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Speed up YAML parsing with CSafeLoader (#24958)

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Use CSafeLoader
This commit is contained in:
Shane Smiskol
2022-06-24 15:16:46 -07:00
committed by GitHub
parent 6721f0ef57
commit 10fb2b9456
1 changed files with 5 additions and 5 deletions
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selfdrive/car/interfaces.py
+5 -5
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@@ -26,16 +26,16 @@ TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override
TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml')
def get_torque_params(candidate, default=float('NaN')):
def get_torque_params(candidate):
with open(TORQUE_SUBSTITUTE_PATH) as f:
sub = yaml.load(f, Loader=yaml.FullLoader)
sub = yaml.load(f, Loader=yaml.CSafeLoader)
if candidate in sub:
candidate = sub[candidate]
with open(TORQUE_PARAMS_PATH) as f:
params = yaml.load(f, Loader=yaml.FullLoader)
params = yaml.load(f, Loader=yaml.CSafeLoader)
with open(TORQUE_OVERRIDE_PATH) as f:
override = yaml.load(f, Loader=yaml.FullLoader)
override = yaml.load(f, Loader=yaml.CSafeLoader)
# Ensure no overlap
if sum([candidate in x for x in [sub, params, override]]) > 1:
@@ -47,7 +47,7 @@ def get_torque_params(candidate, default=float('NaN')):
out = params[candidate]
else:
raise NotImplementedError(f"Did not find torque params for {candidate}")
return {key:out[i] for i, key in enumerate(params['legend'])}
return {key: out[i] for i, key in enumerate(params['legend'])}
# generic car and radar interfaces