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https://github.com/wpilibsuite/allwpilib
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cc31079a11
We originally moved to setuid admin so user programs could do other things requiring admin if they wanted. However, these things, like setting RT priorities of other processes, can usually be done instead as admin during the GradleRIO 2022 deploy process, or adding commands to the robotCommand script. By going back to setcap, we can simplify the HAL code.
91 lines
2.5 KiB
C++
91 lines
2.5 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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#include "hal/Threads.h"
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#include <pthread.h>
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#include <sched.h>
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#include "hal/Errors.h"
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namespace hal::init {
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void InitializeThreads() {}
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} // namespace hal::init
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extern "C" {
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int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime,
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int32_t* status) {
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sched_param sch;
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int policy;
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int success = pthread_getschedparam(
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*reinterpret_cast<const pthread_t*>(handle), &policy, &sch);
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if (success == 0) {
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*status = 0;
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} else {
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*status = HAL_THREAD_PRIORITY_ERROR;
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return -1;
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}
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if (policy == SCHED_FIFO || policy == SCHED_RR) {
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*isRealTime = true;
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return sch.sched_priority;
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} else {
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*isRealTime = false;
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// 0 is the only supported priority for non-real-time
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return 0;
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}
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}
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int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) {
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auto thread = pthread_self();
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return HAL_GetThreadPriority(&thread, isRealTime, status);
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}
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HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime,
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int32_t priority, int32_t* status) {
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if (handle == nullptr) {
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*status = NULL_PARAMETER;
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return false;
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}
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int scheduler = realTime ? SCHED_FIFO : SCHED_OTHER;
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if (realTime) {
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// We don't support setting priorities for non RT threads
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// so we don't need to check for proper range
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if (priority < sched_get_priority_min(scheduler) ||
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priority > sched_get_priority_max(scheduler)) {
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*status = HAL_THREAD_PRIORITY_RANGE_ERROR;
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return false;
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}
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}
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sched_param sch;
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int policy;
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pthread_getschedparam(*reinterpret_cast<const pthread_t*>(handle), &policy,
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&sch);
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if (scheduler == SCHED_FIFO || scheduler == SCHED_RR) {
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sch.sched_priority = priority;
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} else {
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// Only need to set 0 priority for non RT thread
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sch.sched_priority = 0;
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}
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if (pthread_setschedparam(*reinterpret_cast<const pthread_t*>(handle),
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scheduler, &sch)) {
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*status = HAL_THREAD_PRIORITY_ERROR;
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return false;
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} else {
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*status = 0;
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return true;
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}
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}
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HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority,
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int32_t* status) {
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auto thread = pthread_self();
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return HAL_SetThreadPriority(&thread, realTime, priority, status);
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}
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} // extern "C"
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