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Set GPU priorities + improved modeld priorities (#2691)

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* give gpu threads rt priority

* modeld gets highest prio on core 2

* fix frame stream

* lower prio of cal thread

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: c57ee16e86275820f97631fb79df1685e914d564
This commit is contained in:
Adeeb Shihadeh
2020-12-15 19:22:03 -08:00
committed by GitHub
parent 2442d7522c
commit 762eda95cd
11 changed files with 37 additions and 29 deletions
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selfdrive/modeld/modeld.cc
+4 -2
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@@ -24,8 +24,10 @@ pthread_mutex_t transform_lock;
void* live_thread(void *arg) {
set_thread_name("live");
set_realtime_priority(50);
SubMaster sm({"liveCalibration"});
/*
import numpy as np
from common.transformations.model import medmodel_frame_from_road_frame
@@ -60,7 +62,7 @@ void* live_thread(void *arg) {
}}, db_s);
while (!do_exit) {
if (sm.update(10) > 0){
if (sm.update(100) > 0){
auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
@@ -91,7 +93,7 @@ void* live_thread(void *arg) {
int main(int argc, char **argv) {
int err;
set_realtime_priority(51);
set_realtime_priority(54);
#ifdef QCOM
set_core_affinity(2);