improve get_torque_params (commaai#32586)

* Loading torque data only once and reusing it across function calls. * apply review * still check only one entry * fix that --------- Co-authored-by: Shane Smiskol <[email protected]>
deanlee · Jun 6, 2024 · 045b9f2 · 045b9f2
1 parent a418c9e
commit 045b9f2
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Showing 2 changed files with 21 additions and 17 deletions.
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
@@ -57,29 +57,33 @@ class LatControlInputs(NamedTuple):
 
 
 @cache
-def get_torque_params(candidate):
+def get_torque_params():
   with open(TORQUE_SUBSTITUTE_PATH, 'rb') as f:
     sub = tomllib.load(f)
-  if candidate in sub:
-    candidate = sub[candidate]
-
   with open(TORQUE_PARAMS_PATH, 'rb') as f:
     params = tomllib.load(f)
   with open(TORQUE_OVERRIDE_PATH, 'rb') as f:
     override = tomllib.load(f)
 
-  # Ensure no overlap
-  if sum([candidate in x for x in [sub, params, override]]) > 1:
-    raise RuntimeError(f'{candidate} is defined twice in torque config')
+  torque_params = {}
+  for candidate in (sub.keys() | params.keys() | override.keys()) - {'legend'}:
+    if sum([candidate in x for x in [sub, params, override]]) > 1:
+      raise RuntimeError(f'{candidate} is defined twice in torque config')
+
+    sub_candidate = sub.get(candidate, candidate)
+
+    if sub_candidate in override:
+      out = override[sub_candidate]
+    elif sub_candidate in params:
+      out = params[sub_candidate]
+    else:
+      raise NotImplementedError(f"Did not find torque params for {sub_candidate}")
 
-  if candidate in override:
-    out = override[candidate]
-  elif candidate in params:
-    out = params[candidate]
-  else:
-    raise NotImplementedError(f"Did not find torque params for {candidate}")
-  return {key: out[i] for i, key in enumerate(params['legend'])}
+    torque_params[sub_candidate] = {key: out[i] for i, key in enumerate(params['legend'])}
+    if candidate in sub:
+      torque_params[candidate] = torque_params[sub_candidate]
 
+  return torque_params
 
 # generic car and radar interfaces
 
@@ -180,7 +184,7 @@ def get_std_params(candidate):
     ret.carFingerprint = candidate
 
     # Car docs fields
-    ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED']
+    ret.maxLateralAccel = get_torque_params()[candidate]['MAX_LAT_ACCEL_MEASURED']
     ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
 
     # standard ALC params
@@ -213,7 +217,7 @@ def get_std_params(candidate):
 
   @staticmethod
   def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
-    params = get_torque_params(candidate)
+    params = get_torque_params()[candidate]
 
     tune.init('torque')
     tune.torque.useSteeringAngle = use_steering_angle

diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
@@ -43,7 +43,7 @@ def setup_class(cls):
 
     CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
     cls.control_params = CarControllerParams(CP)
-    cls.torque_params = get_torque_params(cls.car_model)
+    cls.torque_params = get_torque_params()[cls.car_model]
 
   @staticmethod
   def calculate_0_5s_jerk(control_params, torque_params):