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IQ.Pilot Release Commit @ f2a861c

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IQ.Lvbs CI [bot]
2026-09-02 15:07:09 -05:00
parent b42569dbca
commit e8748fd704
5497 changed files with 316070 additions and 179848 deletions
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74
iqpilot/iq_maps/orchestrator.py
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@@ -12,39 +12,23 @@ import threading
import time
from datetime import datetime
import cereal.messaging as messaging
from cereal import custom
from openpilot.common.params import Params
from openpilot.common.realtime import Ratekeeper, config_realtime_process
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from openpilot.system.hardware.hw import Paths
from openpilot.iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
from openpilot.iqpilot.iq_maps.tile_bundle_downloader import TileBundleDownloader, region_bundle_installed
from openpilot.iqpilot.iq_maps.vendor_mapd_installer import VendorMapdInstaller
import iqpilot.cereal.messaging as messaging
from iqpilot.cereal import custom
from iqpilot.common.params import Params
from iqpilot.common.realtime import Ratekeeper, config_realtime_process
from iqpilot.common.swaglog import cloudlog
from iqpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
from iqpilot.system.hardware.hw import Paths
from iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
from iqpilot.iq_maps.tile_bundle_downloader import TileBundleDownloader, region_bundle_installed
from iqpilot.iq_maps.vendor_mapd_installer import VendorMapdInstaller
OfflineMapAction = custom.MapdInputType
_region_sync_worker: threading.Thread | None = None
# mapd_manager only runs offroad (process_config.only_offroad) and the onroad
# NativeProcess("mapd", ...) is started the instant `started` flips True. If a
# vendor-map download is in flight at that exact moment, the two `mapd`
# binaries end up pointed at the same Paths.mapd_root() tile directory at the
# same time: this one still downloading/writing, the onroad one already
# mmap-reading. Manager only sends SIGINT/SIGTERM to stop mapd_manager, which
# by default only interrupts the main thread — the background download thread
# and the vendor `mapd` subprocess it spawned are otherwise orphaned and keep
# writing into the tile directory the onroad reader just opened, which is what
# was segfaulting (-12) the onroad process in a tight restart loop. The lock +
# pidfile below make sure that subprocess is always killed (on clean shutdown
# via the signal handlers, and on the next boot if this process itself got
# SIGKILLed) before anything else is allowed to read the tile directory.
_active_proc_lock = threading.Lock()
_active_proc: subprocess.Popen | None = None
_shutdown = threading.Event()
# Display-tile bundles for the offline on-screen map (separate asset from mapd's routing
# data). Downloaded after the mapd fetch in the same worker so a region selection installs
# both, and independently restorable when only the tile bundle is missing.
_tile_downloader: TileBundleDownloader | None = None
@@ -62,7 +46,6 @@ def _pid_is_vendor_fetch(pid: int) -> bool:
def _reap_orphaned_vendor_fetch() -> None:
"""Kill any vendor-fetch mapd subprocess left running from a prior, uncleanly-terminated run."""
pidfile = _vendor_fetch_pidfile()
try:
with open(pidfile) as f:
@@ -121,19 +104,11 @@ def _install_signal_handlers() -> None:
signal.signal(signal.SIGTERM, _handle_shutdown_signal)
class _QuietSpinner:
def update(self, *args, **kwargs) -> None:
pass
def close(self, *args, **kwargs) -> None:
pass
def ensure_vendor_runtime() -> None:
try:
VendorMapdInstaller(_QuietSpinner()).check_and_download()
VendorMapdInstaller().verify()
except Exception:
cloudlog.exception("iq_maps: vendor runtime install/download failed")
cloudlog.exception("iq_maps: vendor runtime verification failed")
params = Params()
mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
@@ -179,10 +154,6 @@ def _compose_region_selector(nations: list[str], states: list[str] | None = None
def _fetch_tile_bundles(region_selector: str, abort_check=None) -> None:
"""Download the offline on-screen map display tiles for the selected regions.
