sadmen
/
dragonpilot
mirror of https://github.com/dragonpilot-community/dragonpilot.git
1
0
Fork 0
Code Issues 64 Packages Projects Releases Wiki Activity

use put_nonblocking when possible (#1288)

Browse Source 
* use put_nonblocking when possible

* revert uneeded changes
pull/214/head
eFini 6 years ago committed by GitHub
parent 3cb1568a54
commit 106be23c4e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 13 additions and 14 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 5
      selfdrive/car/volkswagen/interface.py
  2. 6
      selfdrive/controls/controlsd.py
  3. 16
      selfdrive/thermald/thermald.py

5
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -2,7 +2,7 @@ from cereal import car
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
from common.params import Params from common.params import put_nonblocking
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
@ -79,7 +79,6 @@ class CarInterface(CarInterfaceBase):
def update(self, c, can_strings): def update(self, c, can_strings):
canMonoTimes = [] canMonoTimes = []
buttonEvents = [] buttonEvents = []
params = Params()
# Process the most recent CAN message traffic, and check for validity # Process the most recent CAN message traffic, and check for validity
# The camera CAN has no signals we use at this time, but we process it # The camera CAN has no signals we use at this time, but we process it
@ -94,7 +93,7 @@ class CarInterface(CarInterfaceBase):
# Update the EON metric configuration to match the car at first startup, # Update the EON metric configuration to match the car at first startup,
# or if there's been a change. # or if there's been a change.
if self.CS.displayMetricUnits != self.displayMetricUnitsPrev: if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
params.put("IsMetric", "1" if self.CS.displayMetricUnits else "0") put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
# Check for and process state-change events (button press or release) from # Check for and process state-change events (button press or release) from
# the turn stalk switch or ACC steering wheel/control stalk buttons. # the turn stalk switch or ACC steering wheel/control stalk buttons.

6
selfdrive/controls/controlsd.py
Unescape View File

@ -6,7 +6,7 @@ from cereal import car, log
from common.numpy_fast import clip from common.numpy_fast import clip
from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
from common.profiler import Profiler from common.profiler import Profiler
from common.params import Params from common.params import Params, put_nonblocking
import cereal.messaging as messaging import cereal.messaging as messaging
from selfdrive.config import Conversions as CV from selfdrive.config import Conversions as CV
from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.boardd.boardd import can_list_to_can_capnp
@ -490,8 +490,8 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
# Write CarParams for radard and boardd safety mode # Write CarParams for radard and boardd safety mode
cp_bytes = CP.to_bytes() cp_bytes = CP.to_bytes()
params.put("CarParams", cp_bytes) params.put("CarParams", cp_bytes)
params.put("CarParamsCache", cp_bytes) put_nonblocking("CarParamsCache", cp_bytes)
params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0") put_nonblocking("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")
CC = car.CarControl.new_message() CC = car.CarControl.new_message()
AM = AlertManager() AM = AlertManager()

16
selfdrive/thermald/thermald.py
Unescape View File

@ -8,7 +8,7 @@ from smbus2 import SMBus
from cereal import log from cereal import log
from common.android import ANDROID, get_network_type, get_network_strength from common.android import ANDROID, get_network_type, get_network_strength
from common.basedir import BASEDIR from common.basedir import BASEDIR
from common.params import Params from common.params import Params, put_nonblocking
from common.realtime import sec_since_boot, DT_TRML from common.realtime import sec_since_boot, DT_TRML
from common.numpy_fast import clip, interp from common.numpy_fast import clip, interp
from common.filter_simple import FirstOrderFilter from common.filter_simple import FirstOrderFilter
@ -268,7 +268,7 @@ def thermald_thread():
if time_valid and not time_valid_prev: if time_valid and not time_valid_prev:
params.delete("Offroad_InvalidTime") params.delete("Offroad_InvalidTime")
if not time_valid and time_valid_prev: if not time_valid and time_valid_prev:
params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"])) put_nonblocking("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
time_valid_prev = time_valid time_valid_prev = time_valid
# Show update prompt # Show update prompt
@ -285,7 +285,7 @@ def thermald_thread():
if current_connectivity_alert != "expired": if current_connectivity_alert != "expired":
current_connectivity_alert = "expired" current_connectivity_alert = "expired"
params.delete("Offroad_ConnectivityNeededPrompt") params.delete("Offroad_ConnectivityNeededPrompt")
params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"])) put_nonblocking("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0)) remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
if current_connectivity_alert != "prompt" + remaining_time: if current_connectivity_alert != "prompt" + remaining_time:
@ -293,7 +293,7 @@ def thermald_thread():
alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"]) alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
alert_connectivity_prompt["text"] += remaining_time + " days." alert_connectivity_prompt["text"] += remaining_time + " days."
params.delete("Offroad_ConnectivityNeeded") params.delete("Offroad_ConnectivityNeeded")
params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt)) put_nonblocking("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
elif current_connectivity_alert is not None: elif current_connectivity_alert is not None:
current_connectivity_alert = None current_connectivity_alert = None
params.delete("Offroad_ConnectivityNeeded") params.delete("Offroad_ConnectivityNeeded")
@ -331,14 +331,14 @@ def thermald_thread():
if fw_version_match and not fw_version_match_prev: if fw_version_match and not fw_version_match_prev:
params.delete("Offroad_PandaFirmwareMismatch") params.delete("Offroad_PandaFirmwareMismatch")
if not fw_version_match and fw_version_match_prev: if not fw_version_match and fw_version_match_prev:
params.put("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"])) put_nonblocking("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"]))
# if any CPU gets above 107 or the battery gets above 63, kill all processes # if any CPU gets above 107 or the battery gets above 63, kill all processes
# controls will warn with CPU above 95 or battery above 60 # controls will warn with CPU above 95 or battery above 60
if thermal_status >= ThermalStatus.danger: if thermal_status >= ThermalStatus.danger:
should_start = False should_start = False
if thermal_status_prev < ThermalStatus.danger: if thermal_status_prev < ThermalStatus.danger:
params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"])) put_nonblocking("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
else: else:
if thermal_status_prev >= ThermalStatus.danger: if thermal_status_prev >= ThermalStatus.danger:
params.delete("Offroad_TemperatureTooHigh") params.delete("Offroad_TemperatureTooHigh")
@ -354,7 +354,7 @@ def thermald_thread():
os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor') os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
else: else:
if should_start_prev or (count == 0): if should_start_prev or (count == 0):
params.put("IsOffroad", "1") put_nonblocking("IsOffroad", "1")
started_ts = None started_ts = None
if off_ts is None: if off_ts is None:
@ -379,7 +379,7 @@ def thermald_thread():
thermal_sock.send(msg.to_bytes()) thermal_sock.send(msg.to_bytes())
if usb_power_prev and not usb_power: if usb_power_prev and not usb_power:
params.put("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"])) put_nonblocking("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"]))
elif usb_power and not usb_power_prev: elif usb_power and not usb_power_prev:
params.delete("Offroad_ChargeDisabled") params.delete("Offroad_ChargeDisabled")

Write Preview
Loading…
Cancel
Save