Restore Radar Scheduling

openpilot/selfdrive/controls/radard.py

@@ -416,7 +416,7 @@ def main() -> None:
   honda_bosch_a = CP.brand == "honda" and CP.carFingerprint in VERIFIED_BOSCH_A_CARS and not CP.radarUnavailable
   RD = RadarD(CP.radarDelay, adjacent_enabled=adjacent_enabled, radar_available=not CP.radarUnavailable,
               honda_bosch_a_radar=honda_bosch_a, use_voacc=voacc_selected(params, CP))
-  set_core_affinity([4, 5])
+  set_core_affinity([3, 5])
 
   while 1:
     sm.update()

openpilot/selfdrive/controls/tests/test_voacc.py

@@ -97,7 +97,7 @@ class VoaccTest(unittest.TestCase):
         return result
 
       with patch.object(radard, 'Params', return_value=params), \
-           patch.object(radard, 'config_realtime_process'), patch.object(radard, 'set_core_affinity'), \
+           patch.object(radard, 'config_realtime_process'), patch.object(radard, 'set_core_affinity') as affinity, \
            patch.object(radard, 'feature_enabled', return_value=False), \
            patch.object(radard.messaging, 'log_from_bytes', return_value=cp), \
            patch.object(radard.messaging, 'SubMaster', return_value=source), \
@@ -106,6 +106,7 @@ class VoaccTest(unittest.TestCase):
            patch.object(radard, 'RadarD', side_effect=create):
         with self.assertRaises(StopIteration):
           radard.main()
+      affinity.assert_called_once_with([3, 5])
       read.assert_called_once_with(params, cp)
       self.assertTrue(instances[0].use_voacc)
       self.assertFalse(instances[0].radar_state.leadOne.radar)