disable tlog calls, add param gate to tlog client

- Comment out all tlog() calls in controlsd (100Hz) and carstate (100Hz)
  — was causing controlsd to lag from JSON serialization + ZMQ overhead
- tlog() now checks TelemetryEnabled memory param (1/sec file read),
  returns immediately when disabled — zero cost when telemetry is off

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

selfdrive/car/hyundai/carstate.py

@@ -421,59 +421,14 @@ class CarState(CarStateBase):
     # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
-    # CLEARPILOT: telemetry logging
-    speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-    scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
-    cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
-
-    tlog("car", {
-      "vEgo": round(ret.vEgo, 3),
-      "vEgoRaw": round(ret.vEgoRaw, 3),
-      "aEgo": round(ret.aEgo, 3),
-      "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
-      "gear": str(ret.gearShifter),
-      "brakePressed": ret.brakePressed,
-      "gasPressed": ret.gasPressed,
-      "standstill": ret.standstill,
-      "leftBlinker": ret.leftBlinker,
-      "rightBlinker": ret.rightBlinker,
-    })
-
-    tlog("cruise", {
-      "enabled": ret.cruiseState.enabled,
-      "available": ret.cruiseState.available,
-      "speed": round(ret.cruiseState.speed, 3),
-      "standstill": ret.cruiseState.standstill,
-      "accFaulted": ret.accFaulted,
-      "brakePressed": ret.brakePressed,
-      "ACCMode": scc.get("ACCMode", 0),
-      "VSetDis": scc.get("VSetDis", 0),
-      "aReqRaw": round(scc.get("aReqRaw", 0), 3),
-      "aReqValue": round(scc.get("aReqValue", 0), 3),
-      "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
-      "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
-    })
-
-    tlog("speed_limit", {
-      "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
-      "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
-      "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
-      "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
-      "CHIME_1": cluster.get("CHIME_1", 0),
-      "CHIME_2": cluster.get("CHIME_2", 0),
-      "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
-      "calculated": self.calculate_speed_limit(cp, cp_cam),
-      "is_metric": self.is_metric,
-    })
-
-    tlog("buttons", {
-      "cruise_button": self.cruise_buttons[-1],
-      "prev_cruise_button": self.prev_cruise_buttons,
-      "main_button": self.main_buttons[-1],
-      "prev_main_button": self.prev_main_buttons,
-      "lkas_enabled": self.lkas_enabled,
-      "main_enabled": self.main_enabled,
-    })
+    # CLEARPILOT: telemetry logging — disabled, re-enable when needed
+    # speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
+    # scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
+    # cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
+    # tlog("car", { ... })
+    # tlog("cruise", { ... })
+    # tlog("speed_limit", { ... })
+    # tlog("buttons", { ... })
 
     return ret
 

selfdrive/clearpilot/telemetry.py

@@ -6,20 +6,39 @@ Usage from any process:
   tlog("canbus", {"speed": 45.2, "speed_limit": 60})
 
 Sends JSON packets over ZMQ PUSH to telemetryd, which diffs and writes CSV.
+Only sends when TelemetryEnabled memory param is set — zero cost when disabled.
 """
 import json
+import os
 import time
 import zmq
 
 TELEMETRY_SOCK = "ipc:///tmp/clearpilot_telemetry"
+_PARAM_PATH = "/dev/shm/params/d/TelemetryEnabled"
 
 _ctx = None
 _sock = None
+_last_check = 0
+_enabled = False
 
 
 def tlog(group: str, data: dict):
   """Log a telemetry packet. Only changed values will be written to CSV by telemetryd."""
-  global _ctx, _sock
+  global _ctx, _sock, _last_check, _enabled
+
+  # Check param at most once per second to avoid filesystem overhead
+  now = time.monotonic()
+  if now - _last_check > 1.0:
+    _last_check = now
+    try:
+      with open(_PARAM_PATH, 'r') as f:
+        _enabled = f.read().strip() == "1"
+    except (FileNotFoundError, IOError):
+      _enabled = False
+
+  if not _enabled:
+    return
+
   if _sock is None:
     _ctx = zmq.Context.instance()
     _sock = _ctx.socket(zmq.PUSH)

selfdrive/controls/controlsd.py

@@ -639,15 +639,13 @@ class Controls:
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
 
-    # CLEARPILOT: log engagement state for debugging cruise desync issues
-    tlog("engage", {
-      "state": self.state.name if hasattr(self.state, 'name') else str(self.state),
-      "enabled": self.enabled,
-      "active": self.active,
-      "cruise_enabled": CS.cruiseState.enabled,
-      "cruise_available": CS.cruiseState.available,
-      "brakePressed": CS.brakePressed,
-    })
+    # CLEARPILOT: engagement telemetry disabled — was running at 100Hz, causing CPU load
+    # tlog("engage", {
+    #   "state": self.state.name if hasattr(self.state, 'name') else str(self.state),
+    #   "enabled": self.enabled, "active": self.active,
+    #   "cruise_enabled": CS.cruiseState.enabled, "cruise_available": CS.cruiseState.available,
+    #   "brakePressed": CS.brakePressed,
+    # })
     if self.active:
       self.current_alert_types.append(ET.WARNING)