commit a922ad08965b518c8fd5216a884bdc74b9fb97f8
author Austin Schuh <austin.linux@gmail.com> Sat Oct 23 23:25:50 2021 -0700
committer Austin Schuh <austin.linux@gmail.com> Sat Oct 23 23:27:44 2021 -0700
tree 70d6982734915417d2d0f7c5cba3d43dae6f13d0
parent 4066518717d8a661b5b4d0f03874f5984bffd6bc

Make the RT priority of message bridge configurable

Helps make the roboRIO forward messages more reliably.

Change-Id: Ibbd7575f7219cb22dc6d6b9fb78c5041e7ac3a89
Signed-off-by: Austin Schuh <austin.linux@gmail.com>

y2020/vision/rootfs/frc971.service

diff --git a/y2020/vision/rootfs/frc971.service b/y2020/vision/rootfs/frc971.service
index e7b8d7c..0066517 100644
--- a/y2020/vision/rootfs/frc971.service
+++ b/y2020/vision/rootfs/frc971.service
@@ -9,6 +9,9 @@
 ExecStart=/home/pi/robot_code/starter.sh
 KillMode=mixed
 TimeoutStopSec=10
+LimitRTPRIO=60
+LimitNICE=-20
+LimitMEMLOCK=infinity
 
 Restart=always
 RestartSec=5s

y2020/y2020_roborio.json

diff --git a/y2020/y2020_roborio.json b/y2020/y2020_roborio.json
index 4cdd035..08dde01 100644
--- a/y2020/y2020_roborio.json
+++ b/y2020/y2020_roborio.json
@@ -382,6 +382,7 @@
     {
       "name": "message_bridge_client",
       "executable_name": "message_bridge_client",
+      "args": ["--rt_priority=5"],
       "nodes": [
         "roborio"
       ]
@@ -389,6 +390,7 @@
     {
       "name": "message_bridge_server",
       "executable_name": "message_bridge_server",
+      "args": ["--rt_priority=5"],
       "nodes": [
         "roborio"
       ]