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Code Issues 67 Packages Projects Releases Wiki Activity

Params: move keys from cython to cc (#20814)

Browse Source 
* move keys from cython to cc

* consistency

* passes tests

* more consistency

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/214/head
Dean Lee 5 years ago committed by GitHub
parent ed3b6bd90c
commit 27d3f820bf
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6 changed files with 129 additions and 96 deletions
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  1. 3
      common/params.py
  2. 8
      common/params_pxd.pxd
  3. 105
      common/params_pyx.pyx
  4. 91
      selfdrive/common/params.cc
  5. 16
      selfdrive/common/params.h
  6. 2
      selfdrive/loggerd/logger.cc

3
common/params.py
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@ -1,5 +1,6 @@
from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
assert Params
assert ParamKeyType
assert UnknownKeyName
assert put_nonblocking

8
common/params_pxd.pxd
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@ -8,6 +8,12 @@ cdef extern from "selfdrive/common/util.cc":
pass
cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
ALL
cdef cppclass Params:
Params(bool)
Params(string)
@ -16,3 +22,5 @@ cdef extern from "selfdrive/common/params.h":
int remove(string)
int put(string, string)
int putBool(string, bool)
bool checkKey(string)
void clearAll(ParamKeyType)

105
common/params_pyx.pyx
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@ -2,90 +2,18 @@
# cython: language_level = 3
from libcpp cimport bool
from libcpp.string cimport string
from common.params_pxd cimport Params as c_Params
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
import os
import threading
from common.basedir import BASEDIR
cdef enum TxType:
PERSISTENT = 1
CLEAR_ON_MANAGER_START = 2
CLEAR_ON_PANDA_DISCONNECT = 3
keys = {
b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
b"ApiCache_DriveStats": [TxType.PERSISTENT],
b"ApiCache_Device": [TxType.PERSISTENT],
b"ApiCache_Owner": [TxType.PERSISTENT],
b"AthenadPid": [TxType.PERSISTENT],
b"CalibrationParams": [TxType.PERSISTENT],
b"CarBatteryCapacity": [TxType.PERSISTENT],
b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"CommunityFeaturesToggle": [TxType.PERSISTENT],
b"ControlsReady": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"EnableLteOnroad": [TxType.PERSISTENT],
b"EndToEndToggle": [TxType.PERSISTENT],
b"CompletedTrainingVersion": [TxType.PERSISTENT],
b"DisablePowerDown": [TxType.PERSISTENT],
b"DisableUpdates": [TxType.PERSISTENT],
b"EnableWideCamera": [TxType.PERSISTENT],
b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
b"DongleId": [TxType.PERSISTENT],
b"GitDiff": [TxType.PERSISTENT],
b"GitBranch": [TxType.PERSISTENT],
b"GitCommit": [TxType.PERSISTENT],
b"GitRemote": [TxType.PERSISTENT],
b"GithubSshKeys": [TxType.PERSISTENT],
b"GithubUsername": [TxType.PERSISTENT],
b"HardwareSerial": [TxType.PERSISTENT],
b"HasAcceptedTerms": [TxType.PERSISTENT],
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
b"IMEI": [TxType.PERSISTENT],
b"IsLdwEnabled": [TxType.PERSISTENT],
b"IsMetric": [TxType.PERSISTENT],
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
b"IsRHD": [TxType.PERSISTENT],
b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
b"IsUploadRawEnabled": [TxType.PERSISTENT],
b"LastAthenaPingTime": [TxType.PERSISTENT],
b"LastGPSPosition": [TxType.PERSISTENT],
b"LastUpdateException": [TxType.PERSISTENT],
b"LastUpdateTime": [TxType.PERSISTENT],
b"LiveParameters": [TxType.PERSISTENT],
b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"Passive": [TxType.PERSISTENT],
b"RecordFront": [TxType.PERSISTENT],
b"RecordFrontLock": [TxType.PERSISTENT], # for the internal fleet
b"ReleaseNotes": [TxType.PERSISTENT],
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
b"SubscriberInfo": [TxType.PERSISTENT],
b"SshEnabled": [TxType.PERSISTENT],
b"TermsVersion": [TxType.PERSISTENT],
b"Timezone": [TxType.PERSISTENT],
b"TrainingVersion": [TxType.PERSISTENT],
b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
b"Version": [TxType.PERSISTENT],
b"VisionRadarToggle": [TxType.PERSISTENT],
b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
b"Offroad_HardwareUnsupported": [TxType.CLEAR_ON_MANAGER_START],
b"ForcePowerDown": [TxType.CLEAR_ON_MANAGER_START],
}
cdef class ParamKeyType:
PERSISTENT = c_ParamKeyType.PERSISTENT
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
ALL = c_ParamKeyType.ALL
def ensure_bytes(v):
if isinstance(v, str):
@ -110,20 +38,21 @@ cdef class Params:
del self.p
def clear_all(self, tx_type=None):
for key in keys:
if tx_type is None or tx_type in keys[key]:
self.delete(key)
if tx_type is None:
tx_type = ParamKeyType.ALL
self.p.clearAll(tx_type)
def manager_start(self):
self.clear_all(TxType.CLEAR_ON_MANAGER_START)
self.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
def panda_disconnect(self):
self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
self.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
def check_key(self, key):
key = ensure_bytes(key)
if key not in keys:
if not self.p.checkKey(key):
raise UnknownKeyName(key)
return key
@ -160,9 +89,8 @@ cdef class Params:
Use the put_nonblocking helper function in time sensitive code, but
in general try to avoid writing params as much as possible.
"""
dat = ensure_bytes(dat)
cdef string k = self.check_key(key)
dat = ensure_bytes(dat)
self.p.put(k, dat)
def put_bool(self, key, val):
@ -177,7 +105,8 @@ cdef class Params:
def put_nonblocking(key, val, d=None):
def f(key, val):
params = Params(d)
params.put(key, val)
cdef string k = ensure_bytes(key)
params.put(k, val)
t = threading.Thread(target=f, args=(key, val))
t.start()

