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96 lines
2.8 KiB
96 lines
2.8 KiB
"""Utilities for reading real time clocks and keeping soft real time constraints."""
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import gc
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import os
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import time
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from collections import deque
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from typing import Optional, List, Union
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from setproctitle import getproctitle # pylint: disable=no-name-in-module
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from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
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from system.hardware import PC
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# time step for each process
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DT_CTRL = 0.01 # controlsd
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DT_MDL = 0.05 # model
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DT_TRML = 0.5 # thermald and manager
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DT_DMON = 0.05 # driver monitoring
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class Priority:
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# CORE 2
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# - modeld = 55
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# - camerad = 54
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CTRL_LOW = 51 # plannerd & radard
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# CORE 3
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# - boardd = 55
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CTRL_HIGH = 53
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def set_realtime_priority(level: int) -> None:
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if not PC:
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os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined] # pylint: disable=no-member
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def set_core_affinity(cores: List[int]) -> None:
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if not PC:
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os.sched_setaffinity(0, cores) # pylint: disable=no-member
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def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
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gc.disable()
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set_realtime_priority(priority)
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c = cores if isinstance(cores, list) else [cores, ]
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set_core_affinity(c)
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class Ratekeeper:
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def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
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"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
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self._interval = 1. / rate
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self._next_frame_time = sec_since_boot() + self._interval
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self._print_delay_threshold = print_delay_threshold
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self._frame = 0
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self._remaining = 0.0
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self._process_name = getproctitle()
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self._dts = deque([self._interval], maxlen=100)
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self._last_monitor_time = sec_since_boot()
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@property
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def frame(self) -> int:
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return self._frame
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@property
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def remaining(self) -> float:
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return self._remaining
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@property
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def lagging(self) -> bool:
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avg_dt = sum(self._dts) / len(self._dts)
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expected_dt = self._interval * (1 / 0.9)
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return avg_dt > expected_dt
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# Maintain loop rate by calling this at the end of each loop
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def keep_time(self) -> bool:
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lagged = self.monitor_time()
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if self._remaining > 0:
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time.sleep(self._remaining)
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return lagged
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# this only monitor the cumulative lag, but does not enforce a rate
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def monitor_time(self) -> bool:
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prev = self._last_monitor_time
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self._last_monitor_time = sec_since_boot()
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self._dts.append(self._last_monitor_time - prev)
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lagged = False
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remaining = self._next_frame_time - sec_since_boot()
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self._next_frame_time += self._interval
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if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
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print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
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lagged = True
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self._frame += 1
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self._remaining = remaining
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return lagged
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