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Linux: run threads without SCHED_FIFO if not privileged

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When running the process without sufficient privilege to use
real time scheduling, warn the user and run with SCHED_OTHER.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-03-16 10:23:14 -07:00
parent 4a6bd4ddc0
commit 598b05fcba
1 changed files with 6 additions and 1 deletions
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src/platforms/linux/px4_layer/px4_linux_tasks.c
+6 -1
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@@ -153,7 +153,12 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
rv = pthread_create (&task, &attr, (void *)&entry_adapter, (void *) taskdata);
if (rv != 0) {
printf("px4_task_spawn_cmd: failed to create thread\n");
printf("px4_task_spawn_cmd: failed to create thread %d %d\n", rv, errno);
if (rv == EPERM) {
printf("WARNING: INSUFFICIENT PRIVILEGE TO RUN REALTIME THREADS\n");
rv = pthread_create (&task, NULL, (void *)&entry_adapter, (void *) taskdata);
}
return (rv < 0) ? rv : -rv;
}