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Revert "params: safe and efficient async writing parameters (#25912)"

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This reverts commit 780669c33fea1b2a14a0bd6e2eac82c9b8893aa5.

old-commit-hash: ec479322d3d8d789290bee68919d14b040481d53
This commit is contained in:
Adeeb Shihadeh
2023-09-06 13:44:20 -07:00
parent aafed83acc
commit 0010c9a986
14 changed files with 39 additions and 123 deletions
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selfdrive/locationd/locationd.cc
+5 -3
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@@ -669,10 +669,9 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
}
int Localizer::locationd_thread() {
Params params;
LocalizerGnssSource source;
const char* gps_location_socket;
if (params.getBool("UbloxAvailable")) {
if (Params().getBool("UbloxAvailable")) {
source = LocalizerGnssSource::UBLOX;
gps_location_socket = "gpsLocationExternal";
} else {
@@ -729,7 +728,10 @@ int Localizer::locationd_thread() {
VectorXd posGeo = this->get_position_geodetic();
std::string lastGPSPosJSON = util::string_format(
"{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
params.putNonBlocking("LastGPSPosition", lastGPSPosJSON);
std::thread([] (const std::string gpsjson) {
Params().put("LastGPSPosition", gpsjson);
}, lastGPSPosJSON).detach();
}
cnt++;
}