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/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))