more ty, part 2 (#38379)

openpilot/system/athena/athenad.py

@@ -669,7 +669,10 @@ def log_handler(end_event: threading.Event) -> None:
 def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
-      r = select.select((ws.sock,), (), (), 30)
+      sock = ws.sock
+      if sock is None:
+        return
+      r = select.select((sock,), (), (), 30)
       if r[0]:
         data = ws.recv()
         if isinstance(data, str):

openpilot/system/athena/tests/test_athenad.py

@@ -60,7 +60,7 @@ class TestAthenadMethods:
   @classmethod
   def setup_class(cls):
     cls.SOCKET_PORT = 45454
-    athenad.Api = MockApi
+    athenad.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
   def setup_method(self):
@@ -351,6 +351,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
+    assert item.id is not None
     athenad.cancelled_uploads.add(item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
@@ -363,6 +364,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
+    assert item2.id is not None
     athenad.cancelled_uploads.add(item2.id)
 
     # serialize item

openpilot/system/hardware/power_monitoring.py

@@ -34,7 +34,7 @@ class PowerMonitoring:
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), car_battery_capacity_uWh)
 
   # Calculation tick
-  def calculate(self, voltage: int | None, ignition: bool):
+  def calculate(self, voltage: float | None, ignition: bool):
     try:
       now = time.monotonic()
 

openpilot/system/hardware/tests/test_power_monitoring.py

@@ -35,7 +35,7 @@ class TestPowerMonitoring:
   def test_panda_state_present(self):
     pm = PowerMonitoring()
     for _ in range(10):
-      pm.calculate(None, None)
+      pm.calculate(None, False)
     assert pm.get_power_used() == 0
     assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10)
 

openpilot/system/loggerd/tests/loggerd_tests_common.py

@@ -63,10 +63,10 @@ class UploaderTestCase:
   seg_dir: str
 
   def set_ignore(self):
-    uploader.Api = MockApiIgnore
+    uploader.Api = MockApiIgnore  # ty: ignore[invalid-assignment]  # test double
 
   def setup_method(self):
-    uploader.Api = MockApi
+    uploader.Api = MockApi  # ty: ignore[invalid-assignment]  # test double
     uploader.fake_upload = True
     uploader.force_wifi = True
     uploader.allow_sleep = False

openpilot/system/loggerd/tests/test_deleter.py

@@ -19,7 +19,7 @@ class TestDeleter(UploaderTestCase):
     self.f_type = "fcamera.hevc"
     super().setup_method()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
-    deleter.os.statvfs = self.fake_statvfs
+    deleter.os.statvfs = self.fake_statvfs  # ty: ignore[invalid-assignment]  # test double
 
   def start_thread(self):
     self.end_event = threading.Event()

openpilot/system/loggerd/tests/test_loggerd.py

@@ -5,6 +5,7 @@ import random
 import string
 import subprocess
 import time
+from collections.abc import Collection
 from collections import defaultdict
 from pathlib import Path
 import pytest
@@ -74,8 +75,8 @@ class TestLoggerd:
     end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
     assert msgs[-1].sentinel.type == end_type
 
-  def _publish_random_messages(self, services: list[str]) -> dict[str, list]:
-    pm = messaging.PubMaster(services)
+  def _publish_random_messages(self, services: Collection[str]) -> dict[str, list]:
+    pm = messaging.PubMaster(list(services))
 
     managed_processes["loggerd"].start()
     for s in services:

openpilot/system/qcomgpsd/nmeaport.py

@@ -1,9 +1,9 @@
 import os
 import sys
-from dataclasses import dataclass, fields
+from dataclasses import dataclass
 from subprocess import check_output, CalledProcessError
 from time import sleep
-from typing import NoReturn, cast
+from typing import NoReturn
 
 DEBUG = int(os.environ.get("DEBUG", "0"))
 
