mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-08 01:03:41 +08:00
Jason Wen
43 lines
1.3 KiB
Python
43 lines
1.3 KiB
Python
"""
|
|
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
|
|
|
This file is part of sunnypilot and is licensed under the MIT License.
|
|
See the LICENSE.md file in the root directory for more details.
|
|
"""
|
|
import capnp
|
|
|
|
from cereal import custom
|
|
|
|
from opendbc.car import structs
|
|
from openpilot.common.params import Params
|
|
|
|
|
|
class ParamStore:
|
|
keys: list[str]
|
|
values: dict[str, str]
|
|
|
|
def __init__(self, CP: structs.CarParams):
|
|
universal_params: list[str] = []
|
|
brand_params: list[str] = []
|
|
|
|
self.keys = universal_params + brand_params
|
|
self.values = {}
|
|
self.cached_params_list: list[capnp.lib.capnp._DynamicStructBuilder] | None = None
|
|
|
|
self.frame = 0
|
|
|
|
def update(self, params: Params) -> None:
|
|
if self.frame % 300 == 0:
|
|
old_values = dict(self.values)
|
|
self.values = {k: params.get(k) or "0" for k in self.keys}
|
|
if old_values != self.values:
|
|
self.cached_params_list = None
|
|
|
|
self.frame += 1
|
|
|
|
def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
|
|
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
|