IQ.Pilot Release Commit @ 98a2c61

iqpilot/common/realtime.py

@@ -41,6 +41,12 @@ def config_realtime_process(cores: int | list[int], priority: int) -> None:
   set_core_affinity(c)
 
 
+def config_background_thread() -> None:
+  if sys.platform == 'linux' and not PC:
+    os.sched_setscheduler(0, os.SCHED_OTHER, os.sched_param(0))
+    set_core_affinity(list(range(os.cpu_count() or 1)))
+
+
 def lock_memory() -> None:
   """mlockall this process so memory reclaim/compaction can't stall it. RT control
   procs only (locking ui/modeld would worsen pressure). Best-effort."""

iqpilot/common/tests/test_markdown.py

@@ -6,7 +6,7 @@ from iqpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "docs", "CHANGELOG.md")) as f:
+    with open(os.path.join(BASEDIR, "iqpilot", "docs", "CHANGELOG.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 

iqpilot/common/tests/test_realtime.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import pytest
 
-from iqpilot.common.realtime import Ratekeeper
+from iqpilot.common.realtime import config_background_thread, Ratekeeper
 
 
 class MonotonicClock:
@@ -47,3 +47,18 @@ def test_ratekeeper_reset_preserves_frame_count(monkeypatch):
 
   rk.reset()
   assert rk.frame == frame
+
+
+def test_config_background_thread_restores_normal_scheduling(monkeypatch):
+  calls = []
+  monkeypatch.setattr("iqpilot.common.realtime.sys.platform", "linux")
+  monkeypatch.setattr("iqpilot.common.realtime.PC", False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.cpu_count", lambda: 8)
+  monkeypatch.setattr("iqpilot.common.realtime.os.SCHED_OTHER", 0, raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_param", lambda priority: priority, raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_setscheduler", lambda pid, policy, param: calls.append((pid, policy, param)), raising=False)
+  monkeypatch.setattr("iqpilot.common.realtime.os.sched_setaffinity", lambda pid, cores: calls.append((pid, set(cores))), raising=False)
+
+  config_background_thread()
+
+  assert calls == [(0, 0, 0), (0, set(range(8)))]