add putBool/getBool wrappers to cython params class (#20611)
* add putBool/getBool wrappers to cython class * use new API * some more puts * fix mockparams arguments * add get_bool to MockParams * typoalbatross
parent
1c824ba2c5
commit
ae094042ad
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@ -12,5 +12,7 @@ cdef extern from "selfdrive/common/params.h":
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Params(bool)
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Params(string)
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string get(string, bool) nogil
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bool getBool(string)
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int remove(string)
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int put(string, string)
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int putBool(string, bool)
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@ -39,7 +39,6 @@ keys = {
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b"GithubUsername": [TxType.PERSISTENT],
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b"HardwareSerial": [TxType.PERSISTENT],
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b"HasAcceptedTerms": [TxType.PERSISTENT],
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b"HasCompletedSetup": [TxType.PERSISTENT],
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b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
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b"IMEI": [TxType.PERSISTENT],
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b"IsLdwEnabled": [TxType.PERSISTENT],
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@ -118,13 +117,16 @@ cdef class Params:
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def panda_disconnect(self):
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self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
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def get(self, key, block=False, encoding=None):
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def check_key(self, key):
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key = ensure_bytes(key)
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if key not in keys:
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raise UnknownKeyName(key)
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cdef string k = key
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return key
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def get(self, key, block=False, encoding=None):
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cdef string k = self.check_key(key)
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cdef bool b = block
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cdef string val
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@ -144,6 +146,10 @@ cdef class Params:
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else:
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return val
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def get_bool(self, key):
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cdef string k = self.check_key(key)
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return self.p.getBool(k)
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def put(self, key, dat):
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"""
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Warning: This function blocks until the param is written to disk!
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@ -151,17 +157,18 @@ cdef class Params:
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Use the put_nonblocking helper function in time sensitive code, but
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in general try to avoid writing params as much as possible.
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"""
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key = ensure_bytes(key)
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dat = ensure_bytes(dat)
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if key not in keys:
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raise UnknownKeyName(key)
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cdef string k = self.check_key(key)
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self.p.put(k, dat)
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self.p.put(key, dat)
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def put_bool(self, key, val):
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cdef string k = self.check_key(key)
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self.p.putBool(k, val)
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def delete(self, key):
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key = ensure_bytes(key)
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self.p.remove(key)
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cdef string k = self.check_key(key)
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self.p.remove(k)
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def put_nonblocking(key, val, d=None):
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@ -65,6 +65,15 @@ class TestParams(unittest.TestCase):
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with self.assertRaises(UnknownKeyName):
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self.params.get("swag")
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with self.assertRaises(UnknownKeyName):
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self.params.get_bool("swag")
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with self.assertRaises(UnknownKeyName):
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self.params.put("swag", "abc")
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with self.assertRaises(UnknownKeyName):
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self.params.put_bool("swag", True)
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def test_params_permissions(self):
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permissions = stat.S_IRUSR | stat.S_IWUSR | stat.S_IRGRP | stat.S_IWGRP | stat.S_IROTH | stat.S_IWOTH
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@ -77,6 +86,22 @@ class TestParams(unittest.TestCase):
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self.params.delete("CarParams")
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assert self.params.get("CarParams") is None
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def test_get_bool(self):
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self.params.delete("IsMetric")
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self.assertFalse(self.params.get_bool("IsMetric"))
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self.params.put_bool("IsMetric", True)
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self.assertTrue(self.params.get_bool("IsMetric"))
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self.params.put_bool("IsMetric", False)
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self.assertFalse(self.params.get_bool("IsMetric"))
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self.params.put("IsMetric", "1")
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self.assertTrue(self.params.get_bool("IsMetric"))
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self.params.put("IsMetric", "0")
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self.assertFalse(self.params.get_bool("IsMetric"))
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def test_put_non_blocking_with_get_block(self):
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q = Params(self.tmpdir)
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def _delayed_writer():
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@ -50,13 +50,13 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
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def snapshot():
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params = Params()
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front_camera_allowed = int(params.get("RecordFront"))
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front_camera_allowed = params.get_bool("RecordFront")
