Cleanup locationd msg building (#1972)

* cleanup locationd msg building

* remove that

selfdrive/locationd/locationd.py

@@ -113,47 +113,31 @@ class Localizer():
     #ned_vel_std = self.converter.ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter.ecef2ned(fix_ecef + vel_ecef)
 
     fix = messaging.log.LiveLocationKalman.new_message()
-    fix.positionGeodetic.value = to_float(fix_pos_geo)
+
-    fix.positionGeodetic.std = to_float(np.nan*np.zeros(3))
+    # write measurements to msg
-    fix.positionGeodetic.valid = True
+    measurements = [
-    fix.positionECEF.value = to_float(fix_ecef)
+      # measurement field, value, std, valid
-    fix.positionECEF.std = to_float(fix_ecef_std)
+      (fix.positionGeodetic, fix_pos_geo, np.nan*np.zeros(3), True),
-    fix.positionECEF.valid = True
+      (fix.positionECEF, fix_ecef, fix_ecef_std, True),
-    fix.velocityECEF.value = to_float(vel_ecef)
+      (fix.velocityECEF, vel_ecef, vel_ecef_std, True),
-    fix.velocityECEF.std = to_float(vel_ecef_std)
+      (fix.velocityNED, ned_vel, np.nan*np.zeros(3), True),
-    fix.velocityECEF.valid = True
+      (fix.velocityDevice, vel_device, vel_device_std, True),
-    fix.velocityNED.value = to_float(ned_vel)
+      (fix.accelerationDevice, predicted_state[States.ACCELERATION], predicted_std[States.ACCELERATION_ERR], True),
-    fix.velocityNED.std = to_float(np.nan*np.zeros(3))
+      (fix.orientationECEF, orientation_ecef, orientation_ecef_std, True),
-    fix.velocityNED.valid = True
+      (fix.calibratedOrientationECEF, calibrated_orientation_ecef, np.nan*np.zeros(3), True),
-    fix.velocityDevice.value = to_float(vel_device)
+      (fix.orientationNED, orientation_ned, np.nan*np.zeros(3), True),
-    fix.velocityDevice.std = to_float(vel_device_std)
+      (fix.angularVelocityDevice, predicted_state[States.ANGULAR_VELOCITY], predicted_std[States.ANGULAR_VELOCITY_ERR], True),
-    fix.velocityDevice.valid = True
+      (fix.velocityCalibrated, vel_calib, vel_calib_std, True),
-    fix.accelerationDevice.value = to_float(predicted_state[States.ACCELERATION])
+      (fix.angularVelocityCalibrated, ang_vel_calib, ang_vel_calib_std, True),
-    fix.accelerationDevice.std = to_float(predicted_std[States.ACCELERATION_ERR])
+      (fix.accelerationCalibrated, acc_calib, acc_calib_std, True),
-    fix.accelerationDevice.valid = True
+    ]
-
+
-    fix.orientationECEF.value = to_float(orientation_ecef)
+    for field, value, std, valid in measurements:
-    fix.orientationECEF.std = to_float(orientation_ecef_std)
+      # TODO: can we write the lists faster?
-    fix.orientationECEF.valid = True
+      field.value = to_float(value)
-    fix.calibratedOrientationECEF.value = to_float(calibrated_orientation_ecef)
+      field.std = to_float(std)
-    fix.calibratedOrientationECEF.std = to_float(np.nan*np.zeros(3))
+      field.valid = valid
-    fix.calibratedOrientationECEF.valid = True
+
-    fix.orientationNED.value = to_float(orientation_ned)
-    fix.orientationNED.std = to_float(np.nan*np.zeros(3))
-    fix.orientationNED.valid = True
-    fix.angularVelocityDevice.value = to_float(predicted_state[States.ANGULAR_VELOCITY])
-    fix.angularVelocityDevice.std = to_float(predicted_std[States.ANGULAR_VELOCITY_ERR])
-    fix.angularVelocityDevice.valid = True
-
-    fix.velocityCalibrated.value = to_float(vel_calib)
-    fix.velocityCalibrated.std = to_float(vel_calib_std)
-    fix.velocityCalibrated.valid = True
-    fix.angularVelocityCalibrated.value = to_float(ang_vel_calib)
-    fix.angularVelocityCalibrated.std = to_float(ang_vel_calib_std)
-    fix.angularVelocityCalibrated.valid = True
-    fix.accelerationCalibrated.value = to_float(acc_calib)
-    fix.accelerationCalibrated.std = to_float(acc_calib_std)
-    fix.accelerationCalibrated.valid = True
     return fix
 
   def liveLocationMsg(self):