use ndarray.tolist to convert numpy array to float (commaai#23485)

budney · Jan 11, 2022 · 35ec6ac · 35ec6ac
1 parent 44592f4
commit 35ec6ac
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
@@ -207,9 +207,9 @@ def publish(self, sm, pm):
 
     lateralPlan = plan_send.lateralPlan
     lateralPlan.laneWidth = float(self.LP.lane_width)
-    lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
-    lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]]
-    lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]]
+    lateralPlan.dPathPoints = self.y_pts.tolist()
+    lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
+    lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist()
     lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
     lateralPlan.lProb = float(self.LP.lll_prob)
     lateralPlan.rProb = float(self.LP.rll_prob)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
@@ -112,9 +112,9 @@ def publish(self, sm, pm):
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
 
-    longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory]
-    longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory]
-    longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory]
+    longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
+    longitudinalPlan.accels = self.a_desired_trajectory.tolist()
+    longitudinalPlan.jerks = self.j_desired_trajectory.tolist()
 
     longitudinalPlan.hasLead = sm['radarState'].leadOne.status
     longitudinalPlan.longitudinalPlanSource = self.mpc.source

diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
@@ -179,9 +179,9 @@ def get_msg(self):
     msg.liveCalibration.validBlocks = self.valid_blocks
     msg.liveCalibration.calStatus = self.cal_status
     msg.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    msg.liveCalibration.extrinsicMatrix = [float(x) for x in extrinsic_matrix.flatten()]
-    msg.liveCalibration.rpyCalib = [float(x) for x in smooth_rpy]
-    msg.liveCalibration.rpyCalibSpread = [float(x) for x in self.calib_spread]
+    msg.liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
+    msg.liveCalibration.rpyCalib = smooth_rpy.tolist()
+    msg.liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
     return msg
 
   def send_data(self, pm) -> None: