use ParameterUpdater in selfdrived

commaai · Dec 8, 2024 · aa77831 · aa77831
1 parent 1fd0382
commit aa77831
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Showing 2 changed files with 30 additions and 23 deletions.
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
@@ -250,13 +250,21 @@ def step(self):
 
     self.initialized_prev = initialized
 
+  def read_parameters(self, parameter_updater: ParameterUpdater) -> None:
+    self.is_metric = parameter_updater.get_param_value('is_metric')
+    self.experimental_mode = parameter_updater.get_param_value('experimental_mode')
+
   def card_thread(self):
-    parameter_updater = ParameterUpdater()
+    params_to_update = {
+      'IsMetric': 'bool',
+      'ExperimentalMode': 'bool',
+    }
+    parameter_updater = ParameterUpdater(params_to_update)
+    parameter_updater.start()
+
     try:
       while True:
-        self.is_metric = parameter_updater.get_param_value('is_metric')
-        self.experimental_mode = parameter_updater.get_param_value('experimental_mode')
-
+        self.read_parameters(parameter_updater)
         self.step()
         self.rk.monitor_time()
     finally:

diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 import os
-import time
-import threading
 
 import cereal.messaging as messaging
 
@@ -10,6 +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, DT_CTRL
 from openpilot.common.swaglog import cloudlog
@@ -84,7 +83,7 @@ def __init__(self, CP=None):
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
 
     # read params
-    self.is_metric = self.params.get_bool("IsMetric")
+    self.is_metric = False
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
 
     car_recognized = self.CP.carName != 'mock'
@@ -111,7 +110,7 @@ def __init__(self, CP=None):
     self.logged_comm_issue = None
     self.not_running_prev = None
     self.experimental_mode = False
-    self.personality = self.read_personality_param()
+    self.personality = log.LongitudinalPersonality.standard
     self.recalibrating_seen = False
     self.state_machine = StateMachine()
     self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -462,30 +461,30 @@ def step(self):
 
     self.CS_prev = CS
 
-  def read_personality_param(self):
+  def read_parameters(self, parameter_updater: ParameterUpdater) -> None:
+    self.is_metric = parameter_updater.get_param_value("IsMetric")
+    self.experimental_mode = parameter_updater.get_param_value("ExperimentalMode") and self.CP.openpilotLongitudinalControl
     try:
-      return int(self.params.get('LongitudinalPersonality'))
+      self.personality = int(parameter_updater.get_param_value('LongitudinalPersonality'))
     except (ValueError, TypeError):
-      return log.LongitudinalPersonality.standard
-
-  def params_thread(self, evt):
-    while not evt.is_set():
-      self.is_metric = self.params.get_bool("IsMetric")
-      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-      self.personality = self.read_personality_param()
-      time.sleep(0.1)
+      self.personality = log.LongitudinalPersonality.standard
 
   def run(self):
-    e = threading.Event()
-    t = threading.Thread(target=self.params_thread, args=(e, ))
+    params_to_update = {
+      'IsMetric': 'bool',
+      'ExperimentalMode': 'bool',
+      'LongitudinalPersonality': 'str'
+    }
+    parameter_updater = ParameterUpdater(params_to_update)
+    parameter_updater.start()
+
     try:
-      t.start()
       while True:
+        self.read_parameters(parameter_updater)
         self.step()
         self.rk.monitor_time()
     finally:
-      e.set()
-      t.join()
+      parameter_updater.stop()
 
 
 def main():