You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
21 lines
559 B
21 lines
559 B
#!/usr/bin/env python3
|
|
import os
|
|
import time
|
|
from typing import NoReturn
|
|
|
|
from common.realtime import set_core_affinity, set_realtime_priority
|
|
|
|
# RT shield - ensure CPU 3 always remains available for RT processes
|
|
# runs as SCHED_FIFO with minimum priority to ensure kthreads don't
|
|
# get scheduled onto CPU 3, but it's always preemptible by realtime
|
|
# openpilot processes
|
|
|
|
def main() -> NoReturn:
|
|
set_core_affinity([int(os.getenv("CORE", "3")), ])
|
|
set_realtime_priority(1)
|
|
|
|
while True:
|
|
time.sleep(0.000001)
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|