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don't set core affinity on PC (#22706)

pull/22710/head
Adeeb Shihadeh 2021-10-26 21:51:46 -07:00 committed by GitHub
parent 950acb476c
commit 5b331fd6f5
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 22 additions and 17 deletions
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13
selfdrive/boardd/boardd.cc
View File

@ -560,12 +560,13 @@ void pigeon_thread(Panda *panda) {
int main() {
LOGW("starting boardd");
// set process priority and affinity
int err = set_realtime_priority(54);
LOG("set priority returns %d", err);
err = set_core_affinity({Hardware::TICI() ? 4 : 3});
LOG("set affinity returns %d", err);
if (!Hardware::PC()) {
int err;
err = set_realtime_priority(54);
assert(err == 0);
err = set_core_affinity({Hardware::TICI() ? 4 : 3});
assert(err == 0);
}
LOGW("attempting to connect");
PubMaster pm({"pandaStates", "peripheralState"});

12
selfdrive/camerad/main.cc
View File

@ -44,11 +44,13 @@ void party(cl_device_id device_id, cl_context context) {
#endif
int main(int argc, char *argv[]) {
int ret;
ret = set_realtime_priority(53);
assert(ret == 0);
ret = set_core_affinity({Hardware::EON() ? 2 : 6});
assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
if (!Hardware::PC()) {
int ret;
ret = set_realtime_priority(53);
assert(ret == 0);
ret = set_core_affinity({Hardware::EON() ? 2 : 6});
assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
}
cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);

2
selfdrive/loggerd/loggerd.cc
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@ -306,7 +306,7 @@ void rotate_if_needed() {
int main(int argc, char** argv) {
if (Hardware::EON()) {
setpriority(PRIO_PROCESS, 0, -20);
} else {
} else if (Hardware::TICI()) {
int ret;
ret = set_core_affinity({0, 1, 2, 3});
assert(ret == 0);

12
selfdrive/modeld/modeld.cc
View File

@ -131,11 +131,13 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
}
int main(int argc, char **argv) {
int ret;
ret = set_realtime_priority(54);
assert(ret == 0);
set_core_affinity({Hardware::EON() ? 2 : 7});
assert(ret == 0);
if (!Hardware::PC()) {
int ret;
ret = set_realtime_priority(54);
assert(ret == 0);
set_core_affinity({Hardware::EON() ? 2 : 7});
assert(ret == 0);
}
bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;