set nice values for non RT processes (#20812)

* set nice values for non RT processes

* builds

* fix qcom build

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/locationd/locationd.cc

@@ -1,3 +1,6 @@
+#include <sys/time.h>
+#include <sys/resource.h>
+
 #include "locationd.h"
 
 using namespace EKFS;
@@ -376,6 +379,8 @@ int Localizer::locationd_thread() {
 }
 
 int main() {
+  setpriority(PRIO_PROCESS, 0, -20);
+
   Localizer localizer;
   return localizer.locationd_thread();
 }

selfdrive/logcatd/logcatd_android.cc

@@ -1,3 +1,6 @@
+#include <sys/time.h>
+#include <sys/resource.h>
+
 #include <android/log.h>
 #include <log/logger.h>
 #include <log/logprint.h>
@@ -6,8 +9,9 @@
 #include "messaging.h"
 
 int main() {
-  ExitHandler do_exit;
+  setpriority(PRIO_PROCESS, 0, -15);
 
+  ExitHandler do_exit;
   PubMaster pm({"androidLog"});
 
   log_time last_log_time = {};

selfdrive/loggerd/loggerd.cc

@@ -326,8 +326,7 @@ void clear_locks() {
 } // namespace
 
 int main(int argc, char** argv) {
-
+  setpriority(PRIO_PROCESS, 0, -20);
-  setpriority(PRIO_PROCESS, 0, -12);
 
   clear_locks();
 

selfdrive/proclogd/proclogd.cc

@@ -1,5 +1,7 @@
 #include <unistd.h>
 #include <dirent.h>
+#include <sys/time.h>
+#include <sys/resource.h>
 
 #include <cstdio>
 #include <cstdlib>
@@ -30,6 +32,8 @@ struct ProcCache {
 }
 
 int main() {
+  setpriority(PRIO_PROCESS, 0, -15);
+
   PubMaster publisher({"procLog"});
 
   double jiffy = sysconf(_SC_CLK_TCK);

selfdrive/sensord/sensors_qcom.cc

@@ -220,7 +220,7 @@ void sensor_loop() {
 }// Namespace end
 
 int main(int argc, char *argv[]) {
-  setpriority(PRIO_PROCESS, 0, -13);
+  setpriority(PRIO_PROCESS, 0, -18);
   signal(SIGPIPE, (sighandler_t)sigpipe_handler);
 
   sensor_loop();

selfdrive/sensord/sensors_qcom2.cc

@@ -93,6 +93,6 @@ int sensor_loop() {
 }
 
 int main(int argc, char *argv[]) {
-  setpriority(PRIO_PROCESS, 0, -13);
+  setpriority(PRIO_PROCESS, 0, -18);
   return sensor_loop();
 }