mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-08-21 16:23:46 +08:00
Params refactor, simplified (#2300)
* always c++ * Create C++ params class * get works * tests hang now * passes tests * cleanup string formatting * handle interrupt in blocking read * fix memory leak * remove unused constructor * Use delete_db_value directly * Rename put -> write_db_value * filename cleanup * no semicolons in cython * Update common/SConscript Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> * add std::string version of delete_db_value * This is handled * cleanup encoding * Add clear method to clear all * add persistent params * fix android build * Should be called clear_all * only import params when needed * set params path on manager import * recusrively create directories * Fix function order * cleanup mkdirp Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 2e182e5c574ea1468678b5fd8d0597e34ed5898d
This commit is contained in:
Willem Melching
@@ -4,3 +4,11 @@ Import('env', 'cython_dependencies')
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env.Command(['common_pyx.so', 'clock.cpp'],
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cython_dependencies + ['common_pyx_setup.py', 'clock.pyx'],
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"cd common && python3 common_pyx_setup.py build_ext --inplace")
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# Build cython params module
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env.Command(['params_pyx.so', 'params_pyx.cpp'],
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cython_dependencies + [
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'params_pyx_setup.py', 'params_pyx.pyx', 'params_pxd.pxd',
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'#selfdrive/common/params.cc', '#selfdrive/common/params.h',
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'#selfdrive/common/util.c', '#selfdrive/common/util.h'],
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"cd common && python3 params_pyx_setup.py build_ext --inplace")
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Executable → Regular
+4
-409
@@ -1,409 +1,4 @@
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#!/usr/bin/env python3
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"""ROS has a parameter server, we have files.
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The parameter store is a persistent key value store, implemented as a directory with a writer lock.
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On Android, we store params under params_dir = /data/params. The writer lock is a file
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"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
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"<params_dir>/d".
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Each key, value pair is stored as a file with named <key> with contents <value>, located in
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<params_dir>/d/<key>
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Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
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Readers who want a consistent snapshot of multiple keys should take the lock.
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Writers should take the lock before modifying anything. Writers should also leave the DB in a
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consistent state after a crash. The implementation below does this by copying all params to a temp
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directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
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before deleting the old <params_dir>/<d> directory.
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Writers that only modify a single key can simply take the lock, then swap the corresponding value
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file in place without messing with <params_dir>/d.
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"""
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import time
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import os
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import errno
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import shutil
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import fcntl
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import tempfile
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import threading
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from enum import Enum
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from common.basedir import PARAMS
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def mkdirs_exists_ok(path):
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try:
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os.makedirs(path)
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except OSError:
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if not os.path.isdir(path):
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raise
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class TxType(Enum):
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PERSISTENT = 1
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CLEAR_ON_MANAGER_START = 2
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CLEAR_ON_PANDA_DISCONNECT = 3
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class UnknownKeyName(Exception):
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pass
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keys = {
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"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
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"AthenadPid": [TxType.PERSISTENT],
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"CalibrationParams": [TxType.PERSISTENT],
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"CarBatteryCapacity": [TxType.PERSISTENT],
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"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"CommunityFeaturesToggle": [TxType.PERSISTENT],
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"CompletedTrainingVersion": [TxType.PERSISTENT],
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"DisablePowerDown": [TxType.PERSISTENT],
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"DisableUpdates": [TxType.PERSISTENT],
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"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
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"DongleId": [TxType.PERSISTENT],
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"GitBranch": [TxType.PERSISTENT],
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"GitCommit": [TxType.PERSISTENT],
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"GitRemote": [TxType.PERSISTENT],
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"GithubSshKeys": [TxType.PERSISTENT],
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"HasAcceptedTerms": [TxType.PERSISTENT],
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"HasCompletedSetup": [TxType.PERSISTENT],
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"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
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"IsLdwEnabled": [TxType.PERSISTENT],
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"IsMetric": [TxType.PERSISTENT],
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"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
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"IsRHD": [TxType.PERSISTENT],
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"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
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"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
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"IsUploadRawEnabled": [TxType.PERSISTENT],
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"LastAthenaPingTime": [TxType.PERSISTENT],
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"LastUpdateTime": [TxType.PERSISTENT],
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"LastUpdateException": [TxType.PERSISTENT],
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"LiveParameters": [TxType.PERSISTENT],
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"OpenpilotEnabledToggle": [TxType.PERSISTENT],
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"LaneChangeEnabled": [TxType.PERSISTENT],
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"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"Passive": [TxType.PERSISTENT],
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"RecordFront": [TxType.PERSISTENT],
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"ReleaseNotes": [TxType.PERSISTENT],
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"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
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"SubscriberInfo": [TxType.PERSISTENT],
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"TermsVersion": [TxType.PERSISTENT],
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"TrainingVersion": [TxType.PERSISTENT],
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"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
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"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
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"Version": [TxType.PERSISTENT],
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"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
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"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
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"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
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"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
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"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
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"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
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"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
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"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
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}
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def fsync_dir(path):
