IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/iqmodeld/daemon.py

@@ -63,6 +63,9 @@ IQP_NAV_MODEL_INFLUENCE_ENABLED = False
 TurnDirection = custom.IQTurnSignalDirection
 IQMODEL_EVAL_WARN_US = int(DT_MDL * 1_000_000)
 IQMODEL_EVAL_ERROR_US = IQMODEL_EVAL_WARN_US * 2
+_FRAME_STARVED_BACKOFF_POLLS = 5
+_FRAME_STARVED_BACKOFF_SECONDS = 0.005
+_FRAME_STARVED_LOG_EVERY = 200
 
 
 def _plan_y_std_1s(outputs: dict[str, np.ndarray]) -> float:
@@ -605,12 +608,21 @@ class InferenceDaemon:
 
   def serve(self) -> None:
     tick = 0
+    starved_polls = 0
     while True:
       frame_pair = self._cameras.pull()
       if frame_pair is None:
-        cloudlog.debug("visionipc frame missing")
+        starved_polls += 1
+        if starved_polls >= _FRAME_STARVED_BACKOFF_POLLS:
+          time.sleep(_FRAME_STARVED_BACKOFF_SECONDS)
+        if starved_polls % _FRAME_STARVED_LOG_EVERY == 0:
+          cloudlog.error(f"visionipc delivered no frames for {starved_polls} polls; model is not running")
         continue
 
+      if starved_polls:
+        cloudlog.warning(f"visionipc recovered after {starved_polls} frameless polls")
+        starved_polls = 0
+
       main_buf, extra_buf, main_stamp, extra_stamp = frame_pair
       self._sub.update(0)
       self._refresh_tunables(tick)