more ty, part 2 (#38379)

openpilot/common/api.py

@@ -27,6 +27,8 @@ class Api:
     return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
 
   def get_token(self, payload_extra=None, expiry_hours=1):
+    if self.private_key is None:
+      raise RuntimeError("private key is not configured")
     now = datetime.now(UTC).replace(tzinfo=None)
     payload = {
       'identity': self.dongle_id,

openpilot/common/hardware/tici/agnos.py

@@ -19,7 +19,7 @@ class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': 'identity'}, timeout=60)
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False

openpilot/common/hardware/tici/hardware.py

@@ -339,7 +339,7 @@ class Tici(HardwareBase):
 
     # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
     gpio_init(GPIO.SOM_ST_IO, True)
-    gpio_set(GPIO.SOM_ST_IO, 1)
+    gpio_set(GPIO.SOM_ST_IO, True)
 
     # *** IRQ config ***
 
@@ -389,21 +389,21 @@ class Tici(HardwareBase):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
 
   def recover_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
 
-    gpio_set(GPIO.STM_RST_N, 1)
-    gpio_set(GPIO.STM_BOOT0, 1)
+    gpio_set(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_BOOT0, True)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_RST_N, 0)
+    gpio_set(GPIO.STM_RST_N, False)
     time.sleep(0.01)
-    gpio_set(GPIO.STM_BOOT0, 0)
+    gpio_set(GPIO.STM_BOOT0, False)
 
   def booted(self):
     # this normally boots within 8s, but on rare occasions takes 30+s

openpilot/common/hardware/tici/modem.py

@@ -52,7 +52,7 @@ PPPD_CMD = [
   "novj", "novjccomp", "ipcp-accept-local", "ipcp-accept-remote", "nomagic",
   "user", '""', "password", '""',
 ]
-INITIAL_STATE = {
+INITIAL_STATE: dict[str, object] = {
   "seconds_since_boot": 0,
   "state": "INITIALIZING",
   "connected": False, "ip_address": "",

openpilot/common/pid.py

@@ -1,11 +1,13 @@
 import numpy as np
-from numbers import Number
+from collections.abc import Sequence
+
+Gain = int | float | tuple[Sequence[float], Sequence[float]] | list[list[float]]
 
 class PIDController:
-  def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
-    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
-    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
+  def __init__(self, k_p: Gain, k_i: Gain, k_d: Gain = 0., pos_limit=1e308, neg_limit=-1e308, rate=100):
+    self._k_p = ([0], [k_p]) if isinstance(k_p, (int, float)) else k_p
+    self._k_i = ([0], [k_i]) if isinstance(k_i, (int, float)) else k_i
+    self._k_d = ([0], [k_d]) if isinstance(k_d, (int, float)) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 

openpilot/common/transformations/camera.py

@@ -52,7 +52,7 @@ _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fish
 _os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
-DEVICE_CAMERAS = {
+DEVICE_CAMERAS: dict[tuple[str, str], DeviceCameraConfig] = {
   # A "device camera" is defined by a device type and sensor
 
   # sensor type was never set on eon/neo/two
@@ -176,4 +176,3 @@ def img_from_device(pt_device):
 
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
-