IQ.Pilot Release Commit @ 0798119

iqpilot/iq_maps/road_data/road_daemon.py

@@ -0,0 +1,35 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+import threading
+import traceback
+
+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 _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 run() -> None:
+  config_realtime_process(ROAD_LAYER_CORES, 5)
+  layer = IQRoadLayer()
+  rk = Ratekeeper(ROAD_LAYER_HZ, print_delay_threshold=None)
+  while True:
+    layer.step()
+    rk.keep_time()
+
+
+def main() -> None:
+  threading.excepthook = _log_thread_exception
+  run()
+
+
+if __name__ == "__main__":
+  main()