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process_replay: fix llk migration (#33717)

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* If field is empty put nans

* Move import out
This commit is contained in:
Kacper Rączy
2024-10-03 13:13:19 -07:00
committed by GitHub
parent f7c4aad8bd
commit b7a3887731
1 changed files with 3 additions and 2 deletions
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selfdrive/test/process_replay/migration.py
+3 -2
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@@ -142,6 +142,7 @@ def migrate_liveTracks(msgs):
@migration(inputs=["liveLocationKalmanDEPRECATED"], product="livePose")
def migrate_liveLocationKalman(msgs):
nans = [float('nan')] * 3
ops = []
for index, msg in msgs:
m = messaging.new_message('livePose')
@@ -149,8 +150,8 @@ def migrate_liveLocationKalman(msgs):
m.logMonoTime = msg.logMonoTime
for field in ["orientationNED", "velocityDevice", "accelerationDevice", "angularVelocityDevice"]:
lp_field, llk_field = getattr(m.livePose, field), getattr(msg.liveLocationKalmanDEPRECATED, field)
lp_field.x, lp_field.y, lp_field.z = llk_field.value
lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std
lp_field.x, lp_field.y, lp_field.z = llk_field.value or nans
lp_field.xStd, lp_field.yStd, lp_field.zStd = llk_field.std or nans
lp_field.valid = llk_field.valid
for flag in ["inputsOK", "posenetOK", "sensorsOK"]:
setattr(m.livePose, flag, getattr(msg.liveLocationKalmanDEPRECATED, flag))