Guten Morgen

system/manager/process_config.py

@@ -117,6 +117,14 @@ def run_navigationd(started: bool, params: Params, CP: car.CarParams, starpilot_
   return started and params.get("NavDestination") is not None
 
 
+def run_mapd(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
+  if started:
+    return True
+
+  memory_params = Params(memory=True)
+  return memory_params.get_bool("DownloadMaps") or memory_params.get_bool("CancelDownloadMaps")
+
+
 def bluetooth_enabled(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
   return params.get_bool("BluetoothEnabled")
 
@@ -216,7 +224,7 @@ else:
 procs += [
   PythonProcess("device_syncd", "starpilot.system.device_syncd", always_run),
   PythonProcess("starpilot_process", "starpilot.starpilot_process", always_run),
-  PythonProcess("mapd", "starpilot.navigation.mapd_wrapper", always_run, nice=19),
+  PythonProcess("mapd", "starpilot.navigation.mapd_wrapper", run_mapd, nice=19),
   PythonProcess("navigationd", "starpilot.navigation.navigationd", run_navigationd, nice=19),
   PythonProcess("speed_limit_filler", "starpilot.system.speed_limit_filler", run_speed_limit_filler, nice=19),
   PythonProcess("speed_limit_vision", "starpilot.system.speed_limit_vision", run_speed_limit_vision, nice=19),

system/manager/test/test_process_config.py

@@ -4,6 +4,7 @@ import pytest
 
 from cereal import car
 from opendbc.car.ford.values import CAR as FORD_CAR
+import openpilot.system.manager.process_config as process_config
 from openpilot.system.manager.process_config import (
   allow_uploads,
   bluetooth_enabled,
@@ -48,6 +49,31 @@ def test_uploader_runs_at_background_priority():
   assert managed_processes["uploader"].nice == 19
 
 
+def test_mapd_runs_onroad_or_during_offroad_map_transfer(monkeypatch):
+  class MemoryParams:
+    values = {}
+
+    def __init__(self, *, memory=False):
+      assert memory
+
+    def get_bool(self, key):
+      return self.values.get(key, False)
+
+  monkeypatch.setattr(process_config, "Params", MemoryParams)
+  params = object()
+  CP = car.CarParams.new_message()
+  toggles = SimpleNamespace()
+
+  assert process_config.run_mapd(True, params, CP, toggles)
+  assert not process_config.run_mapd(False, params, CP, toggles)
+
+  MemoryParams.values["DownloadMaps"] = True
+  assert process_config.run_mapd(False, params, CP, toggles)
+
+  MemoryParams.values = {"DownloadMaps": False, "CancelDownloadMaps": True}
+  assert process_config.run_mapd(False, params, CP, toggles)
+
+
 @pytest.mark.parametrize("enabled", [False, True])
 def test_bluetooth_process_is_param_gated(enabled):
   params = SimpleNamespace(get_bool=lambda key: enabled if key == "BluetoothEnabled" else False)