Commit 37c0b51f authored by Alexis Nicolin's avatar Alexis Nicolin Committed by olivier stasse
Browse files

Fixed RealTimeLogger scheduler and priority

parent fcfd0a02
......@@ -94,6 +94,19 @@ namespace dynamicgraph
void spin (RealTimeLogger* logger)
// Change the thread's scheduler from real-time to normal and reduce its priority
int threadPolicy;
struct sched_param threadParam;
if (pthread_getschedparam (pthread_self(), &threadPolicy, &threadParam) == 0)
threadPolicy = SCHED_OTHER;
threadParam.sched_priority -= 5;
if (threadParam.sched_priority < sched_get_priority_min (threadPolicy))
threadParam.sched_priority = sched_get_priority_min (threadPolicy);
pthread_setschedparam (pthread_self(), threadPolicy, &threadParam);
while (!requestShutdown_ || !logger->empty())
// If the logger did not write anything, it means the buffer is empty.
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