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5d9ae3cdb4
This PR gives the Notifier HAL thread RT priority 40 in RobotBase after HAL initialization and before the user code is run. This drastically improves scheduling jitter for TimedRobot's AddPeriodic() functions (in 3512's experience). It's too risky to set user code as RT because badly behaved code will lock up the Rio (potentially requiring safe mode to recover). This needs the user program to be setuid admin to succeed.
58 lines
2.1 KiB
C++
58 lines
2.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <thread>
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namespace frc {
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/**
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* Get the thread priority for the specified thread.
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*
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* @param thread Reference to the thread to get the priority for.
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* @param isRealTime Set to true if thread is real-time, otherwise false.
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* @return The current thread priority. For real-time, this is 1-99
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* with 99 being highest. For non-real-time, this is 0. See
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* "man 7 sched" for details.
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*/
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int GetThreadPriority(std::thread& thread, bool* isRealTime);
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/**
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* Get the thread priority for the current thread.
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*
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* @param isRealTime Set to true if thread is real-time, otherwise false.
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* @return The current thread priority. For real-time, this is 1-99
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* with 99 being highest. For non-real-time, this is 0. See
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* "man 7 sched" for details.
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*/
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int GetCurrentThreadPriority(bool* isRealTime);
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/**
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* Sets the thread priority for the specified thread.
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*
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* @param thread Reference to the thread to set the priority of.
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* @param realTime Set to true to set a real-time priority, false for standard
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* priority.
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* @param priority Priority to set the thread to. For real-time, this is 1-99
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* with 99 being highest. For non-real-time, this is forced to
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* 0. See "man 7 sched" for more details.
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* @return True on success.
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*/
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bool SetThreadPriority(std::thread& thread, bool realTime, int priority);
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/**
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* Sets the thread priority for the current thread.
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*
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* @param realTime Set to true to set a real-time priority, false for standard
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* priority.
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* @param priority Priority to set the thread to. For real-time, this is 1-99
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* with 99 being highest. For non-real-time, this is forced to
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* 0. See "man 7 sched" for more details.
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* @return True on success.
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*/
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bool SetCurrentThreadPriority(bool realTime, int priority);
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} // namespace frc
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