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Getting rid of openpilot.common.numpy_fast (#34368)

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* Got rid openpilot.common.numpy_fast

* fixed some data type erros

* importing numpy instead of importing specific functions

* fixing some numpy importing mistakes

* Update selfdrive/car/cruise.py

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Sammohana
2025-01-15 04:22:56 +05:30
committed by GitHub
parent c54cd4569a
commit 8eebce75ac
21 changed files with 81 additions and 107 deletions
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common/pid.py
+6 -9
View File
@@ -1,9 +1,6 @@
import numpy as np
from numbers import Number
from openpilot.common.numpy_fast import clip, interp
class PIDController:
def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
self._k_p = k_p
@@ -28,15 +25,15 @@ class PIDController:
@property
def k_p(self):
return interp(self.speed, self._k_p[0], self._k_p[1])
return np.interp(self.speed, self._k_p[0], self._k_p[1])
@property
def k_i(self):
return interp(self.speed, self._k_i[0], self._k_i[1])
return np.interp(self.speed, self._k_i[0], self._k_i[1])
@property
def k_d(self):
return interp(self.speed, self._k_d[0], self._k_d[1])
return np.interp(self.speed, self._k_d[0], self._k_d[1])
@property
def error_integral(self):
@@ -64,10 +61,10 @@ class PIDController:
# Clip i to prevent exceeding control limits
control_no_i = self.p + self.d + self.f
control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
control = self.p + self.i + self.d + self.f
self.control = clip(control, self.neg_limit, self.pos_limit)
self.control = np.clip(control, self.neg_limit, self.pos_limit)
return self.control
common/tests/test_numpy_fast.py
-21
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@@ -1,21 +0,0 @@
import numpy as np
from openpilot.common.numpy_fast import interp
class TestInterp:
def test_correctness_controls(self):
_A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
_A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
39.999999, 40, 41]
expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
np.testing.assert_equal(actual, expected)
for v_ego in v_ego_arr:
expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
np.testing.assert_equal(actual, expected)