優化 params.get 讀取次數，最快每秒讀一次

selfdrive/car/honda/carcontroller.py

@@ -87,11 +87,17 @@ class CarController(object):
 
     # dragonpilot
     self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
 
   def update(self, enabled, CS, frame, actuators, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              hud_v_cruise, hud_show_lanes, hud_show_car, \
              hud_alert, snd_beep, snd_chime):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 100 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
 
     # *** apply brake hysteresis ***
     brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -152,7 +158,7 @@ class CarController(object):
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and params.get("DragonEnableSteeringOnSignal") == "1":
+    if enabled and (CS.left_blinker_on > 0 or CS.right_blinker_on > 0) and self.dragon_enable_steering_on_signal:
       self.turning_signal_timer = 100
 
     if self.turning_signal_timer > 0:
@@ -189,7 +195,7 @@ class CarController(object):
           gasPressed = CS.pedal_gas > 0
         else:
           gasPressed = CS.user_gas_pressed
-        if params.get("DragonAllowGas") == "1" and gasPressed:
+        if self.dragon_allow_gas and gasPressed:
           apply_brake = 0
           apply_gas = 0
         can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,

selfdrive/car/honda/interface.py

@@ -98,6 +98,11 @@ class CarInterface(object):
     else:
       self.compute_gb = compute_gb_honda
 
+    # dragonpilot
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
+
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
 
@@ -361,6 +366,13 @@ class CarInterface(object):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 1.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.ts_last_check = ts
+
     # ******************* do can recv *******************
     self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
     self.cp_cam.update_strings(int(sec_since_boot() * 1e9), can_strings)
@@ -476,7 +488,7 @@ class CarInterface(object):
       events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     if not self.CS.lkMode:
       events.append(create_event('manualSteeringRequired', [ET.WARNING]))
-    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on) and params.get("DragonEnableSteeringOnSignal") == "1":
+    elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
       events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
     elif self.CS.steer_error:
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
@@ -505,7 +517,7 @@ class CarInterface(object):
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
 
     # DragonAllowGas
-    if params.get("DragonAllowGas") == "0":
+    if not self.dragon_allow_gas:
       # disable on pedals rising edge or when brake is pressed and speed isn't zero
       if (ret.gasPressed and not self.gas_pressed_prev) or \
          (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):

selfdrive/car/toyota/carcontroller.py

@@ -128,10 +128,16 @@ class CarController(object):
 
     # dragonpilot
     self.turning_signal_timer = 0
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
 
   def update(self, enabled, CS, frame, actuators,
              pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
              left_line, right_line, lead, left_lane_depart, right_lane_depart):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    if frame % 100 == 0:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
 
     # *** compute control surfaces ***
 
@@ -204,7 +210,7 @@ class CarController(object):
     can_sends = []
 
     # dragonpilot
-    if enabled and (CS.left_blinker_on or CS.right_blinker_on) and params.get("DragonEnableSteeringOnSignal") == "1":
+    if enabled and (CS.left_blinker_on or CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
       self.turning_signal_timer = 100
 
     if self.turning_signal_timer > 0:
@@ -238,7 +244,7 @@ class CarController(object):
     else:
       gasPressed = CS.pedal_gas > 0
 
-    if params.get("DragonAllowGas") == "1" and gasPressed:
+    if self.dragon_allow_gas and gasPressed:
       apply_accel = 0
       apply_gas = 0
 

selfdrive/car/toyota/carstate.py

@@ -5,6 +5,7 @@ from selfdrive.can.parser import CANParser
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR
 
+from common.realtime import sec_since_boot
 from common.params import Params
 params = Params()
 
@@ -111,9 +112,16 @@ class CarState(object):
                          K=[[0.12287673], [0.29666309]])
     self.v_ego = 0.0
 
-    self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+    self.dragon_toyota_stock_dsu = False
+    self.ts_last_check = 0.
 
   def update(self, cp):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 1.:
+      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.ts_last_check = ts
+
     # update prevs, update must run once per loop
     self.prev_left_blinker_on = self.left_blinker_on
     self.prev_right_blinker_on = self.right_blinker_on

selfdrive/car/toyota/interface.py

@@ -33,7 +33,11 @@ class CarInterface(object):
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera, CP.enableDsu, CP.enableApgs)
 
-    self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+    # dragonpilot
+    self.dragon_toyota_stock_dsu = False
+    self.dragon_enable_steering_on_signal = False
+    self.dragon_allow_gas = False
+    self.ts_last_check = 0.
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -250,6 +254,14 @@ class CarInterface(object):
 
   # returns a car.CarState
   def update(self, c, can_strings):
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.ts_last_check > 1.:
+      self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
+      self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
+      self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      self.ts_last_check = ts
+
     # ******************* do can recv *******************
     self.cp.update_strings(int(sec_since_boot() * 1e9), can_strings)
 
@@ -351,7 +363,7 @@ class CarInterface(object):
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
     if ret.gearShifter == 'reverse' and self.CP.enableDsu:
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
-    if (self.CS.left_blinker_on or self.CS.right_blinker_on) and params.get("DragonEnableSteeringOnSignal") == "1":
+    if (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
       events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
     elif self.CS.steer_error:
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
@@ -374,7 +386,7 @@ class CarInterface(object):
 
     if not self.dragon_toyota_stock_dsu:
       # DragonAllowGas
-      if params.get("DragonAllowGas") == "0":
+      if not self.dragon_allow_gas:
         # disable on pedals rising edge or when brake is pressed and speed isn't zero
         if (ret.gasPressed and not self.gas_pressed_prev) or \
            (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):

selfdrive/controls/controlsd.py

@@ -479,9 +479,17 @@ def controlsd_thread(gctx=None):
 
   prof = Profiler(False)  # off by default
 
-  dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+  # dragonpilot
+  ts_last_check = 0.
+  dragon_toyota_stock_dsu = False
 
   while True:
+    # dragonpilot, don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - ts_last_check > 1.:
+      dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
+      ts_last_check = ts
+
     start_time = sec_since_boot()
     prof.checkpoint("Ratekeeper", ignore=True)
 

selfdrive/controls/lib/driver_monitor.py

@@ -74,6 +74,10 @@ class DriverStatus():
     self.terminal_alert_cnt = 0
     self._set_timers()
 
+    # dragonpilot
+    self.dp_last_check = 0.
+    self.dragon_enable_driver_safety_check = True
+
   def _reset_filters(self):
     self.driver_distraction_filter.x = 0.
     self.variance_filter.x = 0.
@@ -135,6 +139,11 @@ class DriverStatus():
 
 
   def update(self, events, driver_engaged, ctrl_active, standstill):
+    # don't check for param too often as it's a kernel call
+    ts = sec_since_boot()
+    if ts - self.dp_last_check > 1.:
+      self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
+      self.dp_last_check = ts
 
     driver_engaged |= (self.driver_distraction_filter.x < 0.37 and self.monitor_on)
     awareness_prev = self.awareness
@@ -160,7 +169,7 @@ class DriverStatus():
     elif self.awareness <= self.threshold_pre:
       # pre green alert
       alert = 'preDriverDistracted' if self.monitor_on else 'preDriverUnresponsive'
-    if alert is not None and params.get("DragonEnableDriverSafetyCheck") == "1":
+    if alert is not None and self.dragon_enable_driver_safety_check:
       events.append(create_event(alert, [ET.WARNING]))
 
     return events