New kegman threading with automatic merging if file and conf variable mismatch

selfdrive/car/chrysler/carstate.py

@@ -4,7 +4,7 @@
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import numpy as np
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 
 
 def parse_gear_shifter(can_gear):
@@ -80,9 +80,8 @@ def get_camera_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
-    self.kegman = kegman_conf()
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
-    self.alcaMode = int(self.kegman.conf['lastALCAMode'])
+    self.alcaMode = int(kegman.conf['lastALCAMode'])
     self.prev_distance_button = 0
     self.distance_button = 0
     self.prev_lka_button = 0
@@ -172,10 +171,10 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           else:
             self.alcaMode = 0
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
@@ -187,7 +186,7 @@ def update_ui_buttons(self,id,btn_status):
         self.cstm_btns.btns[id].btn_status = btn_status
         if (id == 1) and self.cstm_btns.btns[id].btn_name=="alca":
           self.alcaMode = (self.alcaMode + 1 ) % 4
-          self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+          kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
 

selfdrive/car/gm/carstate.py

@@ -11,7 +11,7 @@
 from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
                                     CruiseButtons, is_eps_status_ok, \
                                     STEER_THRESHOLD, SUPERCRUISE_CARS
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 
 def get_powertrain_can_parser(CP, canbus):
   # this function generates lists for signal, messages and initial values
@@ -59,11 +59,10 @@ def get_powertrain_can_parser(CP, canbus):
 
 class CarState(object):
   def __init__(self, CP, canbus):
-    self.kegman = kegman_conf()
     self.CP = CP
     # initialize can parser
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
-    self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
+    self.alcaMode = int(kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
     self.car_fingerprint = CP.carFingerprint
     self.cruise_buttons = CruiseButtons.UNPRESS
     self.prev_distance_button = 0
@@ -72,7 +71,7 @@ def __init__(self, CP, canbus):
     self.prev_left_blinker_on = False
     self.right_blinker_on = False
     self.prev_right_blinker_on = False
-    self.follow_level = int(self.kegman.conf['lastTrMode'])
+    self.follow_level = int(kegman.conf['lastTrMode'])
     self.prev_lka_button = 0
     self.lka_button = 0
     self.lkMode = True
@@ -151,10 +150,10 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           else:
             self.alcaMode = 0
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
@@ -165,7 +164,7 @@ def update_ui_buttons(self,id,btn_status):
         self.cstm_btns.btns[id].btn_status = btn_status
         if (id == 1) and self.cstm_btns.btns[id].btn_name=="alca":
           self.alcaMode = (self.alcaMode + 1 ) % 4
-          self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
+          kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
 

selfdrive/car/gm/interface.py

@@ -6,7 +6,7 @@
 from selfdrive.controls.lib.vehicle_model import VehicleModel
 from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, SUPERCRUISE_CARS
 from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 
 try:
   from selfdrive.car.gm.carcontroller import CarController
@@ -22,8 +22,7 @@ def __init__(self):
 
 class CarInterface(object):
   def __init__(self, CP, sendcan=None):
-    self.kegman = kegman_conf()
-    self.angleSteersoffset = float(self.kegman.conf['angle_steers_offset'])  # deg offset
+    self.angleSteersoffset = float(kegman.conf['angle_steers_offset'])  # deg offset
     self.CP = CP
     self.frame = 0
     self.gas_pressed_prev = False
@@ -305,7 +304,7 @@ def update(self, c):
       self.CS.follow_level -= 1
       if self.CS.follow_level < 1:
         self.CS.follow_level = 3
-      self.kegman.conf['lastTrMode'] = str(self.CS.follow_level)   # write last distance bar setting to file
+      kegman.save({'lastTrMode': str(self.CS.follow_level)})  # write last distance bar setting to file
     ret.gasbuttonstatus = self.CS.cstm_btns.get_button_status("gas")
     events = []
     if not self.CS.can_valid:

