSE_ON_EVENT = 0
   ON_DTC_STATUS_CHANGE = 1
@@ -84,11 +92,13 @@ class RESPONSE_EVENT_TYPE(IntEnum):
   CLEAR_RESPONSE_ON_EVENT = 6
   ON_COMPARISON_OF_VALUES = 7
 
+
 class LINK_CONTROL_TYPE(IntEnum):
   VERIFY_BAUDRATE_TRANSITION_WITH_FIXED_BAUDRATE = 1
   VERIFY_BAUDRATE_TRANSITION_WITH_SPECIFIC_BAUDRATE = 2
   TRANSITION_BAUDRATE = 3
 
+
 class BAUD_RATE_TYPE(IntEnum):
   PC9600 = 1
   PC19200 = 2
@@ -100,6 +110,7 @@ class BAUD_RATE_TYPE(IntEnum):
   CAN500000 = 18
   CAN1000000 = 19
 
+
 class DATA_IDENTIFIER_TYPE(IntEnum):
   BOOT_SOFTWARE_IDENTIFICATION = 0xF180
   APPLICATION_SOFTWARE_IDENTIFICATION = 0xF181
@@ -133,33 +144,39 @@ class DATA_IDENTIFIER_TYPE(IntEnum):
   ODX_FILE = 0xF19E
   ENTITY = 0xF19F
 
+
 class TRANSMISSION_MODE_TYPE(IntEnum):
   SEND_AT_SLOW_RATE = 1
   SEND_AT_MEDIUM_RATE = 2
   SEND_AT_FAST_RATE = 3
   STOP_SENDING = 4
 
+
 class DYNAMIC_DEFINITION_TYPE(IntEnum):
   DEFINE_BY_IDENTIFIER = 1
   DEFINE_BY_MEMORY_ADDRESS = 2
   CLEAR_DYNAMICALLY_DEFINED_DATA_IDENTIFIER = 3
 
+
 class ISOTP_FRAME_TYPE(IntEnum):
   SINGLE = 0
   FIRST = 1
   CONSECUTIVE = 2
   FLOW = 3
 
+
 class DynamicSourceDefinition(NamedTuple):
   data_identifier: int
   position: int
   memory_size: int
   memory_address: int
 
+
 class DTC_GROUP_TYPE(IntEnum):
   EMISSIONS = 0x000000
   ALL = 0xFFFFFF
 
+
 class DTC_REPORT_TYPE(IntEnum):
   NUMBER_OF_DTC_BY_STATUS_MASK = 0x01
   DTC_BY_STATUS_MASK = 0x02
@@ -183,6 +200,7 @@ class DTC_REPORT_TYPE(IntEnum):
   DTC_FAULT_DETECTION_COUNTER = 0x14
   DTC_WITH_PERMANENT_STATUS = 0x15
 
+
 class DTC_STATUS_MASK_TYPE(IntEnum):
   TEST_FAILED = 0x01
   TEST_FAILED_THIS_OPERATION_CYCLE = 0x02
@@ -194,31 +212,37 @@ class DTC_STATUS_MASK_TYPE(IntEnum):
   WARNING_INDICATOR_REQUESTED = 0x80
   ALL = 0xFF
 
+
 class DTC_SEVERITY_MASK_TYPE(IntEnum):
   MAINTENANCE_ONLY = 0x20
   CHECK_AT_NEXT_HALT = 0x40
   CHECK_IMMEDIATELY = 0x80
   ALL = 0xE0
 
+
 class CONTROL_PARAMETER_TYPE(IntEnum):
   RETURN_CONTROL_TO_ECU = 0
   RESET_TO_DEFAULT = 1
   FREEZE_CURRENT_STATE = 2
   SHORT_TERM_ADJUSTMENT = 3
 
+
 class ROUTINE_CONTROL_TYPE(IntEnum):
   START = 1
   STOP = 2
   REQUEST_RESULTS = 3
 
+
 class ROUTINE_IDENTIFIER_TYPE(IntEnum):
   ERASE_MEMORY = 0xFF00
   CHECK_PROGRAMMING_DEPENDENCIES = 0xFF01
   ERASE_MIRROR_MEMORY_DTCS = 0xFF02
 
