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

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* move keys from cython to cc

* consistency

* passes tests

* more consistency

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 27d3f820bf
commatwo_master
Dean Lee 4 years ago committed by GitHub
parent 2fb8b563eb
commit b12a444bdd
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 Params
assert ParamKeyType
assert UnknownKeyName assert UnknownKeyName
assert put_nonblocking assert put_nonblocking

8
common/params_pxd.pxd
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@ -8,6 +8,12 @@ cdef extern from "selfdrive/common/util.cc":
pass pass
cdef extern from "selfdrive/common/params.h": cdef extern from "selfdrive/common/params.h":
cpdef enum ParamKeyType:
PERSISTENT
CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT
ALL
cdef cppclass Params: cdef cppclass Params:
Params(bool) Params(bool)
Params(string) Params(string)
@ -16,3 +22,5 @@ cdef extern from "selfdrive/common/params.h":
int remove(string) int remove(string)
int put(string, string) int put(string, string)
int putBool(string, bool) 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 # cython: language_level = 3
from libcpp cimport bool from libcpp cimport bool
from libcpp.string cimport string 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 os
import threading import threading
from common.basedir import BASEDIR from common.basedir import BASEDIR
cdef enum TxType:
PERSISTENT = 1 cdef class ParamKeyType:
CLEAR_ON_MANAGER_START = 2 PERSISTENT = c_ParamKeyType.PERSISTENT
CLEAR_ON_PANDA_DISCONNECT = 3 CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
keys = { ALL = c_ParamKeyType.ALL
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],
}
def ensure_bytes(v): def ensure_bytes(v):
if isinstance(v, str): if isinstance(v, str):
@ -110,20 +38,21 @@ cdef class Params:
del self.p del self.p
def clear_all(self, tx_type=None): def clear_all(self, tx_type=None):
for key in keys: if tx_type is None:
if tx_type is None or tx_type in keys[key]: tx_type = ParamKeyType.ALL
self.delete(key)
self.p.clearAll(tx_type)
def manager_start(self): def manager_start(self):
self.clear_all(TxType.CLEAR_ON_MANAGER_START) self.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
def panda_disconnect(self): 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): def check_key(self, key):
key = ensure_bytes(key) key = ensure_bytes(key)
if key not in keys: if not self.p.checkKey(key):
raise UnknownKeyName(key) raise UnknownKeyName(key)
return key return key
@ -160,9 +89,8 @@ cdef class Params:
Use the put_nonblocking helper function in time sensitive code, but Use the put_nonblocking helper function in time sensitive code, but
in general try to avoid writing params as much as possible. in general try to avoid writing params as much as possible.
""" """
dat = ensure_bytes(dat)
cdef string k = self.check_key(key) cdef string k = self.check_key(key)
dat = ensure_bytes(dat)
self.p.put(k, dat) self.p.put(k, dat)
def put_bool(self, key, val): def put_bool(self, key, val):
@ -177,7 +105,8 @@ cdef class Params:
def put_nonblocking(key, val, d=None): def put_nonblocking(key, val, d=None):
def f(key, val): def f(key, val):
params = Params(d) 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 = threading.Thread(target=f, args=(key, val))
t.start() t.start()

91
selfdrive/common/params.cc
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@ -13,7 +13,7 @@
#include <mutex> #include <mutex>
#include <csignal> #include <csignal>
#include <string.h> #include <string.h>
#include <unordered_map>
#include "common/util.h" #include "common/util.h"
#include "common/swaglog.h" #include "common/swaglog.h"
@ -141,6 +141,80 @@ private:
std::string fn_; 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 } // namespace
Params::Params(bool persistent_param) : Params(persistent_param ? persistent_params_path : default_params_path) {} 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) { 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/ // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/
// 1) Create temp file // 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 // 3) fsync() the temp file
// 4) rename the temp file to the real name // 4) rename the temp file to the real name
// 5) fsync() the containing directory // 5) fsync() the containing directory
std::string tmp_path = params_path + "/.tmp_value_XXXXXX"; std::string tmp_path = params_path + "/.tmp_value_XXXXXX";
int tmp_fd = mkstemp((char*)tmp_path.c_str()); int tmp_fd = mkstemp((char*)tmp_path.c_str());
if (tmp_fd < 0) return -1; 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); FileLock file_lock(params_path + "/.lock", LOCK_SH);
std::lock_guard<FileLock> lk(file_lock); 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); closedir(d);
return 0; 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 #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 { class Params {
private: private:
std::string params_path; std::string params_path;
@ -15,16 +22,19 @@ public:
Params(bool persistent_param = false); Params(bool persistent_param = false);
Params(const std::string &path); Params(const std::string &path);
bool checkKey(const std::string &key);
// Delete a value // Delete a value
int remove(const char *key); int remove(const char *key);
inline int remove(const std::string &key) { inline int remove(const std::string &key) {
return remove (key.c_str()); return remove (key.c_str());
} }
void clearAll(ParamKeyType type);
// read all values // 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); std::string get(const char *key, bool block = false);
inline std::string get(const std::string &key, bool block = false) { inline std::string get(const std::string &key, bool block = false) {
@ -47,7 +57,7 @@ public:
return get(key) == "1"; return get(key) == "1";
} }
// write a value // helpers for writing values
int put(const char* key, const char* val, size_t value_size); int put(const char* key, const char* val, size_t value_size);
inline int put(const std::string &key, const std::string &val) { 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")); init.setDongleId(params.get("DongleId"));
{ {
std::map<std::string, std::string> params_map; 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()); auto lparams = init.initParams().initEntries(params_map.size());
int i = 0; int i = 0;
for (auto& kv : params_map) { for (auto& kv : params_map) {

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