selfdrive/car/honda/carcontroller.py

@@ -8,9 +8,7 @@
 from selfdrive.car.honda.values import AH, CruiseButtons, CAR
 from selfdrive.can.packer import CANPacker
 from selfdrive.car.modules.ALCA_module import ALCAController
-from selfdrive.kegman_conf import kegman_conf
-
-kegman = kegman_conf(read_only=True)
+import selfdrive.kegman_conf as kegman
 
 def actuator_hystereses(brake, braking, brake_steady, v_ego, car_fingerprint):
   # hyst params

selfdrive/car/honda/carstate.py

@@ -3,7 +3,7 @@
 from selfdrive.can.parser import CANParser, CANDefine
 from selfdrive.config import Conversions as CV
 from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import numpy as np
@@ -150,21 +150,20 @@ def get_cam_can_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
-    self.kegman = kegman_conf()
     self.Angle = [0, 5, 10, 15,20,25,30,35,60,100,180,270,500]
     self.Angle_Speed = [255,160,100,80,70,60,55,50,40,30,20,10,5]
     self.blind_spot_on = bool(0)
     #labels for ALCA modes
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
     self.trLabels = ["0.9","dyn","2.7"]
-    self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCA Mode on startup
+    self.alcaMode = int(kegman.conf['lastALCAMode'])     # default to last ALCA Mode on startup
     if self.alcaMode > 3:
       self.alcaMode = 3
-      self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
-    self.trMode = int(self.kegman.conf['lastTrMode'])     # default to last distance interval on startup
+      kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
+    self.trMode = int(kegman.conf['lastTrMode'])     # default to last distance interval on startup
     if self.trMode > 2:
       self.trMode = 2
-      self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+      kegman.save({'lastTrMode': str(self.trMode)})  # write last distance bar setting to file
     #if (CP.carFingerprint == CAR.MODELS):
     # ALCA PARAMS
     # max REAL delta angle for correction vs actuator
@@ -263,10 +262,10 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 0) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           else:
             self.alcaMode = 0
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last distance bar setting to file
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
@@ -275,10 +274,10 @@ def update_ui_buttons(self,id,btn_status):
       elif (id == 4) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="tr":
           if self.cstm_btns.btns[id].btn_label2 == self.trLabels[self.trMode]:
             self.trMode = (self.trMode + 1 ) % 3
-            self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+            kegman.save({'lastTrMode': str(self.trMode)})  # write last distance bar setting to file
           else:
             self.trMode = 0
-            self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+            kegman.save({'lastTrMode': str(self.trMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.trLabels[self.trMode]
           self.cstm_btns.hasChanges = True
 
@@ -288,7 +287,7 @@ def update_ui_buttons(self,id,btn_status):
         self.cstm_btns.btns[id].btn_status = btn_status
         if (id == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           self.alcaMode = (self.alcaMode + 1 ) % 4
-          self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
+          kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last distance bar setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
 
@@ -432,7 +431,7 @@ def update(self, cp, cp_cam):
     if self.cruise_setting == 3:
       if cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"] == 0:
         self.trMode = (self.trMode + 1 ) % 3
-        self.kegman.conf['lastTrMode'] = str(self.trMode)   # write last distance bar setting to file
+        kegman.save({'lastTrMode': str(self.trMode)})  # write last distance bar setting to file
         self.cstm_btns.btns[4].btn_label2 = self.trLabels[self.trMode]
     self.prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']

selfdrive/car/honda/interface.py

@@ -11,9 +11,7 @@
 from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD
 from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
-from selfdrive.kegman_conf import kegman_conf
-
-kegman = kegman_conf(read_only=True)
+import selfdrive.kegman_conf as kegman
 
 angleSteersoffset = float(kegman.conf['angle_steers_offset'])  # deg offset
 

selfdrive/car/toyota/carstate.py

@@ -9,7 +9,7 @@
 from selfdrive.config import Conversions as CV
 from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD
 from common.kalman.simple_kalman import KF1D
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
 from selfdrive.car.modules.UIEV_module import UIEvents
 import os
@@ -147,22 +147,21 @@ def get_cam_can_parser(CP):
 
