Added optional timeout on map_renderer.wait_ready

deanlee · Apr 8, 2024 · d114924 · d114924
1 parent 16a473b
commit d114924
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
@@ -31,7 +31,8 @@ def get_ffi():
  return ffi, ffi.dlopen(lib)
 
 
-def wait_ready(lib, renderer):
+def wait_ready(lib, renderer, timeout=None):
+ st = time.time()
  while not lib.map_renderer_loaded(renderer):
  lib.map_renderer_update(renderer)
 
@@ -40,6 +41,9 @@ def wait_ready(lib, renderer):
 
  time.sleep(0.01)
 
+ if timeout is not None and time.time() - st > timeout:
+ raise TimeoutError("Timeout waiting for map renderer to be ready")
+
 
 def get_image(lib, renderer):
  buf = lib.map_renderer_get_image(renderer)