tici: fix set_realtime_priority (#2124)

* cleanup and pin modeld to core 5

* Unused import
old-commit-hash: 5c058140edb5678cfc31e5103e57cdb5d1c11305

selfdrive/common/util.c

@@ -50,7 +50,6 @@ void set_thread_name(const char* name) {
 
 int set_realtime_priority(int level) {
 #ifdef __linux__
-
   long tid = syscall(SYS_gettid);
 
   // should match python using chrt
@@ -64,8 +63,7 @@ int set_realtime_priority(int level) {
 }
 
 int set_core_affinity(int core) {
-#ifdef QCOM
-
+#ifdef __linux__
   long tid = syscall(SYS_gettid);
   cpu_set_t rt_cpu;
 

selfdrive/modeld/modeld.cc

@@ -92,6 +92,11 @@ int main(int argc, char **argv) {
   int err;
   set_realtime_priority(51);
 
+#ifdef QCOM2
+  // CPU usage is much lower when pinned to a single big core
+  set_core_affinity(4);
+#endif
+
   signal(SIGINT, (sighandler_t)set_do_exit);
   signal(SIGTERM, (sighandler_t)set_do_exit);