// we could implement here the interrupt shield logic.
INTERNAL_QUAL int rtos_task_set_scheduler(RTOS_TASK* t, int sched_type) {
// xenoptr was initialised from the thread wrapper.
if (t->xenoptr != rt_task_self() ) {
return -1;
}
if ( rtos_task_check_scheduler( &sched_type ) == -1)
return -1;
#if ((CONFIG_XENO_VERSION_MAJOR*1000)+(CONFIG_XENO_VERSION_MINOR*100)+CONFIG_XENO_REVISION_LEVEL) < 2600
if (sched_type == SCHED_XENOMAI_HARD) {
if ( rt_task_set_mode( 0, T_PRIMARY, 0 ) == 0 ) {
t->sched_type = SCHED_XENOMAI_HARD;
return 0;
} else {
return -1;
}
} else {
if ( sched_type == SCHED_XENOMAI_SOFT) {
// This mode setting is only temporary. See rtos_task_wait_period() as well !
if (rt_task_set_mode( T_PRIMARY, 0, 0 ) == 0 ) {
t->sched_type = SCHED_XENOMAI_SOFT;
return 0;
} else {
return -1;
}
}
}
assert(false);
return -1;
#else
t->sched_type = sched_type;
return 0;
#endif
}
INTERNAL_QUAL int rtos_task_check_priority(int* scheduler, int* priority)
{
int ret = 0;
// check scheduler first.
ret = rtos_task_check_scheduler(scheduler);
// correct priority
// Hard & Soft:
#if ((CONFIG_XENO_VERSION_MAJOR*10000)+(CONFIG_XENO_VERSION_MINOR*100)+CONFIG_XENO_REVISION_LEVEL) >= 20500
const int minprio = 0;
#else
const int minprio = 1;
#endif
if (*priority < minprio){
log(Warning) << "Forcing priority ("<<*priority<<") of thread to " << minprio <<"." <<endlog();
*priority = minprio;
ret = -1;
}
if (*priority > 99){
log(Warning) << "Forcing priority ("<<*priority<<") of thread to 99." <<endlog();
*priority = 99;
ret = -1;
}
return ret;
}
INTERNAL_QUAL int rtos_task_set_scheduler(RTOS_TASK* t, int s) {
if ( t->rtaitask == 0 || t->rtaitask != rt_buddy() ) {
return -1;
}
if (rtos_task_check_scheduler(&s) == -1)
return -1;
if (s == SCHED_LXRT_HARD)
rt_make_hard_real_time();
else if ( s == SCHED_LXRT_SOFT)
rt_make_soft_real_time();
return 0;
}
INTERNAL_QUAL int rtos_task_check_priority(int* scheduler, int* priority)
{
int ret = 0;
// check scheduler first.
ret = rtos_task_check_scheduler(scheduler);
// correct priority
if (*scheduler == SCHED_OTHER) {
if ( *priority != 0 ) {
if (*priority != LowestPriority)
log(Warning) << "Forcing priority ("<<*priority<<") of thread with SCHED_OTHER policy to 0." <<endlog();
*priority = 0;
ret = -1;
}
} else {
// SCHED_FIFO/SCHED_RR:
if (*priority <= 0){
log(Warning) << "Forcing priority ("<<*priority<<") of thread with !SCHED_OTHER policy to 1." <<endlog();
*priority = 1;
ret = -1;
}
if (*priority > 99){
log(Warning) << "Forcing priority ("<<*priority<<") of thread with !SCHED_OTHER policy to 99." <<endlog();
*priority = 99;
ret = -1;
}
// and limit them according to pam_Limits (only if not root)
if ( geteuid() != 0
#ifdef ORO_OS_LINUX_CAP_NG
&& !capng_have_capability(CAPNG_EFFECTIVE, CAP_SYS_NICE)
#endif
)
{
struct rlimit r;
if (0 == getrlimit(RLIMIT_RTPRIO, &r))
{
if (*priority > (int)r.rlim_cur)
{
log(Warning) << "Forcing priority ("<<*priority<<") of thread with !SCHED_OTHER policy to the pam_limit of " << r.rlim_cur <<endlog();
*priority = r.rlim_cur;
ret = -1;
}
}
else
{
// this should not be possible, but do something intelligent
*priority = 1;
ret = -1;
}
}
}
return ret;
}
INTERNAL_QUAL int rtos_task_set_scheduler(RTOS_TASK* task, int sched_type) {
int policy = -1;
struct sched_param param;
// first check the argument
if ( task && task->thread != 0 && rtos_task_check_scheduler( &sched_type) == -1 )
return -1;
// if sched_type is different, the priority must change as well.
if (pthread_getschedparam(task->thread, &policy, ¶m) == 0) {
// now update the priority
param.sched_priority = task->priority;
rtos_task_check_priority( &sched_type, ¶m.sched_priority );
// write new policy:
return pthread_setschedparam( task->thread, sched_type, ¶m);
}
return -1;
}
INTERNAL_QUAL int rtos_task_check_priority(int* scheduler, int* priority)
{
int ret = 0;
// check scheduler first.
ret = rtos_task_check_scheduler(scheduler);
if (*priority < 0){
log(Warning) << "Forcing priority ("<<*priority<<") of thread to 0." <<endlog();
*priority = 0;
ret = -1;
}
if (*priority > 63){
log(Warning) << "Forcing priority ("<<*priority<<") of thread to 63." <<endlog();
*priority = 63;
ret = -1;
}
return ret;
}
INTERNAL_QUAL int rtos_task_check_priority(int* scheduler, int* priority)
{
int ret = 0;
// check scheduler first.
ret = rtos_task_check_scheduler(scheduler);
// correct priority
// Hard & Soft:
if (*priority < 0){
log(Warning) << "Forcing priority ("<<*priority<<") of thread to 0." <<endlog();
*priority = 0;
ret = -1;
}
if (*priority > 255){
log(Warning) << "Forcing priority ("<<*priority<<") of thread to 255." <<endlog();
*priority = 255;
ret = -1;
}
return ret;
}