+
 class MessageTimeoutError(Exception):
   pass
 
+
 class NegativeResponseError(Exception):
   def __init__(self, message, service_id, error_code):
     super().__init__()
@@ -229,15 +253,19 @@ class NegativeResponseError(Exception):
   def __str__(self):
     return self.message
 
+
 class InvalidServiceIdError(Exception):
   pass
 
+
 class InvalidSubFunctionError(Exception):
   pass
 
+
 class InvalidSubAddressError(Exception):
   pass
 
+
 _negative_response_codes = {
     0x00: 'positive response',
     0x10: 'general reject',
@@ -282,6 +310,7 @@ _negative_response_codes = {
     0x93: 'voltage too low',
 }
 
+
 def get_dtc_num_as_str(dtc_num_bytes):
   # ISO 15031-6
   designator = {
@@ -294,6 +323,7 @@ def get_dtc_num_as_str(dtc_num_bytes):
   n = bytes([dtc_num_bytes[0] & 0x3F]) + dtc_num_bytes[1:]
   return d + n.hex()
 
+
 def get_dtc_status_names(status):
   result = list()
   for m in DTC_STATUS_MASK_TYPE:
@@ -303,6 +333,7 @@ def get_dtc_status_names(status):
       result.append(m.name)
   return result
 
+
 class CanClient:
   def __init__(self, can_send: Callable[[int, bytes, int], None], can_recv: Callable[[], list[tuple[int, bytes, int]]],
                tx_addr: int, rx_addr: int, bus: int, sub_addr: int | None = None, rx_sub_addr: int | None = None):
@@ -383,6 +414,7 @@ class CanClient:
       if i % 10 == 9:
         self._recv_buffer()
 
+
 class IsoTpMessage:
   def __init__(self, can_client: CanClient, timeout: float = 1, single_frame_mode: bool = False, separation_time: float = 0):
     self._can_client = can_client

opendbc/car/volkswagen/carcontroller.py

@@ -86,7 +86,7 @@ class CarController(CarControllerBase):
         can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, CS.acc_type, CC.longActive, accel,
                                                            acc_control, stopping, starting, CS.esp_hold_confirmation))
 
-      #if self.aeb_available:
+      # if self.aeb_available:
       #  if self.frame % self.CCP.AEB_CONTROL_STEP == 0:
       #    can_sends.append(self.CCS.create_aeb_control(self.packer_pt, False, False, 0.0))
       #  if self.frame % self.CCP.AEB_HUD_STEP == 0:

opendbc/car/volkswagen/carstate.py

@@ -275,4 +275,3 @@ class CarState(CarStateBase):
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).cam),
     }
-

opendbc/car/volkswagen/mqbcan.py

@@ -152,7 +152,7 @@ def create_aeb_control(packer, fcw_active, aeb_active, accel):
     "AWV2_Freigabe": 0,  # Stage 2 braking release
     "AWV2_Ruckprofil": 0,  # Brake jerk level
     "AWV2_Priowarnung": 0,  # Suppress lane departure warning in favor of FCW
-    "ANB_Notfallblinken": 0, # Hazard flashers request
+    "ANB_Notfallblinken": 0,  # Hazard flashers request
     "ANB_Teilbremsung_Freigabe": 0,  # Target braking release
     "ANB_Zielbremsung_Freigabe": 0,  # Partial braking release
     "ANB_Zielbrems_Teilbrems_Verz_Anf": 0.0,   # Acceleration requirement for target/partial braking, m/s/s
@@ -166,7 +166,7 @@ def create_aeb_control(packer, fcw_active, aeb_active, accel):
 def create_aeb_hud(packer, aeb_supported, fcw_active):
   values = {
     "AWV_Texte": 5 if aeb_supported else 7,  # FCW/AEB system status, display text (from menu in VAL)
-    "AWV_Status_Anzeige": 1 if aeb_supported else 2,  #  FCW/AEB system status, available or disabled
+    "AWV_Status_Anzeige": 1 if aeb_supported else 2,  # FCW/AEB system status, available or disabled
   }
 
   return packer.make_can_msg("ACC_15", 0, values)

opendbc/car/volkswagen/tests/test_volkswagen.py

@@ -26,7 +26,7 @@ class TestVolkswagenPlatformConfigs:
       with subtests.test(platform=platform.value):
         assert len(platform.config.wmis) > 0, "WMIs not set"
         assert len(platform.config.chassis_codes) > 0, "Chassis codes not set"
-        assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \
+        assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in
                             platform.config.chassis_codes), "Bad chassis codes"
 
