lint: check indentation (#38454)

* lint: check indentation

* cleanup

* happy

* that was too much

* happy

openpilot/selfdrive/assets/sounds/make_beeps.py

@@ -6,12 +6,12 @@ sr = 48000
 max_int16 = 2**15 - 1
 
 def harmonic_beep(freq, duration_seconds):
-    n_total = int(sr * duration_seconds)
+  n_total = int(sr * duration_seconds)
 
-    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
-    x = np.arange(n_total)
-    exp_scale = np.exp(-x/5.5e3)
-    return max_int16 * signal * exp_scale
+  signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
+  x = np.arange(n_total)
+  exp_scale = np.exp(-x/5.5e3)
+  return max_int16 * signal * exp_scale
 
 engage_beep = harmonic_beep(1661.219, 0.5)
 wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))

openpilot/selfdrive/locationd/helpers.py

@@ -9,29 +9,29 @@ from openpilot.common.transformations.orientation import rot_from_euler, euler_f
 
 @cache
 def fft_next_good_size(n: int) -> int:
-    """
-    smallest composite of 2, 3, 5, 7, 11 that is >= n
-    inspired by pocketfft
-    """
-    if n <= 6:
-      return n
-    best, f2 = 2 * n, 1
-    while f2 < best:
-        f23 = f2
-        while f23 < best:
-            f235 = f23
-            while f235 < best:
-                f2357 = f235
-                while f2357 < best:
-                    f235711 = f2357
-                    while f235711 < best:
-                        best = f235711 if f235711 >= n else best
-                        f235711 *= 11
-                    f2357 *= 7
-                f235 *= 5
-            f23 *= 3
-        f2 *= 2
-    return best
+  """
+  smallest composite of 2, 3, 5, 7, 11 that is >= n
+  inspired by pocketfft
+  """
+  if n <= 6:
+    return n
+  best, f2 = 2 * n, 1
+  while f2 < best:
+    f23 = f2
+    while f23 < best:
+      f235 = f23
+      while f235 < best:
+        f2357 = f235
+        while f2357 < best:
+          f235711 = f2357
+          while f235711 < best:
+            best = f235711 if f235711 >= n else best
+            f235711 *= 11
+          f2357 *= 7
+        f235 *= 5
+      f23 *= 3
+    f2 *= 2
+  return best
 
 
 def parabolic_peak_interp(R, max_index):

openpilot/selfdrive/ui/mici/onroad/cameraview.py

@@ -383,12 +383,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-      self._clear_textures()
-      if not TICI:
-        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    self._clear_textures()
+    if not TICI:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:

openpilot/system/athena/athenad.py

@@ -580,7 +580,7 @@ def startStream(sdp: str, enabled: bool) -> dict:
       if CP.notCar:
         bridge_services_in.append("testJoystick")
   else:
-      raise Exception("failed to get CarParamsPersistent")
+    raise Exception("failed to get CarParamsPersistent")
 
   if params.get_bool("IsOffroad"):
     # manager owns camerad/stream_encoderd/webrtcd; flip the param and let it bring them up.

openpilot/system/athena/tests/test_athenad.py

@@ -49,7 +49,7 @@ def with_upload_handler(func):
   return wrapper
 
 def mock_create_connection(mocker):
-    return mocker.patch('openpilot.system.athena.athenad.create_connection')
+  return mocker.patch('openpilot.system.athena.athenad.create_connection')
 
 def host():
   with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port):

openpilot/tools/lib/framereader.py

@@ -28,7 +28,7 @@ class LRUCache:
   def __setitem__(self, key, value):
     self._cache[key] = value
     if len(self._cache) > self.capacity:
-        self._cache.popitem(last=False)
+      self._cache.popitem(last=False)
 
   def __contains__(self, key):
     return key in self._cache

openpilot/tools/sim/bridge/metadrive/metadrive_process.py

@@ -27,9 +27,9 @@ def apply_metadrive_patches(arrive_dest_done=True):
   # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in
   def add_image_sensor_patched(self, name: str, cls, args):
     if self.global_config["image_on_cuda"]:# and name == self.global_config["vehicle_config"]["image_source"]:
-        sensor = cls(*args, self, cuda=True)
+      sensor = cls(*args, self, cuda=True)
     else:
-        sensor = cls(*args, self, cuda=False)
+      sensor = cls(*args, self, cuda=False)
     assert isinstance(sensor, ImageBuffer), "This API is for adding image sensor"
     self.sensors[name] = sensor
 

scripts/lint/check_indentation.py

@@ -0,0 +1,38 @@
+#!/usr/bin/env python3
+import argparse
+import tokenize
+
+
+# TODO: remove this once https://github.com/astral-sh/ruff/issues/8705 is closed
+def check_indentation(filename: str, indent_width: int = 2) -> bool:
+  failed = False
+  indent_stack = [0]
+
+  with tokenize.open(filename) as f:
+    tokens = tokenize.generate_tokens(f.readline)
+    for token in tokens:
+      if token.type == tokenize.INDENT:
+        indentation = token.string
+        width = len(indentation)
+        expected = indent_stack[-1] + indent_width
+
+        if indentation != " " * expected:
+          found = "indentation containing tabs" if "\t" in indentation else f"{width} spaces"
+          print(f"{filename}:{token.start[0]}:1: expected {expected} spaces, found {found}")
+          failed = True
+        indent_stack.append(width)
+      elif token.type == tokenize.DEDENT:
+        indent_stack.pop()
+
+  return failed
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Check Python block indentation.")
+  parser.add_argument("filenames", nargs="+")
+  args = parser.parse_args()
+
+  failed = False
+  for filename in args.filenames:
+    failed |= check_indentation(filename)
+  raise SystemExit(failed)

scripts/lint/lint.sh

@@ -46,6 +46,7 @@ function run_tests() {
   PYTHON_FILES=$2
 
   run "ruff" ruff check openpilot --quiet
+  run "check_indentation" $DIR/check_indentation.py $PYTHON_FILES
   run "check_added_large_files" $DIR/check_added_large_files.py --maxkb=120 $ALL_FILES
   run "check_shebang_scripts_are_executable" $DIR/check_shebang_scripts_are_executable.py $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
@@ -66,6 +67,7 @@ function help() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Tests:${NC}"
   echo -e "  ${BOLD}ruff${NC}"
+  echo -e "  ${BOLD}check_indentation${NC}"
   echo -e "  ${BOLD}ty${NC}"
   echo -e "  ${BOLD}codespell${NC}"
   echo -e "  ${BOLD}check_added_large_files${NC}"