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sunnypilot/mapd/mapd_installer.py

@@ -84,7 +84,7 @@ class MapdInstallManager:
 
   def wait_for_internet_connection(self, return_on_failure=False):
     max_retries = 10
-    for retries in range(max_retries+1):
+    for retries in range(max_retries + 1):
       self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]")
       time.sleep(2)
       try:

sunnypilot/navd/helpers.py

@@ -13,9 +13,9 @@ MODIFIABLE_DIRECTIONS = ('left', 'right')
 
 EARTH_MEAN_RADIUS = 6371007.2
 SPEED_CONVERSIONS = {
-    'km/h': Conversions.KPH_TO_MS,
-    'mph': Conversions.MPH_TO_MS,
-  }
+  'km/h': Conversions.KPH_TO_MS,
+  'mph': Conversions.MPH_TO_MS,
+}
 
 
 class Coordinate:
@@ -65,9 +65,9 @@ class Coordinate:
     haversine_dlon *= haversine_dlon
 
     y = haversine_dlat \
-             + math.cos(math.radians(self.latitude)) \
-             * math.cos(math.radians(other.latitude)) \
-             * haversine_dlon
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
     x = 2 * math.asin(math.sqrt(y))
     return x * EARTH_MEAN_RADIUS
 

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_controller.py

@@ -194,7 +194,7 @@ class SpeedLimitController:
     """ Make state transition from inactive state """
     if self._engage_type == Engage.user_confirm:
       if (((self._last_op_enabled_time + 7.) >= self._current_time >= (self._last_op_enabled_time + 2.)) or
-              self._speed_limit_changed):
+            self._speed_limit_changed):
         if self._speed_limit_changed:
           self._last_op_enabled_time = self._current_time - 2.  # immediately prompt confirmation
         self.state = SpeedLimitControlState.preActive
@@ -253,7 +253,7 @@ class SpeedLimitController:
     # In any case, if op is disabled, or speed limit control is disabled
     # or the reported speed limit is 0 or gas is pressed, deactivate.
     if not self._op_enabled or not self._is_enabled or self._speed_limit == 0 or \
-            (self._gas_pressed and self._disengage_on_accelerator):
+          (self._gas_pressed and self._disengage_on_accelerator):
       self.state = SpeedLimitControlState.inactive
       return
 
@@ -261,7 +261,7 @@ class SpeedLimitController:
     # Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
     # due to controlsd logic changing cruise setpoint when going active.
     if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
-            self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD):
+          self._current_time > (self._last_op_enabled_time + TEMP_INACTIVE_GUARD_PERIOD):
       self.state = SpeedLimitControlState.tempInactive
       return
 
@@ -277,7 +277,7 @@ class SpeedLimitController:
   def get_adapting_state_target_acceleration(self) -> float:
     """ In adapting state, calculate target acceleration based on speed limit and current velocity """
     if self.distance > 0:
-      return (self.speed_limit_offseted**2 - self._v_ego**2) / (2. * self.distance)
+      return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
 
     return self._v_offset / ModelConstants.T_IDXS[CONTROL_N]
 
@@ -287,13 +287,13 @@ class SpeedLimitController:
 
   def _update_events(self, events_sp: EventsSP) -> None:
     if self._speed_limit > 0 and self._warning_type == 2 and \
-      self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)):
+        self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._ms_to_local)):
       events_sp.add(EventNameSP.speedLimitPreActive)
 
     if not self.is_active:
       if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \
-        self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
-          events_sp.add(EventNameSP.speedLimitPreActive)
+          self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
+        events_sp.add(EventNameSP.speedLimitPreActive)
     else:
       if self._engage_type == Engage.user_confirm:
         if self._state_prev == SpeedLimitControlState.preActive:

sunnypilot/selfdrive/controls/lib/speed_limit_controller/speed_limit_resolver.py

@@ -85,7 +85,7 @@ class SpeedLimitResolver:
 
     if 0. < next_speed_limit < self._v_ego:
       adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
-      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time**2
+      adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
 
       if distance_to_speed_limit_ahead <= adapt_distance:
         self._limit_solutions[Source.map_data] = next_speed_limit