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hardwared: non blocking read for touch events (#34263)

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* slow

* slow

* non blocking

* 10

* try

* simple

* int

* test

* get

* try

* clean

* read all

* nested

* simpler

* indent

* cleanup
This commit is contained in:
Maxime Desroches
2024-12-16 17:10:47 -08:00
committed by GitHub
parent a984903298
commit 71b02f8001
1 changed files with 25 additions and 16 deletions
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41
system/hardware/hardwared.py
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@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import fcntl
import os
import json
import queue
@@ -61,6 +62,8 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
set_offroad_alert(offroad_alert, show_alert, extra_text)
def touch_thread(end_event):
count = 0
pm = messaging.PubMaster(["touch"])
event_format = "llHHi"
@@ -68,23 +71,29 @@ def touch_thread(end_event):
event_frame = []
with open("/dev/input/by-path/platform-894000.i2c-event", "rb") as event_file:
fcntl.fcntl(event_file, fcntl.F_SETFL, os.O_NONBLOCK)
while not end_event.is_set():
event = event_file.read(event_size)
if event:
(sec, usec, etype, code, value) = struct.unpack(event_format, event)
if etype != 0 or code != 0 or value != 0:
touch = log.Touch.new_message()
touch.sec = sec
touch.usec = usec
touch.type = etype
touch.code = code
touch.value = value
event_frame.append(touch)
else: # end of frame, push new log
msg = messaging.new_message('touch', len(event_frame), valid=True)
msg.touch = event_frame
pm.send('touch', msg)
event_frame = []
if (count % int(1. / DT_HW)) == 0:
event = event_file.read(event_size)
if event:
(sec, usec, etype, code, value) = struct.unpack(event_format, event)
if etype != 0 or code != 0 or value != 0:
touch = log.Touch.new_message()
touch.sec = sec
touch.usec = usec
touch.type = etype
touch.code = code
touch.value = value
event_frame.append(touch)
else: # end of frame, push new log
msg = messaging.new_message('touch', len(event_frame), valid=True)
msg.touch = event_frame
pm.send('touch', msg)
event_frame = []
continue
count += 1
time.sleep(DT_HW)
def hw_state_thread(end_event, hw_queue):