From bdb1b766d03d6f2ffa87a15971f6718f4cdc5e58 Mon Sep 17 00:00:00 2001
From: George Hotz <72895+geohot@users.noreply.github.com>
Date: Mon, 30 Nov 2020 02:21:06 -0800
Subject: [PATCH] Make the DSP work everywhere (#2621)

* Use DSP again

* 20 Hz

Co-authored-by: Willem Melching <willem.melching@gmail.com>
---
 common/realtime.py                     | 9 +++++++--
 selfdrive/modeld/dmonitoringmodeld.cc  | 9 ---------
 selfdrive/modeld/models/dmonitoring.cc | 5 +----
 3 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/common/realtime.py b/common/realtime.py
index 9f73150072..6a1618673e 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -4,16 +4,21 @@ import os
 import time
 import multiprocessing
 
-from common.hardware import PC
+from common.hardware import PC, TICI
 from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
 
 
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_DMON = 0.1  # driver monitoring
 DT_TRML = 0.5  # thermald and manager
 
+# driver monitoring
+if TICI:
+  DT_DMON = 0.05
+else:
+  DT_DMON = 0.1
+
 
 class Priority:
   MIN_REALTIME = 52 # highest android process priority is 51
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 3a9b134eff..3721fd4b9b 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -26,10 +26,6 @@ int main(int argc, char **argv) {
   int err;
   setpriority(PRIO_PROCESS, 0, -15);
 
-#ifdef QCOM2
-  set_core_affinity(5);
-#endif
-
   signal(SIGINT, (sighandler_t)set_do_exit);
   signal(SIGTERM, (sighandler_t)set_do_exit);
 
@@ -70,11 +66,6 @@ int main(int argc, char **argv) {
 
       LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
       last = t1;
-#ifdef QCOM2
-      // this makes it run at about 2.7Hz on tici CPU to deal with modeld lags
-      // TODO: DSP needs to be freed (again)
-      usleep(250000);
-#endif
     }
     visionstream_destroy(&stream);
   }
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index fd262801e6..3ab5f445c3 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -22,11 +22,8 @@ void dmonitoring_init(DMonitoringModelState* s) {
 #else
   const char* model_path = "../../models/dmonitoring_model.dlc";
 #endif
-#ifdef QCOM2
-  int runtime = USE_CPU_RUNTIME;
-#else
+
   int runtime = USE_DSP_RUNTIME;
-#endif
   s->m = new DefaultRunModel(model_path, (float*)&s->output, OUTPUT_SIZE, runtime);
   s->is_rhd = Params().read_db_bool("IsRHD");
 }