paramsd: cache backwards compatibility (#34991)

* LiveParametersV2 key

* Param key

* Fix tests

* Remove old params if error

* Update exception message

* Update the test

* Add test for corrupted byte format in v1

* Rename params_reader => params

selfdrive/locationd/test/test_paramsd.py

@@ -28,7 +28,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
@@ -49,9 +49,20 @@ class TestParamsd:
     msg = get_random_live_parameters(CP)
     params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
     sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    assert params.get("LiveParametersV2") is not None
+
+  def test_read_saved_params_corrupted_old_format(self):
+    params = Params()
+    params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    assert params.get("LiveParameters") is None
+    assert params.get("LiveParametersV2") is None