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AP_HAL_Linux: break out init_realtime

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This commit is contained in:
Peter Barker 2016-11-16 13:20:31 +11:00 committed by Lucas De Marchi
parent 7fda309d3c
commit 43c07259f3
2 changed files with 20 additions and 10 deletions
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28
libraries/AP_HAL_Linux/Scheduler.cpp
View File

@ -56,6 +56,23 @@ extern const AP_HAL::HAL& hal;
Scheduler::Scheduler()
{ }
void Scheduler::init_realtime()
{
#if APM_BUILD_TYPE(APM_BUILD_Replay)
// we don't run Replay in real-time...
return;
#endif
mlockall(MCL_CURRENT|MCL_FUTURE);
struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
AP_HAL::panic("Scheduler: failed to set scheduling parameters: %s",
strerror(errno));
}
}
void Scheduler::init()
{
int ret;
@ -74,16 +91,7 @@ void Scheduler::init()
_main_ctx = pthread_self();
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
// we don't run Replay in real-time...
mlockall(MCL_CURRENT|MCL_FUTURE);
struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
AP_HAL::panic("Scheduler: failed to set scheduling parameters: %s",
strerror(errno));
}
#endif
init_realtime();
/* set barrier to N + 1 threads: worker threads + main */
unsigned n_threads = ARRAY_SIZE(sched_table) + 1;

2
libraries/AP_HAL_Linux/Scheduler.h
View File

@ -66,6 +66,8 @@ private:
Scheduler &_sched;
};
void init_realtime();
void _wait_all_threads();
void _debug_stack();