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if params.get("IsOffroad") != b"1" or params.get("IsTakingSnapshot") == b"1":
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if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"):
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print("Already taking snapshot")
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return None, None
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params.put("IsTakingSnapshot", "1")
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params.put_bool("IsTakingSnapshot", True)
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set_offroad_alert("Offroad_IsTakingSnapshot", True)
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time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start
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@ -65,7 +65,7 @@ def snapshot():
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subprocess.check_call(["pgrep", "camerad"])
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print("Camerad already running")
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params.put("IsTakingSnapshot", "0")
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params.put_bool("IsTakingSnapshot", False)
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params.delete("Offroad_IsTakingSnapshot")
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return None, None
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except subprocess.CalledProcessError:
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@ -89,7 +89,7 @@ def snapshot():
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proc.send_signal(signal.SIGINT)
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proc.communicate()
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params.put("IsTakingSnapshot", "0")
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params.put_bool("IsTakingSnapshot", False)
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set_offroad_alert("Offroad_IsTakingSnapshot", False)
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if not front_camera_allowed:
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@ -39,6 +39,10 @@ public:
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return iss.fail() ? std::nullopt : std::optional(value);
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}
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inline bool getBool(const std::string &key) {
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return getBool(key.c_str());
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}
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inline bool getBool(const char *key) {
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return get(key) == "1";
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}
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@ -53,4 +57,8 @@ public:
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inline int putBool(const char *key, bool val) {
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return put(key, val ? "1" : "0", 1);
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}
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inline int putBool(const std::string &key, bool val) {
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return putBool(key.c_str(), val);
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}
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};
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@ -73,11 +73,11 @@ class Controls:
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# read params
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params = Params()
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self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
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self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
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community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
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openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
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passive = params.get("Passive", encoding='utf8') == "1" or not openpilot_enabled_toggle
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self.is_metric = params.get_bool("IsMetric")
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self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
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community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
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openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
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passive = params.get_bool("Passive") or not openpilot_enabled_toggle
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# detect sound card presence and ensure successful init
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sounds_available = HARDWARE.get_sound_card_online()
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@ -54,7 +54,7 @@ class LateralPlanner():
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self.setup_mpc()
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self.solution_invalid_cnt = 0
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self.use_lanelines = Params().get('EndToEndToggle') != b'1'
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self.use_lanelines = not Params().get_bool('EndToEndToggle')
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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@ -45,9 +45,9 @@ class TestStartup(unittest.TestCase):
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params = Params()
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params.clear_all()
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params.put("Passive", b"0")
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params.put("OpenpilotEnabledToggle", b"1")
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params.put("CommunityFeaturesToggle", b"1" if toggle_enabled else b"0")
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params.put_bool("Passive", False)
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", toggle_enabled)
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time.sleep(2) # wait for controlsd to be ready
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@ -60,8 +60,17 @@ class MockParams():
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"IsOffroad": b"1",
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}
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def get(self, k):
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return self.params[k]
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def get(self, k, block=False, encoding=None):
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val = self.params[k]
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if encoding is not None:
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return val.decode(encoding)
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else:
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return val
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def get_bool(self, k):
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val = self.params[k]
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return (val == b'1')
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class UploaderTestCase(unittest.TestCase):
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f_type = "UNKNOWN"
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@ -192,7 +192,7 @@ class Uploader():
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def uploader_fn(exit_event):
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params = Params()
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dongle_id = params.get("DongleId").decode('utf8')
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dongle_id = params.get("DongleId", encoding='utf8')
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if dongle_id is None:
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cloudlog.info("uploader missing dongle_id")
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@ -207,7 +207,7 @@ def uploader_fn(exit_event):
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backoff = 0.1
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while not exit_event.is_set():
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sm.update(0)
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offroad = params.get("IsOffroad") == b'1'
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offroad = params.get_bool("IsOffroad")
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network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
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if network_type == NetworkType.none:
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if allow_sleep:
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@ -215,7 +215,7 @@ def uploader_fn(exit_event):
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continue
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on_wifi = network_type == NetworkType.wifi
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allow_raw_upload = params.get("IsUploadRawEnabled") != b"0"
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allow_raw_upload = params.get_bool("IsUploadRawEnabled")
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d = uploader.next_file_to_upload(with_raw=allow_raw_upload and on_wifi and offroad)
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if d is None: # Nothing to upload
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@ -25,24 +25,15 @@ def manager_init():
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params.manager_start()
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default_params = [
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("CommunityFeaturesToggle", "0"),
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("EndToEndToggle", "0"),
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("CompletedTrainingVersion", "0"),
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("IsRHD", "0"),
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("IsMetric", "0"),
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("RecordFront", "0"),
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("HasAcceptedTerms", "0"),
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("HasCompletedSetup", "0"),
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("IsUploadRawEnabled", "1"),
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("IsLdwEnabled", "0"),
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("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')),
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("OpenpilotEnabledToggle", "1"),
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("VisionRadarToggle", "0"),
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("IsDriverViewEnabled", "0"),
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]
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if params.get("RecordFrontLock", encoding='utf-8') == "1":
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params.put("RecordFront", "1")
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if params.get_bool("RecordFrontLock"):
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params.put_bool("RecordFront", True)
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# set unset params
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for k, v in default_params:
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not_run.append("loggerd")
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started = sm['deviceState'].started
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driverview = params.get("IsDriverViewEnabled") == b"1"
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driverview = params.get_bool("IsDriverViewEnabled")
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ensure_running(managed_processes.values(), started, driverview, not_run)
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# trigger an update after going offroad
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pm.send('managerState', msg)
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# Exit main loop when uninstall is needed
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if params.get("DoUninstall", encoding='utf8') == "1":
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if params.get_bool("DoUninstall"):
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break
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@ -172,7 +163,7 @@ def main():
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finally:
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manager_cleanup()
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if Params().get("DoUninstall", encoding='utf8') == "1":
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if Params().get_bool("DoUninstall"):
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cloudlog.warning("uninstalling")
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HARDWARE.uninstall()
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@ -14,7 +14,7 @@ def dmonitoringd_thread(sm=None, pm=None):
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if sm is None:
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sm = messaging.SubMaster(['driverState', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverState'])
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driver_status = DriverStatus(rhd=Params().get("IsRHD") == b"1")
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driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
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sm['liveCalibration'].calStatus = Calibration.INVALID
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sm['liveCalibration'].rpyCalib = [0, 0, 0]
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@ -11,11 +11,10 @@ def set_params_enabled():
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from common.params import Params
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params = Params()
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params.put("HasAcceptedTerms", terms_version)
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params.put("HasCompletedSetup", "1")
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params.put("OpenpilotEnabledToggle", "1")
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params.put("CommunityFeaturesToggle", "1")
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params.put("Passive", "0")
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params.put("CompletedTrainingVersion", training_version)
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", True)
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params.put_bool("Passive", False)
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def phone_only(x):
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@ -326,9 +326,9 @@ class LongitudinalControl(unittest.TestCase):
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params = Params()
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params.clear_all()
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params.put("Passive", "1" if os.getenv("PASSIVE") else "0")
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params.put("OpenpilotEnabledToggle", "1")
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params.put("CommunityFeaturesToggle", "1")
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params.put_bool("Passive", bool(os.getenv("PASSIVE")))
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("CommunityFeaturesToggle", True)
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# hack
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def test_longitudinal_setup(self):
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@ -338,9 +338,9 @@ def python_replay_process(cfg, lr):
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params = Params()
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params.clear_all()
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params.manager_start()
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params.put("OpenpilotEnabledToggle", "1")
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params.put("Passive", "0")
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params.put("CommunityFeaturesToggle", "1")
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params.put_bool("OpenpilotEnabledToggle", True)
