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Modeld: cleanup unused variables (#31516) 

Modeld: cleanup used variables
This commit is contained in:
Harald Schäfer 2024-02-19 17:07:15 -08:00 committed by GitHub
parent 1145122b3f
commit d371fb042c
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2 changed files with 2 additions and 5 deletions
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2
selfdrive/modeld/fill_model_msg.py
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@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState,
vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
timestamp_eof: int, timestamp_llk: int, model_execution_time: float,
nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None:
nav_enabled: bool, valid: bool) -> None:
frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
msg.valid = valid

5
selfdrive/modeld/modeld.py
View File

@ -219,13 +219,10 @@ def main(demo=False):
buf_extra = buf_main
meta_extra = meta_main
# TODO: path planner timeout?
sm.update(0)
desire = DH.desire
v_ego = sm["carState"].vEgo
is_rhd = sm["driverMonitoringState"].isRHD
frame_id = sm["roadCameraState"].frameId
# TODO add lag
lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
if sm.updated["liveCalibration"]:
device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@ -293,7 +290,7 @@ def main(demo=False):
modelv2_send = messaging.new_message('modelV2')
posenet_send = messaging.new_message('cameraOdometry')
fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen)
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
desire_state = modelv2_send.modelV2.meta.desireState
l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]