IQ.Pilot Release Commit @ 6d177d4

iqpilot/iq_maps/road_data/road_daemon.py

@@ -1,11 +1,6 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 """
-# DISCLAIMER: This code is intended principally for development and debugging purposes.
-# Although it provides a standalone entry point to the program, users should refer
-# to the actual implementations for consumption. Usage outside of development scenarios
-# is not advised and could lead to unpredictable results.
-
 import threading
 import traceback
 
@@ -13,26 +8,27 @@ from openpilot.common.realtime import Ratekeeper, config_realtime_process
 from openpilot.iqpilot.iq_maps.road_data import debug_road_data
 from openpilot.iqpilot.iq_maps.road_data.iq_road_layer import IQRoadLayer
 
+ROAD_LAYER_HZ = 1
+ROAD_LAYER_CORES = [0, 1, 2, 3]
 
-def excepthook(args):
-  debug_road_data(f'IQ maps threading exception:\n{args}')
+
+def _log_thread_exception(args) -> None:
+  debug_road_data(f"IQ maps threading exception:\n{args}")
   traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
 
 
-def live_map_data_iq_thread():
-  config_realtime_process([0, 1, 2, 3], 5)
-
-  live_map_iq = IQRoadLayer()
-  rk = Ratekeeper(1, print_delay_threshold=None)
-
+def run() -> None:
+  config_realtime_process(ROAD_LAYER_CORES, 5)
+  layer = IQRoadLayer()
+  rk = Ratekeeper(ROAD_LAYER_HZ, print_delay_threshold=None)
   while True:
-    live_map_iq.step()
+    layer.step()
     rk.keep_time()
 
 
-def main():
-  threading.excepthook = excepthook
-  live_map_data_iq_thread()
+def main() -> None:
+  threading.excepthook = _log_thread_exception
+  run()
 
 
 if __name__ == "__main__":