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Reduce paramsd and calibrationd CPU usage (#2119)

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* reduce paramsd cpu

* reduce calibrationd cpu usage

* calibration_helpers was mostly unused

* more calibration cleanup

* update refs

* fix thresholds in CPU test
This commit is contained in:
Adeeb Shihadeh
2020-09-10 12:16:29 -07:00
committed by GitHub
parent 7cc5710974
commit e0004d0981
10 changed files with 46 additions and 81 deletions
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selfdrive/controls/controlsd.py
+1 -1
View File
@@ -21,7 +21,7 @@ from selfdrive.controls.lib.events import Events, ET
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.planner import LON_MPC_STEP
from selfdrive.locationd.calibration_helpers import Calibration
from selfdrive.locationd.calibrationd import Calibration
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
LANE_DEPARTURE_THRESHOLD = 0.1
selfdrive/controls/lib/events.py
+2 -2
View File
@@ -3,7 +3,7 @@ from functools import total_ordering
from cereal import log, car
from common.realtime import DT_CTRL
from selfdrive.config import Conversions as CV
from selfdrive.locationd.calibration_helpers import Filter
from selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
AlertSize = log.ControlsState.AlertSize
AlertStatus = log.ControlsState.AlertStatus
@@ -184,7 +184,7 @@ def below_steer_speed_alert(CP, sm, metric):
Priority.MID, VisualAlert.steerRequired, AudibleAlert.none, 0., 0.4, .3)
def calibration_incomplete_alert(CP, sm, metric):
speed = int(Filter.MIN_SPEED * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
speed = int(MIN_SPEED_FILTER * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
unit = "km/h" if metric else "mph"
return Alert(
"Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,