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paramsd: cache backwards compatibility (#34991)

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* LiveParametersV2 key

* Param key

* Fix tests

* Remove old params if error

* Update exception message

* Update the test

* Add test for corrupted byte format in v1

* Rename params_reader => params
This commit is contained in:
Kacper Rączy
2025-04-07 19:23:11 -07:00
committed by GitHub
parent cdc801c3c1
commit fc65a8ea8f
3 changed files with 30 additions and 16 deletions
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selfdrive/locationd/paramsd.py
+17 -15
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@@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
# TODO: Remove this function after few releases (added in 0.9.9)
def migrate_cached_vehicle_params_if_needed(params_reader: Params):
last_parameters_data = params_reader.get("LiveParameters")
if last_parameters_data is None:
def migrate_cached_vehicle_params_if_needed(params: Params):
last_parameters_data_old = params.get("LiveParameters")
last_parameters_data = params.get("LiveParametersV2")
if last_parameters_data_old is None or last_parameters_data is not None:
return
try:
last_parameters_dict = json.loads(last_parameters_data)
last_parameters_dict = json.loads(last_parameters_data_old)
last_parameters_msg = messaging.new_message('liveParameters')
last_parameters_msg.liveParameters.valid = True
last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
except Exception:
pass
params.put("LiveParametersV2", last_parameters_msg.to_bytes())
except Exception as e:
cloudlog.error(f"Failed to perform parameter migration: {e}")
params.remove("LiveParameters")
def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
last_parameters_data = params_reader.get("LiveParameters")
last_carparams_data = params_reader.get("CarParamsPrevRoute")
def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
last_parameters_data = params.get("LiveParametersV2")
last_carparams_data = params.get("CarParamsPrevRoute")
steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
@@ -267,12 +269,12 @@ def main():
pm = messaging.PubMaster(['liveParameters'])
sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
params_reader = Params()
CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
params = Params()
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
migrate_cached_vehicle_params_if_needed(params_reader)
migrate_cached_vehicle_params_if_needed(params)
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
while True:
@@ -288,7 +290,7 @@ def main():
msg_dat = msg.to_bytes()
if sm.frame % 1200 == 0: # once a minute
params_reader.put_nonblocking("LiveParameters", msg_dat)
params.put_nonblocking("LiveParametersV2", msg_dat)
pm.send('liveParameters', msg_dat)