read params in a thread

selfdrive/controls/controlsd.py

@@ -2,6 +2,7 @@
 import os
 import math
 import time
+import threading
 from typing import SupportsFloat
 
 from cereal import car, log
@@ -852,11 +853,6 @@ def step(self):
  start_time = time.monotonic()
  self.prof.checkpoint("Ratekeeper", ignore=True)
 
- self.is_metric = self.params.get_bool("IsMetric")
- self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
- if self.CP.notCar:
- self.joystick_mode = self.params.get_bool("JoystickDebugMode")
-
  # Sample data from sockets and get a carState
  CS = self.data_sample()
  cloudlog.timestamp("Data sampled")
@@ -881,11 +877,26 @@ def step(self):
 
  self.CS_prev = CS
 
+ def params_thread(self, evt):
+ while not evt.is_set():
+ self.is_metric = self.params.get_bool("IsMetric")
+ self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+ if self.CP.notCar:
+ self.joystick_mode = self.params.get_bool("JoystickDebugMode")
+ time.sleep(0.1)
+
  def controlsd_thread(self):
- while True:
- self.step()
- self.rk.monitor_time()
- self.prof.display()
+ e = threading.Event()
+ t = threading.Thread(target=self.params_thread, args=(e, ))
+ try:
+ t.start()
+ while True:
+ self.step()
+ self.rk.monitor_time()
+ self.prof.display()
+ except SystemExit:
+ e.set()
+ t.join()
 
 
 def main():