Params: python-like interface (#20506)

* rebase master

* delete outdated test_params.c

* putBool & more robust getBool

* putBool(SshEnabled)

common/params_pxd.pxd

@@ -12,5 +12,5 @@ cdef extern from "selfdrive/common/params.h":
     Params(bool)
     Params(string)
     string get(string, bool) nogil
-    int delete_db_value(string)
+    int remove(string)
-    int write_db_value(string, string)
+    int put(string, string)

common/params_pyx.pyx

@@ -157,11 +157,11 @@ cdef class Params:
     if key not in keys:
       raise UnknownKeyName(key)
 
-    self.p.write_db_value(key, dat)
+    self.p.put(key, dat)
 
   def delete(self, key):
     key = ensure_bytes(key)
-    self.p.delete_db_value(key)
+    self.p.remove(key)
 
 
 def put_nonblocking(key, val, d=None):

selfdrive/boardd/boardd.cc

@@ -71,12 +71,11 @@ void safety_setter_thread() {
       return;
     };
 
-    std::vector<char> value_vin = Params().read_db_bytes("CarVin");
+    std::string value_vin = Params().get("CarVin");
     if (value_vin.size() > 0) {
       // sanity check VIN format
       assert(value_vin.size() == 17);
-      std::string str_vin(value_vin.begin(), value_vin.end());
+      LOGW("got CarVin %s", value_vin.c_str());
-      LOGW("got CarVin %s", str_vin.c_str());
       break;
     }
     util::sleep_for(100);
@@ -85,7 +84,7 @@ void safety_setter_thread() {
   // VIN query done, stop listening to OBDII
   panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
 
-  std::vector<char> params;
+  std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {
     if (do_exit || !panda->connected){
@@ -93,7 +92,7 @@ void safety_setter_thread() {
       return;
     };
 
-    params = Params().read_db_bytes("CarParams");
+    params = Params().get("CarParams");
     if (params.size() > 0) break;
     util::sleep_for(100);
   }
@@ -133,7 +132,7 @@ bool usb_connect() {
   }
 
   if (auto fw_sig = tmp_panda->get_firmware_version(); fw_sig) {
-    params.write_db_value("PandaFirmware", (const char *)fw_sig->data(), fw_sig->size());
+    params.put("PandaFirmware", (const char *)fw_sig->data(), fw_sig->size());
 
     // Convert to hex for offroad
     char fw_sig_hex_buf[16] = {0};
@@ -143,13 +142,13 @@ bool usb_connect() {
       fw_sig_hex_buf[2*i+1] = NIBBLE_TO_HEX((uint8_t)fw_sig_buf[i] & 0xF);
     }
 
-    params.write_db_value("PandaFirmwareHex", fw_sig_hex_buf, 16);
+    params.put("PandaFirmwareHex", fw_sig_hex_buf, 16);
     LOGW("fw signature: %.*s", 16, fw_sig_hex_buf);
   } else { return false; }
 
   // get panda serial
   if (auto serial = tmp_panda->get_serial(); serial) {
-    params.write_db_value("PandaDongleId", serial->c_str(), serial->length());
+    params.put("PandaDongleId", serial->c_str(), serial->length());
     LOGW("panda serial: %s", serial->c_str());
   } else { return false; }
 
@@ -313,9 +312,9 @@ void panda_state_thread(bool spoofing_started) {
 
     // clear VIN, CarParams, and set new safety on car start
     if (ignition && !ignition_last) {
-      int result = params.delete_db_value("CarVin");
+      int result = params.remove("CarVin");
       assert((result == 0) || (result == ERR_NO_VALUE));
-      result = params.delete_db_value("CarParams");
+      result = params.remove("CarParams");
       assert((result == 0) || (result == ERR_NO_VALUE));
 
       if (!safety_setter_thread_running) {

selfdrive/camerad/cameras/camera_common.cc

@@ -352,7 +352,7 @@ void common_process_driver_camera(SubMaster *sm, PubMaster *pm, CameraState *c,
   const CameraBuf *b = &c->buf;
 
   static int x_min = 0, x_max = 0, y_min = 0, y_max = 0;
-  static const bool is_rhd = Params().read_db_bool("IsRHD");
+  static const bool is_rhd = Params().getBool("IsRHD");
 
