px2 Real-time process performance

platforms px2 :
Linux nvidia 4.9.38-rt25-tegra #1 SMP PREEMPT RT Mon Jan 8 01:00:48 PST 2018 aarch64 aarch64 aarch64 GNU/Linux

application: have 5 processes

process0: from ttyUSB0 read data and record the receive time; cpu : 40%
process1: from ttyUSB1 read data cpu : 15%
process2: from ttyUSB2 read data cpu : 5%
process3: cap from camera and record image cpu : 80%
process4: the algorithm sdk cpu : 100%

my question:
process0 the recorded and adjacent receive time difference is too large to reach 100ms.
change the process0 for sched_fifo and set cpu affinity to CPU0 and CPU1,the time difference is 20ms
but that is still too large for me.
my goal is < 10ms

any has ideas ?

Dear alex_wang,

If this topic is related to an optimization issue, could you please check your application using “NVIDIA System Profiler” https://docs.nvidia.com/drive/devtools/nsp/3.9/index.html ?

the “NVIDIA System Profiler” is only one tool for me to trace,
but i need a solution to fix my question.

Now I have got that the cpu resource of process0 is seized by the system services,
which resulting in the delay for process0.

Hi,

Do you check our DriveWorks sample?
https://developer.nvidia.com/driveworks

It may give you some idea to do optimization.
Thanks.