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 <[email protected]>

common/pid.py

@@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number
 
-from openpilot.common.numpy_fast import clip, interp
-
-
 class PIDController:
   def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
     self._k_p = k_p
@@ -28,15 +25,15 @@ def __init__(self, k_p, k_i, k_f=0., k_d=0., pos_limit=1e308, neg_limit=-1e308,
 
   @property
   def k_p(self):
-    return interp(self.speed, self._k_p[0], self._k_p[1])
+    return np.interp(self.speed, self._k_p[0], self._k_p[1])
 
   @property
   def k_i(self):
-    return interp(self.speed, self._k_i[0], self._k_i[1])
+    return np.interp(self.speed, self._k_i[0], self._k_i[1])
 
   @property
   def k_d(self):
-    return interp(self.speed, self._k_d[0], self._k_d[1])
+    return np.interp(self.speed, self._k_d[0], self._k_d[1])
 
   @property
   def error_integral(self):
@@ -64,10 +61,10 @@ def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0
 
         # Clip i to prevent exceeding control limits
         control_no_i = self.p + self.d + self.f
-        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
-        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
+        control_no_i = np.clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = np.clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
-    self.control = clip(control, self.neg_limit, self.pos_limit)
+    self.control = np.clip(control, self.neg_limit, self.pos_limit)
     return self.control

selfdrive/car/cruise.py

@@ -1,8 +1,8 @@
 import math
+import numpy as np
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -106,7 +106,7 @@ def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
       self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
 
-    self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
+    self.v_cruise_kph = np.clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
 
   def update_button_timers(self, CS, enabled):
     # increment timer for buttons still pressed
@@ -130,6 +130,6 @@ def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_initialized:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
-      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(np.clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph

selfdrive/controls/controlsd.py

@@ -106,15 +106,16 @@ def state_control(self):
 
     # accel PID loop
     pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
-    actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+    actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
 
     # Steering PID loop and lateral MPC
     self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
-    actuators.curvature = self.desired_curvature
-    actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
+    actuators.curvature = float(self.desired_curvature)
+    steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                             self.steer_limited, self.desired_curvature,
                                                                             self.calibrated_pose) # TODO what if not available
-
+    actuators.steer = float(steer)
+    actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
       attr = getattr(actuators, p)
@@ -179,7 +180,7 @@ def publish(self, CC, lac_log):
 
     cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
-    cs.desiredCurvature = self.desired_curvature
+    cs.desiredCurvature = float(self.desired_curvature)
     cs.longControlState = self.LoC.long_control_state
     cs.upAccelCmd = float(self.LoC.pid.p)
     cs.uiAccelCmd = float(self.LoC.pid.i)

selfdrive/controls/lib/drive_helpers.py

@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import log
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_SPEED = 1.0
@@ -13,10 +13,10 @@
 MAX_VEL_ERR = 5.0
 
 def clip_curvature(v_ego, prev_curvature, new_curvature):
-  new_curvature = clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
+  new_curvature = np.clip(new_curvature, -MAX_CURVATURE, MAX_CURVATURE)
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
-  safe_desired_curvature = clip(new_curvature,
+  safe_desired_curvature = np.clip(new_curvature,
                                 prev_curvature - max_curvature_rate * DT_CTRL,
                                 prev_curvature + max_curvature_rate * DT_CTRL)
 
@@ -26,6 +26,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):
-    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0

selfdrive/controls/lib/latcontrol.py

@@ -1,6 +1,6 @@
+import numpy as np
 from abc import abstractmethod, ABC
 
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
@@ -28,5 +28,5 @@ def _check_saturation(self, saturated, CS, steer_limited):
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
-    self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
+    self.sat_count = np.clip(self.sat_count, 0.0, self.sat_limit)
     return self.sat_count > (self.sat_limit - 1e-3)

selfdrive/controls/lib/latcontrol_angle.py

@@ -23,7 +23,7 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, calib
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
+    angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log

selfdrive/controls/lib/latcontrol_pid.py

@@ -39,10 +39,10 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, calib
       output_steer = self.pid.update(error, override=CS.steeringPressed,
                                      feedforward=steer_feedforward, speed=CS.vEgo)
       pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.f = self.pid.f
-      pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(output_steer)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited))
 
     return output_steer, angle_steers_des, pid_log

selfdrive/controls/lib/latcontrol_torque.py

@@ -1,8 +1,8 @@
 import math
+import numpy as np
 
 from cereal import log
 from opendbc.car.interfaces import LatControlInputs
-from openpilot.common.numpy_fast import interp
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 from openpilot.common.pid import PIDController
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -51,7 +51,7 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, calib
       else:
         assert calibrated_pose is not None
         actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo
-        actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
+        actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose])
         curvature_deadzone = 0.0
       desired_lateral_accel = desired_curvature * CS.vEgo ** 2
 