   // auto exposure
   if (cnt % 3 == 0) {

selfdrive/common/params.cc

@@ -11,9 +11,6 @@
 #include <sys/file.h>
 #include <sys/stat.h>
 
-#include <map>
-#include <string>
-#include <iostream>
 #include <csignal>
 #include <string.h>
 
@@ -83,15 +80,11 @@ Params::Params(bool persistent_param){
   params_path = persistent_param ? persistent_params_path : default_params_path;
 }
 
-Params::Params(std::string path) {
+Params::Params(const std::string &path) {
   params_path = path;
 }
 
-int Params::write_db_value(std::string key, std::string dat){
+int Params::put(const char* key, const char* value, size_t value_size) {
-  return write_db_value(key.c_str(), dat.c_str(), dat.length());
-}
-
-int Params::write_db_value(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
   // 2) Write data to temp file
@@ -213,7 +206,7 @@ cleanup:
   return result;
 }
 
-int Params::delete_db_value(std::string key) {
+int Params::remove(const char *key) {
   int lock_fd = -1;
   int result;
   std::string path;
@@ -230,7 +223,7 @@ int Params::delete_db_value(std::string key) {
 
   // Delete value.
   path = params_path + "/d/" + key;
-  result = remove(path.c_str());
+  result = ::remove(path.c_str());
   if (result != 0) {
     result = ERR_NO_VALUE;
     goto cleanup;
@@ -251,52 +244,28 @@ cleanup:
   return result;
 }
 
-std::string Params::get(std::string key, bool block){
+std::string Params::get(const char *key, bool block) {
-  char* value;
+  std::string path = params_path + "/d/" + key;
-  size_t size;
+  if (!block) {
-  int r;
+    return util::read_file(path);
-
-  if (block) {
-    r = read_db_value_blocking((const char*)key.c_str(), &value, &size);
   } else {
-    r = read_db_value((const char*)key.c_str(), &value, &size);
+    // blocking read until successful
-  }
+    params_do_exit = 0;
+    void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
+    void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
 
-  if (r == 0){
+    std::string value;
-    std::string s(value, size);
+    while (!params_do_exit) {
-    free(value);
+      if (value = util::read_file(path); !value.empty()) {
-    return s;
+        break;
-  } else {
+      }
-    return "";
+      util::sleep_for(100);  // 0.1 s
-  }
-}
-
-int Params::read_db_value(const char* key, char** value, size_t* value_sz) {
-  std::string path = params_path + "/d/" + std::string(key);
-  *value = static_cast<char*>(read_file(path.c_str(), value_sz));
-  if (*value == NULL) {
-    return -22;
-  }
-  return 0;
-}
-
-int Params::read_db_value_blocking(const char* key, char** value, size_t* value_sz) {
-  params_do_exit = 0;
-  void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler);
-  void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler);
-
-  while (!params_do_exit) {
-    const int result = read_db_value(key, value, value_sz);
-    if (result == 0) {
-      break;
-    } else {
-      util::sleep_for(100); // 0.1 s
     }
-  }
 
-  std::signal(SIGINT, prev_handler_sigint);
+    std::signal(SIGINT, prev_handler_sigint);
-  std::signal(SIGTERM, prev_handler_sigterm);
+    std::signal(SIGTERM, prev_handler_sigterm);
-  return params_do_exit; // Return 0 if we had no interrupt
+    return value;
+  }
 }
 
 int Params::read_db_all(std::map<std::string, std::string> *params) {
@@ -334,20 +303,3 @@ int Params::read_db_all(std::map<std::string, std::string> *params) {
   close(lock_fd);
   return 0;
 }
-
-std::vector<char> Params::read_db_bytes(const char* param_name) {
-  std::vector<char> bytes;
-  char* value;
-  size_t sz;
-  int result = read_db_value(param_name, &value, &sz);
-  if (result == 0) {
-    bytes.assign(value, value+sz);
-    free(value);
-  }
-  return bytes;
-}
-
-bool Params::read_db_bool(const char* param_name) {
-  std::vector<char> bytes = read_db_bytes(param_name);
-  return bytes.size() > 0 and bytes[0] == '1';
-}

selfdrive/common/params.h

@@ -1,8 +1,9 @@
 #pragma once
+
 #include <stddef.h>
 #include <map>
 #include <string>
-#include <vector>
+#include <sstream>
 
