tici: move real-time processes to high-performance cores (#20634)

old-commit-hash: 8ede1b30aa

selfdrive/boardd/boardd.cc

@@ -571,7 +571,12 @@ int main() {
   // set process priority and affinity
   err = set_realtime_priority(54);
   LOG("set priority returns %d", err);
+
+#ifdef QCOM2
+  err = set_core_affinity(7);
+#else
   err = set_core_affinity(3);
+#endif
   LOG("set affinity returns %d", err);
 
   panda_set_power(true);

selfdrive/controls/controlsd.py

@@ -45,7 +45,7 @@ EventName = car.CarEvent.EventName
 
 class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None):
-    config_realtime_process(3, Priority.CTRL_HIGH)
+    config_realtime_process(7 if TICI else 3, Priority.CTRL_HIGH)
 
     # Setup sockets
     self.pm = pm

selfdrive/controls/plannerd.py

@@ -10,8 +10,7 @@ import cereal.messaging as messaging
 
 
 def plannerd_thread(sm=None, pm=None):
-
-  config_realtime_process(2, Priority.CTRL_LOW)
+  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()

selfdrive/controls/radard.py

@@ -12,6 +12,7 @@ from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track
 from selfdrive.swaglog import cloudlog
+from selfdrive.hardware import TICI
 
 
 class KalmanParams():
@@ -173,7 +174,7 @@ class RadarD():
 
 # fuses camera and radar data for best lead detection
 def radard_thread(sm=None, pm=None, can_sock=None):
-  config_realtime_process(2, Priority.CTRL_LOW)
+  config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")