sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues 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/20810/head
Dean Lee 4 years ago committed by GitHub
parent ed3b6bd90c
commit 27d3f820bf
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 129 additions and 96 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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
Unescape View File

@ -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) {

Write Preview
Loading…
Cancel
Save