commit a94e100d3ac050ab2c8e061dcc114a5f3609d81f
author Austin Schuh <austin.schuh@bluerivertech.com> Wed Jul 21 15:45:21 2021 -0700
committer Austin Schuh <austin.schuh@bluerivertech.com> Wed Jul 21 15:45:21 2021 -0700
tree 2385be03c822cf4e7d3015f69b0cec19c0bb2466
parent 479933181ebdc39b6c41cf567d4cb52393ebeffd

Fix sending before Run in a runtime-realtime ShmEventLoop

Any application which sends before Run is called prioritizes itself,
and then hits a CheckNotRealtime in setup for the event loop.  Make
sure we don't accidentally leave the application as RT when sending
before start to avoid this (and actually prevent the inversion).

Change-Id: Ibab14e1f82fe5455600b2ae8fa6e12e992b77e82
Signed-off-by: Austin Schuh <austin.schuh@bluerivertech.com>

aos/events/shm_event_loop.cc

diff --git a/aos/events/shm_event_loop.cc b/aos/events/shm_event_loop.cc
index 63e1cb9..b521a33 100644
--- a/aos/events/shm_event_loop.cc
+++ b/aos/events/shm_event_loop.cc
@@ -547,7 +547,8 @@
         << ": Somebody wrote outside the buffer of their message on channel "
         << configuration::CleanedChannelToString(channel());
 
-    wake_upper_.Wakeup(event_loop()->priority());
+    wake_upper_.Wakeup(event_loop()->is_running() ? event_loop()->priority()
+                                                  : 0);
     return true;
   }
 
@@ -565,7 +566,8 @@
         &monotonic_sent_time_, &realtime_sent_time_, &sent_queue_index_))
         << ": Somebody wrote outside the buffer of their message on channel "
         << configuration::CleanedChannelToString(channel());
-    wake_upper_.Wakeup(event_loop()->priority());
+    wake_upper_.Wakeup(event_loop()->is_running() ? event_loop()->priority()
+                                                  : 0);
     // TODO(austin): Return an error if we send too fast.
     return true;
   }