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Specifically set RTDE pipeline producer to FIFO scheduling (#139)
* Specifically set RTDE pipeline producer to FIFO scheduling Regardless of the actual kernel used, setting the producer thread to FIFO scheduling seems to improve robustness.
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| Original file line number | Diff line number | Diff line change |
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| // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- | ||
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| // -- BEGIN LICENSE BLOCK ---------------------------------------------- | ||
| // Copyright 2022 FZI Forschungszentrum Informatik | ||
| // Created on behalf of Universal Robots A/S | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // -- END LICENSE BLOCK ------------------------------------------------ | ||
|
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| //---------------------------------------------------------------------- | ||
| /*!\file | ||
| * | ||
| * \author Felix Exner exner@fzi.de | ||
| * \date 2022-12-15 | ||
| * | ||
| */ | ||
| //---------------------------------------------------------------------- | ||
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| #ifndef UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED | ||
| #define UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED | ||
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| #include <thread> | ||
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| namespace urcl | ||
| { | ||
| bool setFiFoScheduling(pthread_t& thread, const int priority); | ||
| } | ||
| #endif // ifndef UR_CLIENT_LIBRARY_HELPERS_H_INCLUDED |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,89 @@ | ||
| // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- | ||
|
|
||
| // -- BEGIN LICENSE BLOCK ---------------------------------------------- | ||
| // Copyright 2022 FZI Forschungszentrum Informatik | ||
| // Created on behalf of Universal Robots A/S | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
| // -- END LICENSE BLOCK ------------------------------------------------ | ||
|
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| //---------------------------------------------------------------------- | ||
| /*!\file | ||
| * | ||
| * \author Felix Exner exner@fzi.de | ||
| * \date 2022-12-15 | ||
| * | ||
| */ | ||
| //---------------------------------------------------------------------- | ||
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| #include <ur_client_library/helpers.h> | ||
| #include <ur_client_library/log.h> | ||
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| #include <cstring> | ||
| #include <fstream> | ||
| #include <iostream> | ||
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| namespace urcl | ||
| { | ||
| bool setFiFoScheduling(pthread_t& thread, const int priority) | ||
| { | ||
| struct sched_param params; | ||
| params.sched_priority = priority; | ||
| int ret = pthread_setschedparam(thread, SCHED_FIFO, ¶ms); | ||
| if (ret != 0) | ||
| { | ||
| switch (ret) | ||
| { | ||
| case EPERM: | ||
| { | ||
| URCL_LOG_ERROR("Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency " | ||
| "kernel with FIFO scheduling. See " | ||
| "https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/" | ||
| "doc/real_time.md for details."); | ||
| break; | ||
| } | ||
| default: | ||
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| { | ||
| URCL_LOG_ERROR("Unsuccessful in setting thread to FIFO scheduling with priority %i. %s", priority, | ||
| strerror(ret)); | ||
| } | ||
| } | ||
| } | ||
| // Now verify the change in thread priority | ||
| int policy = 0; | ||
| ret = pthread_getschedparam(thread, &policy, ¶ms); | ||
| if (ret != 0) | ||
| { | ||
| URCL_LOG_ERROR("Couldn't retrieve scheduling parameters"); | ||
| return false; | ||
| } | ||
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| // Check the correct policy was applied | ||
| if (policy != SCHED_FIFO) | ||
| { | ||
| URCL_LOG_ERROR("Scheduling is NOT SCHED_FIFO!"); | ||
| return false; | ||
| } | ||
| else | ||
| { | ||
| URCL_LOG_INFO("SCHED_FIFO OK, priority %i", params.sched_priority); | ||
| if (params.sched_priority != priority) | ||
| { | ||
| URCL_LOG_ERROR("Thread priority is %i instead of the expected %i", params.sched_priority, priority); | ||
| return false; | ||
| } | ||
| } | ||
| return true; | ||
| } | ||
| } // namespace urcl |
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