Brian Hanson
b70543a003
- Unblocked thermald and camerad — thermald manages CPU cores and reads fake pandaStates for ignition, bench no longer publishes deviceState - camerad starts with live camera feed on bench - Force nvg->update() every frame for HUD repaint without camera dependency - Blue blinking telemetry circle uses getBool pattern - camerad debug logging for startup diagnostics Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
34 lines
1018 B
C++
Executable File
34 lines
1018 B
C++
Executable File
#include "system/camerad/cameras/camera_common.h"
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#include <cassert>
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#include "common/params.h"
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#include "common/util.h"
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#include "system/hardware/hw.h"
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int main(int argc, char *argv[]) {
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fprintf(stderr, "camerad: starting\n");
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if (Hardware::PC()) {
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fprintf(stderr, "camerad: exiting, not meant to run on PC\n");
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return 0;
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}
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int ret;
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fprintf(stderr, "camerad: setting realtime priority 53\n");
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ret = util::set_realtime_priority(53);
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fprintf(stderr, "camerad: set_realtime_priority ret=%d\n", ret);
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assert(ret == 0);
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fprintf(stderr, "camerad: setting core affinity to cpu6\n");
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ret = util::set_core_affinity({6});
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bool isOffroad = Params().getBool("IsOffroad");
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fprintf(stderr, "camerad: set_core_affinity ret=%d, IsOffroad=%d\n", ret, isOffroad);
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assert(ret == 0 || isOffroad); // failure ok while offroad due to offlining cores
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fprintf(stderr, "camerad: starting camerad_thread\n");
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camerad_thread();
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fprintf(stderr, "camerad: camerad_thread returned\n");
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return 0;
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}
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