mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-08-01 14:16:47 +08:00
James Vecellio-Grant
394603727e
* 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>
38 lines
1.2 KiB
Python
38 lines
1.2 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
|
|
|
|
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]:
|
|
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
|