import sys
import traceback

import cereal.messaging as messaging
import selfdrive.crash as crash
from common.basedir import BASEDIR
from common.params import Params, ParamKeyType
from common.text_window import TextWindow
from selfdrive.boardd.set_time import set_time

            

Reported by Pylint.

              import sys
import traceback

import cereal.messaging as messaging
import selfdrive.crash as crash
from common.basedir import BASEDIR
from common.params import Params, ParamKeyType
from common.text_window import TextWindow
from selfdrive.boardd.set_time import set_time

            

Reported by Pylint.

              
  # Create folders needed for msgq
  try:
    os.mkdir("/dev/shm")
  except FileExistsError:
    pass
  except PermissionError:
    print("WARNING: failed to make /dev/shm")


            

Reported by Bandit.

              import datetime
import os
import signal
import subprocess
import sys
import traceback

import cereal.messaging as messaging
import selfdrive.crash as crash

            

Reported by Bandit.

                cloudlog.info({"environ": os.environ})

  # save boot log
  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))

  params = Params()

  ignore = []
  if params.get("DongleId", encoding='utf8') == UNREGISTERED_DONGLE_ID:

            

Reported by Bandit.

              #!/usr/bin/env python3
import unittest
import importlib
from parameterized import parameterized

from cereal import car
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS

            

Reported by Pylint.

              import importlib
from parameterized import parameterized

from cereal import car
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS

class TestCarInterfaces(unittest.TestCase):

            

Reported by Pylint.

              
    car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
    car_interface = CarInterface(car_params, CarController, CarState)
    assert car_params
    assert car_interface

    self.assertGreater(car_params.mass, 1)
    self.assertGreater(car_params.steerRateCost, 1e-3)


            

Reported by Bandit.

                  car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
    car_interface = CarInterface(car_params, CarController, CarState)
    assert car_params
    assert car_interface

    self.assertGreater(car_params.mass, 1)
    self.assertGreater(car_params.steerRateCost, 1e-3)

    if car_params.steerControlType != car.CarParams.SteerControlType.angle:

            

Reported by Bandit.

                  # Test radar interface
    RadarInterface = importlib.import_module('selfdrive.car.%s.radar_interface' % car_params.carName).RadarInterface
    radar_interface = RadarInterface(car_params)
    assert radar_interface

    # Run radar interface once
    radar_interface.update([])
    if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
      radar_interface._update([radar_interface.trigger_msg])

            

Reported by Bandit.

              from cereal import car
from common.numpy_fast import mean
from selfdrive.config import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                    CruiseButtons, STEER_THRESHOLD


            

Reported by Pylint.

              from cereal import car
from common.numpy_fast import mean
from selfdrive.config import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                    CruiseButtons, STEER_THRESHOLD


            

Reported by Pylint.

              from cereal import car
from common.numpy_fast import mean
from selfdrive.config import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                    CruiseButtons, STEER_THRESHOLD


            

Reported by Pylint.

              from common.numpy_fast import mean
from selfdrive.config import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                    CruiseButtons, STEER_THRESHOLD



            

Reported by Pylint.

              from common.numpy_fast import mean
from selfdrive.config import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                    CruiseButtons, STEER_THRESHOLD



            

Reported by Pylint.

              import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS



            

Reported by Pylint.

              import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS



            

Reported by Pylint.

              import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS



            

Reported by Pylint.

              from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS


class CarState(CarStateBase):
  def __init__(self, CP):

            

Reported by Pylint.

              from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CARS


class CarState(CarStateBase):
  def __init__(self, CP):

            

Reported by Pylint.

              import os
import subprocess
from cffi import FFI
from common.basedir import BASEDIR

# Initialize visiontest. Ignore output.
_visiond_dir = os.path.dirname(os.path.abspath(__file__))
_libvisiontest = "libvisiontest.so"
try:  # because this crashes sometimes when running pipeline

            

Reported by Bandit.

              _visiond_dir = os.path.dirname(os.path.abspath(__file__))
_libvisiontest = "libvisiontest.so"
try:  # because this crashes sometimes when running pipeline
  subprocess.check_output(["make", "-C", _visiond_dir, "-f",
                           os.path.join(_visiond_dir, "visiontest.mk"),
                           _libvisiontest])
except Exception:
  pass


            

Reported by Bandit.

              _visiond_dir = os.path.dirname(os.path.abspath(__file__))
_libvisiontest = "libvisiontest.so"
try:  # because this crashes sometimes when running pipeline
  subprocess.check_output(["make", "-C", _visiond_dir, "-f",
                           os.path.join(_visiond_dir, "visiontest.mk"),
                           _libvisiontest])
except Exception:
  pass


            

Reported by Bandit.

                subprocess.check_output(["make", "-C", _visiond_dir, "-f",
                           os.path.join(_visiond_dir, "visiontest.mk"),
                           _libvisiontest])
except Exception:
  pass


class VisionTest():
  """A version of the vision model that can be run on a desktop.