 #define ERR_NO_VALUE -33
 
@@ -12,35 +13,44 @@ private:
 
 public:
   Params(bool persistent_param = false);
-  Params(std::string path);
+  Params(const std::string &path);
 
-  int write_db_value(std::string key, std::string dat);
+  // Delete a value
-  int write_db_value(const char* key, const char* value, size_t value_size);
+  int remove(const char *key);
-
+  inline int remove(const std::string &key) {
-  // Reads a value from the params database.
+    return remove (key.c_str());
-  // Inputs:
+  }
-  //  key: The key to read.
-  //  value: A pointer where a newly allocated string containing the db value will
-  //         be written.
-  //  value_sz: A pointer where the size of value will be written. Does not
-  //            include the NULL terminator.
-  //  persistent_param: Boolean indicating if the param store in the /persist partition is to be used.
-  //                    e.g. for sensor calibration files. Will not be cleared after wipe or re-install.
-  //
-  // Returns: Negative on failure, otherwise 0.
-  int read_db_value(const char* key, char** value, size_t* value_sz);
-
-  // Delete a value from the params database.
-  // Inputs are the same as read_db_value, without value and value_sz.
-  int delete_db_value(std::string key);
-
-  // Reads a value from the params database, blocking until successful.
-  // Inputs are the same as read_db_value.
-  int read_db_value_blocking(const char* key, char** value, size_t* value_sz);
 
+  // read all values
   int read_db_all(std::map<std::string, std::string> *params);
-  std::vector<char> read_db_bytes(const char* param_name);
-  bool read_db_bool(const char* param_name);
 
-  std::string get(std::string key, bool block=false);
+  // read a value
+  std::string get(const char *key, bool block = false);
+
+  inline std::string get(const std::string &key, bool block = false) {
+    return get(key.c_str(), block);
+  }
+
+  template <class T>
+  std::optional<T> get(const char *key, bool block = false) {
+    std::istringstream iss(get(key, block));
+    T value{};
+    iss >> value;
+    return iss.fail() ? std::nullopt : std::optional(value);
+  }
+
+  inline bool getBool(const char *key) {
+    return get(key) == "1";
+  }
+
+  // write a value
+  int put(const char* key, const char* val, size_t value_size);
+
+  inline int put(const std::string &key, const std::string &val) {
+    return put(key.c_str(), val.data(), val.size());
+  }
+
+  inline int putBool(const char *key, bool val) {
+    return put(key, val ? "1" : "0", 1);
+  }
 };

