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calibrationd: convert existing calibration to numpy #23494

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Jan 11, 2022
Merged

calibrationd: convert existing calibration to numpy #23494

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ccc7c2b
calibrationd: convert existing calibration to numpy
pd0wm Jan 11, 2022
eb04021
use numpy functions
pd0wm Jan 11, 2022
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9 changes: 5 additions & 4 deletions selfdrive/locationd/calibrationd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,6 @@
'''

import os
import copy
from typing import NoReturn
import numpy as np
import cereal.messaging as messaging
Expand Down Expand Up @@ -70,7 +69,7 @@ def __init__(self, param_put=False):
if param_put and calibration_params:
try:
msg = log.Event.from_bytes(calibration_params)
rpy_init = list(msg.liveCalibration.rpyCalib)
rpy_init = np.array(msg.liveCalibration.rpyCalib)
valid_blocks = msg.liveCalibration.validBlocks
except Exception:
cloudlog.exception("Error reading cached CalibrationParams")
Expand All @@ -80,13 +79,15 @@ def __init__(self, param_put=False):

def reset(self, rpy_init=RPY_INIT, valid_blocks=0, smooth_from=None):
if not np.isfinite(rpy_init).all():
self.rpy = copy.copy(RPY_INIT)
self.rpy = RPY_INIT.copy()
else:
self.rpy = rpy_init
self.rpy = rpy_init.copy()

if not np.isfinite(valid_blocks) or valid_blocks < 0:
self.valid_blocks = 0
else:
self.valid_blocks = valid_blocks

self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))

self.idx = 0
Expand Down
4 changes: 3 additions & 1 deletion selfdrive/locationd/test/test_calibrationd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@
import random
import unittest

import numpy as np

import cereal.messaging as messaging
from common.params import Params
from selfdrive.locationd.calibrationd import Calibrator
Expand All @@ -16,7 +18,7 @@ def test_read_saved_params(self):
Params().put("CalibrationParams", msg.to_bytes())
c = Calibrator(param_put=True)

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


Expand Down