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| author | Mark Charlebois <charlebm@gmail.com> | 2015-03-16 10:23:14 -0700 |
|---|---|---|
| committer | Mark Charlebois <charlebm@gmail.com> | 2015-04-20 11:07:00 -0700 |
| commit | 598b05fcbace33ec8e4b9d5b46f0136bf693339d (patch) | |
| tree | 53e47ee2d6cb103e232dbe5ebd261da783ecef73 | |
| parent | 4a6bd4ddc0921ec36c51cc0cf9f5dea76ae56dad (diff) | |
| download | px4-firmware-598b05fcbace33ec8e4b9d5b46f0136bf693339d.tar.gz px4-firmware-598b05fcbace33ec8e4b9d5b46f0136bf693339d.tar.bz2 px4-firmware-598b05fcbace33ec8e4b9d5b46f0136bf693339d.zip | |
Linux: run threads without SCHED_FIFO if not privileged
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>
| -rw-r--r-- | src/platforms/linux/px4_layer/px4_linux_tasks.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/platforms/linux/px4_layer/px4_linux_tasks.c b/src/platforms/linux/px4_layer/px4_linux_tasks.c index fa832a168..5b2c5abe3 100644 --- a/src/platforms/linux/px4_layer/px4_linux_tasks.c +++ b/src/platforms/linux/px4_layer/px4_linux_tasks.c @@ -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; } |