selfdrive/common/test_params.c

@@ -1,64 +0,0 @@
-#include "selfdrive/common/params.h"
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-static const char* const kUsage = "%s: read|write|read_block params_path key [value]\n";
-
-int main(int argc, const char* argv[]) {
-  if (argc < 4) {
-    printf(kUsage, argv[0]);
-    return 0;
-  }
-
-  const char* params_path = argv[2];
-  const char* key = argv[3];
-  if (strcmp(argv[1], "read") == 0) {
-    char* value;
-    size_t value_size;
-    int result = read_db_value(params_path, key, &value, &value_size);
-    if (result >= 0) {
-      fprintf(stdout, "Read %zu bytes: ", value_size);
-      fwrite(value, 1, value_size, stdout);
-      fprintf(stdout, "\n");
-      free(value);
-    } else {
-      fprintf(stderr, "Error reading: %d\n", result);
-      return -1;
-    }
-  } else if (strcmp(argv[1], "write") == 0) {
-    if (argc < 5) {
-      fprintf(stderr, "Error: write value required\n");
-      return 1;
-    }
-
-    const char* value = argv[4];
-    const size_t value_size = strlen(value);
-    int result = write_db_value(params_path, key, value, value_size);
-    if (result >= 0) {
-      fprintf(stdout, "Wrote %s to %s\n", value, key);
-    } else {
-      fprintf(stderr, "Error writing: %d\n", result);
-      return -1;
-    }
-  } else if (strcmp(argv[1], "read_block") == 0) {
-    char* value;
-    size_t value_size;
-    read_db_value_blocking(params_path, key, &value, &value_size);
-    fprintf(stdout, "Read %zu bytes: ", value_size);
-    fwrite(value, 1, value_size, stdout);
-    fprintf(stdout, "\n");
-    free(value);
-  } else {
-    printf(kUsage, argv[0]);
-    return 1;
-  }
-
-  return 0;
-}
-
-// BUILD:
-// $ gcc -I$HOME/one selfdrive/common/test_params.c selfdrive/common/params.c selfdrive/common/util.cc -o ./test_params
-// $ seq 0 100000 | xargs -P20 -I{} ./test_params write /data/params DongleId {} && sleep 0.1 &
-// $ while ./test_params read /data/params DongleId; do sleep 0.05; done

selfdrive/hardware/tici/hardware.h

@@ -27,6 +27,6 @@ public:
   };
   static void set_display_power(bool on) {};
 
-  static bool get_ssh_enabled() { return Params().read_db_bool("SshEnabled"); };
+  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
-  static void set_ssh_enabled(bool enabled) { Params().write_db_value("SshEnabled", (enabled ? "1" : "0")); };
+  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };
 };

selfdrive/loggerd/logger.cc

@@ -102,7 +102,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   init.setGitCommit(params.get("GitCommit"));
   init.setGitBranch(params.get("GitBranch"));
   init.setGitRemote(params.get("GitRemote"));
-  init.setPassive(params.read_db_bool("Passive"));
+  init.setPassive(params.getBool("Passive"));
   {
     std::map<std::string, std::string> params_map;
     params.read_db_all(&params_map);

selfdrive/loggerd/loggerd.cc

@@ -369,7 +369,7 @@ int main(int argc, char** argv) {
   s.rotate_state[LOG_CAMERA_ID_FCAMERA].enabled = true;
 
 #if defined(QCOM) || defined(QCOM2)
-  bool record_front = Params().read_db_bool("RecordFront");
+  bool record_front = Params().getBool("RecordFront");
   if (record_front) {
     encoder_threads.push_back(std::thread(encoder_thread, LOG_CAMERA_ID_DCAMERA));
     s.rotate_state[LOG_CAMERA_ID_DCAMERA].enabled = true;

selfdrive/modeld/models/dmonitoring.cc

@@ -25,7 +25,7 @@ void dmonitoring_init(DMonitoringModelState* s) {
 
   int runtime = USE_DSP_RUNTIME;
   s->m = new DefaultRunModel(model_path, &s->output[0], OUTPUT_SIZE, runtime);
-  s->is_rhd = Params().read_db_bool("IsRHD");
+  s->is_rhd = Params().getBool("IsRHD");
 }
 
 template <class T>

selfdrive/modeld/models/driving.cc

@@ -70,7 +70,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #endif
 
 #ifdef TRAFFIC_CONVENTION
-  const int idx = Params().read_db_bool("IsRHD") ? 1 : 0;
+  const int idx = Params().getBool("IsRHD") ? 1 : 0;
   s->traffic_convention[idx] = 1.0;
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif

selfdrive/ui/qt/api.cc

@@ -134,12 +134,12 @@ void RequestRepeater::requestFinished(){
     if (reply->error() == QNetworkReply::NoError) {
       // save to cache
       if (!cache_key.isEmpty()) {
-        Params().write_db_value(cache_key.toStdString(), response.toStdString());
+        Params().put(cache_key.toStdString(), response.toStdString());
       }
       emit receivedResponse(response);
     } else {
       if (!cache_key.isEmpty()) {
-        Params().delete_db_value(cache_key.toStdString());
+        Params().remove(cache_key.toStdString());
       }
       emit failedResponse(reply->errorString());
     }

selfdrive/ui/qt/home.cc

@@ -51,7 +51,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   UIState* ui_state = &glWindow->ui_state;
   if (GLWindow::ui_state.scene.driver_view) {
-    Params().write_db_value("IsDriverViewEnabled", "0", 1);
+    Params().putBool("IsDriverViewEnabled", false);
     GLWindow::ui_state.scene.driver_view = false;
     return;
   }
@@ -88,7 +88,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QWidget(parent) {
   QObject::connect(alert_notification, SIGNAL(released()), this, SLOT(openAlerts()));
   header_layout->addWidget(alert_notification, 0, Qt::AlignHCenter | Qt::AlignRight);
 
-  std::string brand = Params().read_db_bool("Passive") ? "dashcam" : "openpilot";
+  std::string brand = Params().getBool("Passive") ? "dashcam" : "openpilot";
   QLabel* version = new QLabel(QString::fromStdString(brand + " v" + Params().get("Version")));
   version->setStyleSheet(R"(font-size: 55px;)");
   header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
@@ -230,12 +230,8 @@ GLWindow::GLWindow(QWidget* parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKL
   backlight_timer = new QTimer(this);
   QObject::connect(backlight_timer, SIGNAL(timeout()), this, SLOT(backlightUpdate()));
 
-  int result = read_param(&brightness_b, "BRIGHTNESS_B", true);
+  brightness_b = Params().get<float>("BRIGHTNESS_B").value_or(10.0);
-  result += read_param(&brightness_m, "BRIGHTNESS_M", true);
+  brightness_m = Params().get<float>("BRIGHTNESS_M").value_or(0.1);
-  if (result != 0) {
-    brightness_b = 10.0;
-    brightness_m = 0.1;
-  }
 }
 
 GLWindow::~GLWindow() {

selfdrive/ui/qt/offroad/onboarding.cc

@@ -127,13 +127,13 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   addWidget(terms);
 
   connect(terms, &TermsPage::acceptedTerms, [=](){
-    Params().write_db_value("HasAcceptedTerms", current_terms_version);
+    Params().put("HasAcceptedTerms", current_terms_version);
     updateActiveScreen();
   });
 
   TrainingGuide* tr = new TrainingGuide(this);
   connect(tr, &TrainingGuide::completedTraining, [=](){
-    Params().write_db_value("CompletedTrainingVersion", current_training_version);
+    Params().put("CompletedTrainingVersion", current_training_version);
     updateActiveScreen();
   });
   addWidget(tr);

selfdrive/ui/qt/offroad/settings.cc

@@ -61,7 +61,7 @@ QWidget * toggles_panel() {
                                            "In this mode openpilot will ignore lanelines and just drive how it thinks a human would.",
                                            "../assets/offroad/icon_road.png"));
 
-  bool record_lock = Params().read_db_bool("RecordFrontLock");
+  bool record_lock = Params().getBool("RecordFrontLock");
   record_toggle->setEnabled(!record_lock);
 
   QWidget *widget = new QWidget;
@@ -87,29 +87,29 @@ DevicePanel::DevicePanel(QWidget* parent) : QWidget(parent) {
   offroad_btns.append(new ButtonControl("Driver Camera", "PREVIEW",
                                    "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)",
                                    [=]() { 
-                                      Params().write_db_value("IsDriverViewEnabled", "1", 1);
+                                      Params().putBool("IsDriverViewEnabled", true);
                                       GLWindow::ui_state.scene.driver_view = true; }
                                     ));
 
   offroad_btns.append(new ButtonControl("Reset Calibration", "RESET",
                                    "openpilot requires the device to be mounted within 4° left or right and within 5° up or down. openpilot is continuously calibrating, resetting is rarely required.", [=]() {
     if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?")) {
-      Params().delete_db_value("CalibrationParams");
+      Params().remove("CalibrationParams");
     }
   }));
 
   offroad_btns.append(new ButtonControl("Review Training Guide", "REVIEW",
                                         "Review the rules, features, and limitations of openpilot", [=]() {
     if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?")) {
-      Params().delete_db_value("CompletedTrainingVersion");
+      Params().remove("CompletedTrainingVersion");
       emit reviewTrainingGuide();
     }
   }));
 