@@ -17,27 +17,27 @@ class GnssClockNmeaPort:
   # 0x10 = bias_uncertainty_ns valid
   # 0x20 = drift_nsps valid
   # 0x40 = drift_uncertainty_nsps valid
-  flags: int
-  leap_seconds: int
-  time_ns: int
-  time_uncertainty_ns: int # 1-sigma
-  full_bias_ns: int
-  bias_ns: float
-  bias_uncertainty_ns: float # 1-sigma
-  drift_nsps: float
-  drift_uncertainty_nsps: float # 1-sigma
+  flags: int | None
+  leap_seconds: int | None
+  time_ns: int | None
+  time_uncertainty_ns: int | None # 1-sigma
+  full_bias_ns: int | None
+  bias_ns: float | None
+  bias_uncertainty_ns: float | None # 1-sigma
+  drift_nsps: float | None
+  drift_uncertainty_nsps: float | None # 1-sigma
 
-  def __post_init__(self):
-    for field in fields(self):
-      val = getattr(self, field.name)
-      field_type = cast(type, field.type)
-      setattr(self, field.name, field_type(val) if val else None)
+  @classmethod
+  def from_fields(cls, values: list[str]) -> 'GnssClockNmeaPort':
+    ints = [int(value) if value else None for value in values[:5]]
+    floats = [float(value) if value else None for value in values[5:9]]
+    return cls(*ints, *floats)
 
 @dataclass
 class GnssMeasNmeaPort:
-  messageCount: int
-  messageNum: int
-  svCount: int
+  messageCount: int | None
+  messageNum: int | None
+  svCount: int | None
   # constellation enum:
   # 1 = GPS
   # 2 = SBAS
@@ -45,10 +45,10 @@ class GnssMeasNmeaPort:
   # 4 = QZSS
   # 5 = BEIDOU
   # 6 = GALILEO
-  constellation: int
-  svId: int
-  flags: int # always zero
-  time_offset_ns: int
+  constellation: int | None
+  svId: int | None
+  flags: int | None # always zero
+  time_offset_ns: int | None
   # state bit mask:
   # 0x0001 = CODE LOCK
   # 0x0002 = BIT SYNC
@@ -64,18 +64,18 @@ class GnssMeasNmeaPort:
   # 0x0800 = GALILEO E1C 2ND CODE LOCK
   # 0x1000 = GALILEO E1B PAGE SYNC
   # 0x2000 = GALILEO E1B PAGE SYNC
-  state: int
-  time_of_week_ns: int
-  time_of_week_uncertainty_ns: int # 1-sigma
-  carrier_to_noise_ratio: float
-  pseudorange_rate: float
-  pseudorange_rate_uncertainty: float # 1-sigma
+  state: int | None
+  time_of_week_ns: int | None
+  time_of_week_uncertainty_ns: int | None # 1-sigma
+  carrier_to_noise_ratio: float | None
+  pseudorange_rate: float | None
+  pseudorange_rate_uncertainty: float | None # 1-sigma
 
-  def __post_init__(self):
-    for field in fields(self):
-      val = getattr(self, field.name)
-      field_type = cast(type, field.type)
-      setattr(self, field.name, field_type(val) if val else None)
+  @classmethod
+  def from_fields(cls, values: list[str]) -> 'GnssMeasNmeaPort':
+    ints = [int(value) if value else None for value in values[:10]]
+    floats = [float(value) if value else None for value in values[10:13]]
+    return cls(*ints, *floats)
 
 def nmea_checksum_ok(s):
   checksum = 0
@@ -109,11 +109,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn:
           match fields[0]:
             case "$GNCLK":
               # fields at end are reserved (not used)
-              gnss_clock = GnssClockNmeaPort(*fields[1:10])
+              gnss_clock = GnssClockNmeaPort.from_fields(fields[1:10])
               print(gnss_clock)
             case "$GNMEAS":
               # fields at end are reserved (not used)
-              gnss_meas = GnssMeasNmeaPort(*fields[1:14])
+              gnss_meas = GnssMeasNmeaPort.from_fields(fields[1:14])
               print(gnss_meas)
     except Exception as e:
       print(e)

openpilot/system/sensord/tests/test_sensord.py

@@ -20,7 +20,7 @@ SENSOR_CONFIGS = (
 )
 SENSOR_CONFIGS_BY_MEASUREMENT = {config.measurement: config for config in SENSOR_CONFIGS}
 
