From dbaba022a26f095a2b00f9f1918abda10be03eec Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Tue, 27 Feb 2024 21:28:12 -0500
Subject: [PATCH] Fix upstream merge conflicts

---
 common/realtime.py                    | 2 +-
 selfdrive/car/interfaces.py           | 4 ++--
 selfdrive/car/subaru/carcontroller.py | 3 +--
 selfdrive/sentry.py                   | 3 +--
 4 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/common/realtime.py b/common/realtime.py
index 49a38a8ff5..ed0d46532d 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -46,7 +46,7 @@ def config_realtime_process(cores: int | list[int], priority: int) -> None:
   set_core_affinity(c)
 
 
-def set_thread_affinity(thread: threading.Thread, cores: List[int]) -> None:
+def set_thread_affinity(thread: threading.Thread, cores: list[int]) -> None:
   try:
     process = psutil.Process(thread.ident)
     process.cpu_affinity(cores)
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 9433bcf5eb..0ef758cafe 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -155,7 +155,7 @@ class FluxModel:
     self.friction_override = (y < 0.1)
 
 
-def get_nn_model_path(_car, eps_firmware) -> Tuple[Optional[str], float]:
+def get_nn_model_path(_car, eps_firmware) -> tuple[str | None, float]:
   def check_nn_path(_check_model):
     _model_path = None
     _max_similarity = -1.0
@@ -182,7 +182,7 @@ def get_nn_model_path(_car, eps_firmware) -> Tuple[Optional[str], float]:
   return model_path, max_similarity
 
 
-def get_nn_model(_car, eps_firmware) -> Tuple[Optional[FluxModel], float]:
+def get_nn_model(_car, eps_firmware) -> tuple[FluxModel | None, float]:
   model, similarity_score = get_nn_model_path(_car, eps_firmware)
   if model is not None:
     model = FluxModel(model)
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index df7447269c..8dc4e1e702 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,5 +1,4 @@
 from cereal import car
-from typing import Tuple
 from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params
 from opendbc.can.packer import CANPacker
@@ -179,7 +178,7 @@ class CarController:
     return new_actuators, can_sends
 
   # Stop and Go auto-resume thanks to martinl from subaru-community
-  def stop_and_go(self, CC: car.CarControl, CS: car.CarState, throttle_cmd: bool = False, speed_cmd: bool = False) -> Tuple[bool, bool]:
+  def stop_and_go(self, CC: car.CarControl, CS: car.CarState, throttle_cmd: bool = False, speed_cmd: bool = False) -> tuple[bool, bool]:
     if not self.subaru_sng:
       return throttle_cmd, speed_cmd
     if self.CP.carFingerprint in PREGLOBAL_CARS:
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 6a789e12f0..b94ab0fb8b 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -2,7 +2,6 @@
 import sentry_sdk
 import subprocess
 from enum import Enum
-from typing import Tuple
 from sentry_sdk.integrations.threading import ThreadingIntegration
 
 from openpilot.common.basedir import BASEDIR
@@ -93,7 +92,7 @@ def set_tag(key: str, value: str) -> None:
   sentry_sdk.set_tag(key, value)
 
 
-def get_properties() -> Tuple[str, str]:
+def get_properties() -> tuple[str, str]:
   params = Params()
   dongle_id = params.get("DongleId", encoding='utf-8')
   if dongle_id in (None, UNREGISTERED_DONGLE_ID):