use put_nonblocking when possible (#1288)

* use put_nonblocking when possible

* revert uneeded changes

selfdrive/car/volkswagen/interface.py

@@ -2,7 +2,7 @@ from cereal import car
 from selfdrive.config import Conversions as CV
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
-from common.params import Params
+from common.params import put_nonblocking
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -79,7 +79,6 @@ class CarInterface(CarInterfaceBase):
   def update(self, c, can_strings):
     canMonoTimes = []
     buttonEvents = []
-    params = Params()
 
     # Process the most recent CAN message traffic, and check for validity
     # The camera CAN has no signals we use at this time, but we process it
@@ -94,7 +93,7 @@ class CarInterface(CarInterfaceBase):
     # Update the EON metric configuration to match the car at first startup,
     # or if there's been a change.
     if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
-      params.put("IsMetric", "1" if self.CS.displayMetricUnits else "0")
+      put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
 
     # Check for and process state-change events (button press or release) from
     # the turn stalk switch or ACC steering wheel/control stalk buttons.

selfdrive/controls/controlsd.py

@@ -6,7 +6,7 @@ from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
-from common.params import Params
+from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
 from selfdrive.config import Conversions as CV
 from selfdrive.boardd.boardd import can_list_to_can_capnp
@@ -490,8 +490,8 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
   # Write CarParams for radard and boardd safety mode
   cp_bytes = CP.to_bytes()
   params.put("CarParams", cp_bytes)
-  params.put("CarParamsCache", cp_bytes)
-  params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")
+  put_nonblocking("CarParamsCache", cp_bytes)
+  put_nonblocking("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")
 
   CC = car.CarControl.new_message()
   AM = AlertManager()

selfdrive/thermald/thermald.py

@@ -8,7 +8,7 @@ from smbus2 import SMBus
 from cereal import log
 from common.android import ANDROID, get_network_type, get_network_strength
 from common.basedir import BASEDIR
-from common.params import Params
+from common.params import Params, put_nonblocking
 from common.realtime import sec_since_boot, DT_TRML
 from common.numpy_fast import clip, interp
 from common.filter_simple import FirstOrderFilter
@@ -268,7 +268,7 @@ def thermald_thread():
     if time_valid and not time_valid_prev:
       params.delete("Offroad_InvalidTime")
     if not time_valid and time_valid_prev:
-      params.put("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
+      put_nonblocking("Offroad_InvalidTime", json.dumps(OFFROAD_ALERTS["Offroad_InvalidTime"]))
     time_valid_prev = time_valid
 
     # Show update prompt
@@ -285,7 +285,7 @@ def thermald_thread():
       if current_connectivity_alert != "expired":
         current_connectivity_alert = "expired"
         params.delete("Offroad_ConnectivityNeededPrompt")
-        params.put("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
+        put_nonblocking("Offroad_ConnectivityNeeded", json.dumps(OFFROAD_ALERTS["Offroad_ConnectivityNeeded"]))
     elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
       remaining_time = str(max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 0))
       if current_connectivity_alert != "prompt" + remaining_time:
@@ -293,7 +293,7 @@ def thermald_thread():
         alert_connectivity_prompt = copy.copy(OFFROAD_ALERTS["Offroad_ConnectivityNeededPrompt"])
         alert_connectivity_prompt["text"] += remaining_time + " days."
         params.delete("Offroad_ConnectivityNeeded")
-        params.put("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
+        put_nonblocking("Offroad_ConnectivityNeededPrompt", json.dumps(alert_connectivity_prompt))
     elif current_connectivity_alert is not None:
       current_connectivity_alert = None
       params.delete("Offroad_ConnectivityNeeded")
@@ -331,14 +331,14 @@ def thermald_thread():
     if fw_version_match and not fw_version_match_prev:
       params.delete("Offroad_PandaFirmwareMismatch")
     if not fw_version_match and fw_version_match_prev:
-      params.put("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"]))
+      put_nonblocking("Offroad_PandaFirmwareMismatch", json.dumps(OFFROAD_ALERTS["Offroad_PandaFirmwareMismatch"]))
 
     # if any CPU gets above 107 or the battery gets above 63, kill all processes
     # controls will warn with CPU above 95 or battery above 60
     if thermal_status >= ThermalStatus.danger:
       should_start = False
       if thermal_status_prev < ThermalStatus.danger:
-        params.put("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
+        put_nonblocking("Offroad_TemperatureTooHigh", json.dumps(OFFROAD_ALERTS["Offroad_TemperatureTooHigh"]))
     else:
       if thermal_status_prev >= ThermalStatus.danger:
         params.delete("Offroad_TemperatureTooHigh")
@@ -354,7 +354,7 @@ def thermald_thread():
         os.system('echo performance > /sys/class/devfreq/soc:qcom,cpubw/governor')
     else:
       if should_start_prev or (count == 0):
-        params.put("IsOffroad", "1")
+        put_nonblocking("IsOffroad", "1")
 
       started_ts = None
       if off_ts is None:
@@ -379,7 +379,7 @@ def thermald_thread():
     thermal_sock.send(msg.to_bytes())
 
     if usb_power_prev and not usb_power:
-      params.put("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"]))
+      put_nonblocking("Offroad_ChargeDisabled", json.dumps(OFFROAD_ALERTS["Offroad_ChargeDisabled"]))
     elif usb_power and not usb_power_prev:
       params.delete("Offroad_ChargeDisabled")