mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-20 00:32:11 +08:00
Vehicle Researcher
15ee981d5b
date: 2022-05-24T01:48:37 master commit: 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
22 lines
559 B
Python
Executable File
22 lines
559 B
Python
Executable File
#!/usr/bin/env python3
|
|
import os
|
|
import time
|
|
from typing import NoReturn
|
|
|
|
from common.realtime import set_core_affinity, set_realtime_priority
|
|
|
|
# RT shield - ensure CPU 3 always remains available for RT processes
|
|
# runs as SCHED_FIFO with minimum priority to ensure kthreads don't
|
|
# get scheduled onto CPU 3, but it's always preemptible by realtime
|
|
# openpilot processes
|
|
|
|
def main() -> NoReturn:
|
|
set_core_affinity([int(os.getenv("CORE", "3")), ])
|
|
set_realtime_priority(1)
|
|
|
|
while True:
|
|
time.sleep(0.000001)
|
|
|
|
if __name__ == "__main__":
|
|
main()
|