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36 lines
915 B
Python
36 lines
915 B
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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import threading
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import traceback
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from openpilot.common.realtime import Ratekeeper, config_realtime_process
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from openpilot.iqpilot.iq_maps.road_data import debug_road_data
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from openpilot.iqpilot.iq_maps.road_data.iq_road_layer import IQRoadLayer
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ROAD_LAYER_HZ = 1
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ROAD_LAYER_CORES = [0, 1, 2, 3]
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def _log_thread_exception(args) -> None:
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debug_road_data(f"IQ maps threading exception:\n{args}")
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traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
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def run() -> None:
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config_realtime_process(ROAD_LAYER_CORES, 5)
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layer = IQRoadLayer()
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rk = Ratekeeper(ROAD_LAYER_HZ, print_delay_threshold=None)
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while True:
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layer.step()
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rk.keep_time()
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def main() -> None:
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threading.excepthook = _log_thread_exception
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run()
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if __name__ == "__main__":
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main()
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