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