mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
49d5b8eaff
Own model discovery, compilation and registry selection through explicit model metadata and geometry contracts. Co-authored-by: whoisdomi <dcantu83@gmail.com>
49 lines
1.6 KiB
Python
49 lines
1.6 KiB
Python
"""
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Copyright (c) 2026-, Zeph Leggett.
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This file is part of jetlink and is licensed under the MIT License.
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See the LICENSE file in the root directory for more details.
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"""
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from __future__ import annotations
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import os
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def all_cpus() -> set[int]:
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return set(range(os.cpu_count() or 1))
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def widen_affinity() -> None:
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"""Let the calling thread run on every CPU.
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A thread created inside modeld inherits the frame loop's single-core pin. If
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the inherited mask is one core, prefer every other core: simply widening did
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not help, because the balancer keeps waking a thread where it last ran. Best
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effort, and open-coded because jetlink must not import openpilot.
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"""
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try:
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everything = all_cpus()
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inherited = os.sched_getaffinity(0)
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if len(inherited) == 1 and everything - inherited:
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os.sched_setaffinity(0, everything - inherited) # off the frame-loop core
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elif everything - inherited:
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os.sched_setaffinity(0, everything) # unpinned already; just widen
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except (OSError, AttributeError):
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# no affinity call (macOS), or a kernel that refuses
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pass
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def background_thread() -> None:
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"""Drop the calling thread to SCHED_OTHER 0 on every CPU.
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Threads created after config_realtime_process inherit SCHED_FIFO and the core
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pin, so even one that only waits on a condition takes the frame loop's core at
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equal priority on every wake. Call it first in any thread started here. Best
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effort.
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"""
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try:
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os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
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except (OSError, AttributeError, ValueError):
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pass
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widen_affinity()
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