[Rock-dev] updateHook hanging (blocked?) when started via syskit

[Steffen Planthaber]

Hi,

Am 17.12.2013 12:33, schrieb Sylvain Joyeux:
> On 12/16/2013 07:28 PM, Christian Rauch wrote:
>> I set the priority by:
>>
>> task("seekur_drv","aria::Task").priority(99)
> Comments on that:
>
> - the high priorities (here, 99) are only available using the realtime
>     scheduler
>     http://rock-robotics.org/stable/documentation/oroge/deployment.html
> - at runtime, you have to make sure that you have the rights to use
>     this scheduler
>     http://rock.opendfki.de/wiki/WikiStart/Toolchain/RTPlatforms
> - *Unfortunately* since the Aria driver spawns a thread, this has NO
>     EFFECT on the problem you have. It affects only the threads started
>     by RTT
>
For testing, you may change the sheduler and priority on runtime using 
the "chrt" command from another console:

$> sudo chrt -a -p --fifo 99 <PID_OF_DEPLOYMENT>

This sets all the tasks of a deployment (also new therads) to high 
priority and to use the fifo sheduler (best, when there are timing 
issues, default is --other and priority 0. At least for "top" in a console)

You can check the current settings by:
$> chrt -a -p <PID_OF_DEPLOYMENT>
Which will print also the settings for children of the original pid.


Btw: The "pidof" command gives the pid of a process by its name (first 
found), so for several tests in a row, it may be useful to use:

$> sudo chrt -a -p --fifo 99 $(pidof <DEPLOYMENT_EXECUTABLE_NAME>)


Best, Steffen




-- 
  Steffen Planthaber
  Weltraumrobotik

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