kernel call optimization

selfdrive/car/honda/interface.py

@@ -384,7 +384,7 @@ 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 > 3.:
+    if ts - self.ts_last_check > 5.:
       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

@@ -143,7 +143,7 @@ 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 > 3.:
+    if ts - self.ts_last_check > 5.:
       self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
       self.ts_last_check = ts
 

selfdrive/car/toyota/interface.py

@@ -302,7 +302,7 @@ 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 > 3.:
+    if ts - self.ts_last_check > 5.:
       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

@@ -512,7 +512,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=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 > 3.:
+    if ts - ts_last_check > 5.:
       dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
       dragon_lat_control = False if params.get("DragonLatCtrl") == "0" else True
       dragon_display_steering_limit_alert = False if params.get("DragonDisplaySteeringLimitAlert") == "0" else True

selfdrive/controls/lib/lane_planner.py

@@ -69,7 +69,7 @@ class LanePlanner(object):
 
   def update_lane(self, v_ego):
     ts = sec_since_boot()
-    if ts - self.ts_last_check > 3.:
+    if ts - self.ts_last_check > 5.:
       self.camera_offset = int(params.get("DragonCameraOffset")) * 0.01
       self.ts_last_check = ts
     # only offset left and right lane lines; offsetting p_poly does not make sense

selfdrive/dragonpilot/shutdownd/shutdownd.py

@@ -17,8 +17,8 @@ def main(gctx=None):
       usb_online = bool(int(f.read()))
 
     if not usb_online:
-      # we update the value every 3 seconds in case of user updates it
-      if frame % 3 == 0:
+      # we update the value every 5 seconds in case of user updates it
+      if frame % 5 == 0:
         auto_shutdown_at = get_shutdown_val()
       shutdown_count += 1
     else:

selfdrive/thermald.py

@@ -153,7 +153,6 @@ def thermald_thread():
   charging_disabled = False
   os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
   ts_last_ip = 0.
-  last_ip_addr = '255.255.255.255'
   ip_addr = '255.255.255.255'
 
   while 1:
@@ -184,7 +183,7 @@ def thermald_thread():
       msg.thermal.usbOnline = bool(int(f.read()))
     # update ip every 5 seconds
     ts = sec_since_boot()
-    if ts - ts_last_ip > 5.:
+    if ts - ts_last_ip > 10.:
       try:
         result = subprocess.check_output(["service", "call", "connectivity", "2"]).strip().split("\n")
       except subprocess.CalledProcessError:
@@ -196,12 +195,9 @@ def thermald_thread():
         result = subprocess.check_output(["ifconfig", "wlan0"])
         ip_addr = re.findall(r"inet addr:((\d+\.){3}\d+)", result)[0][0]
       else:
-        ip_addr = ' '
+        ip_addr = '<N/A>'
       ts_last_ip = ts
-    else:
-      ip_addr = last_ip_addr
     msg.thermal.ipAddr = ip_addr
-    last_ip_addr = ip_addr
 
     current_filter.update(msg.thermal.batteryCurrent / 1e6)