From 277bd43b158b80350fa94feaac47fdce14c4949f Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 22 Aug 2021 16:57:53 -0700
Subject: [PATCH] Revert "tici: give loggerd rt priority (#21503)"

This reverts commit 0a50cf851e79342cf3db01033bc91516c504cbea.

old-commit-hash: 54a4eeb0fccd92c3b2f872175cfedf136a1cfc71
---
 selfdrive/camerad/main.cc        | 11 ++++++-----
 selfdrive/debug/check_timings.py |  7 ++++---
 selfdrive/loggerd/loggerd.cc     |  8 --------
 selfdrive/loggerd/omx_encoder.h  |  2 +-
 selfdrive/modeld/modeld.cc       | 11 ++++++-----
 5 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc
index 49ec3399b7..b4cf162d2c 100644
--- a/selfdrive/camerad/main.cc
+++ b/selfdrive/camerad/main.cc
@@ -44,11 +44,12 @@ void party(cl_device_id device_id, cl_context context) {
 #endif
 
 int main(int argc, char *argv[]) {
-  int err;
-  err = set_realtime_priority(53);
-  assert(err == 0);
-  err = set_core_affinity(Hardware::TICI() ? 6 : 2);
-  assert(err == 0);
+  set_realtime_priority(53);
+  if (Hardware::EON()) {
+    set_core_affinity(2);
+  } else if (Hardware::TICI()) {
+    set_core_affinity(6);
+  }
 
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index a20cc9b5af..000a73b781 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -12,12 +12,13 @@ ts = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
   while True:
-    time.sleep(1)
     print()
     for s, sock in socks.items():
       msgs = messaging.drain_sock(sock)
       for m in msgs:
         ts[s].append(m.logMonoTime / 1e6)
 
-      d = np.diff(ts[s])
-      print(f"{s:17} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
+      if len(ts[s]) == ts[s].maxlen:
+        d = np.diff(ts[s])
+        print(f"{s:17} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
+    time.sleep(1)
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index 423f32f3b7..b2ecc4bc65 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -115,14 +115,6 @@ void encoder_thread(int cam_idx) {
   const LogCameraInfo &cam_info = cameras_logged[cam_idx];
   set_thread_name(cam_info.filename);
 
-  if (Hardware::TICI()) {
-    int err;
-    err = set_realtime_priority(1);
-    assert(err == 0);
-    err = set_core_affinity(3);
-    assert(err == 0);
-  }
-
   int cnt = 0, cur_seg = -1;
   int encode_idx = 0;
   LoggerHandle *lh = NULL;
diff --git a/selfdrive/loggerd/omx_encoder.h b/selfdrive/loggerd/omx_encoder.h
index 7b87c90894..d7273872a5 100644
--- a/selfdrive/loggerd/omx_encoder.h
+++ b/selfdrive/loggerd/omx_encoder.h
@@ -62,11 +62,11 @@ private:
   SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
   SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
 
-  // for qcams
   AVFormatContext *ofmt_ctx;
   AVCodecContext *codec_ctx;
   AVStream *out_stream;
   bool remuxing;
+
   bool downscale;
   uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
 };
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index c2e0474fef..460e33c561 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -131,12 +131,13 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
 }
 
 int main(int argc, char **argv) {
-  int err;
-  err = set_realtime_priority(54);
-  assert(err == 0);
-  err = set_core_affinity(Hardware::EON() ? 2 : 7);
-  assert(err == 0);
+  set_realtime_priority(54);
 
+  if (Hardware::EON()) {
+    set_core_affinity(2);
+  } else if (Hardware::TICI()) {
+    set_core_affinity(7);  
+  }
   bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;
 
   // start calibration thread