defaultcfg/fsfwconfig/FSFWConfig.h

@@ -57,6 +57,10 @@ static constexpr size_t FSFW_EVENTMGMR_RANGEMATCHERS   = 120;
 static constexpr uint8_t FSFW_CSB_FIFO_DEPTH = 6;
 
 static constexpr size_t FSFW_PRINT_BUFFER_SIZE = 124;
+
+//! Defines if the real time scheduler for linux should be used.
+//! If set to 1 the binary needs "cap_sys_nice=eip" privileges to run
+#define FSFW_USE_REALTIME_FOR_LINUX 0
 }
 
 #endif /* CONFIG_FSFWCONFIG_H_ */

osal/host/PeriodicTask.cpp

@@ -19,7 +19,7 @@ PeriodicTask::PeriodicTask(const char *name, TaskPriority setPriority,
 		void (*setDeadlineMissedFunc)()) :
 		started(false), taskName(name), period(setPeriod),
 		deadlineMissedFunc(setDeadlineMissedFunc) {
-    // It is propably possible to set task priorities by using the native
+    // It is probably possible to set task priorities by using the native
     // task handles for Windows / Linux
 	mainThread = std::thread(&PeriodicTask::taskEntryPoint, this, this);
 #if defined(WIN32)

osal/linux/PosixThread.cpp

@@ -184,8 +184,11 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 					strerror(status) << std::endl;
 #endif
 	}
-
-	// TODO FIFO -> This needs root privileges for the process
+#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
+	// FIFO -> This needs root privileges for the process
 	status = pthread_attr_setschedpolicy(&attributes,SCHED_FIFO);
 	if(status != 0){
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -203,7 +206,7 @@ void PosixThread::createTask(void* (*fnc_)(void*), void* arg_) {
 				strerror(status) << std::endl;
 #endif
 	}
-
+#endif
 	//Set Signal Mask for suspend until startTask is called
 	sigset_t waitSignal;
 	sigemptyset(&waitSignal);