Brian Hanson 02f25f83c4 perf: hoist Params read out of create_steering_messages 100Hz path ...

create_steering_messages was constructing a new Params("/dev/shm/params")
object and reading no_lat_lane_change on every CAN steering message build
— i.e. 100 allocations + 100 file reads per second. Now the Params
instance lives on CarController, and the value is read once per update()
cycle and passed as a parameter.

Audited all other hyundai CAN-FD integration code for similar patterns:
- carstate.py — already fixed (previous commit)
- carcontroller.py — other Params references are all in commented-out code
- hyundaicanfd.py::create_buttons_alt — dead code (early return), so the
  Params read there never executes; left as-is

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

2026-04-16 21:34:52 -05:00

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