common/params: support nonblocking write (#29808)

* Safe and efficient asynchronous writing parameters

* call putNonBlocking in locationd

* remove space

* ->AsyncWriter

* remove semicolon

* use member function

* asyc write multiple times

* add test case for AsyncWriter

* merge master

* add missing include

* public

* cleanup

* create once

* cleanup

* update that

* explicit waiting

* improve test case

* pass prefix to asywriter

* move to params

* assert(queue.empty())

* add comment

* add todo

* test_power_monitoring: remove patch

* rm laikad.py

* fix import

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3c4c4d1f7f22884f84f0f52ad45ab0412fab1eb5

selfdrive/locationd/locationd.cc

@@ -678,9 +678,10 @@ 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 {
@@ -737,10 +738,7 @@ 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));
-
-        std::thread([] (const std::string gpsjson) {
-          Params().put("LastGPSPosition", gpsjson);
-        }, lastGPSPosJSON).detach();
+        params.putNonBlocking("LastGPSPosition", lastGPSPosJSON);
       }
       cnt++;
     }