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AP_HAL_Linux: do not attempt realtime when compiling Replay

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Peter Barker 2016-11-16 13:20:31 +11:00 committed by Lucas De Marchi
parent 78d7a144b1
commit cf5ed25c9e
1 changed files with 5 additions and 6 deletions
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11
libraries/AP_HAL_Linux/Scheduler.cpp
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@ -10,6 +10,7 @@
#include <unistd.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
#include "RCInput.h"
#include "RPIOUARTDriver.h"
@ -82,18 +83,16 @@ void Scheduler::init()
SCHED_THREAD(io, IO),
};
#if !APM_BUILD_TYPE(APM_BUILD_Replay)
// we don't run Replay in real-time...
mlockall(MCL_CURRENT|MCL_FUTURE);
if (geteuid() != 0) {
printf("WARNING: running as non-root. Will not use realtime scheduling\n");
}
struct sched_param param = { .sched_priority = APM_LINUX_MAIN_PRIORITY };
ret = sched_setscheduler(0, SCHED_FIFO, &param);
if (ret == -1) {
if (sched_setscheduler(0, SCHED_FIFO, &param) == -1) {
AP_HAL::panic("Scheduler: failed to set scheduling parameters: %s",
strerror(errno));
}
#endif
/* set barrier to N + 1 threads: worker threads + main */
unsigned n_threads = ARRAY_SIZE(sched_table) + 1;