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params.put_bool("Passive", False)
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params.put_bool("CommunityFeaturesToggle", True)
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os.environ['NO_RADAR_SLEEP'] = "1"
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os.environ['SKIP_FW_QUERY'] = "1"
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@ -92,7 +92,7 @@ class TestUpdated(unittest.TestCase):
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return subprocess.Popen(updated_path, env=os.environ)
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def _start_updater(self, offroad=True, nosleep=False):
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self.params.put("IsOffroad", "1" if offroad else "0")
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self.params.put_bool("IsOffroad", offroad)
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self.updated_proc = self._get_updated_proc()
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if not nosleep:
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time.sleep(1)
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@ -164,8 +164,8 @@ class PowerMonitoring:
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disable_charging |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3))
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disable_charging |= (self.car_battery_capacity_uWh <= 0)
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disable_charging &= (not pandaState.pandaState.ignitionLine and not pandaState.pandaState.ignitionCan)
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disable_charging &= (self.params.get("DisablePowerDown") != b"1")
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disable_charging |= (self.params.get("ForcePowerDown") == b"1")
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disable_charging &= (not self.params.get_bool("DisablePowerDown"))
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disable_charging |= self.params.get_bool("ForcePowerDown")
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return disable_charging
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# See if we need to shutdown
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@ -174,7 +174,7 @@ class TestPowerMonitoring(unittest.TestCase):
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BATT_VOLTAGE = 4
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BATT_CURRENT = 0 # To stop shutting down for other reasons
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TEST_TIME = 100
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params.put("DisablePowerDown", b"1")
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params.put_bool("DisablePowerDown", True)
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with pm_patch("HARDWARE.get_battery_voltage", BATT_VOLTAGE * 1e6), pm_patch("HARDWARE.get_battery_current", BATT_CURRENT * 1e6), \
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pm_patch("HARDWARE.get_battery_status", "Discharging"), pm_patch("HARDWARE.get_current_power_draw", None):
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pm = PowerMonitoring()
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@ -327,8 +327,8 @@ def thermald_thread():
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set_offroad_alert_if_changed("Offroad_ConnectivityNeeded", False)
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set_offroad_alert_if_changed("Offroad_ConnectivityNeededPrompt", False)
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startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get("DisableUpdates") == b"1"
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startup_conditions["not_uninstalling"] = not params.get("DoUninstall") == b"1"
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startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates")
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startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
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startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
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panda_signature = params.get("PandaFirmware")
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@ -339,8 +339,8 @@ def thermald_thread():
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startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
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startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
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(current_branch in ['dashcam', 'dashcam-staging'])
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startup_conditions["not_driver_view"] = not params.get("IsDriverViewEnabled") == b"1"
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startup_conditions["not_taking_snapshot"] = not params.get("IsTakingSnapshot") == b"1"
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startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
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startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
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# if any CPU gets above 107 or the battery gets above 63, kill all processes
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# controls will warn with CPU above 95 or battery above 60
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startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
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@ -363,7 +363,7 @@ def thermald_thread():
|
|||
cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
|
||||
|
||||
if should_start_prev or (count == 0):
|
||||
params.put("IsOffroad", "1")
|
||||
params.put_bool("IsOffroad", True)
|
||||
if TICI and DISABLE_LTE_ONROAD:
|
||||
os.system("sudo systemctl start --no-block lte")
|
||||
|
||||
|
|
|
@ -40,7 +40,7 @@ def main():
|
|||
while True:
|
||||
time.sleep(60)
|
||||
|
||||
is_onroad = params.get("IsOffroad") != b"1"
|
||||
is_onroad = not params.get_bool("IsOffroad")
|
||||
if is_onroad:
|
||||
continue
|
||||
|
||||
|
|
|
@ -17,13 +17,13 @@ if __name__ == "__main__":
|
|||
t = 10 if len(sys.argv) < 2 else int(sys.argv[1])
|
||||
while True:
|
||||
print("setting alert update")
|
||||
params.put("UpdateAvailable", "1")
|
||||
params.put_bool("UpdateAvailable", True)
|
||||
r = open(os.path.join(BASEDIR, "RELEASES.md"), "r").read()
|
||||
r = r[:r.find('\n\n')] # Slice latest release notes
|
||||
params.put("ReleaseNotes", r + "\n")
|
||||
|
||||
time.sleep(t)
|
||||
params.put("UpdateAvailable", "0")
|
||||
params.put_bool("UpdateAvailable", False)
|
||||
|
||||
# cycle through normal alerts
|
||||
for a in offroad_alerts:
|
||||
|
|
|
@ -119,7 +119,7 @@ def set_params(new_version: bool, failed_count: int, exception: Optional[str]) -
|
|||
params.put("ReleaseNotes", r + b"\n")
|
||||
except Exception:
|
||||
params.put("ReleaseNotes", "")
|
||||
params.put("UpdateAvailable", "1")
|
||||
params.put_bool("UpdateAvailable", True)
|
||||
|
||||
|
||||
def setup_git_options(cwd: str) -> None:
|
||||
|
@ -165,7 +165,7 @@ def init_overlay() -> None:
|
|||
cloudlog.info("preparing new safe staging area")
|
||||
|
||||
params = Params()
|
||||
params.put("UpdateAvailable", "0")
|
||||
params.put_bool("UpdateAvailable", False)
|
||||
set_consistent_flag(False)
|
||||
dismount_overlay()
|
||||
if os.path.isdir(STAGING_ROOT):
|
||||
|
@ -332,7 +332,7 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
|
|||
def main():
|
||||
params = Params()
|
||||
|
||||
if params.get("DisableUpdates") == b"1":
|
||||
if params.get_bool("DisableUpdates"):
|
||||
raise RuntimeError("updates are disabled by the DisableUpdates param")
|
||||
|
||||
if EON and os.geteuid() != 0:
|
||||
|
@ -370,7 +370,7 @@ def main():
|
|||
|
||||
# Don't run updater while onroad or if the time's wrong
|
||||
time_wrong = datetime.datetime.utcnow().year < 2019
|
||||
is_onroad = params.get("IsOffroad") != b"1"
|
||||
is_onroad = not params.get_bool("IsOffroad")
|
||||
if is_onroad or time_wrong:
|
||||
wait_helper.sleep(30)
|
||||
cloudlog.info("not running updater, not offroad")
|
||||
|
|
Loading…
Reference in New Issue