Add type hint for can message

Author: sshane

selfdrive/car/ecu_addrs.py

@@ -1,15 +1,17 @@
 #!/usr/bin/env python3
+import capnp
 import time
 import traceback
-from typing import Any, Set
+from typing import Set
 
 import cereal.messaging as messaging
 from panda.python.uds import SERVICE_TYPE
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.swaglog import cloudlog
 
+
 # TODO: figure out type annotation for CanData
-def is_tester_present_response(msg: Any) -> bool:
+def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   if len(msg.dat) == 8 and msg.dat[0] >= 1 and msg.dat[0] <= 7:
@@ -21,7 +23,8 @@ def is_tester_present_response(msg: Any) -> bool:
       return True
   return False
 
-def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float=1, debug: bool=True) -> Set[int]:
+
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[int]:
   ecu_addrs = set()
   try:
     addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
@@ -45,6 +48,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus
     cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}")
   return ecu_addrs
 
+
 if __name__ == "__main__":
   import argparse