         # No two platforms should share chassis codes

opendbc/car/xcp.py

@@ -3,6 +3,7 @@ import time
 import struct
 from enum import IntEnum
 
+
 class COMMAND_CODE(IntEnum):
   CONNECT = 0xFF
   DISCONNECT = 0xFE
@@ -61,6 +62,7 @@ class COMMAND_CODE(IntEnum):
   PROGRAM_MAX = 0xC9
   PROGRAM_VERIFY = 0xC8
 
+
 ERROR_CODES = {
   0x00: "Command processor synchronization",
   0x10: "Command was not executed",
@@ -82,10 +84,12 @@ ERROR_CODES = {
   0x32: "The slave internal program verify routine detects an error",
 }
 
+
 class CONNECT_MODE(IntEnum):
   NORMAL = 0x00,
   USER_DEFINED = 0x01,
 
+
 class GET_ID_REQUEST_TYPE(IntEnum):
   ASCII = 0x00,
   ASAM_MC2_FILE = 0x01,
@@ -94,12 +98,15 @@ class GET_ID_REQUEST_TYPE(IntEnum):
   ASAM_MC2_UPLOAD = 0x04,
   # 128-255 user defined
 
+
 class CommandTimeoutError(Exception):
   pass
 
+
 class CommandCounterError(Exception):
   pass
 
+
 class CommandResponseError(Exception):
   def __init__(self, message, return_code):
     super().__init__()
@@ -109,8 +116,9 @@ class CommandResponseError(Exception):
   def __str__(self):
     return self.message
 
+
 class XcpClient:
-  def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int=0, timeout: float=0.1, debug=False, pad=True):
+  def __init__(self, panda, tx_addr: int, rx_addr: int, bus: int = 0, timeout: float = 0.1, debug=False, pad=True):
     self.tx_addr = tx_addr
     self.rx_addr = rx_addr
     self.can_bus = bus
@@ -164,7 +172,7 @@ class XcpClient:
     raise CommandTimeoutError("timeout waiting for response")
 
   # commands
-  def connect(self, connect_mode: CONNECT_MODE=CONNECT_MODE.NORMAL) -> dict:
+  def connect(self, connect_mode: CONNECT_MODE = CONNECT_MODE.NORMAL) -> dict:
     self._send_cto(COMMAND_CODE.CONNECT, bytes([connect_mode]))
     resp = self._recv_dto(self.timeout)
     assert len(resp) == 7, f"incorrect data length: {len(resp)}"
@@ -237,7 +245,7 @@ class XcpClient:
     resp = b""
     while len(resp) < size:
       resp += self._recv_dto(self.timeout)[:size - len(resp) + 1]
-    return resp[:size] # trim off bytes with undefined values
+    return resp[:size]  # trim off bytes with undefined values
 
   def short_upload(self, size: int, addr_ext: int, addr: int) -> bytes:
     if size > 6:
@@ -245,7 +253,7 @@ class XcpClient:
     if addr_ext > 255:
       raise ValueError("address extension must be less than 256")
     self._send_cto(COMMAND_CODE.SHORT_UPLOAD, bytes([size, 0x00, addr_ext]) + struct.pack(f"{self._byte_order}I", addr))
-    return self._recv_dto(self.timeout)[:size] # trim off bytes with undefined values
+    return self._recv_dto(self.timeout)[:size]  # trim off bytes with undefined values
 
   def download(self, data: bytes) -> bytes:
     size = len(data)

opendbc/dbc/generator/generator.py

@@ -52,13 +52,14 @@ def create_all(output_path: str):
     if src_dir == generator_path:
       continue
 
-    #print(src_dir)
+    # print(src_dir)
     for filename in filenames:
       if filename.startswith('_') or not filename.endswith('.dbc'):
         continue
 
-      #print(filename)
+      # print(filename)
       create_dbc(src_dir, filename, output_path)
 
