22 lines
559 B
Python
Executable File
22 lines
559 B
Python
Executable File
#!/usr/bin/env python3
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import os
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import time
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from typing import NoReturn
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from common.realtime import set_core_affinity, set_realtime_priority
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# RT shield - ensure CPU 3 always remains available for RT processes
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# runs as SCHED_FIFO with minimum priority to ensure kthreads don't
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# get scheduled onto CPU 3, but it's always preemptible by realtime
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# openpilot processes
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def main() -> NoReturn:
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set_core_affinity([int(os.getenv("CORE", "3")), ])
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set_realtime_priority(1)
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while True:
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time.sleep(0.000001)
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if __name__ == "__main__":
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main()
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