From 851f08270500ccf370710147d0c9b5aed6af4024 Mon Sep 17 00:00:00 2001
From: FrogAi <91348155+FrogAi@users.noreply.github.com>
Date: Thu, 9 May 2024 18:04:46 -0700
Subject: [PATCH] FrogPilot setup - Handle integer and float parameters

---
 common/params.h       | 22 ++++++++++++++++++++++
 common/params_pyx.pyx | 40 ++++++++++++++++++++++++++++++++++++++++
 2 files changed, 62 insertions(+)

diff --git a/common/params.h b/common/params.h
index d726a61..9c8af82 100644
--- a/common/params.h
+++ b/common/params.h
@@ -43,6 +43,14 @@ public:
   inline bool getBool(const std::string &key, bool block = false) {
     return get(key, block) == "1";
   }
+  inline int getInt(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0 : std::stoi(value);
+  }
+  inline float getFloat(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0.0 : std::stof(value);
+  }
   std::map<std::string, std::string> readAll();
 
   // helpers for writing values
@@ -53,10 +61,24 @@ public:
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  inline int putInt(const std::string &key, int val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
+  inline int putFloat(const std::string &key, float val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
   void putNonBlocking(const std::string &key, const std::string &val);
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }
+  void putIntNonBlocking(const std::string &key, const std::string &val);
+  inline void putIntNonBlocking(const std::string &key, int val) {
+    putNonBlocking(key, std::to_string(val));
+  }
+  void putFloatNonBlocking(const std::string &key, const std::string &val);
+  inline void putFloatNonBlocking(const std::string &key, float val) {
+    putNonBlocking(key, std::to_string(val));
+  }
 
 private:
   void asyncWriteThread();
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 535514e..ddce510 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -17,11 +17,17 @@ cdef extern from "common/params.h":
     c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
+    int getInt(string, bool) nogil
+    float getFloat(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     void putNonBlocking(string, string) nogil
     void putBoolNonBlocking(string, bool) nogil
+    void putIntNonBlocking(string, int) nogil
+    void putFloatNonBlocking(string, float) nogil
     int putBool(string, bool) nogil
+    int putInt(string, int) nogil
+    int putFloat(string, float) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
@@ -77,6 +83,20 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def get_int(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef int r
+    with nogil:
+      r = self.p.getInt(k, block)
+    return r
+
+  def get_float(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef float r
+    with nogil:
+      r = self.p.getFloat(k, block)
+    return r
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -94,6 +114,16 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_int(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putInt(k, val)
+
+  def put_float(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloat(k, val)
+
   def put_nonblocking(self, key, dat):
     cdef string k = self.check_key(key)
     cdef string dat_bytes = ensure_bytes(dat)
@@ -105,6 +135,16 @@ cdef class Params:
     with nogil:
       self.p.putBoolNonBlocking(k, val)
 
+  def put_int_nonblocking(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putIntNonBlocking(k, val)
+
+  def put_float_nonblocking(self, key, float val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putFloatNonBlocking(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil: