延遲 params check 至3秒以減少 kernel calls

selfdrive/car/honda/interface.py

@@ -369,7 +369,7 @@ class CarInterface(object):
   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.:
+    if ts - self.ts_last_check > 3.:
       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

selfdrive/car/toyota/carstate.py

@@ -119,7 +119,7 @@ class CarState(object):
   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.:
+    if ts - self.ts_last_check > 3.:
       self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
       self.ts_last_check = ts
 

selfdrive/car/toyota/interface.py

@@ -279,7 +279,7 @@ class CarInterface(object):
   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.:
+    if ts - self.ts_last_check > 3.:
       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

selfdrive/controls/controlsd.py

@@ -509,7 +509,7 @@ def controlsd_thread(gctx=None):
   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.:
+    if ts - ts_last_check > 3.:
       dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
       ts_last_check = ts
 

selfdrive/controls/lib/driver_monitor.py

@@ -152,7 +152,7 @@ class DriverStatus():
 
     # don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 1.:
+    if ts - self.ts_last_check > 3.:
       self.monitor_param_on = params.get("IsDriverMonitoringEnabled") == "1"
       self.ts_last_check = ts
 
@@ -169,7 +169,7 @@ class DriverStatus():
 
     # don't check for param too often as it's a kernel call
     ts = sec_since_boot()
-    if ts - self.dp_last_check > 1.:
+    if ts - self.dp_last_check > 3.:
       self.dragon_enable_driver_safety_check = False if params.get("DragonEnableDriverSafetyCheck") == "0" else True
       self.dp_last_check = ts