Minor performance improve for lane planner update_dp_set_offsets()

selfdrive/controls/lib/lane_planner.py

@@ -45,15 +45,23 @@ def __init__(self, wide_camera=False):
     self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
     self.path_offset = -PATH_OFFSET if wide_camera else PATH_OFFSET
 
+    self.dp_camera_offset = None
+    self.dp_path_offset = None
     self.dp_wide_camera = wide_camera
 
   def update_dp_set_offsets(self, camera_offset, path_offset):
-    camera_offset = -camera_offset    
-    path_offset = -path_offset        
-    # from 0.04 to -0.04, difference is -0.08
-    # so we can assume the distance between C3's 2 cameras is 8 cm
-    self.camera_offset = (camera_offset - 8) * 0.01 if self.dp_wide_camera else camera_offset * 0.01
-    self.path_offset = (path_offset - 8) * 0.01 if self.dp_wide_camera else path_offset * 0.01
+    if self.dp_camera_offset != camera_offset:
+      self.dp_camera_offset = camera_offset
+      camera_offset = -camera_offset
+      # from 0.04 to -0.04, difference is -0.08
+      # so we can assume the distance between C3's 2 cameras is 8 cm
+      self.camera_offset = (camera_offset - 8) * 0.01 if self.dp_wide_camera else camera_offset * 0.01
+    if self.dp_path_offset != path_offset:
+      self.dp_path_offset = path_offset
+      path_offset = -path_offset
+      # from 0.04 to -0.04, difference is -0.08
+      # so we can assume the distance between C3's 2 cameras is 8 cm
+      self.path_offset = (path_offset - 8) * 0.01 if self.dp_wide_camera else path_offset * 0.01
 
   def parse_model(self, md):
     lane_lines = md.laneLines