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paramsd: follow capnp best practices (#23399)

pull/23404/head
Dean Lee 2022-01-05 07:57:38 +08:00 committed by GitHub
parent cf9792dc53
commit df7126b982
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1 changed files with 20 additions and 19 deletions
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39
selfdrive/locationd/paramsd.py
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@ -169,30 +169,31 @@ def main(sm=None, pm=None):
msg = messaging.new_message('liveParameters')
msg.logMonoTime = sm.logMonoTime['carState']
msg.liveParameters.posenetValid = True
msg.liveParameters.sensorValid = True
msg.liveParameters.steerRatio = float(x[States.STEER_RATIO])
msg.liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
msg.liveParameters.roll = float(x[States.ROAD_ROLL])
msg.liveParameters.angleOffsetAverageDeg = angle_offset_average
msg.liveParameters.angleOffsetDeg = angle_offset
msg.liveParameters.valid = all((
abs(msg.liveParameters.angleOffsetAverageDeg) < 10.0,
abs(msg.liveParameters.angleOffsetDeg) < 10.0,
0.2 <= msg.liveParameters.stiffnessFactor <= 5.0,
min_sr <= msg.liveParameters.steerRatio <= max_sr,
liveParameters = msg.liveParameters
liveParameters.posenetValid = True
liveParameters.sensorValid = True
liveParameters.steerRatio = float(x[States.STEER_RATIO])
liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
liveParameters.roll = float(x[States.ROAD_ROLL])
liveParameters.angleOffsetAverageDeg = angle_offset_average
liveParameters.angleOffsetDeg = angle_offset
liveParameters.valid = all((
abs(liveParameters.angleOffsetAverageDeg) < 10.0,
abs(liveParameters.angleOffsetDeg) < 10.0,
0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
))
msg.liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
msg.liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
msg.liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
msg.liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
if sm.frame % 1200 == 0: # once a minute
params = {
'carFingerprint': CP.carFingerprint,
'steerRatio': msg.liveParameters.steerRatio,
'stiffnessFactor': msg.liveParameters.stiffnessFactor,
'angleOffsetAverageDeg': msg.liveParameters.angleOffsetAverageDeg,
'steerRatio': liveParameters.steerRatio,
'stiffnessFactor': liveParameters.stiffnessFactor,
'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg,
}
put_nonblocking("LiveParameters", json.dumps(params))