Set priority of spline worker thread.
Change-Id: I1795be4dd16aac048effdcc54768b73d62db7dfb
diff --git a/frc971/control_loops/drivetrain/BUILD b/frc971/control_loops/drivetrain/BUILD
index 9b0400e..e332cfe 100644
--- a/frc971/control_loops/drivetrain/BUILD
+++ b/frc971/control_loops/drivetrain/BUILD
@@ -96,6 +96,7 @@
":drivetrain_queue",
":spline",
":trajectory",
+ "//aos:init",
],
)
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index d8e2f9a..2621007 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -2,6 +2,7 @@
#include "Eigen/Dense"
+#include "aos/init.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/control_loops/drivetrain/drivetrain_config.h"
@@ -23,8 +24,9 @@
}
}
-// TODO(alex): work on setting priority.
void SplineDrivetrain::ComputeTrajectory() {
+ ::aos::SetCurrentThreadRealtimePriority(1);
+
::aos::MutexLocker locker(&mutex_);
while (run_) {
while (goal_.spline.spline_idx == future_spline_idx_) {