commit f3cfbd71a2301a8e0913a78edc33f475a44c515b
author Brian Silverman <brians> Mon Oct 28 16:26:09 2013 -0700
committer Brian Silverman <brians> Mon Oct 28 16:26:09 2013 -0700
tree 4dc4747a2bae54e6133805572354e8c9391c776c
parent 9fdc6fadf46864a86d123f172ed89c9a83aaac76

made the usb reading code higher priority

aos/atom_code/init.cc

diff --git a/aos/atom_code/init.cc b/aos/atom_code/init.cc
index c4e6d44..b3668e8 100644
--- a/aos/atom_code/init.cc
+++ b/aos/atom_code/init.cc
@@ -81,7 +81,7 @@
 
 void InitNRT() { DoInitNRT(aos_core_create::reference); }
 void InitCreate() { DoInitNRT(aos_core_create::create); }
-void Init() {
+void Init(int relative_priority) {
   if (getenv(kNoRealtimeEnvironmentVariable) == NULL) {  // if nobody set it
     LockAllMemory();
     // Only let rt processes run for 1 second straight.
@@ -90,7 +90,7 @@
     SetSoftRLimit(RLIMIT_RTPRIO, 40, false);
     // Set our process to priority 40.
     struct sched_param param;
-    param.sched_priority = 40;
+    param.sched_priority = 30 + relative_priority;
     if (sched_setscheduler(0, SCHED_FIFO, &param) != 0) {
       Die("%s-init: setting SCHED_FIFO failed with %d (%s)\n",
           program_invocation_short_name, errno, strerror(errno));

aos/atom_code/init.h

diff --git a/aos/atom_code/init.h b/aos/atom_code/init.h
index ffb7afc..b35a3b8 100644
--- a/aos/atom_code/init.h
+++ b/aos/atom_code/init.h
@@ -6,7 +6,9 @@
 // Does the non-realtime parts of the initialization process.
 void InitNRT();
 // Initializes everything, including the realtime stuff.
-void Init();
+// relative_priority adjusts the priority of this process relative to all of the
+// other ones (positive for higher priority).
+void Init(int relative_priority = 0);
 // Same as InitNRT, except will remove an existing shared memory file and create
 // a new one.
 void InitCreate();

frc971/input/gyro_sensor_receiver.cc

diff --git a/frc971/input/gyro_sensor_receiver.cc b/frc971/input/gyro_sensor_receiver.cc
index 5f0ce57..374268e 100644
--- a/frc971/input/gyro_sensor_receiver.cc
+++ b/frc971/input/gyro_sensor_receiver.cc
@@ -139,7 +139,7 @@
 }  // namespace frc971
 
 int main() {
-  ::aos::Init();
+  ::aos::Init(frc971::USBReceiver::kRelativePriority);
   ::frc971::GyroSensorReceiver receiver;
   while (true) {
     receiver.RunIteration();

frc971/input/usb_receiver.h

diff --git a/frc971/input/usb_receiver.h b/frc971/input/usb_receiver.h
index a0c645a..0b0dd60 100644
--- a/frc971/input/usb_receiver.h
+++ b/frc971/input/usb_receiver.h
@@ -18,6 +18,10 @@
 
   void RunIteration();
 
+  // The relative priority that tasks doing this should get run at (ie what to
+  // pass to ::aos::Init(int)).
+  static const int kRelativePriority = 5;
+
  protected:
   GyroBoardData *data() { return &data_; }