camerad: allow core affinity setting to fail while offroad (#22664)

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: cd5bc565d3

selfdrive/camerad/main.cc

@@ -48,7 +48,7 @@ int main(int argc, char *argv[]) {
   ret = set_realtime_priority(53);
   assert(ret == 0);
   ret = set_core_affinity({Hardware::EON() ? 2 : 6});
-  assert(ret == 0);
+  assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores
 
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 

selfdrive/camerad/snapshot/snapshot.py

@@ -11,7 +11,7 @@ import cereal.messaging as messaging
 from common.params import Params
 from common.realtime import DT_MDL
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size
-from selfdrive.hardware import HARDWARE, TICI
+from selfdrive.hardware import TICI
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from selfdrive.manager.process_config import managed_processes
 
@@ -92,7 +92,6 @@ def snapshot():
     os.environ["SEND_DRIVER"] = "1"
 
   try:
-    HARDWARE.set_power_save(False)
     managed_processes['camerad'].start()
     frame = "wideRoadCameraState" if TICI else "roadCameraState"
     front_frame = "driverCameraState" if front_camera_allowed else None
@@ -101,8 +100,6 @@ def snapshot():
     rear, front = get_snapshots(frame, front_frame, focus_perc_threshold)
   finally:
     managed_processes['camerad'].stop()
-    HARDWARE.set_power_save(True)
-
     params.put_bool("IsTakingSnapshot", False)
     set_offroad_alert("Offroad_IsTakingSnapshot", False)