Separate asset from mapd's routing data: the on-screen map's OsmOfflineProvider reads
raster .mbtiles bundles, so a region selection installs both when OfflineOSMaps is on."""
global _tile_downloader
if not params.get_bool("OfflineOSMaps"):
return
@@ -245,8 +216,6 @@ def _drive_vendor_fetch(region_selector: str, requested_regions: dict) -> None:
break
cloudlog.info(f"iq_maps: vendor map download finished for {region_selector}")
if not cancelled and not _shutdown.is_set():
# OSMDownloadLocations stays set until the finally below, so the konn3kt cancel RPC
# (which removes it) aborts the tile phase exactly like it cancels the mapd phase.
_fetch_tile_bundles(region_selector, abort_check=lambda: _shutdown.is_set() or not mem_params.get("OSMDownloadLocations"))
except Exception:
cloudlog.exception("iq_maps: vendor map download failed")
@@ -310,17 +279,12 @@ _last_auto_restore_t = 0.0
def region_data_missing() -> bool:
# a media wipe (reflash/format) can delete the downloaded region while the params
# that configure offline maps survive; mapd then retries the missing files forever
# and nothing re-downloads (stale_region_artifacts only sees leftover files)
if not params.get_bool("OsmLocal"):
return False
if not params.get("OsmDownloadedDate"):
return False
if glob.glob(f"{Paths.mapd_root()}/db") or glob.glob(f"{Paths.mapd_root()}/v*"):
return False
# mapd v2 stores region tiles under offline/<evenLat>/<evenLon>.tar.gz — without this
# check a v2 install looks perpetually wiped and re-downloads every backoff interval
if glob.glob(f"{Paths.mapd_root()}/offline/*/*"):
return False
country = params.get("OsmLocationName", return_default=True)
@@ -328,8 +292,6 @@ def region_data_missing() -> bool:
def configured_states() -> list[str]:
"""Selected US states: OsmStateNames (JSON list, multi-state) wins; the legacy
single OsmStateName remains the fallback for pre-list configs."""
try:
states = params.get("OsmStateNames")
if isinstance(states, bytes):
@@ -376,8 +338,6 @@ def _configured_region_selector() -> str:
def tile_bundles_missing() -> bool:
# covers a media wipe AND the user enabling OfflineOSMaps after the region download
# already ran (the vendor fetch only pulls tile bundles when the toggle is on)
if not params.get_bool("OfflineOSMaps"):
return False
selector = _configured_region_selector()
@@ -387,8 +347,6 @@ def tile_bundles_missing() -> bool:
def maybe_restore_tile_bundles() -> None:
"""Tile-only download: don't re-run the whole mapd vendor fetch when only the display
tiles are missing."""
global _last_tile_restore_t, _tile_only_worker
if not tile_bundles_missing():
return
@@ -416,9 +374,6 @@ def sync_osm_request_flags() -> None:
maybe_restore_tile_bundles()
if params.get_bool("OsmDbUpdatesCheck"):
if _region_sync_worker is not None and _region_sync_worker.is_alive():
# A download is already writing into Paths.mapd_root() - deleting/rewriting
# files under it right now would race the writer (and any onroad mapd
# reader) the same way the orphaned-subprocess bug did. Wait for it to finish.
return
purge_stale_region_artifacts(stale_region_artifacts())
country = params.get("OsmLocationName", return_default=True)
@@ -445,11 +400,6 @@ def run_loop():
pass
except PermissionError:
cloudlog.exception(f"iq_maps: failed to make {Paths.mapd_root()}")
# A prior run that got SIGKILLed (or crashed) may have left its vendor-fetch
# mapd subprocess running and still writing into Paths.mapd_root(); clear it
# before anything (including the onroad mapd, once `started` flips) reads
# from that directory. Signal handlers cover the graceful-shutdown path.
_reap_orphaned_vendor_fetch()
_install_signal_handlers()