From 141a7f5f72d6ed1c5b466a30ee55f5b58f3dac46 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 9 Mar 2025 19:07:59 +0100 Subject: [PATCH] Use numpy directly instead of numpy_fast for clip and interp Replaced occurrences of `openpilot.common.numpy_fast` with direct imports from `numpy` across multiple files. This simplifies dependencies and ensures consistency with standard Python library usage. Adjusted tests to mock `numpy` functions accordingly. --- sunnypilot/modeld/modeld.py | 2 +- sunnypilot/selfdrive/controls/lib/dec/dec.py | 2 +- .../controls/lib/dec/tests/pytest_dynamic_controller.py | 2 +- sunnypilot/selfdrive/controls/lib/drive_helpers.py | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py index 487d1fd84..a58a56710 100755 --- a/sunnypilot/modeld/modeld.py +++ b/sunnypilot/modeld/modeld.py @@ -13,7 +13,7 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL, config_realtime_process -from openpilot.common.numpy_fast import interp +from numpy import interp from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.common.transformations.model import get_warp_matrix from openpilot.system import sentry diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py index cb4ab2519..0c33da500 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/dec.py +++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py @@ -26,7 +26,7 @@ import numpy as np from cereal import messaging from opendbc.car import structs -from openpilot.common.numpy_fast import interp +from numpy import interp from openpilot.common.params import Params from openpilot.common.realtime import DT_MDL from openpilot.sunnypilot.selfdrive.controls.lib.dec.constants import WMACConstants, SNG_State diff --git a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py index 741d9e017..d15d88aef 100644 --- a/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py +++ b/sunnypilot/selfdrive/controls/lib/dec/tests/pytest_dynamic_controller.py @@ -33,7 +33,7 @@ class MockControlState: @pytest.fixture def interp(monkeypatch): mock_interp = MockInterp() - monkeypatch.setattr('openpilot.common.numpy_fast.interp', mock_interp) + monkeypatch.setattr('numpy.interp', mock_interp) return mock_interp @pytest.fixture diff --git a/sunnypilot/selfdrive/controls/lib/drive_helpers.py b/sunnypilot/selfdrive/controls/lib/drive_helpers.py index 393166ae7..c6d8d8545 100644 --- a/sunnypilot/selfdrive/controls/lib/drive_helpers.py +++ b/sunnypilot/selfdrive/controls/lib/drive_helpers.py @@ -1,4 +1,4 @@ -from openpilot.common.numpy_fast import clip, interp +from numpy import clip, interp from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, MAX_LATERAL_JERK from openpilot.sunnypilot.modeld.constants import ModelConstants