Fix priority issues with 2023 code.
Sigh, superstructure wasn't RT.
Change-Id: I7393c9fbc98a9fe9e4e26a5eae068aca44a653df
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2023/wpilib_interface.cc b/y2023/wpilib_interface.cc
index 9ffb783..7645bca 100644
--- a/y2023/wpilib_interface.cc
+++ b/y2023/wpilib_interface.cc
@@ -132,6 +132,7 @@
// Set to filter out anything shorter than 1/4 of the minimum pulse width
// we should ever see.
UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
+ event_loop->SetRuntimeAffinity(aos::MakeCpusetFromCpus({0}));
}
void Start() override {
@@ -575,7 +576,8 @@
: event_loop_(event_loop),
can_position_sender_(
event_loop->MakeSender<drivetrain::CANPosition>("/drivetrain")) {
- event_loop->SetRuntimeRealtimePriority(35);
+ event_loop->SetRuntimeRealtimePriority(40);
+ event_loop->SetRuntimeAffinity(aos::MakeCpusetFromCpus({1}));
timer_handler_ = event_loop->AddTimer([this]() { Loop(); });
timer_handler_->set_name("CANSensorReader Loop");
@@ -841,6 +843,7 @@
// Thread 4.
::aos::ShmEventLoop can_sensor_reader_event_loop(&config.message());
+ can_sensor_reader_event_loop.set_name("CANSensorReader");
CANSensorReader can_sensor_reader(&can_sensor_reader_event_loop);
std::shared_ptr<Falcon> right_front = std::make_shared<Falcon>(
@@ -863,6 +866,7 @@
// Thread 5.
::aos::ShmEventLoop output_event_loop(&config.message());
+ output_event_loop.set_name("OutputWriter");
DrivetrainWriter drivetrain_writer(&output_event_loop);
drivetrain_writer.set_falcons(right_front, right_back, right_under,