91
selfdrive/common/params.cc
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@ -13,7 +13,7 @@
#include <mutex>
#include <csignal>
#include <string.h>
#include <unordered_map>
#include "common/util.h"
#include "common/swaglog.h"
@ -141,6 +141,80 @@ private:
std::string fn_;
};
std::unordered_map<std::string, uint32_t> keys = {
{"AccessToken", CLEAR_ON_MANAGER_START},
{"ApiCache_DriveStats", PERSISTENT},
{"ApiCache_Device", PERSISTENT},
{"ApiCache_Owner", PERSISTENT},
{"AthenadPid", PERSISTENT},
{"CalibrationParams", PERSISTENT},
{"CarBatteryCapacity", PERSISTENT},
{"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"CarParamsCache", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"CommunityFeaturesToggle", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"EnableLteOnroad", PERSISTENT},
{"EndToEndToggle", PERSISTENT},
{"CompletedTrainingVersion", PERSISTENT},
{"DisablePowerDown", PERSISTENT},
{"DisableUpdates", PERSISTENT},
{"EnableWideCamera", PERSISTENT},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"DongleId", PERSISTENT},
{"GitDiff", PERSISTENT},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},
{"GitRemote", PERSISTENT},
{"GithubSshKeys", PERSISTENT},
{"GithubUsername", PERSISTENT},
{"HardwareSerial", PERSISTENT},
{"HasAcceptedTerms", PERSISTENT},
{"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
{"IMEI", PERSISTENT},
{"IsLdwEnabled", PERSISTENT},
{"IsMetric", PERSISTENT},
{"IsOffroad", CLEAR_ON_MANAGER_START},
{"IsRHD", PERSISTENT},
{"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"IsUploadRawEnabled", PERSISTENT},
{"LastAthenaPingTime", PERSISTENT},
{"LastGPSPosition", PERSISTENT},
{"LastUpdateException", PERSISTENT},
{"LastUpdateTime", PERSISTENT},
{"LiveParameters", PERSISTENT},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"PandaFirmwareHex", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"PandaDongleId", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"Passive", PERSISTENT},
{"RecordFront", PERSISTENT},
{"RecordFrontLock", PERSISTENT}, // for the internal fleet
{"ReleaseNotes", PERSISTENT},
{"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
{"SubscriberInfo", PERSISTENT},
{"SshEnabled", PERSISTENT},
{"TermsVersion", PERSISTENT},
{"Timezone", PERSISTENT},
{"TrainingVersion", PERSISTENT},
{"UpdateAvailable", CLEAR_ON_MANAGER_START},
{"UpdateFailedCount", CLEAR_ON_MANAGER_START},
{"Version", PERSISTENT},
{"VisionRadarToggle", PERSISTENT},
{"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
{"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
{"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
{"Offroad_PandaFirmwareMismatch", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT},
{"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
{"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
{"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
{"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
{"Offroad_HardwareUnsupported", CLEAR_ON_MANAGER_START},
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
};
} // namespace
Params::Params(bool persistent_param) : Params(persistent_param ? persistent_params_path : default_params_path) {}
@ -151,6 +225,10 @@ Params::Params(const std::string &path) : params_path(path) {
}
}
bool Params::checkKey(const std::string &key) {
return keys.find(key) != keys.end();
}
int Params::put(const char* key, const char* value, size_t value_size) {
// Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
// 1) Create temp file
@ -158,7 +236,6 @@ int Params::put(const char* key, const char* value, size_t value_size) {
// 3) fsync() the temp file
// 4) rename the temp file to the real name
// 5) fsync() the containing directory
std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
int tmp_fd = mkstemp((char*)tmp_path.c_str());
if (tmp_fd < 0) return -1;
@ -233,7 +310,7 @@ std::string Params::get(const char *key, bool block) {
}
}
int Params::read_db_all(std::map<std::string, std::string> *params) {
int Params::readAll(std::map<std::string, std::string> *params) {
FileLock file_lock(params_path + "/.lock", LOCK_SH);
std::lock_guard<FileLock> lk(file_lock);
@ -251,3 +328,11 @@ int Params::read_db_all(std::map<std::string, std::string> *params) {
closedir(d);
return 0;
}
void Params::clearAll(ParamKeyType key_type) {
for (auto &[key, type] : keys) {
if (type & key_type) {
remove(key);
}
}
}

