From db4587bb59603bdc83e6720193fd1782649a0678 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Thu, 23 Mar 2023 18:29:17 +0100
Subject: [PATCH] allow creating regular threads

---
 src/fsfw/osal/linux/PosixThread.cpp | 24 ++++++++++++++++++------
 1 file changed, 18 insertions(+), 6 deletions(-)

diff --git a/src/fsfw/osal/linux/PosixThread.cpp b/src/fsfw/osal/linux/PosixThread.cpp
index 9851876d..e90070bb 100644
--- a/src/fsfw/osal/linux/PosixThread.cpp
+++ b/src/fsfw/osal/linux/PosixThread.cpp
@@ -178,20 +178,32 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 #ifndef FSFW_USE_REALTIME_FOR_LINUX
 #error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
 #endif
+  if (priority < 100) {
+    // RR -> This needs root privileges for the process
 #if FSFW_USE_REALTIME_FOR_LINUX == 1
-  // RR -> This needs root privileges for the process
-  status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
-  if (status != 0) {
-    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
+    status = pthread_attr_setschedpolicy(&attributes, SCHED_RR);
+    if (status != 0) {
+      utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedpolicy");
+    }
+#else
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning
+        << "Real time priorities are only allowed if FSFW_USE_REALTIME_FOR_LINUX is set to 1"
+        << std::endl;
+#endif
+#endif
+  } else {
+    priority = 0;
   }
 
   sched_param scheduleParams;
   scheduleParams.__sched_priority = priority;
   status = pthread_attr_setschedparam(&attributes, &scheduleParams);
   if (status != 0) {
-    utility::printUnixErrorGeneric(CLASS_NAME, "createTask", "pthread_attr_setschedparam");
-  }
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+    sif::warning << "PosixThread: Setting priority failed" << std::endl;
 #endif
+  }
   // Set Signal Mask for suspend until startTask is called
   sigset_t waitSignal;
   sigemptyset(&waitSignal);