torqued: cache bucket points every minute while onroad (#30515)

* torqued: cache bucket points every minute while onroad

* use put_nonblocking

* remove caching on exit

* unused

* more unused

* remove logging

selfdrive/locationd/helpers.py

@@ -1,11 +1,8 @@
 import numpy as np
-import signal
-import sys
 from typing import List, Optional, Tuple, Any
 
 from cereal import log
-from openpilot.common.params import Params
+from openpilot.common.params import put_nonblocking
-from openpilot.common.swaglog import cloudlog
 
 
 class NPQueue:
@@ -68,10 +65,6 @@ class ParameterEstimator:
     raise NotImplementedError
 
 
-def cache_points_onexit(param_name, estimator, sig, frame):
+def cache_points(param_name, estimator, valid):
-  signal.signal(sig, signal.SIG_DFL)
+  msg = estimator.get_msg(valid=valid, with_points=True)
-  cloudlog.warning(f"Caching {param_name} param")
+  put_nonblocking(param_name, msg.to_bytes())
-  params = Params()
-  msg = estimator.get_msg(valid=True, with_points=True)
-  params.put(param_name, msg.to_bytes())
-  sys.exit(0)

selfdrive/locationd/torqued.py

@@ -1,9 +1,6 @@
 #!/usr/bin/env python3
-import os
-import signal
 import numpy as np
 from collections import deque, defaultdict
-from functools import partial
 
 import cereal.messaging as messaging
 from cereal import car, log
@@ -12,7 +9,7 @@ from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points_onexit
+from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator, cache_points
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -227,9 +224,6 @@ def main():
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
     estimator = TorqueEstimator(CP)
 
-  if "REPLAY" not in os.environ:
-    signal.signal(signal.SIGINT, partial(cache_points_onexit, "LiveTorqueParameters", estimator))
-
   while True:
     sm.update()
     if sm.all_checks():
@@ -242,6 +236,10 @@ def main():
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
 
+    # Cache points every 60 seconds while onroad
+    if sm.frame % 240 == 0:
+      cache_points("LiveTorqueParameters", estimator, sm.all_checks())
+
 
 if __name__ == "__main__":
   main()