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Linux: Scheduler: don't ignore return values

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Several return values in the constructor of the scheduler were ignored
before, while they should be respected.

I found that bug while strac'ing ardupilot as it failed at some later
point.

Signed-off-by: Ralf Ramsauer <ralf.ramsauer@othr.de>
This commit is contained in:
Ralf Ramsauer 2016-11-03 19:40:55 +01:00 committed by Lucas De Marchi
parent f66be99f96
commit 530d3230df
1 changed files with 11 additions and 2 deletions
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13
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -67,6 +67,7 @@ Scheduler::Scheduler()
void Scheduler::init() void Scheduler::init()
{ {
int ret;
const struct sched_table { const struct sched_table {
const char *name; const char *name;
SchedulerThread *thread; SchedulerThread *thread;
@ -88,11 +89,19 @@ void Scheduler::init()
} }
struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY }; struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
sched_setscheduler(0, SCHED_FIFO, &param); ret = sched_setscheduler(0, SCHED_FIFO, &param);
if (ret == -1) {
AP_HAL::panic("Scheduler: failed to set scheduling parameters: %s",
strerror(errno));
}
/* set barrier to N + 1 threads: worker threads + main */ /* set barrier to N + 1 threads: worker threads + main */
unsigned n_threads = ARRAY_SIZE(sched_table) + 1; unsigned n_threads = ARRAY_SIZE(sched_table) + 1;
pthread_barrier_init(&_initialized_barrier, nullptr, n_threads); ret = pthread_barrier_init(&_initialized_barrier, nullptr, n_threads);
if (ret) {
AP_HAL::panic("Scheduler: Failed to initialise barrier object: %s",
strerror(ret));
}
for (size_t i = 0; i < ARRAY_SIZE(sched_table); i++) { for (size_t i = 0; i < ARRAY_SIZE(sched_table); i++) {
const struct sched_table *t = &sched_table[i]; const struct sched_table *t = &sched_table[i];