Brian Hanson
4756d8e32c
- 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>
54 lines
1.4 KiB
Python
54 lines
1.4 KiB
Python
"""
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ClearPilot telemetry client library.
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Usage from any process:
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from openpilot.selfdrive.clearpilot.telemetry import tlog
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tlog("canbus", {"speed": 45.2, "speed_limit": 60})
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Sends JSON packets over ZMQ PUSH to telemetryd, which diffs and writes CSV.
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Only sends when TelemetryEnabled memory param is set — zero cost when disabled.
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"""
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import json
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import os
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import time
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import zmq
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TELEMETRY_SOCK = "ipc:///tmp/clearpilot_telemetry"
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_PARAM_PATH = "/dev/shm/params/d/TelemetryEnabled"
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_ctx = None
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_sock = None
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_last_check = 0
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_enabled = False
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def tlog(group: str, data: dict):
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"""Log a telemetry packet. Only changed values will be written to CSV by telemetryd."""
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global _ctx, _sock, _last_check, _enabled
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# Check param at most once per second to avoid filesystem overhead
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now = time.monotonic()
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if now - _last_check > 1.0:
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_last_check = now
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try:
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with open(_PARAM_PATH, 'r') as f:
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_enabled = f.read().strip() == "1"
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except (FileNotFoundError, IOError):
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_enabled = False
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if not _enabled:
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return
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if _sock is None:
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_ctx = zmq.Context.instance()
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_sock = _ctx.socket(zmq.PUSH)
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_sock.setsockopt(zmq.LINGER, 0)
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_sock.setsockopt(zmq.SNDHWM, 100)
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_sock.connect(TELEMETRY_SOCK)
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msg = json.dumps({"ts": time.time(), "group": group, "data": data})
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try:
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_sock.send_string(msg, zmq.NOBLOCK)
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except zmq.Again:
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pass # drop if collector isn't running or queue full
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