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dmonitoringd: make real-time process #23554

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merged 2 commits into from
Jan 18, 2022
Merged

dmonitoringd: make real-time process #23554

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4fc91ad
dmonitoringd: make real-time process
pd0wm Jan 17, 2022
61b93a8
Update selfdrive/monitoring/dmonitoringd.py
adeebshihadeh Jan 17, 2022
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12 changes: 10 additions & 2 deletions selfdrive/monitoring/dmonitoringd.py
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Original file line number Diff line number Diff line change
@@ -1,13 +1,19 @@
#!/usr/bin/env python3
import gc

import cereal.messaging as messaging
from cereal import car
from common.params import Params
import cereal.messaging as messaging
from common.realtime import set_realtime_priority
from selfdrive.controls.lib.events import Events
from selfdrive.monitoring.driver_monitor import DriverStatus
from selfdrive.locationd.calibrationd import Calibration
from selfdrive.monitoring.driver_monitor import DriverStatus


def dmonitoringd_thread(sm=None, pm=None):
gc.disable()
set_realtime_priority(2)

if pm is None:
pm = messaging.PubMaster(['driverMonitoringState'])

Expand Down Expand Up @@ -77,8 +83,10 @@ def dmonitoringd_thread(sm=None, pm=None):
}
pm.send('driverMonitoringState', dat)


def main(sm=None, pm=None):
dmonitoringd_thread(sm, pm)


if __name__ == '__main__':
main()