common/params: support nonblocking write (#29808)

* Safe and efficient asynchronous writing parameters

* call putNonBlocking in locationd

* remove space

* ->AsyncWriter

* remove semicolon

* use member function

* asyc write multiple times

* add test case for AsyncWriter

* merge master

* add missing include

* public

* cleanup

* create once

* cleanup

* update that

* explicit waiting

* improve test case

* pass prefix to asywriter

* move to params

* assert(queue.empty())

* add comment

* add todo

* test_power_monitoring: remove patch

* rm laikad.py

* fix import

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3c4c4d1f7f

common/SConscript

@@ -24,7 +24,7 @@ Export('_common', '_gpucommon')
 
 if GetOption('extras'):
   env.Program('tests/test_common',
-              ['tests/test_runner.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
+              ['tests/test_runner.cc', 'tests/test_params.cc', 'tests/test_util.cc', 'tests/test_swaglog.cc', 'tests/test_ratekeeper.cc'],
               LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
 # Cython bindings

common/params.cc

@@ -4,9 +4,11 @@
 #include <sys/file.h>
 
 #include <algorithm>
+#include <cassert>
 #include <csignal>
 #include <unordered_map>
 
+#include "common/queue.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
@@ -214,8 +216,15 @@ std::unordered_map<std::string, uint32_t> keys = {
 
 
 Params::Params(const std::string &path) {
-  prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
+  params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
-  params_path = ensure_params_path(prefix, path);
+  params_path = ensure_params_path(params_prefix, path);
+}
+
+Params::~Params() {
+  if (future.valid()) {
+    future.wait();
+  }
+  assert(queue.empty());
 }
 
 std::vector<std::string> Params::allKeys() const {
@@ -328,3 +337,20 @@ void Params::clearAll(ParamKeyType key_type) {
 
   fsync_dir(getParamPath());
 }
+
+void Params::putNonBlocking(const std::string &key, const std::string &val) {
+   queue.push(std::make_pair(key, val));
+  // start thread on demand
+  if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) {
+    future = std::async(std::launch::async, &Params::asyncWriteThread, this);
+  }
+}
+
+void Params::asyncWriteThread() {
+  // TODO: write the latest one if a key has multiple values in the queue.
+  std::pair<std::string, std::string> p;
+  while (queue.try_pop(p, 0)) {
+    // Params::put is Thread-Safe
+    put(p.first, p.second);
+  }
+}

common/params.h

@@ -1,9 +1,14 @@
 #pragma once
 
+#include <future>
 #include <map>
 #include <string>
+#include <tuple>
+#include <utility>
 #include <vector>
 
+#include "common/queue.h"
+
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
@@ -17,6 +22,7 @@ enum ParamKeyType {
 class Params {
 public:
   explicit Params(const std::string &path = {});
+  ~Params();
   // Not copyable.
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
@@ -25,7 +31,7 @@ public:
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);
   inline std::string getParamPath(const std::string &key = {}) {
-    return params_path + prefix + (key.empty() ? "" : "/" + key);
+    return params_path + params_prefix + (key.empty() ? "" : "/" + key);
   }
 
   // Delete a value
@@ -47,8 +53,18 @@ public:
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  void putNonBlocking(const std::string &key, const std::string &val);
+  inline void putBoolNonBlocking(const std::string &key, bool val) {
+    putNonBlocking(key, val ? "1" : "0");
+  }
 
 private:
+  void asyncWriteThread();
+
   std::string params_path;
-  std::string prefix;
+  std::string params_prefix;
+
+  // for nonblocking write
+  std::future<void> future;
+  SafeQueue<std::pair<std::string, std::string>> queue;
 };

common/params.py

@@ -1,10 +1,7 @@
-from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
-                                        put_bool_nonblocking
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
-assert put_nonblocking
-assert put_bool_nonblocking
 
 if __name__ == "__main__":
   import sys

common/params_pyx.pyx

@@ -3,7 +3,6 @@
 from libcpp cimport bool
 from libcpp.string cimport string
 from libcpp.vector cimport vector
-import threading
 
 cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
@@ -20,6 +19,8 @@ cdef extern from "common/params.h":
     bool getBool(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
+    void putNonBlocking(string, string) nogil
+    void putBoolNonBlocking(string, bool) nogil
     int putBool(string, bool) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
@@ -80,7 +81,7 @@ cdef class Params:
     """
     Warning: This function blocks until the param is written to disk!
     In very rare cases this can take over a second, and your code will hang.
-    Use the put_nonblocking helper function in time sensitive code, but
+    Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
     in general try to avoid writing params as much as possible.
     """
     cdef string k = self.check_key(key)
@@ -93,6 +94,17 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_nonblocking(self, key, dat):
+    cdef string k = self.check_key(key)
+    cdef string dat_bytes = ensure_bytes(dat)
+    with nogil:
+      self.p.putNonBlocking(k, dat_bytes)
+
+  def put_bool_nonblocking(self, key, bool val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putBoolNonBlocking(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
@@ -104,9 +116,3 @@ cdef class Params:
 
   def all_keys(self):
     return self.p.allKeys()
-
-def put_nonblocking(key, val, d=""):
-  threading.Thread(target=lambda: Params(d).put(key, val)).start()
-
-def put_bool_nonblocking(key, bool val, d=""):
-  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()

common/tests/test_params.cc

@@ -0,0 +1,27 @@
+#include "catch2/catch.hpp"
+#define private public
+#include "common/params.h"
+#include "common/util.h"
+
+TEST_CASE("params_nonblocking_put") {
+  char tmp_path[] = "/tmp/asyncWriter_XXXXXX";
+  const std::string param_path = mkdtemp(tmp_path);
+  auto param_names = {"CarParams", "IsMetric"};
+  {
+    Params params(param_path);
+    for (const auto &name : param_names) {
+      params.putNonBlocking(name, "1");
+      // param is empty
+      REQUIRE(params.get(name).empty());
+    }
+
+    // check if thread is running
+    REQUIRE(params.future.valid());
+    REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout);
+  }
+  // check results
+  Params p(param_path);
+  for (const auto &name : param_names) {
+    REQUIRE(p.get(name) == "1");
+  }
+}

common/tests/test_params.py

@@ -4,7 +4,7 @@ import time
 import uuid
 import unittest
 
-from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
+from openpilot.common.params import Params, ParamKeyType, UnknownKeyName
 
 class TestParams(unittest.TestCase):
   def setUp(self):
@@ -86,7 +86,7 @@ class TestParams(unittest.TestCase):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test")
+      Params().put_nonblocking("CarParams", "test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
@@ -95,7 +95,7 @@ class TestParams(unittest.TestCase):
     q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True)
+      Params().put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"

selfdrive/controls/controlsd.py

@@ -9,7 +9,7 @@ from cereal import car, log
 from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.profiler import Profiler
-from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking
+from openpilot.common.params import Params
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
 from openpilot.common.conversions import Conversions as CV
@@ -128,8 +128,8 @@ class Controls:
     # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
-    put_nonblocking("CarParamsCache", cp_bytes)
+    self.params.put_nonblocking("CarParamsCache", cp_bytes)
-    put_nonblocking("CarParamsPersistent", cp_bytes)
+    self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:
@@ -449,7 +449,7 @@ class Controls:
 
         self.initialized = True
         self.set_initial_state()
-        put_bool_nonblocking("ControlsReady", True)
+        self.params.put_bool_nonblocking("ControlsReady", True)
 
     # Check for CAN timeout
     if not can_strs:

selfdrive/locationd/calibrationd.py

@@ -15,7 +15,7 @@ from typing import List, NoReturn, Optional
 from cereal import log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params, put_nonblocking
+from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 from openpilot.common.swaglog import cloudlog
@@ -64,8 +64,8 @@ class Calibrator:
     self.not_car = False
 
