setup ty type checker

README.md

@@ -38,7 +38,7 @@ to ensure that the behavior remains unchanged.
 The above tests are themselves tested by:
 * a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage
 
-In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on panda's Python library.
+In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [ty](https://github.com/astral-sh/ty) on panda's Python library.
 
 ## Usage
 

board/jungle/scripts/echo_loopback_test.py

@@ -48,7 +48,7 @@ def test_loopback():
 #################################################################
 ############################# MAIN ##############################
 #################################################################
-jungle = None
+jungle: PandaJungle
 counter = 0
 
 if __name__ == "__main__":

board/jungle/scripts/loopback_test.py

@@ -105,8 +105,8 @@ def test_loopback():
 #################################################################
 ############################# MAIN ##############################
 #################################################################
-jungle = None
-pandas = []  # type: ignore
+jungle: PandaJungle
+pandas: list[Panda] = []
 panda_serials = []
 counter = 0
 

examples/can_unique.py

@@ -55,6 +55,8 @@ def load(self, filename):
     with open(filename) as inp:
       reader = csv.reader(inp)
       header = next(reader, None)
+      if header is None:
+        return
       if header[0] == 'time':
         self.cabana(reader)
       else:

pyproject.toml

@@ -27,7 +27,6 @@ dev = [
   "pytest-timeout",
   "pytest-randomly",
   "ruff",
-  "mypy",
   "setuptools",
   "spidev; platform_system == 'Linux'",
 ]
@@ -42,18 +41,6 @@ packages = ["panda"]
 [tool.setuptools.package-dir]
 panda = "."
 
-[tool.mypy]
-# third-party packages
-ignore_missing_imports = true
-
-# helpful warnings
-warn_redundant_casts = true
-warn_unreachable = true
-warn_unused_ignores = true
-
-# restrict dynamic typing
-warn_return_any = true
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 line-length = 160
@@ -67,6 +54,12 @@ flake8-implicit-str-concat.allow-multiline=false
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 
+[tool.ty.rules]
+# Third-party packages (usb1, opendbc, spidev, etc.) can't be resolved by ty
+unresolved-import = "ignore"
+# Handle is temporarily set to None during reconnection before being reassigned
+invalid-assignment = "ignore"
+
 [tool.pytest.ini_options]
 addopts = "-Werror --strict-config --strict-markers --durations=10 --ignore-glob='*.sh' --ignore=tests/misra --ignore=tests/som --ignore=tests/hitl"
 python_files = "test_*.py"

scripts/test_canfd.py

@@ -48,10 +48,10 @@ def panda_init(serial, enable_canfd=False, enable_non_iso=False):
   p.set_safety_mode(CarParams.SafetyModel.allOutput)
   return p
 
-def test_canfd_throughput(p, p_recv=None):
+def test_canfd_throughput(p: Panda, p_recv: Panda | None = None):
   two_pandas = p_recv is not None
   p.set_safety_mode(CarParams.SafetyModel.allOutput)
-  if two_pandas:
+  if p_recv is not None:
     p_recv.set_safety_mode(CarParams.SafetyModel.allOutput)
   # enable output mode
   else:

test.sh

@@ -11,8 +11,8 @@ source ./setup.sh
 scons -j8
 
 # *** lint ***
+ty check .
 ruff check .
-mypy python/
 
 
 # *** test ***

tests/libs/resetter.py

@@ -4,7 +4,8 @@
 
 class Resetter():
   def __init__(self):
-    self._handle = None
+    self._handle: usb1.USBDeviceHandle | None = None
+    self._context: usb1.USBContext
     self.connect()
 
   def __enter__(self):
@@ -14,6 +15,7 @@ def __exit__(self, *args):
     self.close()
 
   def close(self):
+    assert self._handle is not None
     self._handle.close()
     self._context.close()
     self._handle = None
@@ -37,9 +39,11 @@ def connect(self):
     assert self._handle
 
   def enable_power(self, port, enabled):
+    assert self._handle is not None
     self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, port, enabled, b'')
 
   def enable_boot(self, enabled):
+    assert self._handle is not None
     self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, 0, enabled, b'')
 
   def cycle_power(self, dfu=False, ports=None):