Improve realtime performance on NEOS (#2166)

* fix setting core affinity

* dmonitoringd doesn't need rt priority

* android only gets two cores

* model and planner get core 2

* log missed cycle count

* neos update

* prod image

* revert NEOS changes

* still need this
old-commit-hash: ef21b83937d25b824018ac1d07fa7759ae6f8128

selfdrive/controls/controlsd.py

@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
 import os
-import gc
 from cereal import car, log
 from common.hardware import HARDWARE
 from common.numpy_fast import clip
-from common.realtime import sec_since_boot, set_realtime_priority, set_core_affinity, Ratekeeper, DT_CTRL
+from common.realtime import sec_since_boot, config_rt_process, Priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
@@ -43,9 +42,7 @@ EventName = car.CarEvent.EventName
 
 class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None):
-    gc.disable()
-    set_realtime_priority(53)
-    set_core_affinity(3)
+    config_rt_process(3, Priority.CTRL_HIGH)
 
     # Setup sockets
     self.pm = pm

selfdrive/controls/plannerd.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
-import gc
-
 from cereal import car
 from common.params import Params
-from common.realtime import set_realtime_priority
+from common.realtime import Priority, config_rt_process
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.planner import Planner
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -12,10 +10,8 @@ import cereal.messaging as messaging
 
 
 def plannerd_thread(sm=None, pm=None):
-  gc.disable()
 
-  # start the loop
-  set_realtime_priority(52)
+  config_rt_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, set_realtime_priority
+from common.realtime import Ratekeeper, Priority, set_realtime_priority
 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(52)
+  set_realtime_priority(Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")