Jason Wen
41 lines
1.1 KiB
Python
41 lines
1.1 KiB
Python
# DISCLAIMER: This code is intended principally for development and debugging purposes.
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# Although it provides a standalone entry point to the program, users should refer
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# to the actual implementations for consumption. Usage outside of development scenarios
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# is not advised and could lead to unpredictable results.
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import threading
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import traceback
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from openpilot.common.realtime import Ratekeeper, set_core_affinity
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from openpilot.selfdrive.sunnypilot.live_map_data import get_debug
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from openpilot.selfdrive.sunnypilot.live_map_data.osm_map_data import OsmMapData
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from openpilot.common.swaglog import cloudlog
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def excepthook(args):
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get_debug(f'MapD: 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 live_map_data_sp_thread():
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try:
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set_core_affinity([0, 1, 2, 3])
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except Exception:
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cloudlog.exception("mapd: failed to set core affinity")
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live_map_sp = OsmMapData()
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rk = Ratekeeper(1, print_delay_threshold=None)
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while True:
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live_map_sp.tick()
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rk.keep_time()
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def main():
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threading.excepthook = excepthook
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live_map_data_sp_thread()
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if __name__ == "__main__":
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main()
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