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remove numpy_fast.py (#34796)

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Dean Lee
2025-03-07 02:14:53 +08:00
committed by GitHub
parent 1506ff3122
commit 47f37d5fec
2 changed files with 2 additions and 22 deletions
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common/numpy_fast.py
-19
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@@ -1,19 +0,0 @@
def clip(x, lo, hi):
return max(lo, min(hi, x))
def interp(x, xp, fp):
N = len(xp)
def get_interp(xv):
hi = 0
while hi < N and xv > xp[hi]:
hi += 1
low = hi - 1
return fp[-1] if hi == N and xv > xp[low] else (
fp[0] if hi == 0 else
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
def mean(x):
return sum(x) / len(x)
tools/replay/ui.py
+2 -3
View File
@@ -8,7 +8,6 @@ import numpy as np
import pygame
import cereal.messaging as messaging
from openpilot.common.numpy_fast import clip
from openpilot.common.basedir import BASEDIR
from openpilot.common.transformations.camera import DEVICE_CAMERAS
from openpilot.tools.replay.lib.ui_helpers import (UP,
@@ -152,11 +151,11 @@ def ui_thread(addr):
plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
# TODO gas is deprecated
plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
# TODO brake is deprecated
plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo