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HAL_Linux: allow running as non-root 

this is needed for Replay, plus is very useful for debugging
This commit is contained in:
Andrew Tridgell 2015-04-14 09:25:35 +10:00
parent f049c8e4c5
commit 7f7d92913e
1 changed files with 14 additions and 3 deletions
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17
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -39,9 +39,16 @@ void LinuxScheduler::_create_realtime_thread(pthread_t *ctx, int rtprio,
int r;
pthread_attr_init(&attr);
pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
pthread_attr_setschedparam(&attr, &param);
/*
we need to run as root to get realtime scheduling. Allow it to
run as non-root for debugging purposes, plus to allow the Replay
tool to run
*/
if (geteuid() == 0) {
pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
pthread_attr_setschedparam(&attr, &param);
}
r = pthread_create(ctx, &attr, start_routine, this);
if (r != 0) {
hal.console->printf("Error creating thread '%s': %s\n",
@ -98,6 +105,10 @@ void LinuxScheduler::init(void* machtnichts)
{ }
};
if (geteuid() != 0) {
printf("WARNING: running as non-root. Will not use realtime scheduling\n");
}
for (iter = table; iter->ctx; iter++)
_create_realtime_thread(iter->ctx, iter->rtprio, iter->name,
iter->start_routine);