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fd = os.open(path, os.O_RDONLY)
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try:
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os.fsync(fd)
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finally:
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os.close(fd)
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class FileLock():
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def __init__(self, path, create, lock_ex):
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self._path = path
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self._create = create
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self._fd = None
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self._lock_ex = lock_ex
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def acquire(self):
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self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
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fcntl.flock(self._fd, fcntl.LOCK_EX if self._lock_ex else fcntl.LOCK_SH)
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def release(self):
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if self._fd is not None:
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os.close(self._fd)
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self._fd = None
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class DBAccessor():
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def __init__(self, path):
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self._path = path
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self._vals = None
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def keys(self):
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self._check_entered()
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return self._vals.keys()
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def get(self, key):
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self._check_entered()
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if self._vals is None:
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return None
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try:
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return self._vals[key]
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except KeyError:
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return None
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def _get_lock(self, create, lock_ex):
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lock = FileLock(os.path.join(self._path, ".lock"), create, lock_ex)
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lock.acquire()
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return lock
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def _read_values_locked(self):
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"""Callers should hold a lock while calling this method."""
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vals = {}
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try:
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data_path = self._data_path()
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keys = os.listdir(data_path)
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for key in keys:
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with open(os.path.join(data_path, key), "rb") as f:
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vals[key] = f.read()
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except (OSError, IOError) as e:
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# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
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# inconsistent state. Either way, return empty.
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if e.errno == errno.ENOENT:
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return {}
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return vals
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def _data_path(self):
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return os.path.join(self._path, "d")
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def _check_entered(self):
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if self._vals is None:
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raise Exception("Must call __enter__ before using DB")
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class DBReader(DBAccessor):
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def __enter__(self):
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try:
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lock = self._get_lock(False, False)
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except OSError as e:
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# Do not create lock if it does not exist.
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if e.errno == errno.ENOENT:
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self._vals = {}
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return self
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try:
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# Read everything.
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self._vals = self._read_values_locked()
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return self
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finally:
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lock.release()
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def __exit__(self, exc_type, exc_value, traceback):
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pass
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class DBWriter(DBAccessor):
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def __init__(self, path):
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super(DBWriter, self).__init__(path)
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self._lock = None
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self._prev_umask = None
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def put(self, key, value):
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self._vals[key] = value
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def delete(self, key):
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self._vals.pop(key, None)
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def __enter__(self):
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mkdirs_exists_ok(self._path)
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# Make sure we can write and that permissions are correct.
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self._prev_umask = os.umask(0)
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try:
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os.chmod(self._path, 0o777)
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self._lock = self._get_lock(True, True)
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self._vals = self._read_values_locked()
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except Exception:
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os.umask(self._prev_umask)
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self._prev_umask = None
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raise
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return self
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def __exit__(self, exc_type, exc_value, traceback):
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self._check_entered()
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try:
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# data_path refers to the externally used path to the params. It is a symlink.
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# old_data_path is the path currently pointed to by data_path.
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# tempdir_path is a path where the new params will go, which the new data path will point to.
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# new_data_path is a temporary symlink that will atomically overwrite data_path.
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#
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# The current situation is:
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# data_path -> old_data_path
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# We're going to write params data to tempdir_path
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# tempdir_path -> params data
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# Then point new_data_path to tempdir_path
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# new_data_path -> tempdir_path
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# Then atomically overwrite data_path with new_data_path
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# data_path -> tempdir_path
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old_data_path = None
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new_data_path = None
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tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
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try:
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# Write back all keys.
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os.chmod(tempdir_path, 0o777)
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for k, v in self._vals.items():
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with open(os.path.join(tempdir_path, k), "wb") as f:
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f.write(v)
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f.flush()
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os.fsync(f.fileno())
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fsync_dir(tempdir_path)
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data_path = self._data_path()
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try:
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old_data_path = os.path.join(self._path, os.readlink(data_path))
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except (OSError, IOError):
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# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
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# copies to be left behind, but we still want to overwrite.
