fix critical put and get param that caused sporadic controlsd hanging (#333)

* fix critical put and get param that caused sporadic controlsd hanging

* test fix

common/params.py

@@ -263,23 +263,48 @@ class DBWriter(DBAccessor):
       self._lock = None
 
 
+def read_db(params_path, key):
+  path = "%s/d/%s" % (params_path, key)
+  try:
+    with open(path, "rb") as f:
+      return f.read()
+  except IOError:
+    return None
 
-class JSDB(object):
-  def __init__(self, fn):
-    self._fn = fn
+def write_db(params_path, key, value):
+  lock = FileLock(params_path+"/.lock", True)
+  lock.acquire()
 
-  def begin(self, write=False):
-    if write:
-      return DBWriter(self._fn)
-    else:
-      return DBReader(self._fn)
+  try:
+    tmp_path = tempfile.mktemp(prefix=".tmp", dir=params_path)
+    with open(tmp_path, "wb") as f:
+      f.write(value)
+      f.flush()
+      os.fsync(f.fileno())
+
+    path = "%s/d/%s" % (params_path, key)
+    os.rename(tmp_path, path)
+    fsync_dir(os.path.dirname(path))
+  finally:
+    lock.release()
 
 class Params(object):
   def __init__(self, db='/data/params'):
-    self.env = JSDB(db)
+    self.db = db
+
+    # create the database if it doesn't exist...
+    if not os.path.exists(self.db+"/d"):
+      with self.transaction(write=True):
+        pass
+
+  def transaction(self, write=False):
+    if write:
+      return DBWriter(self.db)
+    else:
+      return DBReader(self.db)
 
   def _clear_keys_with_type(self, tx_type):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
       for key in keys:
         if keys[key] == tx_type:
           txn.delete(key)
@@ -291,7 +316,7 @@ class Params(object):
     self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
 
   def delete(self, key):
-    with self.env.begin(write=True) as txn:
+    with self.transaction(write=True) as txn:
       txn.delete(key)
 
   def get(self, key, block=False):
@@ -299,8 +324,7 @@ class Params(object):
       raise UnknownKeyName(key)
 
     while 1:
-      with self.env.begin() as txn:
-        ret = txn.get(key)
+      ret = read_db(self.db, key)
       if not block or ret is not None:
         break
       # is polling really the best we can do?
@@ -311,8 +335,7 @@ class Params(object):
     if key not in keys:
       raise UnknownKeyName(key)
 
-    with self.env.begin(write=True) as txn:
-      txn.put(key, dat)
+    write_db(self.db, key, dat)
 
 if __name__ == "__main__":
   params = Params()

selfdrive/controls/controlsd.py

@@ -448,12 +448,6 @@ def controlsd_thread(gctx=None, rate=100, default_bias=0.):
 
   fcw_enabled = params.get("IsFcwEnabled") == "1"
   geofence = None
-  try:
-    from selfdrive.controls.lib.geofence import Geofence
-    geofence = Geofence(params.get("IsGeofenceEnabled") == "1")
-  except ImportError:
-    # geofence not available
-    params.put("IsGeofenceEnabled", "-1")
 
   PL = Planner(CP, fcw_enabled)
   LoC = LongControl(CP, CI.compute_gb)