realtime

realtime.cpp

void SetRealTimePriority() {
    int ret;
    pthread_t this_thread = pthread_self();
    // used to store the scheduling priority
    struct sched_param params;
    // set the priority to the maximum.
    params.sched_priority = sched_get_priority_max(SCHED_FIFO);
    LOG(INFO) << "Trying to set thread realtime prio = " << params.sched_priority << std::endl;
    // Attempt to set thread real-time priority to the SCHED_FIFO policy
    ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
    if (ret != 0) {
        LOG(ERROR) << "Unsuccessful in setting thread realtime prio" << std::endl;
        pthread_exit(NULL);
    }
    // verify the change in thread priority
    int policy = 0;
    ret = pthread_getschedparam(this_thread, &policy, &params);
    if (ret != 0) {
        LOG(ERROR) << "Couldn't retrieve real-time scheduling paramers" << std::endl;
        pthread_exit(NULL);
    }
    // Check the correct policy was applied
    if (policy != SCHED_FIFO) {
        LOG(ERROR) << "Scheduling is NOT SCHED_FIFO!" << std::endl;
    } else {
        LOG(INFO) << "SCHED_FIFO OK" << std::endl;
    }
    // Print thread scheduling priority
    LOG(INFO) << "Thread priority is " << params.sched_priority << std::endl;
}