From ce91cd69f3742ee68c36e646d4de3a1246e67e8d Mon Sep 17 00:00:00 2001 From: firestar5683 <168790843+firestar5683@users.noreply.github.com> Date: Mon, 19 Oct 2026 12:18:47 -0500 Subject: [PATCH] Restore Radar Scheduling --- openpilot/selfdrive/controls/radard.py | 2 +- openpilot/selfdrive/controls/tests/test_voacc.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/openpilot/selfdrive/controls/radard.py b/openpilot/selfdrive/controls/radard.py index 7148f145ab..20467f7078 100755 --- a/openpilot/selfdrive/controls/radard.py +++ b/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() diff --git a/openpilot/selfdrive/controls/tests/test_voacc.py b/openpilot/selfdrive/controls/tests/test_voacc.py index a25f077975..1902112535 100644 --- a/openpilot/selfdrive/controls/tests/test_voacc.py +++ b/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)