Improve realtime performance on NEOS (#2166)

* fix setting core affinity

* dmonitoringd doesn't need rt priority

* android only gets two cores

* model and planner get core 2

* log missed cycle count

* neos update

* prod image

* revert NEOS changes

* still need this
old-commit-hash: ef21b83937d25b824018ac1d07fa7759ae6f8128

selfdrive/boardd/boardd.cc

@@ -254,7 +254,7 @@ void can_recv_thread() {
       useconds_t sleep = remaining / 1000;
       usleep(sleep);
     } else {
-      LOGW("missed cycle");
+      LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
       next_frame_time = cur_time;
     }
 

selfdrive/camerad/main.cc

@@ -1589,6 +1589,9 @@ void party(VisionState *s) {
 
 int main(int argc, char *argv[]) {
   set_realtime_priority(51);
+#ifdef QCOM
+  set_core_affinity(2);
+#endif
 
   zsys_handler_set(NULL);
   signal(SIGINT, (sighandler_t)set_do_exit);

selfdrive/controls/controlsd.py

@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
 import os
-import gc
 from cereal import car, log
 from common.hardware import HARDWARE
 from common.numpy_fast import clip
-from common.realtime import sec_since_boot, set_realtime_priority, set_core_affinity, Ratekeeper, DT_CTRL
+from common.realtime import sec_since_boot, config_rt_process, Priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
 from common.params import Params, put_nonblocking
 import cereal.messaging as messaging
@@ -43,9 +42,7 @@ EventName = car.CarEvent.EventName
 
 class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None):
-    gc.disable()
-    set_realtime_priority(53)
-    set_core_affinity(3)
+    config_rt_process(3, Priority.CTRL_HIGH)
 
     # Setup sockets
     self.pm = pm

selfdrive/controls/plannerd.py

@@ -1,9 +1,7 @@
 #!/usr/bin/env python3
-import gc
-
 from cereal import car
 from common.params import Params
-from common.realtime import set_realtime_priority
+from common.realtime import Priority, config_rt_process
 from selfdrive.swaglog import cloudlog
 from selfdrive.controls.lib.planner import Planner
 from selfdrive.controls.lib.vehicle_model import VehicleModel
@@ -12,10 +10,8 @@ import cereal.messaging as messaging
 
 
 def plannerd_thread(sm=None, pm=None):
-  gc.disable()
 
-  # start the loop
-  set_realtime_priority(52)
+  config_rt_process(2, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
   CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))

selfdrive/controls/radard.py

@@ -7,7 +7,7 @@ import cereal.messaging as messaging
 from cereal import car
 from common.numpy_fast import interp
 from common.params import Params
-from common.realtime import Ratekeeper, set_realtime_priority
+from common.realtime import Ratekeeper, Priority, set_realtime_priority
 from selfdrive.config import RADAR_TO_CAMERA
 from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
 from selfdrive.controls.lib.radar_helpers import Cluster, Track
@@ -174,7 +174,7 @@ class RadarD():
 
 # fuses camera and radar data for best lead detection
 def radard_thread(sm=None, pm=None, can_sock=None):
-  set_realtime_priority(52)
+  set_realtime_priority(Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")

selfdrive/modeld/modeld.cc

@@ -92,7 +92,9 @@ int main(int argc, char **argv) {
   int err;
   set_realtime_priority(51);
 
-#ifdef QCOM2
+#ifdef QCOM
+  set_core_affinity(2);
+#elif QCOM2
   // CPU usage is much lower when pinned to a single big core
   set_core_affinity(4);
 #endif

selfdrive/monitoring/dmonitoringd.py

@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
-import gc
 from cereal import car
-from common.realtime import set_realtime_priority
 from common.params import Params
 import cereal.messaging as messaging
 from selfdrive.controls.lib.events import Events
@@ -10,10 +8,6 @@ from selfdrive.locationd.calibrationd import Calibration
 
 
 def dmonitoringd_thread(sm=None, pm=None):
-  gc.disable()
-  set_realtime_priority(53)
-
-  # Pub/Sub Sockets
   if pm is None:
     pm = messaging.PubMaster(['dMonitoringState'])
 

selfdrive/test/test_cpu_usage.py

@@ -15,7 +15,7 @@ def cputime_total(ct):
 
 def print_cpu_usage(first_proc, last_proc):
   procs = [
-    ("selfdrive.controls.controlsd", 66.15),
+    ("selfdrive.controls.controlsd", 45.0),
     ("./loggerd", 33.90),
     ("selfdrive.locationd.locationd", 29.5),
     ("selfdrive.controls.plannerd", 11.84),