-def get_irq_count(irq: int):
+def get_irq_count(irq: str):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
     per_cpu = map(int, f.read().split(","))
     return sum(per_cpu)

openpilot/system/ubloxd/binary_struct.py

@@ -184,7 +184,7 @@ class BinaryStruct:
         setattr(obj, name, value)
       return obj
 
-    cls._read = _read
+    cls._read = _read  # ty: ignore[invalid-assignment]  # installed dynamically for each subclass
 
   @classmethod
   def from_bytes(cls: type[T], data: bytes) -> T:

openpilot/system/ui/lib/utils.py

@@ -1,8 +1,9 @@
 import pyray as rl
+from collections.abc import Sequence
 
 
 class GuiStyleContext:
-  def __init__(self, styles: list[tuple[int, int, int]]):
+  def __init__(self, styles: Sequence[tuple[int, int, int]]):
     """styles is a list of tuples (control, prop, new_value)"""
     self.styles = styles
     self.prev_styles: list[tuple[int, int, int]] = []

openpilot/system/ui/lib/wifi_manager.py

@@ -257,7 +257,7 @@ class WifiManager:
 
   def add_callbacks(self, need_auth: Callable[[str], None] | None = None,
                     activated: Callable[[], None] | None = None,
-                    forgotten: Callable[[str], None] | None = None,
+                    forgotten: Callable[[str | None], None] | None = None,
                     networks_updated: Callable[[list[Network]], None] | None = None,
                     disconnected: Callable[[], None] | None = None):
     if need_auth is not None:

openpilot/system/ui/tici_reset.py

@@ -37,7 +37,11 @@ class Reset(Widget):
     self._reset_state = ResetState.NONE
     self._cancel_button = Button("Cancel", gui_app.request_close)
     self._confirm_button = Button("Confirm", self._confirm, button_style=ButtonStyle.PRIMARY)
-    self._reboot_button = Button("Reboot", lambda: subprocess.run("sudo reboot", shell=True))
+    self._reboot_button = Button("Reboot", self._reboot)
+
+  @staticmethod
+  def _reboot() -> None:
+    subprocess.run("sudo reboot", shell=True)
 
   def _do_erase(self):
     if PC:

openpilot/system/ui/widgets/__init__.py

@@ -3,16 +3,25 @@ from __future__ import annotations
 import abc
 import pyray as rl
 from enum import IntEnum
-from typing import TypeVar
+from typing import Protocol, TypeVar
 from collections.abc import Callable
 from openpilot.system.ui.lib.application import gui_app, MousePos, MAX_TOUCH_SLOTS, MouseEvent
 
-try:
-  from openpilot.selfdrive.ui.ui_state import device
-except ImportError:
-  class Device:
-    awake = True
-  device = Device()
+class DeviceLike(Protocol):
+  awake: bool
+
+
+def _get_device() -> DeviceLike:
+  try:
+    from openpilot.selfdrive.ui.ui_state import device
+    return device
+  except ImportError:
+    class Device:
+      awake = True
+    return Device()
+
+
+device = _get_device()
 
 W = TypeVar('W', bound='Widget')
 
@@ -185,16 +194,16 @@ class Widget(abc.ABC):
     """Optionally update the widget's non-layout state. This is called before rendering."""
 
   @abc.abstractmethod
-  def _render(self, rect: rl.Rectangle) -> bool | int | None:
+  def _render(self, rect: rl.Rectangle, /) -> bool | int | None:
     """Render the widget within the given rectangle."""
 
   def _update_layout_rects(self) -> None:
     """Optionally update any layout rects on Widget rect change."""
 
