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9529764549
* complie boardd without python * not good, but don't want to lose the file, because it works * clean a bit * update dbc * should build on CI * not good, but don't want to lose the file, because it works * clean a bit * should build on CI * remove unneeded path * reorder paths * reduce diff * and now it works?! * ... should work in CI * add kj, 30% chance to fix macos * pydebug * new way to find path * fix :) * tested * sanity check * repl. MacOS flags * hope it works * need more logs * need more logs2 * test if it works * should work on CI * correct python file * should not work * cleanup * real cleanup * more removals * 50% of file * transformations * fixed a hardcoded variable * more logs * simpl. * kalman * all donw if it passes tests * cleanup * reduce code by 20 lines if this works * fix bugs * cleanup * SharedLibrary * cleanup * ... * remove unused * CI fix maybe? * add more valid path * more logs * ...: * fix webcam CI * remove WError flag * deprecated is not an error * more Wno things * reduce diff, add Wno to env * don't import nonexistent stuff * SharedLibrary v2 * less custom env * renaming, remove SharedLibs * pack libs in envCython * experiment * better docker caching * whitespace * more docker caching * improvement * improvements Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
76 lines
2.0 KiB
Python
76 lines
2.0 KiB
Python
"""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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import multiprocessing
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from common.hardware import PC
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from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
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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_DMON = 0.1 # driver monitoring
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DT_TRML = 0.5 # thermald and manager
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class Priority:
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MIN_REALTIME = 52 # highest android process priority is 51
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CTRL_LOW = MIN_REALTIME
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CTRL_HIGH = MIN_REALTIME + 1
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def set_realtime_priority(level):
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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(core):
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if not PC:
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os.sched_setaffinity(0, [core,])
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def config_realtime_process(core, priority):
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gc.disable()
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set_realtime_priority(priority)
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set_core_affinity(core)
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class Ratekeeper():
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def __init__(self, rate, print_delay_threshold=0.):
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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 = sec_since_boot() + 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
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self._process_name = multiprocessing.current_process().name
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@property
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def frame(self):
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return self._frame
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@property
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def remaining(self):
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return self._remaining
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# Maintain loop rate by calling this at the end of each loop
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def keep_time(self):
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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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# this only monitor the cumulative lag, but does not enforce a rate
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def monitor_time(self):
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lagged = False
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remaining = self._next_frame_time - sec_since_boot()
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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("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
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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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