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pass
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new_data_path = "{}.link".format(tempdir_path)
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os.symlink(os.path.basename(tempdir_path), new_data_path)
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os.rename(new_data_path, data_path)
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fsync_dir(self._path)
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finally:
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# If the rename worked, we can delete the old data. Otherwise delete the new one.
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success = new_data_path is not None and os.path.exists(data_path) and (
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os.readlink(data_path) == os.path.basename(tempdir_path))
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if success:
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if old_data_path is not None:
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shutil.rmtree(old_data_path)
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else:
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shutil.rmtree(tempdir_path)
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# Regardless of what happened above, there should be no link at new_data_path.
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if new_data_path is not None and os.path.islink(new_data_path):
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os.remove(new_data_path)
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finally:
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os.umask(self._prev_umask)
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self._prev_umask = None
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# Always release the lock.
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self._lock.release()
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self._lock = None
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def read_db(params_path, key):
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path = "%s/d/%s" % (params_path, key)
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try:
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with open(path, "rb") as f:
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return f.read()
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except IOError:
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return None
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|
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|
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def write_db(params_path, key, value):
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if isinstance(value, str):
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value = value.encode('utf8')
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prev_umask = os.umask(0)
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lock = FileLock(params_path + "/.lock", True, True)
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lock.acquire()
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||||
try:
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tmp_path = tempfile.NamedTemporaryFile(mode="wb", prefix=".tmp", dir=params_path, delete=False)
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||||
with tmp_path as f:
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f.write(value)
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f.flush()
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os.fsync(f.fileno())
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os.chmod(tmp_path.name, 0o666)
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|
||||
path = "%s/d/%s" % (params_path, key)
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os.rename(tmp_path.name, path)
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fsync_dir(os.path.dirname(path))
|
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finally:
|
||||
os.umask(prev_umask)
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lock.release()
|
||||
|
||||
|
||||
class Params():
|
||||
def __init__(self, db=PARAMS):
|
||||
self.db = db
|
||||
|
||||
# create the database if it doesn't exist...
|
||||
if not os.path.exists(self.db + "/d"):
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def clear_all(self):
|
||||
shutil.rmtree(self.db, ignore_errors=True)
|
||||
with self.transaction(write=True):
|
||||
pass
|
||||
|
||||
def transaction(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self.db)
|
||||
else:
|
||||
return DBReader(self.db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.transaction(write=True) as txn:
|
||||
for key in keys:
|
||||
if tx_type in keys[key]:
|
||||
txn.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def delete(self, key):
|
||||
with self.transaction(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
ret = read_db(self.db, key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
|
||||
if ret is not None and encoding is not None:
|
||||
ret = ret.decode(encoding)
|
||||
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
write_db(self.db, key, dat)
|
||||
|
||||
|
||||
def put_nonblocking(key, val):
|
||||
def f(key, val):
|
||||
params = Params()
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
from common.params_pyx import Params, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
|
||||
@@ -0,0 +1,16 @@
|
||||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.c":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
int delete_db_value(string)
|
||||
int write_db_value(string, string)
|
||||
Executable
+157
@@ -0,0 +1,157 @@
|
||||
# distutils: langauge = c++
|
||||
import threading
|
||||
import os
