openpilot_comma/common/realtime.py

"""Utilities for reading real time clocks and keeping soft real time constraints."""
import gc
import os
import sys
import time

from setproctitle import getproctitle

from openpilot.common.util import MovingAverage
from openpilot.system.hardware import PC


# time step for each process
DT_CTRL = 0.01  # controlsd
DT_MDL = 0.05  # model
DT_HW = 0.5  # hardwared and manager
DT_DMON = 0.05  # driver monitoring


class Priority:
  # CORE 2
  # - modeld = 55
  # - camerad = 54
  CTRL_LOW = 51 # plannerd & radard

  # CORE 3
  # - pandad = 55
  CTRL_HIGH = 53


def set_core_affinity(cores: list[int]) -> None:
  if sys.platform == 'linux' and not PC:
    os.sched_setaffinity(0, cores)


def config_realtime_process(cores: int | list[int], priority: int) -> None:
  gc.disable()
  if sys.platform == 'linux' and not PC:
    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
  c = cores if isinstance(cores, list) else [cores, ]
  set_core_affinity(c)


class Ratekeeper:
  def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
    """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
    self._interval = 1. / rate
    self._print_delay_threshold = print_delay_threshold
    self._frame = 0
    self._remaining = 0.0
    self._process_name = getproctitle()
    self._last_monitor_time = -1.
    self._next_frame_time = -1.

    self.avg_dt = MovingAverage(100)
    self.avg_dt.add_value(self._interval)

  @property
  def frame(self) -> int:
    return self._frame

  @property
  def remaining(self) -> float:
    return self._remaining

  @property
  def lagging(self) -> bool:
    expected_dt = self._interval * (1 / 0.9)
    return self.avg_dt.get_average() > expected_dt

  # Maintain loop rate by calling this at the end of each loop
  def keep_time(self) -> bool:
    lagged = self.monitor_time()
    if self._remaining > 0:
      time.sleep(self._remaining)
    return lagged

  # Monitors the cumulative lag, but does not enforce a rate
  def monitor_time(self) -> bool:
    if self._last_monitor_time < 0:
      self._next_frame_time = time.monotonic() + self._interval
      self._last_monitor_time = time.monotonic()

    prev = self._last_monitor_time
    self._last_monitor_time = time.monotonic()
    self.avg_dt.add_value(self._last_monitor_time - prev)

    lagged = False
    remaining = self._next_frame_time - time.monotonic()
    self._next_frame_time += self._interval
    if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
      print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
      lagged = True
    self._frame += 1
    self._remaining = remaining
    return lagged