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Allow creating regular threads #140

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muellerr merged 8 commits from allow_creating_regular_threads into develop 2023-03-24 14:15:54 +01:00
Conversation 0 Commits 8 Files Changed 10 +18 -6
1 changed files with 18 additions and 6 deletions
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Showing only changes of commit db4587bb59 - Show all commits

18
src/fsfw/osal/linux/PosixThread.cpp
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@ -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 FSFW_USE_REALTIME_FOR_LINUX == 1
if (priority < 100) {
// RR -> This needs root privileges for the process
#if FSFW_USE_REALTIME_FOR_LINUX == 1
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);