From 598b05fcbace33ec8e4b9d5b46f0136bf693339d Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Mon, 16 Mar 2015 10:23:14 -0700 Subject: 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 --- src/platforms/linux/px4_layer/px4_linux_tasks.c | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) 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; } -- cgit v1.2.3