More governance work, fix thneed (#2610)

* more governance work

* fix thneed on qcom2

* waste doesn't OOM

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

launch_chffrplus.sh

@@ -8,6 +8,11 @@ source "$BASEDIR/launch_env.sh"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
+function tici_init {
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
+  sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
+}
+
 function two_init {
   # Restrict Android and other system processes to the first two cores
   echo 0-1 > /dev/cpuset/background/cpus
@@ -123,6 +128,10 @@ function launch {
     two_init
   fi
 
+  if [ -f /TICI ]; then
+    tici_init
+  fi
+
   # handle pythonpath
   ln -sfn $(pwd) /data/pythonpath
   export PYTHONPATH="$PWD"

scripts/waste.c

@@ -5,6 +5,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <sched.h>
+#include <string.h>
 #include <stdlib.h>
 #include <unistd.h>
 #include <pthread.h>
@@ -22,21 +23,21 @@ void waste(int pid) {
   int ret = sched_setaffinity(0, sizeof(cpu_set_t), &my_set);
   printf("set affinity to %d: %d\n", pid, ret);
 
-  // 256 MB
-  float32x4_t *tmp = (float32x4_t *)malloc(0x1000000*sizeof(float32x4_t));
+  // 128 MB
+  float32x4_t *tmp = (float32x4_t *)malloc(0x800000*sizeof(float32x4_t));
 
   // comment out the memset for CPU only and not RAM
   // otherwise we need this to avoid the zero page
 #ifdef MEM
-  memset(tmp, 0xaa, 0x1000000*sizeof(float32x4_t));
+  memset(tmp, 0xaa, 0x800000*sizeof(float32x4_t));
 #endif
 
   float32x4_t out;
 
   double sec = seconds_since_boot();
   while (1) {
-    for (int i = 0; i < 8; i++) {
-      for (int j = 0; j < 0x1000000; j+=0x20) {
+    for (int i = 0; i < 0x10; i++) {
+      for (int j = 0; j < 0x800000; j+=0x20) {
         out = vmlaq_f32(out, tmp[j+0], tmp[j+1]);
         out = vmlaq_f32(out, tmp[j+2], tmp[j+3]);
         out = vmlaq_f32(out, tmp[j+4], tmp[j+5]);
@@ -80,7 +81,7 @@ int main() {
       iavg += 1/ttime[i];
       printf("%4.2f ", ttime[i]);
     }
-    double mb_per_sec = (8.*0x1000000/(1024*1024))*sizeof(float32x4_t)*iavg;
+    double mb_per_sec = (16.*0x800000/(1024*1024))*sizeof(float32x4_t)*iavg;
     printf("-- %4.2f -- %.2f MB/s \n", avg/CORES, mb_per_sec);
     sleep(1);
   }

selfdrive/modeld/SConscript

@@ -19,7 +19,11 @@ if arch == "aarch64":
     lenv['CFLAGS'].append("-DUSE_THNEED")
     lenv['CXXFLAGS'].append("-DUSE_THNEED")
 elif arch == "larch64":
-  libs += ['gsl', 'CB', 'pthread']
+  libs += ['gsl', 'CB', 'pthread', 'dl']
+  if not TEST_THNEED:
+    common_src += ["thneed/thneed.cc"]
+    lenv['CFLAGS'].append("-DUSE_THNEED")
+    lenv['CXXFLAGS'].append("-DUSE_THNEED")
 else:
   libs += ['pthread']
 

selfdrive/modeld/runners/snpemodel.cc

@@ -1,6 +1,7 @@
 #pragma clang diagnostic ignored "-Wexceptions"
 
 #include <cassert>
+#include <string.h>
 #include <stdlib.h>
 #include "common/util.h"
 #include "snpemodel.h"

selfdrive/modeld/thneed/thneed.cc

@@ -1,10 +1,11 @@
-#include "thneed.h"
 #include <cassert>
 #include <sys/mman.h>
 #include <dlfcn.h>
 #include <map>
 #include <string>
+#include <string.h>
 #include <errno.h>
+#include "thneed.h"
 
 Thneed *g_thneed = NULL;
 int g_fd = -1;
@@ -31,6 +32,7 @@ extern "C" {
 int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL;
 #undef ioctl
 int ioctl(int filedes, unsigned long request, void *argp) {
+  request &= 0xFFFFFFFF;  // needed on QCOM2
   if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl"));
   Thneed *thneed = g_thneed;
 
@@ -440,7 +442,14 @@ cl_program thneed_clCreateProgramWithSource(cl_context context, cl_uint count, c
 #endif
 
 void *dlsym(void *handle, const char *symbol) {
+  // TODO: Find dlsym in a better way. Currently this is hand looked up in libdl.so
+#if defined QCOM
   void *(*my_dlsym)(void *handle, const char *symbol) = (void *(*)(void *handle, const char *symbol))((uintptr_t)dlopen-0x2d4);
+#elif defined QCOM2
+  void *(*my_dlsym)(void *handle, const char *symbol) = (void *(*)(void *handle, const char *symbol))((uintptr_t)dlopen+0x138);
+#else
+  #error "Unsupported platform for thneed"
+#endif
   if (memcmp("REAL_", symbol, 5) == 0) {
     return my_dlsym(handle, symbol+5);
   } else if (strcmp("clEnqueueNDRangeKernel", symbol) == 0) {

selfdrive/modeld/thneed/thneed.h

@@ -1,8 +1,14 @@
 #pragma once
 
+#ifndef __user
+  #define __user __attribute__(())
+#endif
+
+#include <stdlib.h>
 #include <stdint.h>
 #include "include/msm_kgsl.h"
 #include <vector>
+#include <memory>
 #include <CL/cl.h>
 
 using namespace std;