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Fix RT priority docs (NFC) (#3098)

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The ranges and which value was specified as highest were incorrect on
some of them. On Linux, the range is 1 to 99 with 99 being highest.

From `man 7 sched`:
```
Processes scheduled under one of the real-time policies (SCHED_FIFO,
SCHED_RR) have a sched_priority value in the range 1 (low) to 99 (high).
```

Also clean up the relevant javadoc and doxygen comments.
This commit is contained in:
Tyler Veness
2021-01-19 22:59:18 -08:00
committed by GitHub
parent b3426e9c0d
commit 6b1898f12e
6 changed files with 60 additions and 51 deletions
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5
wpilibc/src/main/native/include/frc/Notifier.h
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@@ -46,8 +46,9 @@ class Notifier : public ErrorBase {
* This is useful for reducing scheduling jitter on processes which are
* sensitive to timing variance, like model-based control.
*
* @param priority The FIFO real-time scheduler priority ([0..100] where a
* lower number represents higher priority).
* @param priority The FIFO real-time scheduler priority ([1..99] where a
* higher number represents higher priority). See "man 7
* sched" for more details.
* @param handler The handler is called at the notification time which is set
* using StartSingle or StartPeriodic.
*/

34
wpilibc/src/main/native/include/frc/Threads.h
View File

@@ -12,16 +12,20 @@ namespace frc {
* Get the thread priority for the specified thread.
*
* @param thread Reference to the thread to get the priority for.
* @param isRealTime Set to true if thread is realtime, otherwise false.
* @return The current thread priority. Scaled 1-99, with 1 being highest.
* @param isRealTime Set to true if thread is real-time, otherwise false.
* @return The current thread priority. For real-time, this is 1-99
* with 99 being highest. For non-real-time, this is 0. See
* "man 7 sched" for details.
*/
int GetThreadPriority(std::thread& thread, bool* isRealTime);
/**
* Get the thread priority for the current thread
*
* @param isRealTime Set to true if thread is realtime, otherwise false.
* @return The current thread priority. Scaled 1-99.
* @param isRealTime Set to true if thread is real-time, otherwise false.
* @return The current thread priority. For real-time, this is 1-99
* with 99 being highest. For non-real-time, this is 0. See
* "man 7 sched" for details.
*/
int GetCurrentThreadPriority(bool* isRealTime);
@@ -29,26 +33,24 @@ int GetCurrentThreadPriority(bool* isRealTime);
* Sets the thread priority for the specified thread
*
* @param thread Reference to the thread to set the priority of.
* @param realTime Set to true to set a realtime priority, false for standard
* @param realTime Set to true to set a real-time priority, false for standard
* priority.
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest. On RoboRIO, priority is ignored for non realtime
* setting.
*
* @return The success state of setting the priority
* @param priority Priority to set the thread to. For real-time, this is 1-99
* with 99 being highest. For non-real-time, this is forced to
* 0. See "man 7 sched" for more details.
* @return True on success.
*/
bool SetThreadPriority(std::thread& thread, bool realTime, int priority);
/**
* Sets the thread priority for the current thread
*
* @param realTime Set to true to set a realtime priority, false for standard
* @param realTime Set to true to set a real-time priority, false for standard
* priority.
* @param priority Priority to set the thread to. Scaled 1-99, with 1 being
* highest. On RoboRIO, priority is ignored for non realtime
* setting.
*
* @return The success state of setting the priority
* @param priority Priority to set the thread to. For real-time, this is 1-99
* with 99 being highest. For non-real-time, this is forced to
* 0. See "man 7 sched" for more details.
* @return True on success.
*/
bool SetCurrentThreadPriority(bool realTime, int priority);