Apollo 10.0
自动驾驶开放平台
compute_sched_choreography.conf
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1scheduler_conf {
2 policy: "choreography"
3
4 choreography_conf {
5 choreography_processor_num: 8
6 choreography_affinity: "range"
7 choreography_cpuset: "0-7"
8
9 pool_processor_num: 12
10 pool_affinity: "range"
11 pool_cpuset: "8-11,16-23"
12
13 tasks: [
14 {
15 name: "velodyne_128_convert"
16 processor: 0
17 prio: 11
18 },
19 {
20 name: "velodyne128_compensator"
21 processor: 1
22 prio: 12
23 },
24 {
25 name: "velodyne_16_front_center_convert"
26 processor: 2
27 },
28 {
29 name: "velodyne_fusion"
30 processor: 2
31 prio: 2
32 },
33 {
34 name: "velodyne16_fusion_compensator"
35 processor: 2
36 prio: 3
37 },
38 {
39 name: "velodyne_16_rear_left_convert"
40 prio: 10
41 },
42 {
43 name: "velodyne_16_rear_right_convert"
44 prio: 10
45 },
46 {
47 name: "Velodyne128Detection"
48 processor: 3
49 prio: 13
50 },
51 {
52 name: "Velodyne16Detection"
53 processor: 3
54 prio: 10
55 },
56 {
57 name: "RecognitionComponent"
58 processor: 3
59 prio: 14
60 },
61 {
62 name: "SensorFusion"
63 processor: 4
64 prio: 15
65 },
66 {
67 name: "prediction"
68 processor: 5
69 prio: 16
70 },
71 {
72 name: "planning"
73 processor: 6
74 prio: 17
75 },
76 {
77 name: "routing"
78 processor: 6
79 },
80 {
81 name: "planning_/apollo/routing_response"
82 processor: 6
83 },
84 {
85 name: "planning_/apollo/perception/traffic_light"
86 processor: 7
87 prio: 17
88 },
89 {
90 name: "msf_localization"
91 processor: 7
92 },
93 {
94 name: "rtk_localization"
95 processor: 7
96 },
97 {
98 name: "msf_localization_/apollo/sensor/lidar64/compensator/PointCloud2"
99 prio: 4
100 },
101 {
102 name: "camera_front_6mm_compress"
103 prio: 3
104 },
105 {
106 name: "camera_front_12mm_compress"
107 prio: 3
108 },
109 {
110 name: "camera_left_fisheye_compress"
111 prio: 3
112 },
113 {
114 name: "camera_right_fisheye_compress"
115 prio: 3
116 },
117 {
118 name: "camera_rear_6mm_compress"
119 prio: 3
120 }
121 ]
122 }
123}