-  QString brand = params.read_db_bool("Passive") ? "dashcam" : "openpilot";
+  QString brand = params.getBool("Passive") ? "dashcam" : "openpilot";
   offroad_btns.append(new ButtonControl("Uninstall " + brand, "UNINSTALL", "", [=]() {
     if (ConfirmationDialog::confirm("Are you sure you want to uninstall?")) {
-      Params().write_db_value("DoUninstall", "1");
+      Params().putBool("DoUninstall", true);
     }
   }));
 
@@ -161,7 +161,7 @@ DeveloperPanel::DeveloperPanel(QWidget* parent) : QFrame(parent) {
 
 void DeveloperPanel::showEvent(QShowEvent *event) {
   Params params = Params();
-  std::string brand = params.read_db_bool("Passive") ? "dashcam" : "openpilot";
+  std::string brand = params.getBool("Passive") ? "dashcam" : "openpilot";
   QList<QPair<QString, std::string>> dev_params = {
     {"Version", brand + " v" + params.get("Version", false).substr(0, 14)},
     {"Git Branch", params.get("GitBranch", false)},

selfdrive/ui/qt/widgets/controls.hpp

@@ -109,12 +109,11 @@ class ParamControl : public ToggleControl {
 public:
   ParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, parent) {
     // set initial state from param
-    if (Params().read_db_bool(param.toStdString().c_str())) {
+    if (Params().getBool(param.toStdString().c_str())) {
       toggle.togglePosition();
     }
     QObject::connect(this, &ToggleControl::toggleFlipped, [=](int state) {
-      char value = state ? '1' : '0';
+      Params().putBool(param.toStdString().c_str(), (bool)state);
-      Params().write_db_value(param.toStdString().c_str(), &value, 1);
     });
   }
 };

selfdrive/ui/qt/widgets/drive_stats.cc

@@ -36,7 +36,7 @@ void DriveStats::parseResponse(QString response) {
     labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
   };
 
-  bool metric = Params().read_db_bool("IsMetric");
+  bool metric = Params().getBool("IsMetric");
   QJsonObject json = doc.object();
   update(json["all"].toObject(), all_, metric);
   update(json["week"].toObject(), week_, metric);
@@ -51,7 +51,7 @@ DriveStats::DriveStats(QWidget* parent) : QWidget(parent) {
     gl->addLayout(build_stat_layout(&labels.hours, "HOURS"), row, 2, 3, 1);
   };
 
-  const char* distance_unit = Params().read_db_bool("IsMetric") ? "KM" : "MILES";
+  const char* distance_unit = Params().getBool("IsMetric") ? "KM" : "MILES";
   QGridLayout* gl = new QGridLayout();
   gl->setMargin(0);
   gl->addWidget(new QLabel("ALL TIME"), 0, 0, 1, 3);

selfdrive/ui/qt/widgets/offroad_alerts.cc

@@ -80,9 +80,9 @@ void OffroadAlert::refresh() {
 
 void OffroadAlert::updateAlerts() {
   alertCount = 0;
-  updateAvailable = params.read_db_bool("UpdateAvailable");
+  updateAvailable = params.getBool("UpdateAvailable");
   for (const auto& [key, label] : alerts) {
-    auto bytes = params.read_db_bytes(key.c_str());
+    auto bytes = params.get(key.c_str());
     if (bytes.size()) {
       QJsonDocument doc_par = QJsonDocument::fromJson(QByteArray(bytes.data(), bytes.size()));
       QJsonObject obj = doc_par.object();

