brianhansonxyz
ab9158bfb7
Discard the modelrevert tree adoption (8b4b7e0) and the in-process park short-circuits / cached-output / dashcam-idle work that came with it (0dc8002,37e095e). Restore the clearpilot tree as it stood atd639e28— the parked-controlsd manager-process split, the GPS-disable in locationd, the controlsd UI hooks, the boardd ignition-edge safety_setter_thread fix. After a full /data/params/d wipe and re-calibration drive, the modelrevert-tree variant overcorrected on turns; reverting to the parked-controlsd architecture (which Brian had previously vetted and documented in887b9c9+27cad05) and starting fresh. Single new commit, no merge — file state matchesd639e28byte-for-byte. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
98 lines
2.6 KiB
Python
Executable File
98 lines
2.6 KiB
Python
Executable File
"""Utilities for reading real time clocks and keeping soft real time constraints."""
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import gc
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import os
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import time
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from collections import deque
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from setproctitle import getproctitle
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from openpilot.system.hardware import PC
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# time step for each process
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DT_CTRL = 0.01 # controlsd
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DT_MDL = 0.05 # model
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DT_TRML = 0.5 # thermald and manager
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DT_DMON = 0.05 # driver monitoring
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class Priority:
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# CORE 2
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# - modeld = 55
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# - camerad = 54
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CTRL_LOW = 51 # plannerd & radard
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# CORE 3
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# - boardd = 55
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CTRL_HIGH = 53
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def set_realtime_priority(level: int) -> None:
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if not PC:
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os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
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def set_core_affinity(cores: list[int]) -> None:
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if not PC:
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try: # CLEARPILOT ....
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os.sched_setaffinity(0, cores)
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except:
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nothing=0
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def config_realtime_process(cores: int | list[int], priority: int) -> None:
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gc.disable()
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set_realtime_priority(priority)
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c = cores if isinstance(cores, list) else [cores, ]
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set_core_affinity(c)
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class Ratekeeper:
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def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
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"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
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self._interval = 1. / rate
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self._next_frame_time = time.monotonic() + self._interval
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self._print_delay_threshold = print_delay_threshold
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self._frame = 0
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self._remaining = 0.0
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self._process_name = getproctitle()
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self._dts = deque([self._interval], maxlen=100)
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self._last_monitor_time = time.monotonic()
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@property
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def frame(self) -> int:
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return self._frame
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@property
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def remaining(self) -> float:
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return self._remaining
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@property
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def lagging(self) -> bool:
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avg_dt = sum(self._dts) / len(self._dts)
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expected_dt = self._interval * (1 / 0.9)
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return avg_dt > expected_dt
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# Maintain loop rate by calling this at the end of each loop
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def keep_time(self) -> bool:
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lagged = self.monitor_time()
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if self._remaining > 0:
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time.sleep(self._remaining)
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return lagged
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# Monitors the cumulative lag, but does not enforce a rate
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def monitor_time(self) -> bool:
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prev = self._last_monitor_time
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self._last_monitor_time = time.monotonic()
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self._dts.append(self._last_monitor_time - prev)
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lagged = False
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remaining = self._next_frame_time - time.monotonic()
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self._next_frame_time += self._interval
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if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
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print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
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lagged = True
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self._frame += 1
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self._remaining = remaining
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return lagged
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