annotate projects/d-box/prio.cpp @ 45:579c86316008 newapi

Major API overhaul. Moved to a single data structure for handling render functions. Functionally, generally similar except for scheduling within PRU loop function, which now uses interrupts from the PRU rather than polling. This requires an updated kernel.

/*
 * prio.cpp
 *
 *  Created on: May 14, 2014
 *      Author: Victor Zappi
 */

#include "prio.h"
using namespace std;
//-----------------------------------------------------------------------------------------------------------
// set wanted real-time priority to this thread
//-----------------------------------------------------------------------------------------------------------
void set_realtime_priority(int order)
{
    int ret;

    // We'll operate on the currently running thread.
    pthread_t this_thread = pthread_self();
    // struct sched_param is used to store the scheduling priority
	struct sched_param params;
	// We'll set the priority to the maximum.
	params.sched_priority = sched_get_priority_max(SCHED_FIFO) - order;

	// Attempt to set thread real-time priority to the SCHED_FIFO policy
	ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
	if (ret != 0) {
		// Print the error
		cout << "Unsuccessful in setting thread realtime prio" << endl;
		return;
	}

	// Now verify the change in thread priority
    int policy = 0;
    ret = pthread_getschedparam(this_thread, &policy, &params);
    if (ret != 0) {
        cout << "Couldn't retrieve real-time scheduling parameters" << endl;
        return;
    }

    // Check the correct policy was applied
    if(policy != SCHED_FIFO) {
        cout << "Scheduling is NOT SCHED_FIFO!" << endl;
    }
}

//-----------------------------------------------------------------------------------------------------------