tici: give loggerd rt priority (#21503)
* give loggerd rt priority * assert * little more Co-authored-by: Comma Device <device@comma.ai>pull/22007/head
parent
51ed2c6116
commit
7e2752c878
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@ -44,12 +44,11 @@ void party(cl_device_id device_id, cl_context context) {
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#endif
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int main(int argc, char *argv[]) {
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set_realtime_priority(53);
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if (Hardware::EON()) {
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set_core_affinity(2);
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} else if (Hardware::TICI()) {
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set_core_affinity(6);
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}
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int err;
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err = set_realtime_priority(53);
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assert(err == 0);
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err = set_core_affinity(Hardware::TICI() ? 6 : 2);
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assert(err == 0);
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cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
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@ -12,13 +12,12 @@ ts = defaultdict(lambda: deque(maxlen=100))
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if __name__ == "__main__":
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while True:
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time.sleep(1)
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print()
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for s, sock in socks.items():
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msgs = messaging.drain_sock(sock)
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for m in msgs:
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ts[s].append(m.logMonoTime / 1e6)
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if len(ts[s]) == ts[s].maxlen:
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d = np.diff(ts[s])
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print(f"{s:17} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
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time.sleep(1)
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d = np.diff(ts[s])
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print(f"{s:17} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
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@ -115,6 +115,14 @@ void encoder_thread(int cam_idx) {
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const LogCameraInfo &cam_info = cameras_logged[cam_idx];
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set_thread_name(cam_info.filename);
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if (Hardware::TICI()) {
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int err;
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err = set_realtime_priority(1);
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assert(err == 0);
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err = set_core_affinity(3);
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assert(err == 0);
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}
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int cnt = 0, cur_seg = -1;
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int encode_idx = 0;
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LoggerHandle *lh = NULL;
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@ -62,11 +62,11 @@ private:
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SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
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SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
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// for qcams
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AVFormatContext *ofmt_ctx;
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AVCodecContext *codec_ctx;
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AVStream *out_stream;
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bool remuxing;
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bool downscale;
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uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
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};
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@ -131,13 +131,12 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
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}
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int main(int argc, char **argv) {
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set_realtime_priority(54);
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int err;
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err = set_realtime_priority(54);
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assert(err == 0);
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err = set_core_affinity(Hardware::EON() ? 2 : 7);
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assert(err == 0);
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if (Hardware::EON()) {
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set_core_affinity(2);
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} else if (Hardware::TICI()) {
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set_core_affinity(7);
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}
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bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
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// start calibration thread
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