 class CarState(object):
   def __init__(self, CP):
-    self.kegman = kegman_conf()
-    self.brakefactor = float(self.kegman.conf['brakefactor'])
+    self.brakefactor = float(kegman.conf['brakefactor'])
     self.trfix = False
     self.Angles = np.zeros(250)
     self.Angles_later = np.zeros(250)
     self.Angle_counter = 0
     self.Angle = [0, 5, 10, 15,20,25,30,35,60,100,180,270,500]
     self.Angle_Speed = [255,160,100,80,70,60,55,50,40,33,27,17,12]
     #labels for gas mode
-    self.gasMode = int(self.kegman.conf['lastGasMode'])
-    self.sloMode = int(self.kegman.conf['lastSloMode'])
+    self.gasMode = int(kegman.conf['lastGasMode'])
+    self.sloMode = int(kegman.conf['lastSloMode'])
     self.sloLabels = ["offset","normal"]
     self.gasLabels = ["dynamic","sport","eco"]
     #labelslabels for ALCA modes
     self.alcaLabels = ["MadMax","Normal","Wifey","off"]
-    self.alcaMode = int(self.kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
+    self.alcaMode = int(kegman.conf['lastALCAMode'])     # default to last ALCAmode on startup
     #if (CP.carFingerprint == CAR.MODELS):
     # ALCA PARAMS
     # max REAL delta angle for correction vs actuator
@@ -268,38 +267,32 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
-            self.kegman.write_config(self.kegman.conf)
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last ALCAMode setting to file
           else:
             self.alcaMode = 0
-            self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
-            self.kegman.write_config(self.kegman.conf)
+            kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last ALCAMode setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
           if self.alcaMode == 3:
             self.cstm_btns.set_button_status("alca", 0)
       elif (id == 2) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="slow":
         if self.cstm_btns.btns[id].btn_label2 == self.sloLabels[self.sloMode]:
           self.sloMode = (self.sloMode + 1 ) % 2
-          self.kegman.conf['lastSloMode'] = str(self.sloMode)   # write last SloMode setting to file
-          self.kegman.write_config(self.kegman.conf)
+          kegman.save({'lastSloMode': str(self.sloMode)})  # write last SloMode setting to file
         else:
           self.sloMode = 0
-          self.kegman.conf['lastSloMode'] = str(self.sloMode)   # write last SloMode setting to file
-          self.kegman.write_config(self.kegman.conf)
+          kegman.save({'lastSloMode': str(self.sloMode)})  # write last SloMode setting to file
         self.cstm_btns.btns[id].btn_label2 = self.sloLabels[self.sloMode]
         self.cstm_btns.hasChanges = True
         if self.sloMode == 0:
           self.cstm_btns.set_button_status("slow", 0)  # this might not be needed
       elif (id == 5) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="gas":
           if self.cstm_btns.btns[id].btn_label2 == self.gasLabels[self.gasMode]:
             self.gasMode = (self.gasMode + 1 ) % 3
-            self.kegman.conf['lastGasMode'] = str(self.gasMode)   # write last GasMode setting to file
-            self.kegman.write_config(self.kegman.conf)
+            kegman.save({'lastGasMode': str(self.gasMode)})  # write last GasMode setting to file
           else:
             self.gasMode = 0
-            self.kegman.conf['lastGasMode'] = str(self.gasMode)   # write last GasMode setting to file
-            self.kegman.write_config(self.kegman.conf)
+            kegman.save({'lastGasMode': str(self.gasMode)})  # write last GasMode setting to file
 
