generic

common/parameter_updater.py

@@ -0,0 +1,53 @@
+import threading
+import time
+from typing import Dict, Union
+from openpilot.common.params import Params
+
+
+class ParameterUpdater:
+  def __init__(self, params_to_update: Dict[str, str]):
+    """
+    params_to_update: A dictionary where keys are parameter names, and values are their types ('bool' or 'str').
+    Example: {"IsMetric": "bool", "LongitudinalPersonality": "str"}
+    """
+    self.params = Params()
+    self.params_to_update = params_to_update
+    self.param_values: Dict[str, Union[bool, str]] = {param: None for param in params_to_update}
+
+    self._update()  # Initial update
+
+    self.mutex = threading.Lock()
+    self.stop_event = threading.Event()
+    self.update_thread = None
+
+  def start(self) -> None:
+    if self.update_thread is None or not self.update_thread.is_alive():
+      self.update_thread = threading.Thread(target=self._update_periodically, daemon=True)
+      self.update_thread.start()
+
+  def stop(self) -> None:
+    if self.update_thread and self.update_thread.is_alive():
+      self.stop_event.set()
+      self.update_thread.join()
+
+  def get_param_value(self, param: str) -> Union[bool, str, None]:
+    with self.mutex:
+      return self.param_values.get(param)
+
+  def _update(self) -> None:
+    new_values: Dict[str, Union[bool, str]] = {}
+    for param, param_type in self.params_to_update.items():
+      if param_type == "bool":
+        new_values[param] = self.params.get_bool(param)
+      elif param_type == "str":
+        new_values[param] = self.params.get(param)
+      else:
+        raise ValueError(f"Unsupported type {param_type} for parameter {param}")
+
+    with self.mutex:
+      self.param_values = new_values
+
+  def _update_periodically(self) -> None:
+    while not self.stop_event.is_set():
+      self._update()
+      time.sleep(0.1)

selfdrive/car/card.py

@@ -8,6 +8,7 @@
 
 from panda import ALTERNATIVE_EXPERIENCE
 
+from openpilot.common.parameter_updater import ParameterUpdater
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 from openpilot.common.swaglog import cloudlog, ForwardingHandler
@@ -20,7 +21,6 @@
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
-from openpilot.selfdrive.car.parameter_updater import ParameterUpdater
 
 REPLAY = "REPLAY" in os.environ
 
@@ -254,9 +254,8 @@ def card_thread(self):
     parameter_updater = ParameterUpdater()
     try:
       while True:
-        with parameter_updater.mutex:
-          self.is_metric = parameter_updater.is_metric
-          self.experimental_mode = parameter_updater.experimental_mode
+        self.is_metric = parameter_updater.get_param_value('is_metric')
+        self.experimental_mode = parameter_updater.get_param_value('experimental_mode')
 
         self.step()
         self.rk.monitor_time()