don't set core affinity on PC (#22706)

old-commit-hash: 5b331fd6f5

selfdrive/boardd/boardd.cc

@@ -560,12 +560,13 @@ void pigeon_thread(Panda *panda) {
 int main() {
   LOGW("starting boardd");
 
-  // set process priority and affinity
+  if (!Hardware::PC()) {
-  int err = set_realtime_priority(54);
+    int err;
-  LOG("set priority returns %d", err);
+    err = set_realtime_priority(54);
-
+    assert(err == 0);
-  err = set_core_affinity({Hardware::TICI() ? 4 : 3});
+    err = set_core_affinity({Hardware::TICI() ? 4 : 3});
-  LOG("set affinity returns %d", err);
+    assert(err == 0);
+  }
 
   LOGW("attempting to connect");
   PubMaster pm({"pandaStates", "peripheralState"});

selfdrive/camerad/main.cc

@@ -44,11 +44,13 @@ void party(cl_device_id device_id, cl_context context) {
 #endif
 
 int main(int argc, char *argv[]) {
-  int ret;
+  if (!Hardware::PC()) {
-  ret = set_realtime_priority(53);
+    int ret;
-  assert(ret == 0);
+    ret = set_realtime_priority(53);
-  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
+    ret = set_core_affinity({Hardware::EON() ? 2 : 6});
+    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/loggerd/loggerd.cc

@@ -306,7 +306,7 @@ void rotate_if_needed() {
 int main(int argc, char** argv) {
   if (Hardware::EON()) {
     setpriority(PRIO_PROCESS, 0, -20);
-  } else {
+  } else if (Hardware::TICI()) {
     int ret;
     ret = set_core_affinity({0, 1, 2, 3});
     assert(ret == 0);

selfdrive/modeld/modeld.cc

@@ -131,11 +131,13 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
 }
 
 int main(int argc, char **argv) {
-  int ret;
+  if (!Hardware::PC()) {
-  ret = set_realtime_priority(54);
+    int ret;
-  assert(ret == 0);
+    ret = set_realtime_priority(54);
-  set_core_affinity({Hardware::EON() ? 2 : 7});
+    assert(ret == 0);
-  assert(ret == 0);
+    set_core_affinity({Hardware::EON() ? 2 : 7});
+    assert(ret == 0);
+  }
 
   bool wide_camera = Hardware::TICI() ? Params().getBool("EnableWideCamera") : false;