Got rid of openpilot.common.numpy_fast as per https://github.com/commaai/openpilot/issues/34331

opendbc/car/__init__.py

@@ -9,7 +9,7 @@
 from opendbc.car import structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.docs_definitions import CarDocs, ExtraCarDocs
-from opendbc.car.common.numpy_fast import clip, interp
+from numpy import clip, interp
 
 # set up logging
 carlog = logging.getLogger('carlog')

opendbc/car/common/pid.py

@@ -1,9 +1,6 @@
 import numpy as np
 from numbers import Number
 
-from opendbc.car.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

opendbc/car/ford/carcontroller.py

@@ -3,7 +3,7 @@
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_std_steer_angle_limits, structs
 from opendbc.car.ford import fordcan
 from opendbc.car.ford.values import CarControllerParams, FordFlags
-from opendbc.car.common.numpy_fast import clip, interp
+from numpy import clip, interp
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState

opendbc/car/ford/interface.py

@@ -1,5 +1,5 @@
 from panda import Panda
-from opendbc.car.common.numpy_fast import interp
+from numpy import interp
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus

opendbc/car/gm/carcontroller.py

@@ -3,7 +3,7 @@
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
-from opendbc.car.common.numpy_fast import interp
+from numpy import interp
 from opendbc.car.interfaces import CarControllerBase
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert

opendbc/car/gm/carstate.py

@@ -3,7 +3,7 @@
 from opendbc.can.parser import CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.common.numpy_fast import mean
+from numpy import mean
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import DBC, AccState, CruiseButtons, STEER_THRESHOLD, SDGM_CAR, ALT_ACCS
 

opendbc/car/honda/carcontroller.py

@@ -2,7 +2,7 @@
 
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, rate_limit, make_tester_present_msg, structs
-from opendbc.car.common.numpy_fast import clip, interp
+from numpy import clip, interp
 from opendbc.car.honda import hondacan
 from opendbc.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from opendbc.car.interfaces import CarControllerBase

opendbc/car/honda/carstate.py

@@ -4,7 +4,7 @@
 from opendbc.can.parser import CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.common.numpy_fast import interp
+from numpy import interp
 from opendbc.car.honda.hondacan import CanBus, get_cruise_speed_conversion
 from opendbc.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \

opendbc/car/honda/interface.py

@@ -2,7 +2,7 @@
 from panda import Panda
 from opendbc.car import get_safety_config, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.common.numpy_fast import interp
+from numpy import interp
 from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS

opendbc/car/hyundai/carcontroller.py

@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.common.numpy_fast import clip
+from numpy import clip
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.carstate import CarState
 from opendbc.car.hyundai.hyundaicanfd import CanBus

opendbc/car/hyundai/hyundaicanfd.py

@@ -1,5 +1,5 @@
 from opendbc.car import CanBusBase
-from opendbc.car.common.numpy_fast import clip
+from numpy import clip
 from opendbc.car.hyundai.values import HyundaiFlags
 
 

opendbc/car/interfaces.py

@@ -15,7 +15,6 @@
 from opendbc.car.common.basedir import BASEDIR
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.simple_kalman import KF1D, get_kalman_gain
-from opendbc.car.common.numpy_fast import clip
 from opendbc.car.values import PLATFORMS
 from opendbc.can.parser import CANParser
 
@@ -320,7 +319,7 @@ def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, r
   def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
     """Applies filtering on steering pressed for noisy driver torque signals."""
     self.steering_pressed_cnt += 1 if steering_pressed else -1
-    self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
+    self.steering_pressed_cnt = np.clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
     return self.steering_pressed_cnt > steering_pressed_min_count
 
   def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):

opendbc/car/nissan/carcontroller.py

@@ -1,5 +1,5 @@
 from opendbc.can.packer import CANPacker
-from opendbc.car.common.numpy_fast import clip
+from numpy import clip
 from opendbc.car import Bus, apply_std_steer_angle_limits, structs
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.nissan import nissancan

opendbc/car/subaru/carcontroller.py

@@ -1,6 +1,6 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg
-from opendbc.car.common.numpy_fast import clip, interp
+from numpy  import clip, interp
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
 from opendbc.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags

opendbc/car/tesla/carcontroller.py

@@ -1,4 +1,4 @@
-from opendbc.car.common.numpy_fast import clip
+from numpy import clip
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, apply_std_steer_angle_limits
 from opendbc.car.interfaces import CarControllerBase

opendbc/car/toyota/carcontroller.py

@@ -3,7 +3,7 @@
                         make_tester_present_msg, rate_limit, structs, ACCELERATION_DUE_TO_GRAVITY, DT_CTRL
 from opendbc.car.can_definitions import CanData
 from opendbc.car.common.filter_simple import FirstOrderFilter
-from opendbc.car.common.numpy_fast import clip, interp
+from numpy import clip, interp
 from opendbc.car.common.pid import PIDController
 from opendbc.car.secoc import add_mac, build_sync_mac
 from opendbc.car.interfaces import CarControllerBase

opendbc/car/toyota/carstate.py

@@ -5,7 +5,7 @@
 from opendbc.car import Bus, DT_CTRL, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.common.filter_simple import FirstOrderFilter
-from opendbc.car.common.numpy_fast import mean
+from numpy import mean
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR

opendbc/car/volkswagen/carcontroller.py

@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, structs
 from opendbc.car.common.conversions import Conversions as CV
-from opendbc.car.common.numpy_fast import clip
+from numpy import clip
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.volkswagen import mqbcan, pqcan
 from opendbc.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags