calibrationd: Don't repeatedly call get_valid_idxs() (#23473)

* optimize

* rpy_init should be np.array

* rename to rpys
old-commit-hash: e5f9af4a6e

selfdrive/locationd/calibrationd.py

@@ -108,9 +108,12 @@ class Calibrator():
     return before_current + after_current
 
   def update_status(self):
-    if len(self.get_valid_idxs()) > 0:
-      max_rpy_calib = np.array(np.max(self.rpys[self.get_valid_idxs()], axis=0))
-      min_rpy_calib = np.array(np.min(self.rpys[self.get_valid_idxs()], axis=0))
+    valid_idxs = self.get_valid_idxs()
+    if valid_idxs:
+      rpys = self.rpys[valid_idxs]
+      self.rpy = np.mean(rpys, axis=0)
+      max_rpy_calib = np.array(np.max(rpys, axis=0))
+      min_rpy_calib = np.array(np.min(rpys, axis=0))
       self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
     else:
       self.calib_spread = np.zeros(3)
@@ -165,8 +168,6 @@ class Calibrator():
       self.block_idx += 1
       self.valid_blocks = max(self.block_idx, self.valid_blocks)
       self.block_idx = self.block_idx % INPUTS_WANTED
-    if len(self.get_valid_idxs()) > 0:
-      self.rpy = np.mean(self.rpys[self.get_valid_idxs()], axis=0)
 
     self.update_status()