@@ -60,15 +60,15 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, calib
       actual_lateral_accel = actual_curvature * CS.vEgo ** 2
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
-      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
+      low_speed_factor = np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
       gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
       torque_from_setpoint = self.torque_from_lateral_accel(LatControlInputs(setpoint, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                             setpoint, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
       torque_from_measurement = self.torque_from_lateral_accel(LatControlInputs(measurement, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                                                measurement, lateral_accel_deadzone, friction_compensation=False, gravity_adjusted=False)
-      pid_log.error = torque_from_setpoint - torque_from_measurement
+      pid_log.error = float(torque_from_setpoint - torque_from_measurement)
       ff = self.torque_from_lateral_accel(LatControlInputs(gravity_adjusted_lateral_accel, roll_compensation, CS.vEgo, CS.aEgo), self.torque_params,
                                           desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True,
                                           gravity_adjusted=True)
@@ -80,14 +80,14 @@ def update(self, active, CS, VM, params, steer_limited, desired_curvature, calib
                                       freeze_integrator=freeze_integrator)
 
       pid_log.active = True
-      pid_log.p = self.pid.p
-      pid_log.i = self.pid.i
-      pid_log.d = self.pid.d
-      pid_log.f = self.pid.f
-      pid_log.output = -output_torque
-      pid_log.actualLateralAccel = actual_lateral_accel
-      pid_log.desiredLateralAccel = desired_lateral_accel
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
+      pid_log.p = float(self.pid.p)
+      pid_log.i = float(self.pid.i)
+      pid_log.d = float(self.pid.d)
+      pid_log.f = float(self.pid.f)
+      pid_log.output = float(-output_torque)
+      pid_log.actualLateralAccel = float(actual_lateral_accel)
+      pid_log.desiredLateralAccel = float(desired_lateral_accel)
+      pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited))
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log

selfdrive/controls/lib/longcontrol.py

@@ -1,5 +1,5 @@
+import numpy as np
 from cereal import car
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.common.pid import PIDController
@@ -84,5 +84,5 @@ def update(self, active, CS, a_target, should_stop, accel_limits):
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
 
-    self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
+    self.last_output_accel = np.clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -4,7 +4,6 @@
 import numpy as np
 from cereal import log
 from opendbc.car.interfaces import ACCEL_MIN
-from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_MDL
 from openpilot.common.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
@@ -320,9 +319,9 @@ def process_lead(self, lead):
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
     min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
-    x_lead = clip(x_lead, min_x_lead, 1e8)
-    v_lead = clip(v_lead, 0.0, 1e8)
-    a_lead = clip(a_lead, -10., 5.)
+    x_lead = np.clip(x_lead, min_x_lead, 1e8)
+    v_lead = np.clip(v_lead, 0.0, 1e8)
+    a_lead = np.clip(a_lead, -10., 5.)
     lead_xv = self.extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau)
     return lead_xv
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.numpy_fast import clip, interp
 
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
@@ -30,7 +29,7 @@
 
 
 def get_max_accel(v_ego):
-  return interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
+  return np.interp(v_ego, A_CRUISE_MAX_BP, A_CRUISE_MAX_VALS)
 
 def get_coast_accel(pitch):
   return np.sin(pitch) * -5.65 - 0.3  # fitted from data using xx/projects/allow_throttle/compute_coast_accel.py
@@ -43,7 +42,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   """
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
-  a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
+  a_total_max = np.interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
   a_y = v_ego ** 2 * angle_steers * CV.DEG_TO_RAD / (CP.steerRatio * CP.wheelbase)
   a_x_allowed = math.sqrt(max(a_total_max ** 2 - a_y ** 2, 0.))
 
@@ -55,9 +54,9 @@ def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
     v_now = speeds[0]
     a_now = accels[0]
 
-    v_target = interp(action_t, CONTROL_N_T_IDX, speeds)
+    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
     a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
+    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
   else:
     v_target = 0.0
     v_target_1sec = 0.0
@@ -139,7 +138,7 @@ def update(self, sm):
     if reset_state:
       self.v_desired_filter.x = v_ego
       # Clip aEgo to cruise limits to prevent large accelerations when becoming active
-      self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
+      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
 
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -151,7 +150,7 @@ def update(self, sm):
 
     if not self.allow_throttle:
       clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
-      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
       accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
@@ -176,7 +175,7 @@ def update(self, sm):
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
+    self.a_desired = float(np.interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
@@ -200,9 +199,9 @@ def publish(self, sm, pm):
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
     a_target, should_stop = get_accel_from_plan(longitudinalPlan.speeds, longitudinalPlan.accels,
                                                 action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
-    longitudinalPlan.aTarget = a_target
-    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.aTarget = float(a_target)
+    longitudinalPlan.shouldStop = bool(should_stop)
     longitudinalPlan.allowBrake = True
-    longitudinalPlan.allowThrottle = self.allow_throttle
+    longitudinalPlan.allowThrottle = bool(self.allow_throttle)
 
     pm.send('longitudinalPlan', plan_send)

selfdrive/controls/radard.py

@@ -1,11 +1,11 @@
 #!/usr/bin/env python3
 import math
+import numpy as np
 from collections import deque
 from typing import Any
 
 import capnp
 from cereal import messaging, log, car
-from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
@@ -44,7 +44,7 @@ def __init__(self, dt: float):
           0.28144091, 0.27958406, 0.27783249, 0.27617149, 0.27458948, 0.27307714,
           0.27162685, 0.27023228, 0.26888809, 0.26758976, 0.26633338, 0.26511557,
           0.26393339, 0.26278425]
-    self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
+    self.K = [[np.interp(dt, dts, K0)], [np.interp(dt, dts, K1)]]
 
 
 class Track: