mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-06-15 12:05:01 +08:00
5020d33748
Move the UI core-affinity pin to after MainWindow init so startup and restart recovery can use all cores (pinning before init starved the restarting UI on the contended little cores, stretching recovery from ~30s to minutes). Move selfdrived off the saturated core 4 onto core 5 so its 100 Hz loop is no longer starved, eliminating selfdrivedLagging. Verified over a full drive: selfdrivedLagging=0, core4/core5 sustained >=95% only 0.3%/1.2% of the time, UI restart recovery ~15s with the device staying engaged, radar tracking unaffected.
63 lines
2.3 KiB
C++
63 lines
2.3 KiB
C++
#include <sys/resource.h>
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#include <unistd.h>
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#include <QApplication>
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#include <QTranslator>
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#include "common/swaglog.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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#include "selfdrive/ui/qt/qt_window.h"
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#include "selfdrive/ui/qt/util.h"
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#include "selfdrive/ui/qt/window.h"
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// Qt 5.12.8's qErrnoWarning() emits QtCriticalMsg then calls abort() directly,
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// bypassing the fatal-message path. Intercept critical+fatal Wayland messages
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// before the unconditional abort() fires and clean-exit so the manager restarts
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// us quickly instead of going through the slow abort/crash-handler path.
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void waylandAwareMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
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if (type == QtCriticalMsg || type == QtFatalMsg) {
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QByteArray bytes = msg.toUtf8();
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if (bytes.contains("ayland") || bytes.contains("wl_display")) {
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swagLogMessageHandler(type, context, msg);
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LOGE("UI WAYLAND EXIT: %s", bytes.constData());
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_exit(0); // clean exit; manager restarts us
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}
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}
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swagLogMessageHandler(type, context, msg);
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// Non-Wayland fatal: let Qt abort normally; crash_handler will capture it.
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}
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int main(int argc, char *argv[]) {
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setpriority(PRIO_PROCESS, 0, -20);
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qInstallMessageHandler(waylandAwareMessageHandler);
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initApp(argc, argv);
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QTranslator translator;
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QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
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if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) {
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qCritical() << "Failed to load translation file:" << translation_file;
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}
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QApplication a(argc, argv);
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a.installTranslator(&translator);
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MainWindow w;
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setMainWindow(&w);
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a.installEventFilter(&w);
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// Pin the UI to the little cores (0-3) AFTER startup. The realtime control
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// loop (card/controlsd) runs SCHED_FIFO on core 4; this keeps the steady-state
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// UI off it so a UI stall can't preempt the control loop. Deliberately done
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// after MainWindow init so startup — and crucially restart recovery — can use
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// all cores; pinning before init starved the restarting UI on the contended
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// little cores and stretched recovery from ~30s to minutes. The per-second
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// reaffine in UIState::update keeps it pinned thereafter.
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if (!Hardware::PC()) {
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util::set_core_affinity({0, 1, 2, 3});
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}
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return a.exec();
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}
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