           self.cstm_btns.btns[id].btn_label2 = self.gasLabels[self.gasMode]
           self.cstm_btns.hasChanges = True
@@ -309,14 +302,12 @@ def update_ui_buttons(self,id,btn_status):
         self.cstm_btns.btns[id].btn_status = btn_status
         if (id == 1) and self.cstm_btns.btns[id].btn_name=="alca":
           self.alcaMode = (self.alcaMode + 1 ) % 4
-          self.kegman.conf['lastALCAMode'] = str(self.alcaMode)   # write last ALCAMode setting to file
-          self.kegman.write_config(self.kegman.conf)
+          kegman.save({'lastALCAMode': str(self.alcaMode)})  # write last ALCAMode setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
         elif (id == 2) and self.cstm_btns.btns[id].btn_name=="slow":
           self.sloMode = (self.sloMode + 1 ) % 2
-          self.kegman.conf['lastSloMode'] = str(self.sloMode)   # write last SloMode setting to file
-          self.kegman.write_config(self.kegman.conf)
+          kegman.save({'lastSloMode': str(self.sloMode)})  # write last SloMode setting to file
           self.cstm_btns.btns[id].btn_label2 = self.sloLabels[self.sloMode]
           self.cstm_btns.hasChanges = True
 

selfdrive/car/toyota/interface.py

@@ -7,10 +7,7 @@
 from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
 from selfdrive.car.toyota.values import ECU, check_ecu_msgs, CAR
 from selfdrive.swaglog import cloudlog
-
-from selfdrive.kegman_conf import kegman_conf
-
-kegman = kegman_conf()
+import selfdrive.kegman_conf as kegman
 
 steeringAngleoffset = float(kegman.conf['angle_steers_offset'])  # deg offset
 

selfdrive/controls/lib/driver_monitor.py

@@ -2,9 +2,7 @@
 from common.realtime import sec_since_boot
 from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
 from common.filter_simple import FirstOrderFilter
-from selfdrive.kegman_conf import kegman_conf
-
-kegman = kegman_conf(read_only=True)
+import selfdrive.kegman_conf as kegman
 
 _DT = 0.01                  # update runs at 100Hz
 _DTM = 0.1                  # DM runs at 10Hz

selfdrive/controls/lib/longcontrol.py

@@ -2,11 +2,10 @@
 from cereal import log
 from common.numpy_fast import clip, interp
 from selfdrive.controls.lib.pid import PIController
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 import selfdrive.messaging as messaging
 from selfdrive.services import service_list
 
-kegman = kegman_conf(read_only=True)
 LongCtrlState = log.Live100Data.LongControlState
 
 STOPPING_EGO_SPEED = 0.5

selfdrive/controls/lib/model_parser.py

@@ -1,8 +1,7 @@
 from common.numpy_fast import interp
 from selfdrive.controls.lib.latcontrol_helpers import model_polyfit, calc_desired_path, compute_path_pinv
-from selfdrive.kegman_conf import kegman_conf
+import selfdrive.kegman_conf as kegman
 
-kegman = kegman_conf()
 CAMERA_OFFSET = float(kegman.conf['cameraOffset'])  # m from center car to camera
 
 

selfdrive/controls/lib/planner.py

@@ -15,9 +15,7 @@
 from selfdrive.controls.lib.fcw import FCWChecker
 from selfdrive.controls.lib.long_mpc import LongitudinalMpc
 
-from selfdrive.kegman_conf import kegman_conf
-
-kegman = kegman_conf()
+import selfdrive.kegman_conf as kegman
 
 NO_CURVATURE_SPEED = 200. * CV.MPH_TO_MS
 
@@ -38,7 +36,7 @@
 _A_CRUISE_MAX_BP = [0.,  5., 10., 20., 40.]
 
 # Lookup table for turns
-_brake_factor = float(kegman.conf['brakefactor'])
+_brake_factor = float(kegman.get("brakefactor"))
 _A_TOTAL_MAX_V = [2.0 * _brake_factor, 2.7 * _brake_factor, 3.5 * _brake_factor]
 _A_TOTAL_MAX_BP = [0., 25., 40.]