Mapsd: move on the CPU (#30349)

* mapsd -> cpu

* link directly to mesa

* Fix gitignore

* without launcher script

* dont change that

* dont need that

* add to files_common

* rename to configure cpu rendering

* without a symlink!

* update time refs

* update ref

* update ref

* remove duplicate include

* bump up again

---------

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/navd/SConscript

@@ -4,7 +4,7 @@ map_env = qt_env.Clone()
 libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
         'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
 if arch == 'larch64':
-  libs.append('EGL')
+  libs.append(':libEGL_mesa.so.0')
 
 if arch in ['larch64', 'aarch64', 'x86_64']:
   if arch == 'x86_64':

selfdrive/navd/main.cc

@@ -4,14 +4,19 @@
 #include <QApplication>
 #include <QDebug>
 
+#include "common/util.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/navd/map_renderer.h"
 #include "system/hardware/hw.h"
 
 int main(int argc, char *argv[]) {
+  Hardware::config_cpu_rendering();
+
   qInstallMessageHandler(swagLogMessageHandler);
   setpriority(PRIO_PROCESS, 0, -20);
+  int ret = util::set_core_affinity({0, 1, 2, 3});
+  assert(ret == 0);
 
   QApplication app(argc, argv);
   std::signal(SIGINT, sigTermHandler);

selfdrive/navd/tests/test_map_renderer.py

@@ -34,19 +34,12 @@ def gen_llk(location=LOCATION1):
 class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
   INTERNET_ACTIVE = True
 
-  def setup(self):
-    if self.INTERNET_ACTIVE:
-      super().setup()
-
-  def handle(self):
-    if self.INTERNET_ACTIVE:
-      super().handle()
-
-  def finish(self):
-    if self.INTERNET_ACTIVE:
-      super().finish()
-
   def do_GET(self):
+    if not self.INTERNET_ACTIVE:
+      self.send_response(500)
+      self.end_headers()
+      return
+
     url = f'https://api.mapbox.com{self.path}'
 
     headers = dict(self.headers)
@@ -218,12 +211,12 @@ class TestMapRenderer(unittest.TestCase):
       tol = (nominal / (1+tol)), (nominal * (1+tol))
       self.assertTrue(tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}")
 
-    assert_stat(_mean,   0.0035)
-    assert_stat(_median, 0.0034)
-    assert_stat(_stddev, 0.00093, tol=0.5)
+    assert_stat(_mean,   0.030)
+    assert_stat(_median, 0.027)
+    assert_stat(_stddev, 0.0078)
 
-    self.assertLess(_max, 0.2)
-    self.assertGreater(_min, 0.0010)
+    self.assertLess(_max, 0.065)
+    self.assertGreater(_min, 0.015)
 
 
 if __name__ == "__main__":

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-eec02217169e6f5d71b8a376368ea96e83b10e4a
+ca18755cd1a1bc28c06e85a280d79d7e48a8438c

selfdrive/test/test_onroad.py

@@ -33,7 +33,7 @@ PROCS = {
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
-  "./mapsd": 2.0,
+  "./mapsd": 1.5,
   "selfdrive.controls.plannerd": 16.5,
   "./_ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
@@ -301,7 +301,7 @@ class TestOnroad(unittest.TestCase):
     self.assertLessEqual(max(mems) - min(mems), 3.0)
 
   def test_gpu_usage(self):
-    self.assertEqual(self.gpu_procs, {"weston", "_ui", "mapsd", "camerad", "selfdrive.modeld.modeld"})
+    self.assertEqual(self.gpu_procs, {"weston", "_ui", "camerad", "selfdrive.modeld.modeld"})
 
   def test_camera_processing_time(self):
     result = "\n"

system/hardware/base.h

@@ -34,6 +34,8 @@ public:
   static bool get_ssh_enabled() { return false; }
   static void set_ssh_enabled(bool enabled) {}
 
+  static void config_cpu_rendering();
+
   static bool PC() { return false; }
   static bool TICI() { return false; }
   static bool AGNOS() { return false; }

system/hardware/pc/hardware.h

@@ -20,4 +20,9 @@ public:
     snprintf(volume_str, sizeof(volume_str), "%.3f", volume);
     std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
   }
+
+  static void config_cpu_rendering() {
+    setenv("QT_QPA_PLATFORM", "offscreen", 1);
+    setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1);
+  }
 };

system/hardware/tici/hardware.h

@@ -103,4 +103,9 @@ public:
 
   static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
   static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
+
+  static void config_cpu_rendering() {
+    setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES
+    setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU
+  }
 };