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from params_pxd cimport Params as c_Params
|
||||
|
||||
cdef enum TxType:
|
||||
PERSISTENT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_PANDA_DISCONNECT = 3
|
||||
|
||||
keys = {
|
||||
b"AccessToken": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"AthenadPid": [TxType.PERSISTENT],
|
||||
b"CalibrationParams": [TxType.PERSISTENT],
|
||||
b"CarBatteryCapacity": [TxType.PERSISTENT],
|
||||
b"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"CommunityFeaturesToggle": [TxType.PERSISTENT],
|
||||
b"CompletedTrainingVersion": [TxType.PERSISTENT],
|
||||
b"DisablePowerDown": [TxType.PERSISTENT],
|
||||
b"DisableUpdates": [TxType.PERSISTENT],
|
||||
b"DoUninstall": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"DongleId": [TxType.PERSISTENT],
|
||||
b"GitBranch": [TxType.PERSISTENT],
|
||||
b"GitCommit": [TxType.PERSISTENT],
|
||||
b"GitRemote": [TxType.PERSISTENT],
|
||||
b"GithubSshKeys": [TxType.PERSISTENT],
|
||||
b"HasAcceptedTerms": [TxType.PERSISTENT],
|
||||
b"HasCompletedSetup": [TxType.PERSISTENT],
|
||||
b"IsDriverViewEnabled": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsLdwEnabled": [TxType.PERSISTENT],
|
||||
b"IsMetric": [TxType.PERSISTENT],
|
||||
b"IsOffroad": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsRHD": [TxType.PERSISTENT],
|
||||
b"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"IsUploadRawEnabled": [TxType.PERSISTENT],
|
||||
b"LastAthenaPingTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateTime": [TxType.PERSISTENT],
|
||||
b"LastUpdateException": [TxType.PERSISTENT],
|
||||
b"LiveParameters": [TxType.PERSISTENT],
|
||||
b"OpenpilotEnabledToggle": [TxType.PERSISTENT],
|
||||
b"LaneChangeEnabled": [TxType.PERSISTENT],
|
||||
b"PandaFirmware": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaFirmwareHex": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"PandaDongleId": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Passive": [TxType.PERSISTENT],
|
||||
b"RecordFront": [TxType.PERSISTENT],
|
||||
b"ReleaseNotes": [TxType.PERSISTENT],
|
||||
b"ShouldDoUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"SubscriberInfo": [TxType.PERSISTENT],
|
||||
b"TermsVersion": [TxType.PERSISTENT],
|
||||
b"TrainingVersion": [TxType.PERSISTENT],
|
||||
b"UpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"UpdateFailedCount": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Version": [TxType.PERSISTENT],
|
||||
b"Offroad_ChargeDisabled": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_ConnectivityNeeded": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_ConnectivityNeededPrompt": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_TemperatureTooHigh": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_PandaFirmwareMismatch": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
|
||||
b"Offroad_InvalidTime": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_NeosUpdate": [TxType.CLEAR_ON_MANAGER_START],
|
||||
b"Offroad_UpdateFailed": [TxType.CLEAR_ON_MANAGER_START],
|
||||
}
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, persistent_params=False):
|
||||
if d is not None:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
else:
|
||||
self.p = new c_Params(<bool>persistent_params)
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
for key in keys:
|
||||
if tx_type is None or tx_type in keys[key]:
|
||||
self.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self.clear_all(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def panda_disconnect(self):
|
||||
self.clear_all(TxType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
cdef string k = key
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
key = ensure_bytes(key)
|
||||
dat = ensure_bytes(dat)
|
||||
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
self.p.write_db_value(key, dat)
|
||||
|
||||
def delete(self, key):
|
||||
key = ensure_bytes(key)
|
||||
self.p.delete_db_value(key)
|
||||
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
params.put(key, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
@@ -0,0 +1,21 @@
|
||||
import os
|
||||
from distutils.core import Extension, setup
|
||||
from Cython.Build import cythonize
|
||||
from common.cython_hacks import BuildExtWithoutPlatformSuffix
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
sourcefiles = ['params_pyx.pyx']
|
||||
extra_compile_args = ["-std=c++11"]
|
||||
|
||||
setup(name='common',
|
||||
cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},
|
||||
ext_modules=cythonize(
|
||||
Extension(
|
||||
"params_pyx",
|
||||
language="c++",
|
||||
sources=sourcefiles,
|
||||
include_dirs=[BASEDIR, os.path.join(BASEDIR, 'selfdrive')],
|
||||
extra_compile_args=extra_compile_args
|
||||
)
|
||||
)
|
||||
)
|
||||
@@ -6,7 +6,7 @@ import shutil
|
||||
import stat
|
||||
import unittest
|
||||
|
||||
from common.params import Params, UnknownKeyName
|
||||
from common.params import Params, UnknownKeyName, put_nonblocking
|
||||
|
||||
class TestParams(unittest.TestCase):
|
||||
def setUp(self):
|
||||
@@ -67,5 +67,20 @@ class TestParams(unittest.TestCase):
|
||||
st_mode = os.stat(f"{self.tmpdir}/d/DongleId").st_mode
|
||||
assert (st_mode & permissions) == permissions
|
||||
|
||||
def test_delete_not_there(self):
|
||||
assert self.params.get("CarParams") is None
|
||||
self.params.delete("CarParams")
|
||||
assert self.params.get("CarParams") is None
|
||||
|
||||
def test_put_non_blocking_with_get_block(self):
|
||||
q = Params(self.tmpdir)
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
put_nonblocking("CarParams", "test", self.tmpdir)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"test"
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
||||
Reference in New Issue
Block a user