tici: give loggerd rt priority (#21503)

* give loggerd rt priority

* assert

* little more

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7e2752c878

selfdrive/camerad/main.cc

@@ -44,12 +44,11 @@ void party(cl_device_id device_id, cl_context context) {
 #endif
 
 int main(int argc, char *argv[]) {
-  set_realtime_priority(53);
+  int err;
-  if (Hardware::EON()) {
+  err = set_realtime_priority(53);
-    set_core_affinity(2);
+  assert(err == 0);
-  } else if (Hardware::TICI()) {
+  err = set_core_affinity(Hardware::TICI() ? 6 : 2);
-    set_core_affinity(6);
+  assert(err == 0);
-  }
 
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 

selfdrive/debug/check_timings.py

@@ -12,13 +12,12 @@ 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)
 
-      if len(ts[s]) == ts[s].maxlen:
+      d = np.diff(ts[s])
-        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}")
-        print(f"{s:17} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
-    time.sleep(1)

selfdrive/loggerd/loggerd.cc

@@ -115,6 +115,14 @@ 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;

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;
 };

selfdrive/modeld/modeld.cc

@@ -131,13 +131,12 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
 }
 
 int main(int argc, char **argv) {
-  set_realtime_priority(54);
+  int err;
+  err = set_realtime_priority(54);
+  assert(err == 0);
+  err = set_core_affinity(Hardware::EON() ? 2 : 7);
+  assert(err == 0);
 
-  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