small calibration refactor + tests (#2641)

* calibration tests

* read from capnp

* save using cereal struct

* reset calibration if new car

* car params
old-commit-hash: ee43eb552b9a5d5d1cfea65f00150325c9808a2d

selfdrive/locationd/test/test_calibrationd.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import json
+import random
+import unittest
+
+import cereal.messaging as messaging
+from common.params import Params
+from selfdrive.locationd.calibrationd import Calibrator
+
+
+class TestCalibrationd(unittest.TestCase):
+
+  def test_read_saved_params_json(self):
+    r = [random.random() for _ in range(3)]
+    b = random.randint(1, 10)
+    cal_params = {"calib_radians": r,
+                  "valid_blocks": b}
+    Params().put("CalibrationParams", json.dumps(cal_params).encode('utf8'))
+    c = Calibrator(param_put=True)
+
+    self.assertEqual(r, c.rpy)
+    self.assertEqual(b, c.valid_blocks)
+
+  def test_read_saved_params(self):
+    msg = messaging.new_message('liveCalibration')
+    msg.liveCalibration.validBlocks = random.randint(1, 10)
+    msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
+    Params().put("CalibrationParams", msg.to_bytes())
+    c = Calibrator(param_put=True)
+
+    self.assertEqual(list(msg.liveCalibration.rpyCalib), c.rpy)
+    self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
+
+
+if __name__ == "__main__":
+  unittest.main()