Run all driving processes on cores 2-3 (#2257)

old-commit-hash: 059cf6b43e

common/realtime.py

@@ -31,7 +31,7 @@ def set_core_affinity(core):
     os.sched_setaffinity(0, [core,])
 
 
-def config_rt_process(core, priority):
+def config_realtime_process(core, priority):
   gc.disable()
   set_realtime_priority(priority)
   set_core_affinity(core)

selfdrive/controls/controlsd.py

@@ -3,7 +3,7 @@ import os
 from cereal import car, log
 from common.hardware import HARDWARE
 from common.numpy_fast import clip
-from common.realtime import sec_since_boot, config_rt_process, Priority, Ratekeeper, DT_CTRL
+from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
@@ -42,7 +42,7 @@ EventName = car.CarEvent.EventName
 
 class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None):
-    config_rt_process(3, Priority.CTRL_HIGH)
+    config_realtime_process(3, Priority.CTRL_HIGH)
 
     # Setup sockets
     self.pm = pm

selfdrive/controls/plannerd.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from cereal import car
 from common.params import Params
-from common.realtime import Priority, config_rt_process
+from common.realtime import Priority, config_realtime_process
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.planner import Planner
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -11,7 +11,7 @@ import cereal.messaging as messaging
 
 def plannerd_thread(sm=None, pm=None):
 
-  config_rt_process(2, Priority.CTRL_LOW)
+  config_realtime_process(2, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))

selfdrive/controls/radard.py

@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 from cereal import car
 from common.numpy_fast import interp
 from common.params import Params
-from common.realtime import Ratekeeper, Priority, set_realtime_priority
+from common.realtime import Ratekeeper, Priority, config_realtime_process
 from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track
@@ -174,7 +174,7 @@ class RadarD():
 
 # fuses camera and radar data for best lead detection
 def radard_thread(sm=None, pm=None, can_sock=None):
-  set_realtime_priority(Priority.CTRL_LOW)
+  config_realtime_process(2, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")