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

* 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>

tools/joystick/joystick_control.py

@@ -2,10 +2,10 @@
 import os
 import argparse
 import threading
+import numpy as np
 from inputs import UnpluggedError, get_gamepad
 
 from cereal import messaging
-from openpilot.common.numpy_fast import interp, clip
 from openpilot.common.params import Params
 from openpilot.common.realtime import Ratekeeper
 from openpilot.system.hardware import HARDWARE
@@ -34,7 +34,7 @@ class Keyboard:
     elif key in self.axes_map:
       axis = self.axes_map[key]
       incr = self.axis_increment if key in ['w', 'a'] else -self.axis_increment
-      self.axes_values[axis] = clip(self.axes_values[axis] + incr, -1, 1)
+      self.axes_values[axis] = np.clip(self.axes_values[axis] + incr, -1, 1)
     else:
       return False
     return True
@@ -83,7 +83,7 @@ class Joystick:
       self.max_axis_value[event[0]] = max(event[1], self.max_axis_value[event[0]])
       self.min_axis_value[event[0]] = min(event[1], self.min_axis_value[event[0]])
 
-      norm = -interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
+      norm = -np.interp(event[1], [self.min_axis_value[event[0]], self.max_axis_value[event[0]]], [-1., 1.])
       norm = norm if abs(norm) > 0.03 else 0.  # center can be noisy, deadzone of 3%
       self.axes_values[event[0]] = EXPO * norm ** 3 + (1 - EXPO) * norm  # less action near center for fine control
     else:

tools/joystick/joystickd.py

@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 
 import math
+import numpy as np
 
 from cereal import messaging, car
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL, Ratekeeper
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -45,13 +45,13 @@ def joystickd_thread():
       joystick_axes = [0.0, 0.0]
 
     if CC.longActive:
-      actuators.accel = 4.0 * clip(joystick_axes[0], -1, 1)
+      actuators.accel = 4.0 * np.clip(joystick_axes[0], -1, 1)
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
       max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
 
-      actuators.steer = clip(joystick_axes[1], -1, 1)
+      actuators.steer = np.clip(joystick_axes[1], -1, 1)
       actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
 
     pm.send('carControl', cc_msg)

tools/sim/bridge/common.py

@@ -1,6 +1,7 @@
 import signal
 import threading
 import functools
+import numpy as np
 
 from collections import namedtuple
 from enum import Enum
@@ -9,7 +10,6 @@ from abc import ABC, abstractmethod
 
 from opendbc.car.honda.values import CruiseButtons
 from openpilot.common.params import Params
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import Ratekeeper
 from openpilot.selfdrive.test.helpers import set_params_enabled
 from openpilot.tools.sim.lib.common import SimulatorState, World
@@ -173,8 +173,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       self.simulator_state.is_engaged = self.simulated_car.sm['selfdriveState'].active
 
       if self.simulator_state.is_engaged:
-        throttle_op = clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
-        brake_op = clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
+        throttle_op = np.clip(self.simulated_car.sm['carControl'].actuators.accel / 1.6, 0.0, 1.0)
+        brake_op = np.clip(-self.simulated_car.sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
         steer_op = self.simulated_car.sm['carControl'].actuators.steeringAngleDeg
 
         self.past_startup_engaged = True