calibrationd: support for not cars (#24115)

* calibrationd: support for not cars

* update refs
old-commit-hash: 7dffd0ac0b

selfdrive/locationd/calibrationd.py

@@ -12,7 +12,7 @@ import capnp
 import numpy as np
 from typing import List, NoReturn, Optional
 
-from cereal import log
+from cereal import car, log
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
@@ -63,6 +63,8 @@ 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))
+
     # Read saved calibration
     params = Params()
     calibration_params = params.get("CalibrationParams")
@@ -182,12 +184,24 @@ class Calibrator:
     extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
 
     msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = self.valid_blocks
+    liveCalibration = msg.liveCalibration
-    msg.liveCalibration.calStatus = self.cal_status
+
-    msg.liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
+    liveCalibration.validBlocks = self.valid_blocks
-    msg.liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
+    liveCalibration.calStatus = self.cal_status
-    msg.liveCalibration.rpyCalib = smooth_rpy.tolist()
+    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    msg.liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+    liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
+    liveCalibration.rpyCalib = smooth_rpy.tolist()
+    liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+
+    if self.CP.notCar:
+      extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
+      liveCalibration.validBlocks = INPUTS_NEEDED
+      liveCalibration.calStatus = Calibration.CALIBRATED
+      liveCalibration.calPerc = 100.
+      liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
+      liveCalibration.rpyCalib = [0, 0, 0]
+      liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
+
     return msg
 
   def send_data(self, pm: messaging.PubMaster) -> None:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f7a6dd296e4747595ec4ef453c58800a88128be7
+f6c93d48d14fa7be45961f7325a7957f53126671