improve clear() efficiency

selfdrive/selfdrived/events.py

@@ -52,6 +52,7 @@ def __init__(self):
  self.events: list[int] = []
  self.static_events: list[int] = []
  self.event_counters = dict.fromkeys(EVENTS.keys(), 0)
+ self.prev_event_set: set[int] = set()
 
  @property
  def names(self) -> list[int]:
@@ -65,9 +66,20 @@ def add(self, event_name: int, static: bool=False) -> None:
  bisect.insort(self.static_events, event_name)
  bisect.insort(self.events, event_name)
 
+ self.event_counters[event_name] += 1
+
  def clear(self) -> None:
- self.event_counters = {k: (v + 1 if k in self.events else 0) for k, v in self.event_counters.items()}
+ # Get events no longer active
+ current_event_set = set(self.events)
+ events_to_clear = self.prev_event_set - current_event_set
+
+ # Reset counters for inactive events
+ for event_name in events_to_clear:
+ self.event_counters[event_name] = 0
+
+ # Reset active events and update previous set
  self.events = self.static_events.copy()
+ self.prev_event_set = current_event_set
 
  def contains(self, event_type: str) -> bool:
  return any(event_type in EVENTS.get(e, {}) for e in self.events)
@@ -85,7 +97,7 @@ def create_alerts(self, event_types: list[str], callback_args=None):
  if not isinstance(alert, Alert):
  alert = alert(*callback_args)
 
- if DT_CTRL * (self.event_counters[e] + 1) >= alert.creation_delay:
+ if (DT_CTRL * self.event_counters[e]) >= alert.creation_delay:
  alert.alert_type = f"{EVENT_NAME[e]}/{et}"
  alert.event_type = et
  ret.append(alert)