Merge pull request 'Makes linux realtime optional' (#406) from gaisser/fsfw:gaisser_make_linux_realtime_optional into development
Reviewed-on: #406
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1cbeb54b8d
@ -52,11 +52,18 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS = 120;
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//! Defines the FIFO depth of each commanding service base which
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//! also determines how many commands a CSB service can handle in one cycle
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//! simulataneously. This will increase the required RAM for
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//! simultaneously. This will increase the required RAM for
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//! each CSB service !
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static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
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static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
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//! Defines if the real time scheduler for linux should be used.
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//! If set to 0, this will also disable priority settings for linux
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//! as most systems will not allow to set nice values without privileges
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//! For embedded linux system set this to 1.
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//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
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#define FSFW_USE_REALTIME_FOR_LINUX 1
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}
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#endif /* CONFIG_FSFWCONFIG_H_ */
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@ -21,7 +21,7 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
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void (*setDeadlineMissedFunc)()) :
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started(false), taskName(name), period(setPeriod),
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deadlineMissedFunc(setDeadlineMissedFunc) {
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// It is propably possible to set task priorities by using the native
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// It is probably possible to set task priorities by using the native
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// task handles for Windows / Linux
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mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
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#if defined(_WIN32)
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@ -184,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
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strerror(status) << std::endl;
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#endif
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}
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// TODO FIFO -> This needs root privileges for the process
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#ifndef FSFW_USE_REALTIME_FOR_LINUX
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#error "Please define FSFW_USE_REALTIME_FOR_LINUX with either 0 or 1"
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#endif
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#if FSFW_USE_REALTIME_FOR_LINUX == 1
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// FIFO -> This needs root privileges for the process
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status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
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if(status != 0){
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#if FSFW_CPP_OSTREAM_ENABLED == 1
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@ -203,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
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strerror(status) << std::endl;
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#endif
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}
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#endif
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//Set Signal Mask for suspend until startTask is called
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sigset_t waitSignal;
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sigemptyset(&waitSignal);
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