-  def _handle_mouse_press(self, mouse_pos: MousePos) -> None:
+  def _handle_mouse_press(self, mouse_pos: MousePos, /) -> None:
     """Optionally handle mouse press events."""
 
-  def _handle_mouse_release(self, mouse_pos: MousePos) -> None:
+  def _handle_mouse_release(self, mouse_pos: MousePos, /) -> None:
     """Optionally handle mouse release events."""
     if self._click_delay is not None:
       self._click_release_time = rl.get_time() + self._click_delay

openpilot/system/ui/widgets/label.py

@@ -1,7 +1,6 @@
 import math
 from enum import IntEnum
 from collections.abc import Callable
-from itertools import zip_longest
 from typing import Union
 import pyray as rl
 
@@ -210,7 +209,7 @@ class Label(Widget):
         icon_x = self._rect.x + (self._rect.width - self._icon.width) / 2
       rl.draw_texture_v(self._icon, rl.Vector2(icon_x, icon_y), rl.WHITE)
 
-    for text, text_size, emojis in zip_longest(self._text_wrapped, self._text_size, self._emojis, fillvalue=[]):
+    for text, text_size, emojis in zip(self._text_wrapped, self._text_size, self._emojis, strict=True):
       line_pos = rl.Vector2(text_pos.x, text_pos.y)
       if self._text_alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
         line_pos.x += self._text_padding

openpilot/system/ui/widgets/nav_widget.py

@@ -78,7 +78,7 @@ class NavWidget(Widget, abc.ABC):
     # the top of a vertical scroll panel to prevent erroneous swipes
     return True
 
-  def set_back_callback(self, callback: Callable[[], None]) -> None:
+  def set_back_callback(self, callback: Callable[[], None] | None) -> None:
     self._back_callback = callback
 
   def set_shown_callback(self, callback: Callable[[], None] | None) -> None:

openpilot/system/ui/widgets/network.py

@@ -15,16 +15,6 @@ from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.widgets.scroller_tici import Scroller
 from openpilot.system.ui.widgets.list_view import ButtonAction, ListItem, MultipleButtonAction, ToggleAction, button_item, text_item
 
-# These are only used for AdvancedNetworkSettings, standalone apps just need WifiManagerUI
-try:
-  from openpilot.common.params import Params
-  from openpilot.selfdrive.ui.ui_state import ui_state
-  from openpilot.selfdrive.ui.lib.prime_state import PrimeType
-except Exception:
-  Params = None
-  ui_state = None
-  PrimeType = None
-
 NM_DEVICE_STATE_NEED_AUTH = 60
 MIN_PASSWORD_LENGTH = 8
 MAX_PASSWORD_LENGTH = 64
@@ -105,11 +95,16 @@ class NetworkUI(Widget):
 
 class AdvancedNetworkSettings(Widget):
   def __init__(self, wifi_manager: WifiManager):
-    assert Params is not None
+    # AdvancedNetworkSettings needs the full openpilot environment, standalone apps just use WifiManagerUI
+    from openpilot.common.params import Params
+    from openpilot.selfdrive.ui.ui_state import ui_state
+    from openpilot.selfdrive.ui.lib.prime_state import PrimeType
     super().__init__()
     self._wifi_manager = wifi_manager
     self._wifi_manager.add_callbacks(networks_updated=self._on_network_updated)
     self._params = Params()
+    self._prime_state = ui_state.prime_state
+    self._cell_prime_types = (PrimeType.NONE, PrimeType.LITE)
 
     self._keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
 
@@ -254,7 +249,7 @@ class AdvancedNetworkSettings(Widget):
     self._wifi_manager.process_callbacks()
 
     # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    show_cell_settings = self._prime_state.get_type() in self._cell_prime_types
     self._wifi_manager.set_ipv4_forward(show_cell_settings)
     self._roaming_btn.set_visible(show_cell_settings)
     self._apn_btn.set_visible(show_cell_settings)

openpilot/system/ui/widgets/scroller.py

@@ -1,6 +1,6 @@
 import pyray as rl
 import numpy as np
-from collections.abc import Callable
+from collections.abc import Callable, Sequence
 
 from openpilot.common.filter_simple import FirstOrderFilter, BounceFilter
 from openpilot.common.swaglog import cloudlog
@@ -40,7 +40,7 @@ class ScrollIndicator(Widget):
     self._content_size = content_size
     self._viewport = viewport
 
-  def _render(self, _):
+  def _render(self, _, /):
     # scale indicator width based on content size
     indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100]))
 
@@ -69,7 +69,7 @@ class ScrollIndicator(Widget):
 
 class _Scroller(Widget):
   """Should use wrapper below to reduce boilerplate"""
-  def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
+  def __init__(self, items: Sequence[Widget], horizontal: bool = True, snap_items: bool = False, spacing: int = ITEM_SPACING,
                pad: int = ITEM_SPACING, scroll_indicator: bool = True, edge_shadows: bool = True):
     super().__init__()
     self._items: list[Widget] = []
@@ -150,7 +150,7 @@ class _Scroller(Widget):
                                           and not self.moving_items and (original_touch_valid_callback() if
                                                                          original_touch_valid_callback else True))
 
-  def add_widgets(self, items: list[Widget]) -> None:
+  def add_widgets(self, items: Sequence[Widget]) -> None:
     for item in items:
       self.add_widget(item)
 
@@ -332,7 +332,7 @@ class _Scroller(Widget):
     else:
       item.render()
 
-  def _render(self, _):
+  def _render(self, _, /):
     rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y),
                           int(self._rect.width), int(self._rect.height))
 
@@ -397,7 +397,7 @@ class Scroller(Widget):
     # pass down enabled to child widget for nav stack
     self._scroller.set_enabled(lambda: self.enabled)
 
-  def _render(self, _):
+  def _render(self, _, /):
     self._scroller.render(self._rect)
 
 

openpilot/system/ui/widgets/scroller_tici.py

@@ -1,4 +1,5 @@
 import pyray as rl
+from collections.abc import Sequence
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.widgets import Widget
 
@@ -23,7 +24,7 @@ class LineSeparator(Widget):
 
 
 class Scroller(Widget):
-  def __init__(self, items: list[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
+  def __init__(self, items: Sequence[Widget], spacing: int = ITEM_SPACING, line_separator: bool = False, pad_end: bool = True):
     super().__init__()
     self._items: list[Widget] = []
     self._spacing = spacing

openpilot/system/updated/updated.py

@@ -357,7 +357,7 @@ class Updater:
     setup_git_options(OVERLAY_MERGED)
     output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED)
 
-    self.branches = defaultdict(lambda: None)
+    self.branches.clear()
     for line in output.split('\n'):
       ls_remotes_re = r'(?P<commit_sha>\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P<branch_name>.*$)'
       x = re.fullmatch(ls_remotes_re, line.strip())

openpilot/system/webrtc/tests/test_stream_session.py

@@ -55,9 +55,11 @@ class TestStreamSession:
 
       mocked_pubmaster.send.assert_called_once()
       mt, md = mocked_pubmaster.send.call_args.args
-      assert mt == msg["type"]
+      msg_type = msg["type"]
+      assert isinstance(msg_type, str)
+      assert mt == msg_type
       assert isinstance(md, capnp._DynamicStructBuilder)
-      assert hasattr(md, msg["type"])
+      assert hasattr(md, msg_type)
 
       mocked_pubmaster.reset_mock()
 

openpilot/system/webrtc/webrtcd.py

@@ -519,7 +519,7 @@ class WebrtcdHandler(BaseHTTPRequestHandler):
   def do_OPTIONS(self) -> None:
     self._dispatch_request()
 
-  def log_message(self, fmt, *args) -> None:
+  def log_message(self, format: str, *args: object) -> None:  # noqa: A002  # stdlib override
     # silence default access logging; errors are logged explicitly in _dispatch_request
     pass