            

Reported by Bandit.

              
  def transform_output_buffer(self, yuv_data, y_out, u_out, v_out,
                              transform):
    assert len(yuv_data) == self.input_size[0] * self.input_size[1] * 3 / 2

    cast = self.ffi.cast
    from_buffer = self.ffi.from_buffer
    yuv_ptr = cast("unsigned char*", from_buffer(yuv_data))
    transform_ptr = self.ffi.new("float[]", transform)

            

Reported by Bandit.

              	}

	NVGcompositeOperationState state;
	state.srcRGB = sfactor;
	state.dstRGB = dfactor;
	state.srcAlpha = sfactor;
	state.dstAlpha = dfactor;
	return state;
}

            

Reported by Cppcheck.

              
	NVGcompositeOperationState state;
	state.srcRGB = sfactor;
	state.dstRGB = dfactor;
	state.srcAlpha = sfactor;
	state.dstAlpha = dfactor;
	return state;
}


            

Reported by Cppcheck.

              	NVGcompositeOperationState state;
	state.srcRGB = sfactor;
	state.dstRGB = dfactor;
	state.srcAlpha = sfactor;
	state.dstAlpha = dfactor;
	return state;
}

static NVGstate* nvg__getState(NVGcontext* ctx)

            

Reported by Cppcheck.

              	state.srcRGB = sfactor;
	state.dstRGB = dfactor;
	state.srcAlpha = sfactor;
	state.dstAlpha = dfactor;
	return state;
}

static NVGstate* nvg__getState(NVGcontext* ctx)
{

            

Reported by Cppcheck.

              import os
import datetime
import subprocess
import psutil
import shutil
import signal
import fcntl
import time
import threading

            

Reported by Pylint.

              from selfdrive.swaglog import cloudlog
from selfdrive.controls.lib.alertmanager import set_offroad_alert

LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")

NEOSUPDATE_DIR = os.getenv("UPDATER_NEOSUPDATE_DIR", "/data/neoupdate")

OVERLAY_UPPER = os.path.join(STAGING_ROOT, "upper")

            

Reported by Bandit.

              
import os
import datetime
import subprocess
import psutil
import shutil
import signal
import fcntl
import time

            

Reported by Bandit.

              def run(cmd: List[str], cwd: Optional[str] = None, low_priority: bool = False):
  if low_priority:
    cmd = ["nice", "-n", "19"] + cmd
  return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8')


def set_consistent_flag(consistent: bool) -> None:
  os.sync()
  consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent"))

            

Reported by Bandit.

              def get_apport_stacktrace(fn):
  try:
    cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")'
    return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash')  # pylint: disable=unexpected-keyword-arg
  except subprocess.CalledProcessError:
    return "Error getting stacktrace"
  except subprocess.TimeoutExpired:
    return "Timeout getting stacktrace"


            

Reported by Bandit.

              import time
import glob

import sentry_sdk

from common.params import Params
from common.file_helpers import mkdirs_exists_ok
from selfdrive.hardware import TICI, HARDWARE
from selfdrive.loggerd.config import ROOT

            

Reported by Pylint.

              import re
import shutil
import signal
import subprocess
import time
import glob

import sentry_sdk


            

Reported by Bandit.

                for f in glob.glob(APPORT_DIR + '*'):
    try:
      os.remove(f)
    except Exception:
      pass


def get_apport_stacktrace(fn):
  try:

            

Reported by Bandit.

              import random
import unittest

import cereal.messaging as messaging
from common.params import Params
from selfdrive.locationd.calibrationd import Calibrator


class TestCalibrationd(unittest.TestCase):

            

Reported by Pylint.

              import random
import unittest

import cereal.messaging as messaging
from common.params import Params
from selfdrive.locationd.calibrationd import Calibrator


class TestCalibrationd(unittest.TestCase):

            

Reported by Pylint.

              
  def test_read_saved_params(self):
    msg = messaging.new_message('liveCalibration')
    msg.liveCalibration.validBlocks = random.randint(1, 10)
    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
    Params().put("CalibrationParams", msg.to_bytes())
    c = Calibrator(param_put=True)

    self.assertEqual(list(msg.liveCalibration.rpyCalib), c.rpy)

            

Reported by Bandit.

                def test_read_saved_params(self):
    msg = messaging.new_message('liveCalibration')
    msg.liveCalibration.validBlocks = random.randint(1, 10)
    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
    Params().put("CalibrationParams", msg.to_bytes())
    c = Calibrator(param_put=True)

    self.assertEqual(list(msg.liveCalibration.rpyCalib), c.rpy)
    self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)

            

Reported by Bandit.

              #!/usr/bin/env python3
# type: ignore

import cereal.messaging as messaging
from cereal.services import service_list

TO_CHECK = ['carState']



            

Reported by Pylint.

              #!/usr/bin/env python3
# type: ignore

import cereal.messaging as messaging
from cereal.services import service_list

TO_CHECK = ['carState']



            

Reported by Pylint.

              # type: ignore

import cereal.messaging as messaging
from cereal.services import service_list

TO_CHECK = ['carState']


if __name__ == "__main__":

            

Reported by Pylint.

              # type: ignore

import cereal.messaging as messaging
from cereal.services import service_list

TO_CHECK = ['carState']


if __name__ == "__main__":

            

Reported by Pylint.