+
 if __name__ == "__main__":
   create_all(opendbc_root)

opendbc/dbc/generator/tesla/_radar_common.py

@@ -31,6 +31,7 @@ BO_ {base_id+1} {base_name}_B: 8 Radar
  SG_ Index2 : 63|1@1+ (1,0) [0|1] ""  Autopilot
 """
 
+
 def get_val_definition(base_id):
   return f"""
 VAL_ {base_id+1} MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ;

opendbc/safety/tests/common.py

@@ -92,7 +92,7 @@ class PandaSafetyTestBase(unittest.TestCase):
 
   def _generic_limit_safety_check(self, msg_function: MessageFunction, min_allowed_value: float, max_allowed_value: float,
                                   min_possible_value: float, max_possible_value: float, test_delta: float = 1, inactive_value: float = 0,
-                                  msg_allowed = True, additional_setup: Callable[[float], None] | None = None):
+                                  msg_allowed=True, additional_setup: Callable[[float], None] | None = None):
     """
       Enforces that a signal within a message is only allowed to be sent within a specific range, min_allowed_value -> max_allowed_value.
       Tests the range of min_possible_value -> max_possible_value with a delta of test_delta.

opendbc/safety/tests/libsafety/libsafety_py.py

@@ -37,6 +37,7 @@ void can_set_checksum(CANPacket_t *packet);
 
 setup_safety_helpers(ffi)
 
+
 class CANPacket:
   reserved: int
   bus: int
@@ -47,6 +48,7 @@ class CANPacket:
   addr: int
   data: list[int]
 
+
 class Panda(PandaSafety, Protocol):
   # CAN
   def can_set_checksum(self, p: CANPacket) -> None: ...

opendbc/safety/tests/libsafety/safety_helpers.py

@@ -1,6 +1,7 @@
 # panda safety helpers, from safety_helpers.c
 from typing import Protocol
 
+
 def setup_safety_helpers(ffi):
   ffi.cdef("""
   void set_controls_allowed(bool c);
@@ -52,6 +53,7 @@ def setup_safety_helpers(ffi):
   int get_honda_hw(void);
   """)
 
+
 class PandaSafety(Protocol):
   def set_controls_allowed(self, c: bool) -> None: ...
   def get_controls_allowed(self) -> bool: ...
@@ -100,5 +102,3 @@ class PandaSafety(Protocol):
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
-
-

opendbc/safety/tests/misra/test_mutation.py

@@ -43,6 +43,7 @@ for p in patterns:
 
 mutations = random.sample(mutations, 2)  # can remove this once cppcheck is faster
 
+
 @pytest.mark.parametrize("fn, rule, transform, should_fail", mutations)
 def test_misra_mutation(fn, rule, transform, should_fail):
   with tempfile.TemporaryDirectory() as tmp:
@@ -59,7 +60,7 @@ def test_misra_mutation(fn, rule, transform, should_fail):
     # run test
     r = subprocess.run(f"OPENDBC_ROOT={tmp} opendbc/safety/tests/misra/test_misra.sh",
                        stdout=subprocess.PIPE, cwd=ROOT, shell=True, encoding='utf8')
-    print(r.stdout) # helpful for debugging failures
+    print(r.stdout)  # helpful for debugging failures
     failed = r.returncode != 0
     assert failed == should_fail
     if should_fail:

opendbc/safety/tests/safety_replay/helpers.py

@@ -4,12 +4,14 @@ from opendbc.car.toyota.values import ToyotaSafetyFlags
 from opendbc.car.structs import CarParams
 from opendbc.safety.tests.libsafety import libsafety_py
 
+
 def to_signed(d, bits):
   ret = d
   if d >= (1 << (bits - 1)):
     ret = d - (1 << bits)
   return ret
 
+
 def is_steering_msg(mode, param, addr):
   ret = False
   if mode in (CarParams.SafetyModel.hondaNidec, CarParams.SafetyModel.hondaBosch):
@@ -38,6 +40,7 @@ def is_steering_msg(mode, param, addr):
     ret = addr == 0x488
   return ret
 
+
 def get_steer_value(mode, param, msg):
   # TODO: use CANParser
   torque, angle = 0, 0
@@ -77,9 +80,11 @@ def get_steer_value(mode, param, msg):
     angle = (((msg.data[0] & 0x7F) << 8) | (msg.data[1])) - 16384  # ceil(1638.35/0.1)
   return torque, angle
 
