mapd: Set thread affinity

common/realtime.py

@@ -2,6 +2,8 @@
 import gc
 import os
 import time
+import threading
+import psutil
 from collections import deque
 from typing import Optional, List, Union
 
@@ -45,6 +47,14 @@ def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None
   set_core_affinity(c)
 
 
+def set_thread_affinity(thread: threading.Thread, cores: List[int]) -> None:
+  try:
+    process = psutil.Process(thread.ident)
+    process.cpu_affinity(cores)
+  except Exception as e:
+    print(f"Error setting thread affinity: {e}")
+
+
 class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""

selfdrive/mapd/mapd.py

@@ -7,7 +7,7 @@ from time import strftime, gmtime
 from cereal import custom
 import cereal.messaging as messaging
 from common.params import Params
-from common.realtime import set_core_affinity, Ratekeeper
+from common.realtime import set_core_affinity, set_thread_affinity, Ratekeeper
 from selfdrive.mapd.lib.osm import OSM
 from selfdrive.mapd.lib.geo import distance_to_points
 from selfdrive.mapd.lib.WayCollection import WayCollection
@@ -131,6 +131,7 @@ class MapD():
 
     self._query_thread = threading.Thread(target=query, args=(self.osm, self.location_deg, self.location_rad,
                                                               QUERY_RADIUS_OFFLINE if self.data_type == DataType.offline else QUERY_RADIUS))
+    set_thread_affinity(self._query_thread, [0, 1, 2, 3])
     self._query_thread.start()
 
   def updated_osm_data(self):