16
selfdrive/common/params.h
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@ -7,6 +7,13 @@
#define ERR_NO_VALUE -33
enum ParamKeyType {
PERSISTENT = 0x02,
CLEAR_ON_MANAGER_START = 0x04,
CLEAR_ON_PANDA_DISCONNECT = 0x08,
ALL = 0x02 | 0x04 | 0x08
};
class Params {
private:
std::string params_path;
@ -15,16 +22,19 @@ public:
Params(bool persistent_param = false);
Params(const std::string &path);
bool checkKey(const std::string &key);
// Delete a value
int remove(const char *key);
inline int remove(const std::string &key) {
return remove (key.c_str());
}
void clearAll(ParamKeyType type);
// read all values
int read_db_all(std::map<std::string, std::string> *params);
int readAll(std::map<std::string, std::string> *params);
// read a value
// helpers for reading values
std::string get(const char *key, bool block = false);
inline std::string get(const std::string &key, bool block = false) {
@ -47,7 +57,7 @@ public:
return get(key) == "1";
}
// write a value
// helpers for writing values
int put(const char* key, const char* val, size_t value_size);
inline int put(const std::string &key, const std::string &val) {

2
selfdrive/loggerd/logger.cc
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@ -102,7 +102,7 @@ kj::Array<capnp::word> logger_build_init_data() {
init.setDongleId(params.get("DongleId"));
{
std::map<std::string, std::string> params_map;
params.read_db_all(&params_map);
params.readAll(&params_map);
auto lparams = init.initParams().initEntries(params_map.size());
int i = 0;
for (auto& kv : params_map) {

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