CarControlSP: live params (#943)

* car: initialize sunnypilot interface immediately

* init

* Revert "car: initialize sunnypilot interface immediately"

This reverts commit 2e0fc4d87eb312a3a74a61bb8cbc780e33efbfc7.

* show int

* show int

* work properly with cereal

* unused

* in its own module

* bump

* not yet

* not yet

* list comp and use structs directly

* allow default key if needed

* lint

* send it with None

* bump

selfdrive/car/helpers.py

@@ -55,5 +55,6 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
 
   return struct_dataclass

selfdrive/controls/controlsd.py

@@ -1,5 +1,7 @@
 #!/usr/bin/env python3
 import math
+import threading
+import time
 from typing import SupportsFloat
 
 from cereal import car, log
@@ -36,7 +38,7 @@ class Controls(ControlsExt):
     cloudlog.info("controlsd got CarParams")
 
     # Initialize sunnypilot controlsd extension
-    ControlsExt.__init__(self, self.params)
+    ControlsExt.__init__(self, self.CP, self.params)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
@@ -222,14 +224,27 @@ class Controls(ControlsExt):
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.get_params_sp()
+
+      time.sleep(0.1)
+
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, lac_log = self.state_control()
-      self.publish(CC, lac_log)
-      self.run_ext(self.sm, self.pm)
-      rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e,))
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        self.run_ext(self.sm, self.pm)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 
 def main():