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Bug: Param Store Cache (#1025)

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* cache

* Clear every 10 iterations, which means 100hz * 10

* Revert "Clear every 10 iterations, which means 100hz * 10"

This reverts commit 4eda3079e6cfc83008b8df0d41094ce52237faf7.

* Apply suggestion from @devtekve

* Apply suggestion from @devtekve

---------

Co-authored-by: DevTekVE <devtekve@gmail.com>
This commit is contained in:
James Vecellio-Grant
2025-07-05 14:58:34 -07:00
committed by GitHub
parent d0bd8cc4a3
commit 394603727e
1 changed files with 8 additions and 6 deletions
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sunnypilot/selfdrive/controls/lib/param_store.py
+8 -6
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@@ -22,14 +22,16 @@ class ParamStore:
self.keys = universal_params + brand_params
self.values = {}
self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
def update(self, params: Params) -> None:
old_values = dict(self.values)
self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
if old_values != self.values:
self.cached_params_list = None
def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
for k in self.keys:
params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
return params_list
if self.cached_params_list is None:
# TODO-SP: Why are we doing a list instead of a dictionary here?
self.cached_params_list = [custom.CarControlSP.Param(key=k, value=self.values[k]) for k in self.keys]
return self.cached_params_list