From cd5bc565d38e66e31e2d9a91af331b4f13ef0b29 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 22 Oct 2021 20:57:21 -0700 Subject: [PATCH] camerad: allow core affinity setting to fail while offroad (#22664) Co-authored-by: Comma Device --- selfdrive/camerad/main.cc | 2 +- selfdrive/camerad/snapshot/snapshot.py | 5 +---- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/camerad/main.cc b/selfdrive/camerad/main.cc index 1f90b417b4..4d93126886 100644 --- a/selfdrive/camerad/main.cc +++ b/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); diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py index db17b3297c..787d628370 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/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)