Keep all vision worker threads on their owned cores

openpilot/starpilot/speed_limits/vision/producer.py

@@ -58,9 +58,17 @@ def _configure_process() -> None:
 
 
 def _place_inference(params) -> None:
+  from openpilot.common.hardware import PC
   from openpilot.common.realtime import set_core_affinity
+  cores = list(VISION_WITH_VASM if vasm_enabled(params, development=True) else LITTLE_CORES)
   try:
-    set_core_affinity(list(VISION_WITH_VASM if vasm_enabled(params, development=True) else LITTLE_CORES))
+    set_core_affinity(cores)
+    if not PC:
+      for tid in os.listdir('/proc/self/task'):
+        try:
+          os.sched_setaffinity(int(tid), cores)
+        except ProcessLookupError:
+          continue
   except OSError:
     pass
 
@@ -164,6 +172,7 @@ def main() -> None:
   core = None
   last_unavailable = 0.0
   tasks = _requested_tasks(params)
+  _place_inference(params)
   try:
     if cv2 is not None:
       cv2.setNumThreads(1)

openpilot/starpilot/speed_limits/vision/tests/test_producer.py

@@ -41,11 +41,16 @@ class TestVisionProducer(unittest.TestCase):
       self.addCleanup(patcher.stop)
 
   def test_vision_avoids_vasm_core_when_both_enabled(self):
-    with patch.object(producer, 'vasm_enabled', side_effect=[True, False]), \
-         patch('openpilot.common.realtime.set_core_affinity') as affinity:
+    with patch('openpilot.common.realtime.set_core_affinity') as affinity, \
+         patch.object(producer, 'vasm_enabled', side_effect=[True, False]), \
+         patch('openpilot.common.hardware.PC', False), \
+         patch.object(producer.os, 'listdir', return_value=['100', '101']), \
+         patch.object(producer.os, 'sched_setaffinity') as threads:
       place_inference(object())
       place_inference(object())
     self.assertEqual([call.args[0] for call in affinity.call_args_list], [[0, 1], [0, 1, 2]])
+    self.assertEqual([call.args for call in threads.call_args_list],
+                     [(100, [0, 1]), (101, [0, 1]), (100, [0, 1, 2]), (101, [0, 1, 2])])
 
   def clock_pairs(self, clocks, states=None):
     pairs = iter(clocks)
@@ -662,7 +667,12 @@ class TestVisionProducer(unittest.TestCase):
     self.assertEqual(messages[-1].stopSigns.frameId, 12)
 
   def test_disabling_speed_in_the_live_producer_clears_retained_numbers(self):
-    core = producer.VisionModelCore(is_metric=False)
+    reader = Mock()
+    reader.getLayerId.return_value = 0
+    with patch.object(producer.VisionModelCore, '_load_net', side_effect=[None, reader]), \
+         patch.object(producer.VisionModelCore, '_validate_model_abi'):
+      core = producer.VisionModelCore(is_metric=False)
+    self.assertIsNotNone(core.classifier_net)
     core.published_speed_limit_mph = 55
     core.published_support_count = 3
     core.last_published_support_at = 1.0

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "7288fb5d1fc3a43c96559b52946f1fcf4bdcf75994356e294b99d8b8e4aff021", "schema_version": 1}
+{"protected_inventory_sha256": "2907667b61243e0532fdc2c1dda414585ef9703fe7f567cb91085e6f2d609dfc", "schema_version": 1}