enable flake8 E231: missing whitespace after comma

selfdrive/locationd/calibrationd.py

@@ -30,15 +30,15 @@ DEBUG = os.getenv("DEBUG") is not None
 
 
 def is_calibration_valid(vp):
-  return vp[0] > VP_VALIDITY_CORNERS[0,0] and vp[0] < VP_VALIDITY_CORNERS[1,0] and \
-         vp[1] > VP_VALIDITY_CORNERS[0,1] and vp[1] < VP_VALIDITY_CORNERS[1,1]
+  return vp[0] > VP_VALIDITY_CORNERS[0, 0] and vp[0] < VP_VALIDITY_CORNERS[1, 0] and \
+         vp[1] > VP_VALIDITY_CORNERS[0, 1] and vp[1] < VP_VALIDITY_CORNERS[1, 1]
 
 
 def sanity_clip(vp):
   if np.isnan(vp).any():
     vp = VP_INIT
-  return np.array([np.clip(vp[0], VP_VALIDITY_CORNERS[0,0] - 5, VP_VALIDITY_CORNERS[1,0] + 5),
-                   np.clip(vp[1], VP_VALIDITY_CORNERS[0,1] - 5, VP_VALIDITY_CORNERS[1,1] + 5)])
+  return np.array([np.clip(vp[0], VP_VALIDITY_CORNERS[0, 0] - 5, VP_VALIDITY_CORNERS[1, 0] + 5),
+                   np.clip(vp[1], VP_VALIDITY_CORNERS[0, 1] - 5, VP_VALIDITY_CORNERS[1, 1] + 5)])
 
 
 def intrinsics_from_vp(vp):

selfdrive/locationd/locationd.py

@@ -93,7 +93,7 @@ class Localizer():
     vel_device = device_from_ecef.dot(vel_ecef)
     device_from_ecef_eul = euler_from_quat(predicted_state[States.ECEF_ORIENTATION]).T
     idxs = list(range(States.ECEF_ORIENTATION_ERR.start, States.ECEF_ORIENTATION_ERR.stop)) + list(range(States.ECEF_VELOCITY_ERR.start, States.ECEF_VELOCITY_ERR.stop))
-    condensed_cov = predicted_cov[idxs][:,idxs]
+    condensed_cov = predicted_cov[idxs][:, idxs]
     HH = H(*list(np.concatenate([device_from_ecef_eul, vel_ecef])))
     vel_device_cov = HH.dot(condensed_cov).dot(HH.T)
     vel_device_std = np.sqrt(np.diagonal(vel_device_cov))

selfdrive/locationd/models/live_kf.py

@@ -80,7 +80,7 @@ class LiveKalman():
     omega = state[States.ANGULAR_VELOCITY, :]
     vroll, vpitch, vyaw = omega
     roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
-    odo_scale = state[States.ODO_SCALE, :][0,:]
+    odo_scale = state[States.ODO_SCALE, :][0, :]
     acceleration = state[States.ACCELERATION, :]
     imu_angles = state[States.IMU_OFFSET, :]
 

selfdrive/locationd/models/loc_kf.py

@@ -176,7 +176,7 @@ class LocKalman():
     state_dot[13, 0] = cd
     state_dot[14, 0] = ca
     #state_dot[States.CLOCK_BIAS, 0][0,0] = cd
-    state_dot[States.CLOCK_DRIFT, 0][0,0] = ca
+    state_dot[States.CLOCK_DRIFT, 0][0, 0] = ca
 
     # Basic descretization, 1st order intergrator
     # Can be pretty bad if dt is big
@@ -201,8 +201,8 @@ class LocKalman():
     state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err)
     #state_err_dot[States.CLOCK_BIAS_ERR, :][0,:] = cd_err
     #state_err_dot[States.CLOCK_DRIFT_ERR, :][0,:] = ca_err
-    state_err_dot[12, :][0,:] = cd_err
-    state_err_dot[13, :][0,:] = ca_err
+    state_err_dot[12, :][0, :] = cd_err
+    state_err_dot[13, :][0, :] = ca_err
     f_err_sym = state_err + dt * state_err_dot
 
     # convenient indexing

selfdrive/locationd/test/ublox.py

@@ -717,7 +717,7 @@ class UBlox:
       self.dev = PandaSerial(self.panda, 1, self.baudrate)
 
       self.baudrate = 460800
-      print("upping baud:",self.baudrate)
+      print("upping baud:", self.baudrate)
       self.send_nmea("$PUBX,41,1,0007,0003,%u,0" % self.baudrate)
       time.sleep(0.1)
 

selfdrive/locationd/test/ubloxd.py

@@ -21,7 +21,7 @@ print_dB = os.getenv("PRINT_DB") is not None     # print antenna dB
 timeout = 1
 dyn_model = 4 # auto model
 baudrate = 460800
-ports = ["/dev/ttyACM0","/dev/ttyACM1"]
+ports = ["/dev/ttyACM0", "/dev/ttyACM1"]
 rate = 100 # send new data every 100ms
 
 # which SV IDs we have seen and when we got iono
@@ -135,7 +135,7 @@ def gen_solution(msg):
                                       msg_data['hour'],
                                       msg_data['min'],
                                       msg_data['sec']) -
-                 datetime.datetime(1970,1,1)).total_seconds())*1e+03 +
+                 datetime.datetime(1970, 1, 1)).total_seconds())*1e+03 +
                  msg_data['nano']*1e-06)
   gps_fix = {'bearing': msg_data['headMot']*1e-05,  # heading of motion in degrees
              'altitude': msg_data['height']*1e-03,  # altitude above ellipsoid
@@ -281,7 +281,7 @@ def main():
   global gpsLocationExternal, ubloxGnss
   nav_frame_buffer = {}
   nav_frame_buffer[0] = {}
-  for i in range(1,33):
+  for i in range(1, 33):
     nav_frame_buffer[0][i] = {}