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px4_work_queue: revert inherited sched attr and run wq:manager and max priority

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Setting PTHREAD_EXPLICIT_SCHED was necessary on linux to create WQ threads with priorities relative to max, but unfortunately we can't rely pthread_attr_setinheritsched as it's dependent on system ulimit configuration or running privileged. Instead we can create the wq:manager at the maximum desired priority and allow each WQ thread to have a relative priority.
This commit is contained in:
Daniel Agar 2020-01-10 17:57:51 -05:00 committed by GitHub
parent 3527870333
commit bd111c9f42
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 13 additions and 21 deletions
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24
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
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@ -64,21 +64,21 @@ static constexpr wq_config_t I2C2{"wq:I2C2", 1400, -10};
static constexpr wq_config_t I2C3{"wq:I2C3", 1400, -11};
static constexpr wq_config_t I2C4{"wq:I2C4", 1400, -12};
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 6600, -11}; // PX4 att/pos controllers, highest priority after sensors
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 6600, -13}; // PX4 att/pos controllers, highest priority after sensors
static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -12};
static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -14};
static constexpr wq_config_t uavcan{"uavcan", 2400, -13};
static constexpr wq_config_t uavcan{"wq:uavcan", 2400, -15};
static constexpr wq_config_t UART0{"wq:UART0", 1400, -14};
static constexpr wq_config_t UART1{"wq:UART1", 1400, -15};
static constexpr wq_config_t UART2{"wq:UART2", 1400, -16};
static constexpr wq_config_t UART3{"wq:UART3", 1400, -17};
static constexpr wq_config_t UART4{"wq:UART4", 1400, -18};
static constexpr wq_config_t UART5{"wq:UART5", 1400, -19};
static constexpr wq_config_t UART6{"wq:UART6", 1400, -20};
static constexpr wq_config_t UART7{"wq:UART7", 1400, -21};
static constexpr wq_config_t UART8{"wq:UART8", 1400, -22};
static constexpr wq_config_t UART0{"wq:UART0", 1400, -16};
static constexpr wq_config_t UART1{"wq:UART1", 1400, -17};
static constexpr wq_config_t UART2{"wq:UART2", 1400, -18};
static constexpr wq_config_t UART3{"wq:UART3", 1400, -19};
static constexpr wq_config_t UART4{"wq:UART4", 1400, -20};
static constexpr wq_config_t UART5{"wq:UART5", 1400, -21};
static constexpr wq_config_t UART6{"wq:UART6", 1400, -22};
static constexpr wq_config_t UART7{"wq:UART7", 1400, -23};
static constexpr wq_config_t UART8{"wq:UART8", 1400, -24};
static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};

10
platforms/common/px4_work_queue/WorkQueueManager.cpp
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@ -270,14 +270,6 @@ WorkQueueManagerRun(int, char **)
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_RR);
#else
// don't inherit attributes from parent thread
int ret_setinheritsched = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
if (ret_setinheritsched != 0) {
PX4_ERR("failed to set inherit-scheduler attribute PTHREAD_EXPLICIT_SCHED (%i)", ret_setinheritsched);
}
int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
#endif
@ -327,7 +319,7 @@ WorkQueueManagerStart()
int task_id = px4_task_spawn_cmd("wq:manager",
SCHED_DEFAULT,
PX4_WQ_HP_BASE,
SCHED_PRIORITY_MAX,
1280,
(px4_main_t)&WorkQueueManagerRun,
nullptr);