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firestar5683
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
"""CPU placement of the optional receiver and its bounded numerical child."""
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import os
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from pathlib import Path
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from openpilot.common.hardware import HARDWARE
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def configure_cpu(*, numerical=False):
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# These devices isolate cores6/7 from ordinary load balancing. The receiver
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# otherwise migrates among busy cores0..5 while its100Hz tape queues up.
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# Model/DM FIFO owners preempt the CFS receiver. Numerical work stays on
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# the background cluster, below its owners. No other process is moved.
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if HARDWARE.get_device_type() not in ('tici', 'tizi', 'mici'):
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return False
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if numerical:
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# Kernel affinity intersects online/allowed CPUs; this never enables one.
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mask = {0, 1, 2, 3}
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else:
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if 7 not in os.sched_getaffinity(0):
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return False
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try:
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online = Path('/sys/devices/system/cpu/cpu7/online').read_text().strip()
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except OSError:
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return False
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if online != '1':
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return False
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mask = {7}
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if os.sched_getscheduler(0) != os.SCHED_OTHER:
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raise ValueError('optional learner requires ordinary scheduling')
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os.sched_setaffinity(0, mask)
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os.setpriority(os.PRIO_PROCESS, 0, 19 if numerical else 10)
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if numerical:
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os.sched_setscheduler(0, os.SCHED_IDLE, os.sched_param(0))
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return True
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