From f39ea7e44679af44b25f966906bdbae65f577995 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Fri, 9 Jun 2023 09:09:53 -0400
Subject: [PATCH] mapd: smaller query radius to lower RAM usage (#115)

---
 selfdrive/mapd/config.py | 1 +
 selfdrive/mapd/mapd.py   | 6 +++---
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/mapd/config.py b/selfdrive/mapd/config.py
index 5d122422ca..94b6b1a89a 100644
--- a/selfdrive/mapd/config.py
+++ b/selfdrive/mapd/config.py
@@ -1,6 +1,7 @@
 # Map query config
 
 QUERY_RADIUS = 3000  # mts. Radius to use on OSM data queries.
+QUERY_RADIUS_OFFLINE = 2250  # mts. Radius to use on offline OSM data queries.
 MIN_DISTANCE_FOR_NEW_QUERY = 1000  # mts. Minimum distance to query area edge before issuing a new query.
 FULL_STOP_MAX_SPEED = 1.39  # m/s Max speed for considering car is stopped.
 LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapData msg.
diff --git a/selfdrive/mapd/mapd.py b/selfdrive/mapd/mapd.py
index fb8eeaf431..db40c16abb 100644
--- a/selfdrive/mapd/mapd.py
+++ b/selfdrive/mapd/mapd.py
@@ -11,7 +11,7 @@ from common.realtime import Ratekeeper
 from selfdrive.mapd.lib.osm import OSM
 from selfdrive.mapd.lib.geo import distance_to_points
 from selfdrive.mapd.lib.WayCollection import WayCollection
-from selfdrive.mapd.config import QUERY_RADIUS, MIN_DISTANCE_FOR_NEW_QUERY, FULL_STOP_MAX_SPEED, LOOK_AHEAD_HORIZON_TIME
+from selfdrive.mapd.config import QUERY_RADIUS, QUERY_RADIUS_OFFLINE, MIN_DISTANCE_FOR_NEW_QUERY, FULL_STOP_MAX_SPEED, LOOK_AHEAD_HORIZON_TIME
 from system.swaglog import cloudlog
 
 DataType = log.LiveMapData.DataType
@@ -130,7 +130,7 @@ class MapD():
       return
 
     self._query_thread = threading.Thread(target=query, args=(self.osm, self.location_deg, self.location_rad,
-                                                              QUERY_RADIUS))
+                                                              QUERY_RADIUS_OFFLINE if self.data_type == DataType.offline else QUERY_RADIUS))
     self._query_thread.start()
 
   def updated_osm_data(self):
@@ -145,7 +145,7 @@ class MapD():
 
     if self.last_fetch_location is not None:
       distance_since_last = distance_to_points(self.last_fetch_location, np.array([self.location_rad]))[0]
-      if distance_since_last < QUERY_RADIUS - MIN_DISTANCE_FOR_NEW_QUERY:
+      if distance_since_last < (QUERY_RADIUS_OFFLINE if self.data_type == DataType.offline else QUERY_RADIUS) - MIN_DISTANCE_FOR_NEW_QUERY:
         # do not query if are still not close to the border of previous query area
         return