From f6ed11863e884bab191d863f46f1f32d267f6a15 Mon Sep 17 00:00:00 2001 From: Srikanth6469 Date: Sun, 31 Aug 2025 14:44:38 +0530 Subject: [PATCH] Fix mypy unreachable warning in IMU update --- tools/sim/lib/common.py | 20 +++++--------------- 1 file changed, 5 insertions(+), 15 deletions(-) diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index 3b2b7fdcf5..07ec2e2532 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -1,13 +1,10 @@ import math import multiprocessing import numpy as np - from abc import ABC, abstractmethod from collections import namedtuple W, H = 1928, 1208 - - vec3 = namedtuple("vec3", ["x", "y", "z"]) class GPSState: @@ -59,21 +56,19 @@ class SimulatorState: @property def speed(self): return math.sqrt(self.velocity.x ** 2 + self.velocity.y ** 2 + self.velocity.z ** 2) - + sim_state = SimulatorState() sim_state.velocity = vec3(3.25, 10.50, 0) -sim_state.bearing = 72.51 -sim_state.steering_angle = 7.87 +sim_state.bearing = 72.51 +sim_state.steering_angle = 7.87 class World(ABC): def __init__(self, dual_camera): self.dual_camera = dual_camera - self.image_lock = multiprocessing.Semaphore(value=0) self.road_image = np.zeros((H, W, 3), dtype=np.uint8) self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8) - self.exit_event = multiprocessing.Event() @abstractmethod @@ -109,10 +104,8 @@ class World(ABC): import time now = time.monotonic() imu = simulator_state.imu - - v = simulator_state.velocity or vec3(0.0, 0.0, 0.0) - bearing_rad = math.radians(simulator_state.bearing or 0.0) - + v = simulator_state.velocity if simulator_state.velocity is not None else vec3(0.0, 0.0, 0.0) + bearing_rad = math.radians(simulator_state.bearing) prev = getattr(self, "_imu_prev", None) if prev is None: imu.accelerometer = vec3(0.0, 0.0, 0.0) @@ -122,16 +115,13 @@ class World(ABC): dvx = v.x - prev["vx"] dvy = v.y - prev["vy"] dvz = v.z - prev["vz"] - ax = dvx / dt ay = dvy / dt az = dvz / dt db = (bearing_rad - prev["bearing"] + math.pi) % (2 * math.pi) - math.pi yaw_rate = db / dt - imu.accelerometer = vec3(ax, ay, az) imu.gyroscope = vec3(0.0, 0.0, yaw_rate) - imu.bearing = bearing_rad self._imu_prev = {"t": now, "vx": v.x, "vy": v.y, "vz": v.z, "bearing": bearing_rad}