Obbart/universal_robots_ros_driver
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start main and producer thread with realtime priority

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This commit is contained in:
Felix Mauch
2019-05-08 17:47:44 +02:00
parent e7c97150d5
commit c79c567412
2 changed files with 103 additions and 0 deletions
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54
ur_rtde_driver/include/ur_rtde_driver/comm/pipeline.h
View File

@@ -27,6 +27,7 @@
#include <chrono>
#include <thread>
#include <vector>
#include <fstream>
namespace ur_driver
{
@@ -198,6 +199,59 @@ private:
void runProducer()
{
LOG_INFO("Starting up producer");
std::ifstream realtime_file("/sys/kernel/realtime", std::ios::in);
bool has_realtime;
realtime_file >> has_realtime;
if (has_realtime)
{
const int max_thread_priority = sched_get_priority_max(SCHED_FIFO);
if (max_thread_priority != -1)
{
// 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 = max_thread_priority;
int ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
if (ret != 0)
{
ROS_ERROR_STREAM("Unsuccessful in setting producer thread realtime priority. Error code: " << ret);
}
// Now verify the change in thread priority
int policy = 0;
ret = pthread_getschedparam(this_thread, &policy, &params);
if (ret != 0)
{
std::cout << "Couldn't retrieve real-time scheduling paramers" << std::endl;
}
// Check the correct policy was applied
if (policy != SCHED_FIFO)
{
ROS_ERROR("Producer thread: Scheduling is NOT SCHED_FIFO!");
}
else
{
ROS_INFO("Producer thread: SCHED_FIFO OK");
}
// Print thread scheduling priority
ROS_INFO_STREAM("Thread priority is " << params.sched_priority);
}
else
{
ROS_ERROR("Could not get maximum thread priority for producer thread");
}
}
else
{
LOG_WARN("No realtime capabilities found. Consider using a realtime system for better performance");
}
std::vector<std::unique_ptr<_package_type>> products;
while (running_)
{

49
ur_rtde_driver/src/ros/hardware_interface_node.cpp
View File

@@ -60,6 +60,55 @@ int main(int argc, char** argv)
ros::Rate control_rate(static_cast<double>(hw_interface.getControlFrequency()));
std::ifstream realtime_file("/sys/kernel/realtime", std::ios::in);
bool has_realtime;
realtime_file >> has_realtime;
if (has_realtime)
{
const int max_thread_priority = sched_get_priority_max(SCHED_FIFO);
if (max_thread_priority != -1)
{
// 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 = max_thread_priority;
int ret = pthread_setschedparam(this_thread, SCHED_FIFO, &params);
if (ret != 0)
{
ROS_ERROR_STREAM("Unsuccessful in setting main thread realtime priority. Error code: " << ret);
}
// Now verify the change in thread priority
int policy = 0;
ret = pthread_getschedparam(this_thread, &policy, &params);
if (ret != 0)
{
std::cout << "Couldn't retrieve real-time scheduling paramers" << std::endl;
}
// Check the correct policy was applied
if (policy != SCHED_FIFO)
{
ROS_ERROR("Main thread: Scheduling is NOT SCHED_FIFO!");
}
else
{
ROS_INFO("Main thread: SCHED_FIFO OK");
}
// Print thread scheduling priority
ROS_INFO_STREAM("Main thread priority is " << params.sched_priority);
}
else
{
ROS_ERROR("Could not get maximum thread priority for main thread");
}
}
// Run as fast as possible
while (ros::ok())
{