calibrationd: start faster by not waiting for carParams (#24976)

* calibrationd: start faster by not waiting for carParams * fix process replay * update ref
commaai · Jun 27, 2022 · de0c12e · de0c12e
1 parent 684d4b7
commit de0c12e
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Showing 3 changed files with 9 additions and 6 deletions.
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
@@ -12,7 +12,7 @@
 import numpy as np
 from typing import List, NoReturn, Optional
 
-from cereal import car, log
+from cereal import log
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
@@ -62,7 +62,7 @@ class Calibrator:
   def __init__(self, param_put: bool = False):
     self.param_put = param_put
 
-    self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+    self.not_car = False
 
     # Read saved calibration
     params = Params()
@@ -192,7 +192,7 @@ def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
-    if self.CP.notCar:
+    if self.not_car:
       extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
       liveCalibration.validBlocks = INPUTS_NEEDED
       liveCalibration.calStatus = Calibration.CALIBRATED
@@ -212,7 +212,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
   set_realtime_priority(1)
 
   if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
+    sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
 
   if pm is None:
     pm = messaging.PubMaster(['liveCalibration'])
@@ -223,6 +223,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
+    calibrator.not_car = sm['carParams'].notCar
+
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,

diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
@@ -282,7 +282,8 @@ def ublox_rcv_callback(msg):
     proc_name="calibrationd",
     pub_sub={
       "carState": ["liveCalibration"],
-      "cameraOdometry": []
+      "cameraOdometry": [],
+      "carParams": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,

diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-41161c8d151b0c2017214cad0aad3156533ab868
+b55de9fdb2416e63ab554c95233a78219d8d3db9