brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity

perf: gate hot /dev/shm writes on change — controlsd 69%→28% CPU

Browse Source 
py-spy showed per-cycle atomic param writes were the dominant cost. Each
put() is mkstemp+fsync+flock+rename+fsync_dir — fine when rare, ruinous at
100Hz. At park with no state changes, these writes were running anyway and
the flock contention was poisoning the whole system.

carstate.py (update + update_canfd): CarSpeedLimit, CarIsMetric,
  CarCruiseDisplayActual were written every CAN update. Now cached and
  written only on change.
controlsd.py: same fix for LatRequested and no_lat_lane_change. Also
  throttle the sentry crash-file stat() from 100Hz to 1Hz.

Also: suppress locationdTemporaryError/paramsdTemporaryError/posenetInvalid
on lat engage (same 2s window as commIssue), and tie suppression to the
LatRequested edge instead of CC.latActive (fires immediately, not after
the 250ms ramp-up delay).

Also: reset Ratekeeper when it falls >1s behind — the ~6s fingerprinting
stall at startup was poisoning the lag metric for the entire session.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-16 17:34:07 -05:00
parent 2d819c784b
commit 7a1e157c9c
2 changed files with 54 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
selfdrive/car/hyundai/carstate.py
View File

@@ -48,6 +48,11 @@ class CarState(CarStateBase):
self.is_metric = False
self.buttons_counter = 0
# CLEARPILOT: cache to avoid per-cycle atomic writes to /dev/shm (eats CPU via fsync/flock)
self._prev_car_speed_limit = None
self._prev_car_is_metric = None
self._prev_car_cruise_display = None
self.cruise_info = {}
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
@@ -210,10 +215,18 @@ class CarState(CarStateBase):
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
# self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
self.params_memory.put_float("CarCruiseDisplayActual", cp_cruise.vl["SCC11"]["VSetDis"])
# CLEARPILOT: gate on change — see same fix in update_canfd
car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
if car_speed_limit != self._prev_car_speed_limit:
self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
self._prev_car_speed_limit = car_speed_limit
if self.is_metric != self._prev_car_is_metric:
self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
self._prev_car_is_metric = self.is_metric
car_cruise_display = cp_cruise.vl["SCC11"]["VSetDis"]
if car_cruise_display != self._prev_car_cruise_display:
self.params_memory.put_float("CarCruiseDisplayActual", car_cruise_display)
self._prev_car_cruise_display = car_cruise_display
return ret
@@ -417,11 +430,14 @@ class CarState(CarStateBase):
# nonAdaptive = false,
# speedCluster = 0 )
# print("Set limit")
# print(self.calculate_speed_limit(cp, cp_cam))
# 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)
self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
# CLEARPILOT: gate on change — these writes run 100Hz, each is an atomic fsync/flock transaction
car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
if car_speed_limit != self._prev_car_speed_limit:
self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
self._prev_car_speed_limit = car_speed_limit
if self.is_metric != self._prev_car_is_metric:
self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
self._prev_car_is_metric = self.is_metric
# CLEARPILOT: telemetry logging — disabled, re-enable when needed
# speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam