mirror of https://github.com/commaai/openpilot.git
119 lines
3.1 KiB
Cython
119 lines
3.1 KiB
Cython
# distutils: language = c++
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# cython: language_level = 3
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from libcpp cimport bool
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from libcpp.string cimport string
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from libcpp.vector cimport vector
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cdef extern from "common/params.h":
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cpdef enum ParamKeyType:
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PERSISTENT
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CLEAR_ON_MANAGER_START
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CLEAR_ON_ONROAD_TRANSITION
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CLEAR_ON_OFFROAD_TRANSITION
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DEVELOPMENT_ONLY
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ALL
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cdef cppclass c_Params "Params":
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c_Params(string) except + nogil
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string get(string, bool) nogil
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bool getBool(string, bool) nogil
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int remove(string) nogil
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int put(string, string) nogil
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void putNonBlocking(string, string) nogil
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void putBoolNonBlocking(string, bool) nogil
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int putBool(string, bool) nogil
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bool checkKey(string) nogil
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string getParamPath(string) nogil
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void clearAll(ParamKeyType)
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vector[string] allKeys()
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def ensure_bytes(v):
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return v.encode() if isinstance(v, str) else v;
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class UnknownKeyName(Exception):
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pass
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cdef class Params:
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cdef c_Params* p
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def __cinit__(self, d=""):
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cdef string path = <string>d.encode()
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with nogil:
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self.p = new c_Params(path)
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def __dealloc__(self):
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del self.p
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def clear_all(self, tx_type=ParamKeyType.ALL):
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self.p.clearAll(tx_type)
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def check_key(self, key):
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key = ensure_bytes(key)
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if not self.p.checkKey(key):
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raise UnknownKeyName(key)
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return key
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def get(self, key, bool block=False, encoding=None):
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cdef string k = self.check_key(key)
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cdef string val
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with nogil:
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val = self.p.get(k, block)
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if val == b"":
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if block:
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# If we got no value while running in blocked mode
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# it means we got an interrupt while waiting
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raise KeyboardInterrupt
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else:
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return None
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return val if encoding is None else val.decode(encoding)
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def get_bool(self, key, bool block=False):
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cdef string k = self.check_key(key)
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cdef bool r
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with nogil:
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r = self.p.getBool(k, block)
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return r
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def put(self, key, dat):
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"""
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Warning: This function blocks until the param is written to disk!
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In very rare cases this can take over a second, and your code will hang.
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Use the put_nonblocking, put_bool_nonblocking in time sensitive code, but
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in general try to avoid writing params as much as possible.
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"""
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cdef string k = self.check_key(key)
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cdef string dat_bytes = ensure_bytes(dat)
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with nogil:
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self.p.put(k, dat_bytes)
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def put_bool(self, key, bool val):
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cdef string k = self.check_key(key)
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with nogil:
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self.p.putBool(k, val)
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def put_nonblocking(self, key, dat):
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cdef string k = self.check_key(key)
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cdef string dat_bytes = ensure_bytes(dat)
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with nogil:
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self.p.putNonBlocking(k, dat_bytes)
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def put_bool_nonblocking(self, key, bool val):
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cdef string k = self.check_key(key)
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with nogil:
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self.p.putBoolNonBlocking(k, val)
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def remove(self, key):
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cdef string k = self.check_key(key)
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with nogil:
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self.p.remove(k)
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def get_param_path(self, key=""):
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cdef string key_bytes = ensure_bytes(key)
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return self.p.getParamPath(key_bytes).decode("utf-8")
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def all_keys(self):
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return self.p.allKeys()
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