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calibrationd: start faster by not waiting for carParams #24976

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merged 3 commits into from
Jun 27, 2022
Merged

calibrationd: start faster by not waiting for carParams #24976

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60e056c
calibrationd: start faster by not waiting for carParams
pd0wm Jun 27, 2022
b55de9f
fix process replay
pd0wm Jun 27, 2022
2c15d0e
update ref
pd0wm Jun 27, 2022
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10 changes: 6 additions & 4 deletions selfdrive/locationd/calibrationd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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()
Expand Down Expand Up @@ -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
Expand All @@ -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'])
Expand All @@ -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,
Expand Down
3 changes: 2 additions & 1 deletion selfdrive/test/process_replay/process_replay.py
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Expand Up @@ -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,
Expand Down
2 changes: 1 addition & 1 deletion selfdrive/test/process_replay/ref_commit
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
41161c8d151b0c2017214cad0aad3156533ab868
b55de9fdb2416e63ab554c95233a78219d8d3db9