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refactor

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This commit is contained in:
Jason Wen
2025-06-07 11:39:26 -04:00
parent 71f85ec9d3
commit a998bf781e
2 changed files with 0 additions and 15 deletions
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sunnypilot/mapd/live_map_data/base_map_data.py
-14
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@@ -16,11 +16,6 @@ from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
class BaseMapData(ABC):
def __init__(self):
self.params = Params()
self._last_gps: Coordinate | None = None
self._gps_location_service = get_gps_location_service(self.params)
self._gps_packets = [self._gps_location_service]
self._sm = messaging.SubMaster(['livePose', 'carControl'] + self._gps_packets)
self._pm = messaging.PubMaster(['liveMapDataSP'])
self.gps_location_service = get_gps_location_service(self.params)
self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
@@ -65,15 +60,6 @@ class BaseMapData(ABC):
mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
live_map_data = mapd_sp_send.liveMapDataSP
if self._last_gps:
live_map_data.lastGpsTimestamp = self._last_gps.annotations.get('unixTimestampMillis', 0)
live_map_data.lastGpsLatitude = self._last_gps.latitude
live_map_data.lastGpsLongitude = self._last_gps.longitude
live_map_data.lastGpsSpeed = self._last_gps.annotations.get('speed', 0)
live_map_data.lastGpsBearingDeg = self._last_gps.annotations.get('bearingDeg', 0)
live_map_data.lastGpsAccuracy = self._last_gps.annotations.get('accuracy', 0)
live_map_data.lastGpsBearingAccuracyDeg = self._last_gps.annotations.get('bearingAccuracyDeg', 0)
live_map_data.speedLimitValid = bool(speed_limit > 0)
live_map_data.speedLimit = speed_limit
live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
sunnypilot/mapd/live_map_data/osm_map_data.py
-1
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@@ -8,7 +8,6 @@ import json
import platform
from openpilot.common.params import Params
from openpilot.sunnypilot.navd.helpers import Coordinate
from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
from openpilot.sunnypilot.navd.helpers import Coordinate