     # Read saved calibration
-    params = Params()
+    self.params = Params()
-    calibration_params = params.get("CalibrationParams")
+    calibration_params = self.params.get("CalibrationParams")
     rpy_init = RPY_INIT
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
     height = HEIGHT_INIT
@@ -164,7 +164,7 @@ class Calibrator:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
+      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego

selfdrive/locationd/locationd.cc

@@ -678,9 +678,10 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
 }
 
 int Localizer::locationd_thread() {
+  Params params;
   LocalizerGnssSource source;
   const char* gps_location_socket;
-  if (Params().getBool("UbloxAvailable")) {
+  if (params.getBool("UbloxAvailable")) {
     source = LocalizerGnssSource::UBLOX;
     gps_location_socket = "gpsLocationExternal";
   } else {
@@ -737,10 +738,7 @@ int Localizer::locationd_thread() {
         VectorXd posGeo = this->get_position_geodetic();
         std::string lastGPSPosJSON = util::string_format(
           "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
-
+        params.putNonBlocking("LastGPSPosition", lastGPSPosJSON);
-        std::thread([] (const std::string gpsjson) {
-          Params().put("LastGPSPosition", gpsjson);
-        }, lastGPSPosJSON).detach();
       }
       cnt++;
     }

selfdrive/locationd/paramsd.py

@@ -7,7 +7,7 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import car
 from cereal import log
-from openpilot.common.params import Params, put_nonblocking
+from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
@@ -251,7 +251,7 @@ def main():
           'stiffnessFactor': liveParameters.stiffnessFactor,
           'angleOffsetAverageDeg': liveParameters.angleOffsetAverageDeg,
         }
-        put_nonblocking("LiveParameters", json.dumps(params))
+        params_reader.put_nonblocking("LiveParameters", json.dumps(params))
 
       pm.send('liveParameters', msg)
 

selfdrive/monitoring/dmonitoringd.py

@@ -3,7 +3,7 @@ import gc
 
 import cereal.messaging as messaging
 from cereal import car
-from openpilot.common.params import Params, put_bool_nonblocking
+from openpilot.common.params import Params
 from openpilot.common.realtime import set_realtime_priority
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
@@ -13,10 +13,11 @@ def dmonitoringd_thread():
   gc.disable()
   set_realtime_priority(2)
 
+  params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
-  driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
+  driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
 
   v_cruise_last = 0
   driver_engaged = False
@@ -79,7 +80,7 @@ def dmonitoringd_thread():
     if (sm['driverStateV2'].frameId % 6000 == 0 and
      driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
      driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
-      put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
+      params.put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
 
 def main():
   dmonitoringd_thread()

selfdrive/thermald/power_monitoring.py

@@ -2,7 +2,7 @@ import time
 import threading
 from typing import Optional
 
-from openpilot.common.params import Params, put_nonblocking
+from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.statsd import statlog
@@ -60,7 +60,7 @@ class PowerMonitoring:
       self.car_battery_capacity_uWh = max(self.car_battery_capacity_uWh, 0)
       self.car_battery_capacity_uWh = min(self.car_battery_capacity_uWh, CAR_BATTERY_CAPACITY_uWh)
       if now - self.last_save_time >= 10:
-        put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh)))
+        self.params.put_nonblocking("CarBatteryCapacity", str(int(self.car_battery_capacity_uWh)))
         self.last_save_time = now
 
       # First measurement, set integration time

selfdrive/thermald/tests/test_power_monitoring.py

@@ -3,7 +3,6 @@ import unittest
 from unittest.mock import patch
 
 from openpilot.common.params import Params
-from openpilot.selfdrive.test.helpers import noop
 from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
                                                 CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
 
@@ -26,7 +25,6 @@ def pm_patch(name, value, constant=False):
 
 
 @patch("time.monotonic", new=mock_time_monotonic)
-@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=noop) # TODO: Remove this once nonblocking params are safer
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
     self.params = Params()