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Experimental for Linux, change thread priority to execute timer. #1382

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Experimental for Linux, change thread priority to execute timer. #1382

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5 changes: 5 additions & 0 deletions rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@
#include <thread>
#include <unordered_map>

#include <pthread.h>

#include "rclcpp/executor.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/memory_strategies.hpp"
Expand Down Expand Up @@ -87,6 +89,9 @@ class MultiThreadedExecutor : public rclcpp::Executor
std::chrono::nanoseconds next_exec_timeout_;

std::set<TimerBase::SharedPtr> scheduled_timers_;

struct sched_param sch_org, sch_mod;
int policy;
};

} // namespace executors
Expand Down
15 changes: 11 additions & 4 deletions rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,9 @@ MultiThreadedExecutor::MultiThreadedExecutor(
if (number_of_threads_ == 0) {
number_of_threads_ = 1;
}

pthread_getschedparam(pthread_self(), &policy, &sch_org);
sch_mod.sched_priority = 1; // set lowest priority in SCHED_RR
}

MultiThreadedExecutor::~MultiThreadedExecutor() {}
Expand Down Expand Up @@ -94,6 +97,7 @@ MultiThreadedExecutor::run(size_t)
continue;
}
scheduled_timers_.insert(any_exec.timer);
pthread_setschedparam(pthread_self(), SCHED_RR, &sch_mod);
}
}
if (yield_before_execute_) {
Expand All @@ -103,11 +107,14 @@ MultiThreadedExecutor::run(size_t)
execute_any_executable(any_exec);

if (any_exec.timer) {
std::lock_guard<std::mutex> wait_lock(wait_mutex_);
auto it = scheduled_timers_.find(any_exec.timer);
if (it != scheduled_timers_.end()) {
scheduled_timers_.erase(it);
{
std::lock_guard<std::mutex> wait_lock(wait_mutex_);
auto it = scheduled_timers_.find(any_exec.timer);
if (it != scheduled_timers_.end()) {
scheduled_timers_.erase(it);
}
}
pthread_setschedparam(pthread_self(), policy, &sch_org);
}
// Clear the callback_group to prevent the AnyExecutable destructor from
// resetting the callback group `can_be_taken_from`
Expand Down