fix put_nonblocking reference

deanlee · Dec 14, 2023 · bd8a99b · bd8a99b
1 parent b53b505
commit bd8a99b
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Showing 2 changed files with 3 additions and 9 deletions.
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
@@ -2,7 +2,6 @@
 from typing import List, Optional, Tuple, Any
 
 from cereal import log
-from openpilot.common.params import put_nonblocking
 
 
 class NPQueue:
@@ -63,8 +62,3 @@ def handle_log(self, t: int, which: str, msg: log.Event) -> None:
 
  def get_msg(self, valid: bool, with_points: bool) -> log.Event:
  raise NotImplementedError
-
-
-def cache_points(param_name, estimator, valid):
- msg = estimator.get_msg(valid=valid, with_points=True)
- put_nonblocking(param_name, msg.to_bytes())
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
@@ -9,7 +9,7 @@
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points
+from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
 HISTORY = 5 # secs
 POINTS_PER_BUCKET = 1500
@@ -238,8 +238,8 @@ def main():
 
  # Cache points every 60 seconds while onroad
  if sm.frame % 240 == 0:
- cache_points("LiveTorqueParameters", estimator, sm.all_checks())
-
+ msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
+ params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
 if __name__ == "__main__":
  main()