Merge branch 'master' into sync-priv-20240227

# Conflicts:
#	panda
#	selfdrive/car/chrysler/values.py
#	selfdrive/car/ford/carstate.py
#	selfdrive/car/ford/interface.py
#	selfdrive/car/ford/values.py
#	selfdrive/car/interfaces.py
#	selfdrive/car/nissan/values.py
#	selfdrive/car/subaru/interface.py
#	selfdrive/car/volkswagen/interface.py
#	selfdrive/car/volkswagen/values.py
#	selfdrive/controls/radard.py
#	selfdrive/manager/process.py
#	selfdrive/modeld/modeld.py

selfdrive/debug/can_print_changes.py

@@ -3,7 +3,6 @@ import argparse
 import binascii
 import time
 from collections import defaultdict
-from typing import Optional
 
 import cereal.messaging as messaging
 from openpilot.selfdrive.debug.can_table import can_table
@@ -96,8 +95,8 @@ if __name__ == "__main__":
 
   args = parser.parse_args()
 
-  init_lr: Optional[LogIterable] = None
-  new_lr: Optional[LogIterable] = None
+  init_lr: LogIterable | None = None
+  new_lr: LogIterable | None = None
 
   if args.init:
     if args.init == '':

selfdrive/debug/check_freq.py

@@ -3,7 +3,7 @@ import argparse
 import numpy as np
 import time
 from collections import defaultdict, deque
-from typing import DefaultDict, Deque, MutableSequence
+from collections.abc import MutableSequence
 
 import cereal.messaging as messaging
 
@@ -19,8 +19,8 @@ if __name__ == "__main__":
   socket_names = args.socket
   sockets = {}
 
-  rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
-  valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
+  rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
+  valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
   t = time.monotonic()
   for name in socket_names:

selfdrive/debug/check_lag.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from typing import Dict
 
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
@@ -10,7 +9,7 @@ TO_CHECK = ['carState']
 if __name__ == "__main__":
   sm = messaging.SubMaster(TO_CHECK)
 
-  prev_t: Dict[str, float] = {}
+  prev_t: dict[str, float] = {}
 
   while True:
     sm.update()

selfdrive/debug/check_timings.py

@@ -3,13 +3,13 @@
 import sys
 import time
 import numpy as np
-from typing import DefaultDict, MutableSequence
+from collections.abc import MutableSequence
 from collections import defaultdict, deque
 
 import cereal.messaging as messaging
 
 socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-ts: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
+ts: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
   while True:

selfdrive/debug/count_events.py

@@ -4,7 +4,7 @@ import math
 import datetime
 from collections import Counter
 from pprint import pprint
-from typing import List, Tuple, cast
+from typing import cast
 
 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
@@ -15,8 +15,8 @@ if __name__ == "__main__":
   cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
-  events: List[Tuple[float, set[str]]] = []
-  alerts: List[Tuple[float, str]] = []
+  events: list[tuple[float, set[str]]] = []
+  alerts: list[tuple[float, str]] = []
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None

selfdrive/debug/cpu_usage_stat.py

@@ -66,12 +66,12 @@ if __name__ == "__main__":
   for p in psutil.process_iter():
     if p == psutil.Process():
       continue
-    matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(r'.*{}.*'.format(pn), l, re.M | re.I)))
+    matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I)))
     if matched:
       k = ' '.join(p.cmdline())
       print('Add monitored proc:', k)
       stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None),
-                  'avg': defaultdict(lambda: 0.0), 'last_cpu_times': None, 'last_sys_time': None}
+                  'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None}
       stats[k]['last_sys_time'] = timer()
       stats[k]['last_cpu_times'] = p.cpu_times()
       monitored_procs.append(p)

selfdrive/debug/format_fingerprints.py

@@ -67,7 +67,7 @@ def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tup
   extra_fw_versions = extra_fw_versions or {}
 
   fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py")
-  with open(fingerprints_file, "r") as f:
+  with open(fingerprints_file) as f:
     comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line]
 
   with open(fingerprints_file, "w") as f:

selfdrive/debug/internal/measure_modeld_packet_drop.py

@@ -1,12 +1,11 @@
 #!/usr/bin/env python3
 import cereal.messaging as messaging
-from typing import Optional
 
 if __name__ == "__main__":
   modeld_sock = messaging.sub_sock("modelV2")
 
   last_frame_id = None
-  start_t: Optional[int] = None
+  start_t: int | None = None
   frame_cnt = 0
   dropped = 0
 

selfdrive/debug/live_cpu_and_temp.py

@@ -5,7 +5,6 @@ from collections import defaultdict
 
 from cereal.messaging import SubMaster
 from openpilot.common.numpy_fast import mean
-from typing import Optional, Dict
 
 def cputime_total(ct):
   return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq
@@ -42,8 +41,8 @@ if __name__ == "__main__":
   total_times = [0.]*8
   busy_times = [0.]*8
 
-  prev_proclog: Optional[capnp._DynamicStructReader] = None
-  prev_proclog_t: Optional[int] = None
+  prev_proclog: capnp._DynamicStructReader | None = None
+  prev_proclog_t: int | None = None
 
   while True:
     sm.update()
@@ -76,7 +75,7 @@ if __name__ == "__main__":
       print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C")
 
       if args.cpu and prev_proclog is not None and prev_proclog_t is not None:
-        procs: Dict[str, float] = defaultdict(float)
+        procs: dict[str, float] = defaultdict(float)
         dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9
         for proc in m.procs:
           try: