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paramsd: follow capnp best practices (#23399)

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pull/23404/head
Dean Lee 3 years ago committed by GitHub
parent cf9792dc53
commit df7126b982
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1 changed files with 20 additions and 19 deletions
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  1. 39
      selfdrive/locationd/paramsd.py

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 = messaging.new_message('liveParameters')
msg.logMonoTime = sm.logMonoTime['carState'] msg.logMonoTime = sm.logMonoTime['carState']
msg.liveParameters.posenetValid = True liveParameters = msg.liveParameters
msg.liveParameters.sensorValid = True liveParameters.posenetValid = True
msg.liveParameters.steerRatio = float(x[States.STEER_RATIO]) liveParameters.sensorValid = True
msg.liveParameters.stiffnessFactor = float(x[States.STIFFNESS]) liveParameters.steerRatio = float(x[States.STEER_RATIO])
msg.liveParameters.roll = float(x[States.ROAD_ROLL]) liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
msg.liveParameters.angleOffsetAverageDeg = angle_offset_average liveParameters.roll = float(x[States.ROAD_ROLL])
msg.liveParameters.angleOffsetDeg = angle_offset liveParameters.angleOffsetAverageDeg = angle_offset_average
msg.liveParameters.valid = all(( liveParameters.angleOffsetDeg = angle_offset
abs(msg.liveParameters.angleOffsetAverageDeg) < 10.0, liveParameters.valid = all((
abs(msg.liveParameters.angleOffsetDeg) < 10.0, abs(liveParameters.angleOffsetAverageDeg) < 10.0,
0.2 <= msg.liveParameters.stiffnessFactor <= 5.0, abs(liveParameters.angleOffsetDeg) < 10.0,
min_sr <= msg.liveParameters.steerRatio <= max_sr, 0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
)) ))
msg.liveParameters.steerRatioStd = float(P[States.STEER_RATIO]) liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
msg.liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS]) liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
msg.liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET]) liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
msg.liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST]) liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
if sm.frame % 1200 == 0: # once a minute if sm.frame % 1200 == 0: # once a minute
params = { params = {
'carFingerprint': CP.carFingerprint, 'carFingerprint': CP.carFingerprint,
'steerRatio': msg.liveParameters.steerRatio, 'steerRatio': liveParameters.steerRatio,
'stiffnessFactor': msg.liveParameters.stiffnessFactor, 'stiffnessFactor': liveParameters.stiffnessFactor,
'angleOffsetAverageDeg': msg.liveParameters.angleOffsetAverageDeg, 'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg,
} }
put_nonblocking("LiveParameters", json.dumps(params)) put_nonblocking("LiveParameters", json.dumps(params))

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