+
 def package_can_msg(msg):
   return libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
 
+
 def init_segment(safety, msgs, mode, param):
   sendcan = (msg for msg in msgs if msg.which() == 'sendcan')
   steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address))

opendbc/safety/tests/safety_replay/replay_drive.py

@@ -7,6 +7,7 @@ from opendbc.car.carlog import carlog
 from opendbc.safety.tests.libsafety import libsafety_py
 from opendbc.safety.tests.safety_replay.helpers import package_can_msg, init_segment
 
+
 # replay a drive to check for safety violations
 def replay_drive(msgs, safety_mode, param, alternative_experience):
   safety = libsafety_py.libsafety
@@ -71,6 +72,7 @@ def replay_drive(msgs, safety_mode, param, alternative_experience):
 
   return tx_controls_blocked == 0 and rx_invalid == 0 and not safety_tick_rx_invalid
 
+
 if __name__ == "__main__":
   from openpilot.tools.lib.logreader import LogReader
 

opendbc/safety/tests/test_chrysler.py

@@ -95,6 +95,7 @@ class TestChryslerRamDTSafety(TestChryslerSafety):
     values = {"Vehicle_Speed": speed}
     return self.packer.make_can_msg_panda("ESP_8", 0, values)
 
+
 class TestChryslerRamHDSafety(TestChryslerSafety):
   TX_MSGS = [[0x275, 0], [0x276, 0], [0x23A, 2]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x276, 0x275)}

opendbc/safety/tests/test_honda.py

@@ -10,6 +10,7 @@ from opendbc.safety.tests.common import CANPackerPanda, MAX_WRONG_COUNTERS
 
 HONDA_N_COMMON_TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x30C, 0], [0x33D, 0]]
 
+
 class Btn:
   NONE = 0
   MAIN = 1

opendbc/safety/tests/test_hyundai.py

@@ -190,6 +190,7 @@ class TestHyundaiLegacySafetyHEV(TestHyundaiSafety):
     values = {"CR_Vcu_AccPedDep_Pos": gas}
     return self.packer.make_can_msg_panda("E_EMS11", 0, values, fix_checksum=checksum)
 
+
 class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety):
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]]
 

opendbc/safety/tests/test_subaru.py

@@ -9,6 +9,7 @@ import opendbc.safety.tests.common as common
 from opendbc.safety.tests.common import CANPackerPanda
 from functools import partial
 
+
 class SubaruMsg(enum.IntEnum):
   Brake_Status      = 0x13c
   CruiseControl     = 0x240
@@ -41,19 +42,23 @@ def lkas_tx_msgs(alt_bus, lkas_msg=SubaruMsg.ES_LKAS):
           [SubaruMsg.ES_LKAS_State,     SUBARU_MAIN_BUS],
           [SubaruMsg.ES_Infotainment,   SUBARU_MAIN_BUS]]
 
+
 def long_tx_msgs(alt_bus):
   return [[SubaruMsg.ES_Brake,          alt_bus],
           [SubaruMsg.ES_Status,         alt_bus]]
 
+
 def gen2_long_additional_tx_msgs():
   return [[SubaruMsg.ES_UDS_Request,    SUBARU_CAM_BUS],
           [SubaruMsg.ES_HighBeamAssist, SUBARU_MAIN_BUS],
           [SubaruMsg.ES_STATIC_1,       SUBARU_MAIN_BUS],
           [SubaruMsg.ES_STATIC_2,       SUBARU_MAIN_BUS]]
 
+
 def fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS):
   return {SUBARU_CAM_BUS: [lkas_msg, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]}
 
+
 class TestSubaruSafetyBase(common.PandaCarSafetyTest):
   FLAGS = 0
   RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State,

opendbc/safety/tests/test_volkswagen_pq.py

@@ -187,5 +187,6 @@ class TestVolkswagenPqLongSafety(TestVolkswagenPqSafetyBase, common.Longitudinal
       self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP, steer_req=1, hca_status=enabled_status)),
                       f"torque cmd rejected with {enabled_status=}")
 
+
 if __name__ == "__main__":
   unittest.main()