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https://github.com/wpilibsuite/allwpilib
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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.
65 lines
1.6 KiB
C++
65 lines
1.6 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 <jni.h>
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#include <cassert>
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#include "HALUtil.h"
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#include "edu_wpi_first_hal_ThreadsJNI.h"
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#include "hal/Threads.h"
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using namespace hal;
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extern "C" {
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/*
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* Class: edu_wpi_first_hal_ThreadsJNI
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* Method: getCurrentThreadPriority
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* Signature: ()I
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*/
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JNIEXPORT jint JNICALL
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Java_edu_wpi_first_hal_ThreadsJNI_getCurrentThreadPriority
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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HAL_Bool isRT = false;
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auto ret = HAL_GetCurrentThreadPriority(&isRT, &status);
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CheckStatus(env, status);
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return static_cast<jint>(ret);
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}
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/*
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* Class: edu_wpi_first_hal_ThreadsJNI
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* Method: getCurrentThreadIsRealTime
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* Signature: ()Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_ThreadsJNI_getCurrentThreadIsRealTime
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(JNIEnv* env, jclass)
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{
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int32_t status = 0;
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HAL_Bool isRT = false;
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HAL_GetCurrentThreadPriority(&isRT, &status);
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CheckStatus(env, status);
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return static_cast<jboolean>(isRT);
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}
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/*
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* Class: edu_wpi_first_hal_ThreadsJNI
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* Method: setCurrentThreadPriority
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* Signature: (ZI)Z
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*/
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JNIEXPORT jboolean JNICALL
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Java_edu_wpi_first_hal_ThreadsJNI_setCurrentThreadPriority
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(JNIEnv* env, jclass, jboolean realTime, jint priority)
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{
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int32_t status = 0;
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auto ret = HAL_SetCurrentThreadPriority(
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static_cast<HAL_Bool>(realTime), static_cast<int32_t>(priority), &status);
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CheckStatus(env, status, false);
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return static_cast<jboolean>(ret);
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}
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} // extern "C"
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