From 3563852b623d9cebfdd5cf44a7142cfbaa33ef2c Mon Sep 17 00:00:00 2001
From: rav4kumar <meetkumardesai@gmail.com>
Date: Mon, 5 May 2025 20:35:06 -0700
Subject: [PATCH] Remove unused dynamic personality parameter handling from
 stock longitudinal planner; add dynamic personality parameter refresh in
 sunnypilot longitudinal planner

---
 selfdrive/controls/lib/longitudinal_planner.py    | 15 ---------------
 .../dynamic_personality_controller.py             |  1 -
 .../controls/lib/longitudinal_planner.py          | 15 +++++++++++++++
 3 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 78825a41ef..9572e6b444 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -1,7 +1,6 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from openpilot.common.params import Params
 import cereal.messaging as messaging
 from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.common.conversions import Conversions as CV
@@ -72,20 +71,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
 
-    self.params = Params()
-    self.param_read_counter = 0
-    self.read_param()
-
-    self.dynamic_personality = False
-
-
-  def read_param(self):
-    try:
-      self.dynamic_personality = self.params.get_bool("DynamicPersonality")
-    except AttributeError:
-      pass
-
-
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
diff --git a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_personality_controller.py b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_personality_controller.py
index 42b4110956..911624ab46 100644
--- a/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_personality_controller.py
+++ b/sunnypilot/selfdrive/controls/lib/dynamic_personality/dynamic_personality_controller.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import log
 import numpy as np
 
diff --git a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
index 9f0c503fb4..c77c0cdc79 100644
--- a/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
+++ b/sunnypilot/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,6 +9,7 @@ from cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.sunnypilot.models.helpers import get_active_model_runner
 from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
+from openpilot.common.params import Params
 
 DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
 
@@ -18,6 +19,17 @@ class LongitudinalPlannerSP:
     self.dec = DynamicExperimentalController(CP, mpc)
     self.is_stock = get_active_model_runner() == custom.ModelManagerSP.Runner.stock
 
+    self.params = Params()
+    self.param_read_counter = 0
+    self.dynamic_personality = False
+    self.read_param()
+
+  def read_param(self):
+    try:
+      self.dynamic_personality = self.params.get_bool("DynamicPersonality")
+    except AttributeError:
+      pass
+
   def get_mpc_mode(self) -> str | None:
     if not self.dec.active():
       return None
@@ -25,6 +37,9 @@ class LongitudinalPlannerSP:
     return self.dec.mode()
 
   def update(self, sm: messaging.SubMaster) -> None:
+    self.param_read_counter += 1
+    if self.param_read_counter % 50 == 0:
+      self.read_param()
     self.dec.update(sm)
 
   def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None: