Template version of read_param (#1593)

selfdrive/ui/ui.cc

@@ -4,6 +4,7 @@
 #include <unistd.h>
 #include <assert.h>
 #include <sys/mman.h>
+#include <sstream>
 #include <sys/resource.h>
 #include <czmq.h>
 #include "common/util.h"
@@ -135,61 +136,28 @@ static void set_do_exit(int sig) {
   do_exit = 1;
 }
 
-static void read_param_bool(bool* param, const char* param_name, bool persistent_param = false) {
+template <class T>
+static int read_param(T* param, const char *param_name, bool persistent_param = false){
   char *s;
-  const int result = read_db_value(param_name, &s, NULL, persistent_param);
+  int result = read_db_value(param_name, &s, NULL, persistent_param);
   if (result == 0){
-    *param = s[0] == '1';
+    std::istringstream iss(s);
-    free(s);
+    iss >> *param;
-  }
-}
-
-static int read_param_float(float* param, const char* param_name, bool persistent_param = false) {
-  char *s;
-  const int result = read_db_value(param_name, &s, NULL, persistent_param);
-  if (result == 0) {
-    *param = strtod(s, NULL);
-    free(s);
-  }
-  return result;
-}
-
-static int read_param_uint64(uint64_t* dest, const char* param_name, bool persistent_param = false) {
-  char *s;
-  const int result = read_db_value(param_name, &s, NULL, persistent_param);
-  if (result == 0) {
-    *dest = strtoull(s, NULL, 0);
     free(s);
   }
   return result;
 }
 
-static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout, bool persistent_param = false) {
+template <class T>
-  if (*timeout > 0){
+static int read_param_timeout(T* param, const char* param_name, int* timeout, bool persistent_param = false) {
-    (*timeout)--;
+  int result = -1;
-  } else {
-    read_param_bool(param, param_name, persistent_param);
-    *timeout = 2 * UI_FREQ; // 0.5Hz
-  }
-}
-
-static void read_param_float_timeout(float* param, const char* param_name, int* timeout, bool persistent_param = false) {
-  if (*timeout > 0){
-    (*timeout)--;
-  } else {
-    read_param_float(param, param_name, persistent_param);
-    *timeout = 2 * UI_FREQ; // 0.5Hz
-  }
-}
-
-static int read_param_uint64_timeout(uint64_t* dest, const char* param_name, int* timeout, bool persistent_param = false) {
   if (*timeout > 0){
     (*timeout)--;
-    return -1;
   } else {
     *timeout = 2 * UI_FREQ; // 0.5Hz
-    return read_param_uint64(dest, param_name, persistent_param);
+    result = read_param(param, param_name, persistent_param);
   }
+  return result;
 }
 
 static int write_param_float(float param, const char* param_name, bool persistent_param = false) {
@@ -277,10 +245,10 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
     0.0f, 0.0f, 0.0f, 1.0f,
   }};
 
-  read_param_float(&s->speed_lim_off, "SpeedLimitOffset");
+  read_param(&s->speed_lim_off, "SpeedLimitOffset");
-  read_param_bool(&s->is_metric, "IsMetric");
+  read_param(&s->is_metric, "IsMetric");
-  read_param_bool(&s->longitudinal_control, "LongitudinalControl");
+  read_param(&s->longitudinal_control, "LongitudinalControl");
-  read_param_bool(&s->limit_set_speed, "LimitSetSpeed");
+  read_param(&s->limit_set_speed, "LimitSetSpeed");
 
   // Set offsets so params don't get read at the same time
   s->longitudinal_control_timeout = UI_FREQ / 3;
@@ -829,8 +797,8 @@ int main(int argc, char* argv[]) {
   const int LEON = is_leon();
 
   float brightness_b, brightness_m;
-  int result = read_param_float(&brightness_b, "BRIGHTNESS_B", true);
+  int result = read_param(&brightness_b, "BRIGHTNESS_B", true);
-  result += read_param_float(&brightness_m, "BRIGHTNESS_M", true);
+  result += read_param(&brightness_m, "BRIGHTNESS_M", true);
 
   if(result != 0){
     brightness_b = LEON ? 10.0 : 5.0;
@@ -965,11 +933,11 @@ int main(int argc, char* argv[]) {
       s->alert_sound = cereal::CarControl::HUDControl::AudibleAlert::NONE;
     }
 
-    read_param_bool_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
+    read_param_timeout(&s->is_metric, "IsMetric", &s->is_metric_timeout);
-    read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
+    read_param_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
-    read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
+    read_param_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
-    read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
+    read_param_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
-    int param_read = read_param_uint64_timeout(&s->last_athena_ping, "LastAthenaPingTime", &s->last_athena_ping_timeout);
+    int param_read = read_param_timeout(&s->last_athena_ping, "LastAthenaPingTime", &s->last_athena_ping_timeout);
     if (param_read != -1) { // Param was updated this loop
       if (param_read != 0) { // Failed to read param
         s->scene.athenaStatus = NET_DISCONNECTED;