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make locationd and paramsd RT (#21264)

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This commit is contained in:
Adeeb Shihadeh
2021-06-17 14:19:24 -07:00
committed by GitHub
parent 317afa335f
commit f01ebc5680
2 changed files with 3 additions and 2 deletions
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selfdrive/locationd/locationd.cc
+1 -1
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@@ -469,7 +469,7 @@ int Localizer::locationd_thread() {
}
int main() {
setpriority(PRIO_PROCESS, 0, -20);
set_realtime_priority(5);
Localizer localizer;
return localizer.locationd_thread();
selfdrive/locationd/paramsd.py
+2 -1
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@@ -8,7 +8,7 @@ import numpy as np
import cereal.messaging as messaging
from cereal import car
from common.params import Params, put_nonblocking
from common.realtime import DT_MDL
from common.realtime import set_realtime_priority, DT_MDL
from common.numpy_fast import clip
from selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
from selfdrive.locationd.models.constants import GENERATED_DIR
@@ -73,6 +73,7 @@ class ParamsLearner:
def main(sm=None, pm=None):
gc.disable()
set_realtime_priority(5)
if sm is None:
sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])