selfdrive/ui/qt/widgets/ssh_keys.cc

@@ -34,8 +34,8 @@ SshControl::SshControl() : AbstractControl("SSH Keys", "Warning: This grants SSH
         getUserKeys(username);
       }
     } else {
-      Params().delete_db_value("GithubUsername");
+      Params().remove("GithubUsername");
-      Params().delete_db_value("GithubSshKeys");
+      Params().remove("GithubSshKeys");
       refresh();
     }
   });
@@ -89,8 +89,8 @@ void SshControl::parseResponse(){
     networkTimer->stop();
     QString response = reply->readAll();
     if (reply->error() == QNetworkReply::NoError && response.length()) {
-      Params().write_db_value("GithubUsername", username.toStdString());
+      Params().put("GithubUsername", username.toStdString());
-      Params().write_db_value("GithubSshKeys", response.toStdString());
+      Params().put("GithubSshKeys", response.toStdString());
     } else if(reply->error() == QNetworkReply::NoError){
       err = "Username '" + username + "' has no keys on GitHub";
     } else {

selfdrive/ui/ui.cc

@@ -10,13 +10,6 @@
 #include "ui.hpp"
 #include "paint.hpp"
 
-
-int write_param_float(float param, const char* param_name, bool persistent_param) {
-  char s[16];
-  int size = snprintf(s, sizeof(s), "%f", param);
-  return Params(persistent_param).write_db_value(param_name, s, size < sizeof(s) ? size : sizeof(s));
-}
-
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
 static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out) {
@@ -279,14 +272,13 @@ static void update_alert(UIState *s) {
 static void update_params(UIState *s) {
   const uint64_t frame = s->sm->frame;
   UIScene &scene = s->scene;
-
+  Params params;
   if (frame % (5*UI_FREQ) == 0) {
-    read_param(&scene.is_metric, "IsMetric");
+    scene.is_metric = params.getBool("IsMetric");
   } else if (frame % (6*UI_FREQ) == 0) {
     scene.athenaStatus = NET_DISCONNECTED;
-    uint64_t last_ping = 0;
+    if (auto last_ping = params.get<float>("LastAthenaPingTime"); last_ping) {
-    if (read_param(&last_ping, "LastAthenaPingTime") == 0) {
+      scene.athenaStatus = nanos_since_boot() - *last_ping < 70e9 ? NET_CONNECTED : NET_ERROR;
-      scene.athenaStatus = nanos_since_boot() - last_ping < 70e9 ? NET_CONNECTED : NET_ERROR;
     }
   }
 }
@@ -329,8 +321,8 @@ static void update_status(UIState *s) {
       s->status = STATUS_DISENGAGED;
       s->scene.started_frame = s->sm->frame;
 
-      read_param(&s->scene.is_rhd, "IsRHD");
+      s->scene.is_rhd = Params().getBool("IsRHD");
-      read_param(&s->scene.end_to_end, "EndToEndToggle");
+      s->scene.end_to_end = Params().getBool("EndToEndToggle");
       s->sidebar_collapsed = true;
       s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
       s->vipc_client = s->scene.driver_view ? s->vipc_client_front : s->vipc_client_rear;

selfdrive/ui/ui.hpp

@@ -171,28 +171,3 @@ typedef struct UIState {
 
 void ui_init(UIState *s);
 void ui_update(UIState *s);
-
-int write_param_float(float param, const char* param_name, bool persistent_param = false);
-template <class T>
-int read_param(T* param, const char *param_name, bool persistent_param = false){
-  T param_orig = *param;
-  char *value;
-  size_t sz;
-
-  int result = Params(persistent_param).read_db_value(param_name, &value, &sz);
-  if (result == 0){
-    std::string s = std::string(value, sz); // value is not null terminated
-    free(value);
-
-    // Parse result
-    std::istringstream iss(s);
-    iss >> *param;
-
-    // Restore original value if parsing failed
-    if (iss.fail()) {
-      *param = param_orig;
-      result = -1;
-    }
-  }
-  return result;
-}