commit 4ec2062dbbee861fecb127556487c2361f1b9ae4
author Austin Schuh <austin.linux@gmail.com> Sat Mar 11 15:11:50 2023 -0800
committer Austin Schuh <austin.linux@gmail.com> Sat Mar 11 15:18:16 2023 -0800
tree bddd6e3582d4dfd7518a69724b6413f385f1ec26
parent 31d2dbf8c126216d0f60f760409ce1de2ec7bea7

Make FRC_NetCommDaem run RT

We were missing joystick packets occasionally...  Let's bump the
priority up on reading joysticks.

Change-Id: Ieeee9a0776903a384482e565bc9ab5595aca3a32
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

aos/starter/irq_affinity.cc

diff --git a/aos/starter/irq_affinity.cc b/aos/starter/irq_affinity.cc
index 08cd5a6..7b74fe1 100644
--- a/aos/starter/irq_affinity.cc
+++ b/aos/starter/irq_affinity.cc
@@ -145,31 +145,10 @@
           &irq_affinity_config)
       : top_(event_loop) {
     if (irq_affinity_config.message().has_kthreads()) {
-      kthreads_.reserve(irq_affinity_config.message().kthreads()->size());
-      for (const starter::KthreadConfig *kthread_config :
-           *irq_affinity_config.message().kthreads()) {
-        LOG(INFO) << "Kthread " << aos::FlatbufferToJson(kthread_config);
-        CHECK(kthread_config->has_name()) << ": Name required";
-        const size_t star_position =
-            kthread_config->name()->string_view().find('*');
-        const bool has_star = star_position != std::string_view::npos;
-
-        kthreads_.push_back(ParsedKThreadConfig{
-            .full_match = !has_star,
-            .prefix = std::string(
-                !has_star ? kthread_config->name()->string_view()
-                          : kthread_config->name()->string_view().substr(
-                                0, star_position)),
-            .postfix = std::string(
-                !has_star ? ""
-                          : kthread_config->name()->string_view().substr(
-                                star_position + 1)),
-            .scheduler = kthread_config->scheduler(),
-            .priority = kthread_config->priority(),
-            .nice = kthread_config->nice(),
-            .affinity = AffinityFromFlatbuffer(kthread_config->affinity()),
-        });
-      }
+      PopulateThreads(irq_affinity_config.message().kthreads(), &kthreads_);
+    }
+    if (irq_affinity_config.message().has_threads()) {
+      PopulateThreads(irq_affinity_config.message().threads(), &threads_);
     }
 
     if (irq_affinity_config.message().has_irqs()) {
@@ -196,6 +175,13 @@
               break;
             }
           }
+        } else {
+          for (const ParsedKThreadConfig &match : threads_) {
+            if (match.Matches(reading.second.name)) {
+              match.ConfigurePid(reading.first);
+              break;
+            }
+          }
         }
       }
 
@@ -220,6 +206,36 @@
   }
 
  private:
+  void PopulateThreads(
+      const flatbuffers::Vector<flatbuffers::Offset<starter::KthreadConfig>>
+          *threads_config,
+      std::vector<ParsedKThreadConfig> *threads) {
+    threads->reserve(threads_config->size());
+    for (const starter::KthreadConfig *kthread_config : *threads_config) {
+      LOG(INFO) << "Kthread " << aos::FlatbufferToJson(kthread_config);
+      CHECK(kthread_config->has_name()) << ": Name required";
+      const size_t star_position =
+          kthread_config->name()->string_view().find('*');
+      const bool has_star = star_position != std::string_view::npos;
+
+      threads->push_back(ParsedKThreadConfig{
+          .full_match = !has_star,
+          .prefix = std::string(
+              !has_star ? kthread_config->name()->string_view()
+                        : kthread_config->name()->string_view().substr(
+                              0, star_position)),
+          .postfix = std::string(
+              !has_star ? ""
+                        : kthread_config->name()->string_view().substr(
+                              star_position + 1)),
+          .scheduler = kthread_config->scheduler(),
+          .priority = kthread_config->priority(),
+          .nice = kthread_config->nice(),
+          .affinity = AffinityFromFlatbuffer(kthread_config->affinity()),
+      });
+    }
+  }
+
   util::Top top_;
 
   // TODO(austin): Publish message with everything in it.
@@ -227,6 +243,7 @@
   // posterity.
 
   std::vector<ParsedKThreadConfig> kthreads_;
+  std::vector<ParsedKThreadConfig> threads_;
   std::vector<ParsedIrqConfig> irqs_;
 
   InterruptsStatus interrupts_status_;

aos/starter/kthread.fbs

diff --git a/aos/starter/kthread.fbs b/aos/starter/kthread.fbs
index 69f2b0e..c07fce9 100644
--- a/aos/starter/kthread.fbs
+++ b/aos/starter/kthread.fbs
@@ -21,7 +21,10 @@
 
 table IrqAffinityConfig {
   irqs: [IrqConfig] (id: 0);
+  // Kernel threads.
   kthreads: [KthreadConfig] (id: 1);
+  // Normal threads.
+  threads: [KthreadConfig] (id: 2);
 }
 
 root_type IrqAffinityConfig;

aos/starter/roborio_irq_config.json

diff --git a/aos/starter/roborio_irq_config.json b/aos/starter/roborio_irq_config.json
index af9a315..7b1d536 100644
--- a/aos/starter/roborio_irq_config.json
+++ b/aos/starter/roborio_irq_config.json
@@ -30,5 +30,12 @@
       "scheduler": "SCHEDULER_OTHER",
       "nice": -20
     }
+  ],
+  "threads": [
+    {
+      "name": "FRC_NetCommDaem",
+      "scheduler": "SCHEDULER_FIFO",
+      "priority": 15
+    }
   ]
 }